| 0,0 → 1,100 |
|---|
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| |
| //#include <util/delay.h> |
| #include <inttypes.h> |
| |
| |
| #define SPI_PROTOCOL_COMP 1 |
| |
| |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_MISC 12 |
| #define SPI_CMD_PARAMETER1 13 |
| #define SPI_CMD_VERSION 14 |
| |
| typedef struct |
| { |
| uint8_t Sync1; |
| uint8_t Sync2; |
| uint8_t Command; |
| int16_t IntegralNick; |
| int16_t IntegralRoll; |
| int16_t AccNick; |
| int16_t AccRoll; |
| int16_t GyroHeading; |
| int16_t GyroNick; |
| int16_t GyroRoll; |
| int16_t GyroYaw; |
| union |
| { |
| int8_t sByte[12]; |
| uint8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } __attribute__((packed)) ToNaviCtrl_t; |
| |
| |
| |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| #define SPI_KALMAN 103 |
| |
| typedef struct |
| { |
| uint8_t Command; |
| int16_t GPSStickNick; |
| int16_t GPSStickRoll; |
| int16_t GPS_Yaw; |
| int16_t CompassHeading; |
| int16_t Status; |
| uint16_t BeepTime; |
| union |
| { |
| int8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } __attribute__((packed)) FromNaviCtrl_t; |
| |
| |
| typedef struct |
| { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t Patch; |
| uint8_t Compatible; |
| } __attribute__((packed)) SPI_VersionInfo_t; |
| |
| |
| extern ToNaviCtrl_t ToNaviCtrl; |
| extern FromNaviCtrl_t FromNaviCtrl; |
| |
| |
| typedef struct |
| { |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| uint8_t SerialDataOkay; |
| } __attribute__((packed)) NCData_t; |
| |
| |
| extern uint8_t NCDataOkay; |
| extern uint8_t NCSerialDataOkay; |
| |
| void SPI_MasterInit(void); |
| void SPI_StartTransmitPacket(void); |
| void SPI_TransmitByte(void); |
| |
| |
| |
| #endif //_SPI_H |