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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | |||
| 7 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
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| 8 | |||
| 9 | // IMPORTANT: no syncbytes in structure ! |
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| 10 | #define SPI_CMD_USER 10 |
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| 11 | #define SPI_CMD_STICK 11 |
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| 12 | #define SPI_CMD_CAL_COMPASS 12 |
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| 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 |