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1 | ingob | 1 | #ifndef _SPI_H |
2 | #define _SPI_H |
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3 | |||
4 | #define SPI_PROTOCOL_COMP 1 |
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5 | |||
6 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
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7 | |||
8 | // IMPORTANT: no syncbytes in structure ! |
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27 | holgerb | 9 | #define SPI_CMD_USER 10 |
10 | #define SPI_CMD_STICK 11 |
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11 | #define SPI_CMD_CAL_COMPASS 12 |
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12 | #define SPI_CMD_PARAMETER1 13 |
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1 | ingob | 13 | |
14 | struct str_FromFlightCtrl |
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15 | { |
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16 | u8 Command; |
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17 | s16 IntegralNick; |
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18 | s16 IntegralRoll; |
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19 | s16 AccNick; |
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20 | s16 AccRoll; |
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21 | s16 GyroCompass; |
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22 | s16 GyroNick; |
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23 | s16 GyroRoll; |
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24 | s16 GyroGier; |
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25 | union |
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26 | { u8 Byte[12]; |
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27 | s8 sByte[12]; |
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28 | s16 Int[6]; |
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29 | float Float[3]; |
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30 | int Long[3]; |
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31 | } Param; |
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32 | u8 Chksum; |
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33 | } __attribute__((packed)); |
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34 | |||
35 | #define SPI_CMD_OSD_DATA 100 |
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36 | #define SPI_CMD_GPS_POS 101 |
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37 | #define SPI_CMD_GPS_TARGET 102 |
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38 | |||
39 | struct str_ToFlightCtrl |
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40 | { |
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41 | unsigned char Sync1, Sync2; |
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42 | unsigned char Command; |
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43 | s16 GPS_Nick; |
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44 | s16 GPS_Roll; |
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45 | s16 GPS_Gier; |
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46 | s16 CompassValue; |
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47 | s16 Status; |
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48 | unsigned char BeepTime; |
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49 | union |
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50 | { u8 Byte[12]; |
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51 | s16 Int[6]; |
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52 | float Float[3]; |
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53 | int Long[3]; |
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54 | } Param; |
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55 | unsigned char Chksum; |
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56 | } __attribute__((packed)); |
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57 | |||
58 | |||
59 | #define X_AXIS 1 |
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60 | #define Y_AXIS 2 |
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61 | #define Z_AXIS 3 |
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62 | |||
63 | |||
64 | |||
65 | struct str_MicroMag |
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66 | { |
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67 | unsigned char ReadAxis, WaitingforMeasurement; |
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68 | s16 Axis[3]; |
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69 | s16 Heading; |
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70 | } __attribute__((packed)); |
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71 | |||
72 | |||
73 | extern struct str_FromFlightCtrl FromFlightCtrl; |
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74 | extern struct str_ToFlightCtrl ToFlightCtrl; |
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75 | |||
76 | extern volatile struct str_MicroMag MicroMag; |
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77 | |||
78 | extern s16 GPS_Nick, GPS_Roll, CompassValue; |
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79 | |||
80 | extern void SPI0_Init(void); |
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81 | extern void SPI_CheckSlaveSelect(void); |
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82 | extern void UpdateSPI_Buffer(void); |
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83 | #endif |