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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 | |
41 | ingob | 7 | |
1 | ingob | 8 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
9 | |||
202 | killagreg | 10 | #define SPI_FCCMD_USER 10 |
11 | #define SPI_FCCMD_STICK 11 |
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12 | #define SPI_FCCMD_MISC 12 |
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13 | #define SPI_FCCMD_PARAMETER1 13 |
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14 | #define SPI_FCCMD_VERSION 14 |
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15 | #define SPI_FCCMD_SERVOS 15 |
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206 | killagreg | 16 | #define SPI_FCCMD_ACCU 16 |
41 | ingob | 17 | |
149 | killagreg | 18 | extern s32 Kalman_K; |
41 | ingob | 19 | extern s32 Kalman_MaxDrift; |
20 | extern s32 Kalman_MaxFusion; |
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148 | holgerb | 21 | extern s32 ToFcGpsZ; |
222 | holgerb | 22 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
23 | extern s32 HeadFreeStartAngle; |
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231 | holgerb | 24 | extern volatile u8 FC_ErrorCode[5]; |
118 | killagreg | 25 | |
41 | ingob | 26 | typedef struct |
118 | killagreg | 27 | { |
28 | u8 Command; |
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29 | s16 AngleNick; // NickAngle in 0.1 deg |
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30 | s16 AngleRoll; // RollAngle in 0.1 deg |
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31 | s16 AccNick; |
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32 | s16 AccRoll; |
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33 | s16 GyroHeading; // Heading in 0.1 deg |
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34 | s16 GyroNick; |
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35 | s16 GyroRoll; |
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36 | s16 GyroYaw; |
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37 | union |
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38 | { |
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205 | killagreg | 39 | u8 Byte[12]; |
118 | killagreg | 40 | s8 sByte[12]; |
205 | killagreg | 41 | u16 Int[6]; |
42 | s16 sInt[6]; |
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43 | u32 Long[3]; |
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44 | s32 sLong[3]; |
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118 | killagreg | 45 | float Float[3]; |
46 | } Param; |
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47 | u8 Chksum; |
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41 | ingob | 48 | } __attribute__((packed)) FromFlightCtrl_t; |
49 | |||
202 | killagreg | 50 | #define SPI_NCCMD_OSD_DATA 100 |
51 | #define SPI_NCCMD_GPS_POS 101 |
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52 | #define SPI_NCCMD_GPS_TARGET 102 |
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53 | #define SPI_NCCMD_KALMAN 103 |
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54 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 55 | #define SPI_NCCMD_GPSINFO 105 |
1 | ingob | 56 | |
41 | ingob | 57 | typedef struct |
58 | { |
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59 | u8 Command; |
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215 | killagreg | 60 | GPS_Stick_t GPSStick; |
41 | ingob | 61 | s16 CompassHeading; |
62 | s16 Status; |
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63 | u16 BeepTime; |
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64 | union |
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65 | { |
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205 | killagreg | 66 | u8 Byte[12]; |
41 | ingob | 67 | s8 sByte[12]; |
205 | killagreg | 68 | u16 Int[6]; |
69 | s16 sInt[6]; |
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70 | u32 Long[3]; |
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71 | s32 sLong[3]; |
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41 | ingob | 72 | float Float[3]; |
73 | }Param; |
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74 | u8 Chksum; |
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75 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 76 | |
77 | |||
41 | ingob | 78 | typedef struct |
1 | ingob | 79 | { |
41 | ingob | 80 | u8 Major; |
81 | u8 Minor; |
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82 | u8 Patch; |
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83 | u8 Compatible; |
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61 | holgerb | 84 | u8 Hardware; |
41 | ingob | 85 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 86 | |
215 | killagreg | 87 | extern FromFlightCtrl_t FromFlightCtrl; |
88 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 89 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 90 | extern SPI_Version_t FC_Version; |
91 | extern fifo_t CompassCalcStateFiFo; |
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1 | ingob | 92 | |
41 | ingob | 93 | void SPI0_Init(void); |
94 | void SPI0_GetFlightCtrlVersion(void); |
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95 | void SPI0_UpdateBuffer(void); |
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1 | ingob | 96 | |
97 | |||
98 | |||
41 | ingob | 99 | #endif //_SPI_SLAVE_H |