52,8 → 52,9 |
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#define SPI_CMD_USER 10 |
#define SPI_CMD_STICK 11 |
#define SPI_CMD_CAL_COMPASS 12 |
#define SPI_CMD_MISC 12 |
#define SPI_CMD_PARAMETER1 13 |
#define SPI_CMD_VERSION 14 |
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typedef struct |
{ |
77,13 → 78,14 |
float Float[3]; |
} Param; |
uint8_t Chksum; |
} ToNaviCtrl_t; |
} __attribute__((packed)) ToNaviCtrl_t; |
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#define SPI_CMD_OSD_DATA 100 |
#define SPI_CMD_GPS_POS 101 |
#define SPI_CMD_GPS_TARGET 102 |
#define SPI_CMD_OSD_DATA 100 |
#define SPI_CMD_GPS_POS 101 |
#define SPI_CMD_GPS_TARGET 102 |
#define SPI_KALMAN 103 |
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typedef struct |
{ |
102,12 → 104,31 |
float Float[3]; |
} Param; |
uint8_t Chksum; |
} FromNaviCtrl_t; |
} __attribute__((packed)) FromNaviCtrl_t; |
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typedef struct |
{ |
int16_t OsdBar; |
int16_t Distance; |
int8_t Kalman_K; |
int8_t Kalman_MaxDrift; |
int8_t Kalman_MaxFusion; |
} __attribute__((packed)) FromNaviCtrl_Value_t; |
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extern ToNaviCtrl_t ToNaviCtrl; |
extern FromNaviCtrl_t FromNaviCtrl; |
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typedef struct |
{ |
uint8_t Major; |
uint8_t Minor; |
uint8_t Patch; |
uint8_t Compatible; |
} __attribute__((packed)) SPI_VersionInfo_t; |
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extern ToNaviCtrl_t ToNaviCtrl; |
extern FromNaviCtrl_t FromNaviCtrl; |
extern FromNaviCtrl_Value_t FromNaviCtrl_Value; |
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void SPI_MasterInit(void); |
void SPI_StartTransmitPacket(void); |
void SPI_TransmitByte(void); |