Rev 622 | Rev 636 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | #ifndef _SPI_SLAVE_H |
2 | #define _SPI_SLAVE_H |
||
1 | ingob | 3 | |
41 | ingob | 4 | #include "fifo.h" |
215 | killagreg | 5 | #include "gps.h" |
606 | holgerb | 6 | #include "main.h" |
1 | ingob | 7 | |
486 | holgerb | 8 | #define SPEAK_ERR_CALIBARTION 1 |
9 | #define SPEAK_ERR_RECEICER 2 |
||
10 | #define SPEAK_ERR_DATABUS 3 |
||
11 | #define SPEAK_ERR_NAVI 4 |
||
12 | #define SPEAK_ERROR 5 |
||
13 | #define SPEAK_ERR_COMPASS 6 |
||
14 | #define SPEAK_ERR_SENSOR 7 |
||
15 | #define SPEAK_ERR_GPS 8 |
||
16 | #define SPEAK_ERR_MOTOR 9 |
||
17 | #define SPEAK_MAX_TEMPERAT 10 |
||
18 | #define SPEAK_ALTI_REACHED 11 |
||
19 | #define SPEAK_WP_REACHED 12 |
||
20 | #define SPEAK_NEXT_WP 13 |
||
21 | #define SPEAK_LANDING 14 |
||
22 | #define SPEAK_GPS_FIX 15 |
||
23 | #define SPEAK_UNDERVOLTAGE 16 |
||
24 | #define SPEAK_GPS_HOLD 17 |
||
25 | #define SPEAK_GPS_HOME 18 |
||
26 | #define SPEAK_GPS_OFF 19 |
||
27 | #define SPEAK_BEEP 20 |
||
28 | #define SPEAK_MIKROKOPTER 21 |
||
29 | #define SPEAK_CAPACITY 22 |
||
30 | #define SPEAK_CF_OFF 23 |
||
397 | holgerb | 31 | #define SPEAK_CALIBRATE 24 |
486 | holgerb | 32 | #define SPEAK_MAX_RANGE 25 |
33 | #define SPEAK_MAX_ALTITUD 26 |
||
34 | |||
622 | holgerb | 35 | #define SPEAK_20M 37 // ? |
486 | holgerb | 36 | #define SPEAK_MK_OFF 38 |
37 | #define SPEAK_ALTITUDE_ON 39 |
||
38 | #define SPEAK_ALTITUDE_OFF 40 |
||
622 | holgerb | 39 | #define SPEAK_100M 41 // ? |
397 | holgerb | 40 | #define SPEAK_CF_ON 46 |
622 | holgerb | 41 | #define SPEAK_SINKING 47 // ? |
486 | holgerb | 42 | #define SPEAK_RISING 48 |
622 | holgerb | 43 | #define SPEAK_HOLDING 49 // ? |
397 | holgerb | 44 | #define SPEAK_GPS_ON 50 |
622 | holgerb | 45 | #define SPEAK_FOLLWING 51 // ? |
486 | holgerb | 46 | #define SPEAK_STARTING 52 |
41 | ingob | 47 | |
397 | holgerb | 48 | |
1 | ingob | 49 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
50 | |||
202 | killagreg | 51 | #define SPI_FCCMD_USER 10 |
52 | #define SPI_FCCMD_STICK 11 |
||
53 | #define SPI_FCCMD_MISC 12 |
||
54 | #define SPI_FCCMD_PARAMETER1 13 |
||
55 | #define SPI_FCCMD_VERSION 14 |
||
587 | holgerb | 56 | #define SPI_FCCMD_SLOW3 15 |
454 | holgerb | 57 | #define SPI_FCCMD_BL_ACCU 16 |
419 | holgerb | 58 | #define SPI_FCCMD_PARAMETER2 17 |
573 | holgerb | 59 | #define SPI_FCCMD_NEUTRAL 18 |
60 | #define SPI_FCCMD_SLOW 19 // kommt nicht vor |
||
587 | holgerb | 61 | #define SPI_FCCMD_SLOW2 20 |
41 | ingob | 62 | |
426 | holgerb | 63 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
64 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
||
65 | |||
519 | holgerb | 66 | // devides only the Poti-value |
67 | #define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; } |
||
68 | #define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); } |
||
69 | |||
149 | killagreg | 70 | extern s32 Kalman_K; |
330 | holgerb | 71 | extern s32 Kalman_Kompass ; |
41 | ingob | 72 | extern s32 Kalman_MaxDrift; |
73 | extern s32 Kalman_MaxFusion; |
||
148 | holgerb | 74 | extern s32 ToFcGpsZ; |
222 | holgerb | 75 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
587 | holgerb | 76 | extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart; |
577 | holgerb | 77 | extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed; |
286 | killagreg | 78 | extern u32 ToFC_AltitudeRate; |
285 | holgerb | 79 | extern s32 ToFC_AltitudeSetpoint; |
323 | holgerb | 80 | extern u8 NC_GPS_ModeCharacter; |
330 | holgerb | 81 | extern u8 FC_is_Calibrated; |
82 | extern u8 FCCalibActive; |
||
489 | killagreg | 83 | extern u8 SpeakHoTT; |
460 | holgerb | 84 | extern u8 NC_Wait_for_LED; |
463 | holgerb | 85 | extern s16 GyroCompassCorrected; |
510 | holgerb | 86 | extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
87 | extern s16 CompassSetpoint; |
||
530 | holgerb | 88 | extern u8 AmountOfMotors; |
559 | holgerb | 89 | extern s16 SimulatedDirection; // simulated compass direction |
510 | holgerb | 90 | |
338 | holgerb | 91 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
530 | holgerb | 92 | extern u8 Logging_BL_MinOfMaxPWM; |
93 | extern u8 ErrorCheck_BL_MinOfMaxPWM; |
||
338 | holgerb | 94 | extern u32 FC_I2C_ErrorConter; |
95 | extern u8 FromFC_VarioCharacter; |
||
96 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
||
351 | holgerb | 97 | extern s16 POI_KameraNick; |
448 | holgerb | 98 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
532 | holgerb | 99 | extern u16 FlugMinutenGesamt; |
578 | holgerb | 100 | extern u32 LoggingGasFilter, LoggingGasCnt; |
101 | extern u8 HoverGas; |
||
530 | holgerb | 102 | |
41 | ingob | 103 | typedef struct |
118 | killagreg | 104 | { |
105 | u8 Command; |
||
106 | s16 AngleNick; // NickAngle in 0.1 deg |
||
107 | s16 AngleRoll; // RollAngle in 0.1 deg |
||
108 | s16 AccNick; |
||
109 | s16 AccRoll; |
||
280 | killagreg | 110 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 111 | s16 GyroNick; |
112 | s16 GyroRoll; |
||
113 | s16 GyroYaw; |
||
284 | killagreg | 114 | u16 FCStatus; |
118 | killagreg | 115 | union |
116 | { |
||
205 | killagreg | 117 | u8 Byte[12]; |
118 | killagreg | 118 | s8 sByte[12]; |
205 | killagreg | 119 | u16 Int[6]; |
120 | s16 sInt[6]; |
||
121 | u32 Long[3]; |
||
122 | s32 sLong[3]; |
||
118 | killagreg | 123 | float Float[3]; |
124 | } Param; |
||
125 | u8 Chksum; |
||
41 | ingob | 126 | } __attribute__((packed)) FromFlightCtrl_t; |
127 | |||
202 | killagreg | 128 | #define SPI_NCCMD_OSD_DATA 100 |
129 | #define SPI_NCCMD_GPS_POS 101 |
||
130 | #define SPI_NCCMD_GPS_TARGET 102 |
||
131 | #define SPI_NCCMD_KALMAN 103 |
||
132 | #define SPI_NCCMD_VERSION 104 |
||
204 | killagreg | 133 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 134 | #define SPI_NCCMD_HOTT_INFO 106 |
342 | holgerb | 135 | #define SPI_MISC 107 |
1 | ingob | 136 | |
329 | holgerb | 137 | #define HOTT_VARIO_PACKET_ID 0x89 |
138 | #define HOTT_GPS_PACKET_ID 0x8A |
||
139 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
||
330 | holgerb | 140 | #define HOTT_GENERAL_PACKET_ID 0x8D |
462 | holgerb | 141 | #define JETI_GPS_PACKET_ID1 0x01 |
142 | #define JETI_GPS_PACKET_ID2 0x02 |
||
504 | holgerb | 143 | #define HOTT_WPL_NAME 0x03 |
329 | holgerb | 144 | |
41 | ingob | 145 | typedef struct |
146 | { |
||
147 | u8 Command; |
||
215 | killagreg | 148 | GPS_Stick_t GPSStick; |
419 | holgerb | 149 | s16 MagVecX; |
41 | ingob | 150 | s16 CompassHeading; |
489 | killagreg | 151 | s16 AccErrorN; |
152 | s16 AccErrorR; |
||
419 | holgerb | 153 | s16 MagVecY; |
489 | killagreg | 154 | s16 MagVecZ; |
41 | ingob | 155 | u16 BeepTime; |
156 | union |
||
157 | { |
||
205 | killagreg | 158 | u8 Byte[12]; |
41 | ingob | 159 | s8 sByte[12]; |
205 | killagreg | 160 | u16 Int[6]; |
161 | s16 sInt[6]; |
||
162 | u32 Long[3]; |
||
163 | s32 sLong[3]; |
||
41 | ingob | 164 | float Float[3]; |
165 | }Param; |
||
166 | u8 Chksum; |
||
167 | } __attribute__((packed)) ToFlightCtrl_t; |
||
1 | ingob | 168 | |
358 | holgerb | 169 | typedef struct |
170 | { |
||
171 | u8 Current; |
||
172 | u8 Temperature; |
||
173 | u8 MaxPWM; |
||
174 | u8 State; |
||
530 | holgerb | 175 | u8 NotReadyCnt; |
358 | holgerb | 176 | } __attribute__((packed)) Motor_t; |
1 | ingob | 177 | |
606 | holgerb | 178 | extern Motor_t Motor[MAX_MOTORS]; |
358 | holgerb | 179 | |
471 | holgerb | 180 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
181 | #define MOTOR_STATE_FAST_MODE 0x02 |
||
182 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
||
606 | holgerb | 183 | extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
471 | holgerb | 184 | |
185 | |||
41 | ingob | 186 | typedef struct |
1 | ingob | 187 | { |
41 | ingob | 188 | u8 Major; |
189 | u8 Minor; |
||
190 | u8 Patch; |
||
191 | u8 Compatible; |
||
61 | holgerb | 192 | u8 Hardware; |
41 | ingob | 193 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 194 | |
215 | killagreg | 195 | extern FromFlightCtrl_t FromFlightCtrl; |
196 | extern ToFlightCtrl_t ToFlightCtrl; |
||
146 | killagreg | 197 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 198 | extern SPI_Version_t FC_Version; |
514 | holgerb | 199 | extern s16 GPS_Aid_StickMultiplikator; |
392 | holgerb | 200 | extern u8 CompassCalState; |
619 | holgerb | 201 | extern u8 Out1TriggerUpdateNewData; |
625 | holgerb | 202 | extern u8 LowVoltageLandingActive; |
1 | ingob | 203 | |
41 | ingob | 204 | void SPI0_Init(void); |
205 | void SPI0_GetFlightCtrlVersion(void); |
||
206 | void SPI0_UpdateBuffer(void); |
||
489 | killagreg | 207 | u16 BL3_Current(u8 who); // in 0.1A |
1 | ingob | 208 | |
41 | ingob | 209 | #endif //_SPI_SLAVE_H |