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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; |
460 | holgerb | 49 | extern u8 NC_Wait_for_LED; |
463 | holgerb | 50 | extern s16 GyroCompassCorrected; |
51 | |||
482 | killagreg | 52 | |
338 | holgerb | 53 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
54 | extern u32 FC_I2C_ErrorConter; |
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55 | extern u8 FromFC_VarioCharacter; |
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56 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
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351 | holgerb | 57 | extern s16 POI_KameraNick; |
448 | holgerb | 58 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
41 | ingob | 59 | typedef struct |
118 | killagreg | 60 | { |
61 | u8 Command; |
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62 | s16 AngleNick; // NickAngle in 0.1 deg |
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63 | s16 AngleRoll; // RollAngle in 0.1 deg |
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64 | s16 AccNick; |
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65 | s16 AccRoll; |
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280 | killagreg | 66 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 67 | s16 GyroNick; |
68 | s16 GyroRoll; |
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69 | s16 GyroYaw; |
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284 | killagreg | 70 | u16 FCStatus; |
118 | killagreg | 71 | union |
72 | { |
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205 | killagreg | 73 | u8 Byte[12]; |
118 | killagreg | 74 | s8 sByte[12]; |
205 | killagreg | 75 | u16 Int[6]; |
76 | s16 sInt[6]; |
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77 | u32 Long[3]; |
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78 | s32 sLong[3]; |
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118 | killagreg | 79 | float Float[3]; |
80 | } Param; |
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81 | u8 Chksum; |
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41 | ingob | 82 | } __attribute__((packed)) FromFlightCtrl_t; |
83 | |||
351 | holgerb | 84 | //NC_To_FC_Flags |
85 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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86 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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448 | holgerb | 87 | #define NC_TO_FC_AUTOSTART 0x04 |
88 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
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351 | holgerb | 89 | |
202 | killagreg | 90 | #define SPI_NCCMD_OSD_DATA 100 |
91 | #define SPI_NCCMD_GPS_POS 101 |
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92 | #define SPI_NCCMD_GPS_TARGET 102 |
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93 | #define SPI_NCCMD_KALMAN 103 |
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94 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 95 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 96 | #define SPI_NCCMD_HOTT_INFO 106 |
342 | holgerb | 97 | #define SPI_MISC 107 |
1 | ingob | 98 | |
329 | holgerb | 99 | #define HOTT_VARIO_PACKET_ID 0x89 |
100 | #define HOTT_GPS_PACKET_ID 0x8A |
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101 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
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330 | holgerb | 102 | #define HOTT_GENERAL_PACKET_ID 0x8D |
462 | holgerb | 103 | #define JETI_GPS_PACKET_ID1 0x01 |
104 | #define JETI_GPS_PACKET_ID2 0x02 |
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329 | holgerb | 105 | |
41 | ingob | 106 | typedef struct |
107 | { |
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108 | u8 Command; |
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215 | killagreg | 109 | GPS_Stick_t GPSStick; |
419 | holgerb | 110 | s16 MagVecX; |
41 | ingob | 111 | s16 CompassHeading; |
419 | holgerb | 112 | s16 AccErrorN; |
113 | s16 AccErrorR; |
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114 | s16 MagVecY; |
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115 | s16 MagVecZ; |
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41 | ingob | 116 | u16 BeepTime; |
117 | union |
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118 | { |
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205 | killagreg | 119 | u8 Byte[12]; |
41 | ingob | 120 | s8 sByte[12]; |
205 | killagreg | 121 | u16 Int[6]; |
122 | s16 sInt[6]; |
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123 | u32 Long[3]; |
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124 | s32 sLong[3]; |
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41 | ingob | 125 | float Float[3]; |
126 | }Param; |
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127 | u8 Chksum; |
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128 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 129 | |
358 | holgerb | 130 | typedef struct |
131 | { |
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132 | u8 Current; |
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133 | u8 Temperature; |
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134 | u8 MaxPWM; |
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135 | u8 State; |
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136 | } __attribute__((packed)) Motor_t; |
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1 | ingob | 137 | |
358 | holgerb | 138 | extern Motor_t Motor[12]; |
139 | |||
471 | holgerb | 140 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
141 | #define MOTOR_STATE_FAST_MODE 0x02 |
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142 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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482 | killagreg | 143 | extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
471 | holgerb | 144 | |
145 | |||
482 | killagreg | 146 | |
41 | ingob | 147 | typedef struct |
1 | ingob | 148 | { |
41 | ingob | 149 | u8 Major; |
150 | u8 Minor; |
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151 | u8 Patch; |
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152 | u8 Compatible; |
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61 | holgerb | 153 | u8 Hardware; |
41 | ingob | 154 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 155 | |
215 | killagreg | 156 | extern FromFlightCtrl_t FromFlightCtrl; |
157 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 158 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 159 | extern SPI_Version_t FC_Version; |
331 | holgerb | 160 | extern u8 GPS_Aid_StickMultiplikator; |
392 | holgerb | 161 | extern u8 CompassCalState; |
1 | ingob | 162 | |
41 | ingob | 163 | void SPI0_Init(void); |
164 | void SPI0_GetFlightCtrlVersion(void); |
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165 | void SPI0_UpdateBuffer(void); |
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482 | killagreg | 166 | u16 BL3_Current(u8 who); // in 0.1A |
1 | ingob | 167 | |
41 | ingob | 168 | #endif //_SPI_SLAVE_H |