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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef _SPI_SLAVE_H |
2 | #define _SPI_SLAVE_H |
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1 | ingob | 3 | |
41 | ingob | 4 | #include "fifo.h" |
215 | killagreg | 5 | #include "gps.h" |
1 | ingob | 6 | |
397 | holgerb | 7 | #define SPEAK_CF_OFF 23 |
8 | #define SPEAK_CALIBRATE 24 |
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9 | #define SPEAK_MIKROKOPTER 21 |
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10 | #define SPEAK_STARTING 52 |
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11 | #define SPEAK_CF_ON 46 |
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12 | #define SPEAK_ERR_CALIBARTION 1 |
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13 | #define SPEAK_GPS_ON 50 |
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14 | #define SPEAK_GPS_OFF 19 |
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15 | #define SPEAK_GPS_HOLD 17 |
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16 | #define SPEAK_GPS_HOME 18 |
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17 | #define SPEAK_WP_REACHED 12 |
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18 | #define SPEAK_NEXT_WP 13 |
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41 | ingob | 19 | |
397 | holgerb | 20 | |
1 | ingob | 21 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
22 | |||
202 | killagreg | 23 | #define SPI_FCCMD_USER 10 |
24 | #define SPI_FCCMD_STICK 11 |
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25 | #define SPI_FCCMD_MISC 12 |
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26 | #define SPI_FCCMD_PARAMETER1 13 |
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27 | #define SPI_FCCMD_VERSION 14 |
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28 | #define SPI_FCCMD_SERVOS 15 |
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454 | holgerb | 29 | #define SPI_FCCMD_BL_ACCU 16 |
419 | holgerb | 30 | #define SPI_FCCMD_PARAMETER2 17 |
41 | ingob | 31 | |
426 | holgerb | 32 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
33 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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34 | |||
149 | killagreg | 35 | extern s32 Kalman_K; |
330 | holgerb | 36 | extern s32 Kalman_Kompass ; |
41 | ingob | 37 | extern s32 Kalman_MaxDrift; |
38 | extern s32 Kalman_MaxFusion; |
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148 | holgerb | 39 | extern s32 ToFcGpsZ; |
222 | holgerb | 40 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
41 | extern s32 HeadFreeStartAngle; |
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421 | holgerb | 42 | extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel; |
286 | killagreg | 43 | extern u32 ToFC_AltitudeRate; |
285 | holgerb | 44 | extern s32 ToFC_AltitudeSetpoint; |
323 | holgerb | 45 | extern u8 NC_GPS_ModeCharacter; |
330 | holgerb | 46 | extern u8 FC_is_Calibrated; |
47 | extern u8 FCCalibActive; |
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397 | holgerb | 48 | extern u8 SpeakHoTT; |
358 | holgerb | 49 | /*extern u8 MotorCurrent[12]; |
338 | holgerb | 50 | extern u8 MotorTemperature[12]; |
358 | holgerb | 51 | extern u8 MotorState[12]; |
52 | extern u8 MotorMaxPwm[12]; |
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53 | */ |
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338 | holgerb | 54 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
55 | extern u32 FC_I2C_ErrorConter; |
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56 | extern u8 FromFC_VarioCharacter; |
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57 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
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351 | holgerb | 58 | extern s16 POI_KameraNick; |
448 | holgerb | 59 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
41 | ingob | 60 | typedef struct |
118 | killagreg | 61 | { |
62 | u8 Command; |
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63 | s16 AngleNick; // NickAngle in 0.1 deg |
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64 | s16 AngleRoll; // RollAngle in 0.1 deg |
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65 | s16 AccNick; |
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66 | s16 AccRoll; |
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280 | killagreg | 67 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 68 | s16 GyroNick; |
69 | s16 GyroRoll; |
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70 | s16 GyroYaw; |
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284 | killagreg | 71 | u16 FCStatus; |
118 | killagreg | 72 | union |
73 | { |
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205 | killagreg | 74 | u8 Byte[12]; |
118 | killagreg | 75 | s8 sByte[12]; |
205 | killagreg | 76 | u16 Int[6]; |
77 | s16 sInt[6]; |
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78 | u32 Long[3]; |
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79 | s32 sLong[3]; |
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118 | killagreg | 80 | float Float[3]; |
81 | } Param; |
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82 | u8 Chksum; |
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41 | ingob | 83 | } __attribute__((packed)) FromFlightCtrl_t; |
84 | |||
351 | holgerb | 85 | //NC_To_FC_Flags |
86 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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87 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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448 | holgerb | 88 | #define NC_TO_FC_AUTOSTART 0x04 |
89 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
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351 | holgerb | 90 | |
202 | killagreg | 91 | #define SPI_NCCMD_OSD_DATA 100 |
92 | #define SPI_NCCMD_GPS_POS 101 |
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93 | #define SPI_NCCMD_GPS_TARGET 102 |
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94 | #define SPI_NCCMD_KALMAN 103 |
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95 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 96 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 97 | #define SPI_NCCMD_HOTT_INFO 106 |
342 | holgerb | 98 | #define SPI_MISC 107 |
1 | ingob | 99 | |
329 | holgerb | 100 | #define HOTT_VARIO_PACKET_ID 0x89 |
101 | #define HOTT_GPS_PACKET_ID 0x8A |
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102 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
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330 | holgerb | 103 | #define HOTT_GENERAL_PACKET_ID 0x8D |
329 | holgerb | 104 | |
41 | ingob | 105 | typedef struct |
106 | { |
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107 | u8 Command; |
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215 | killagreg | 108 | GPS_Stick_t GPSStick; |
419 | holgerb | 109 | s16 MagVecX; |
41 | ingob | 110 | s16 CompassHeading; |
419 | holgerb | 111 | s16 AccErrorN; |
112 | s16 AccErrorR; |
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113 | s16 MagVecY; |
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114 | s16 MagVecZ; |
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41 | ingob | 115 | u16 BeepTime; |
116 | union |
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117 | { |
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205 | killagreg | 118 | u8 Byte[12]; |
41 | ingob | 119 | s8 sByte[12]; |
205 | killagreg | 120 | u16 Int[6]; |
121 | s16 sInt[6]; |
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122 | u32 Long[3]; |
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123 | s32 sLong[3]; |
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41 | ingob | 124 | float Float[3]; |
125 | }Param; |
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126 | u8 Chksum; |
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127 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 128 | |
358 | holgerb | 129 | typedef struct |
130 | { |
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131 | u8 Current; |
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132 | u8 Temperature; |
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133 | u8 MaxPWM; |
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134 | u8 State; |
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135 | } __attribute__((packed)) Motor_t; |
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1 | ingob | 136 | |
358 | holgerb | 137 | extern Motor_t Motor[12]; |
138 | |||
41 | ingob | 139 | typedef struct |
1 | ingob | 140 | { |
41 | ingob | 141 | u8 Major; |
142 | u8 Minor; |
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143 | u8 Patch; |
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144 | u8 Compatible; |
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61 | holgerb | 145 | u8 Hardware; |
41 | ingob | 146 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 147 | |
215 | killagreg | 148 | extern FromFlightCtrl_t FromFlightCtrl; |
149 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 150 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 151 | extern SPI_Version_t FC_Version; |
331 | holgerb | 152 | extern u8 GPS_Aid_StickMultiplikator; |
392 | holgerb | 153 | extern u8 CompassCalState; |
1 | ingob | 154 | |
41 | ingob | 155 | void SPI0_Init(void); |
156 | void SPI0_GetFlightCtrlVersion(void); |
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157 | void SPI0_UpdateBuffer(void); |
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1 | ingob | 158 | |
159 | |||
160 | |||
41 | ingob | 161 | #endif //_SPI_SLAVE_H |