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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 | |
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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277 | killagreg | 24 | extern s16 FC_WP_EventChannel; |
286 | killagreg | 25 | extern u32 ToFC_AltitudeRate; |
285 | holgerb | 26 | extern s32 ToFC_AltitudeSetpoint; |
118 | killagreg | 27 | |
41 | ingob | 28 | typedef struct |
118 | killagreg | 29 | { |
30 | u8 Command; |
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31 | s16 AngleNick; // NickAngle in 0.1 deg |
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32 | s16 AngleRoll; // RollAngle in 0.1 deg |
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33 | s16 AccNick; |
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34 | s16 AccRoll; |
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280 | killagreg | 35 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 36 | s16 GyroNick; |
37 | s16 GyroRoll; |
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38 | s16 GyroYaw; |
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284 | killagreg | 39 | u16 FCStatus; |
118 | killagreg | 40 | union |
41 | { |
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205 | killagreg | 42 | u8 Byte[12]; |
118 | killagreg | 43 | s8 sByte[12]; |
205 | killagreg | 44 | u16 Int[6]; |
45 | s16 sInt[6]; |
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46 | u32 Long[3]; |
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47 | s32 sLong[3]; |
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118 | killagreg | 48 | float Float[3]; |
49 | } Param; |
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50 | u8 Chksum; |
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41 | ingob | 51 | } __attribute__((packed)) FromFlightCtrl_t; |
52 | |||
202 | killagreg | 53 | #define SPI_NCCMD_OSD_DATA 100 |
54 | #define SPI_NCCMD_GPS_POS 101 |
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55 | #define SPI_NCCMD_GPS_TARGET 102 |
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56 | #define SPI_NCCMD_KALMAN 103 |
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57 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 58 | #define SPI_NCCMD_GPSINFO 105 |
1 | ingob | 59 | |
41 | ingob | 60 | typedef struct |
61 | { |
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62 | u8 Command; |
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215 | killagreg | 63 | GPS_Stick_t GPSStick; |
41 | ingob | 64 | s16 CompassHeading; |
286 | killagreg | 65 | s16 MagVecX; |
66 | s16 MagVecY; |
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67 | s16 MagVecZ; |
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284 | killagreg | 68 | s16 NCStatus; |
41 | ingob | 69 | u16 BeepTime; |
70 | union |
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71 | { |
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205 | killagreg | 72 | u8 Byte[12]; |
41 | ingob | 73 | s8 sByte[12]; |
205 | killagreg | 74 | u16 Int[6]; |
75 | s16 sInt[6]; |
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76 | u32 Long[3]; |
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77 | s32 sLong[3]; |
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41 | ingob | 78 | float Float[3]; |
79 | }Param; |
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80 | u8 Chksum; |
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81 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 82 | |
83 | |||
41 | ingob | 84 | typedef struct |
1 | ingob | 85 | { |
41 | ingob | 86 | u8 Major; |
87 | u8 Minor; |
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88 | u8 Patch; |
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89 | u8 Compatible; |
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61 | holgerb | 90 | u8 Hardware; |
41 | ingob | 91 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 92 | |
215 | killagreg | 93 | extern FromFlightCtrl_t FromFlightCtrl; |
94 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 95 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 96 | extern SPI_Version_t FC_Version; |
319 | holgerb | 97 | extern u8 DisableFC_Sticks; |
1 | ingob | 98 | |
41 | ingob | 99 | void SPI0_Init(void); |
100 | void SPI0_GetFlightCtrlVersion(void); |
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101 | void SPI0_UpdateBuffer(void); |
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1 | ingob | 102 | |
103 | |||
104 | |||
41 | ingob | 105 | #endif //_SPI_SLAVE_H |