0,0 → 1,84 |
#ifndef _SPI_SLAVE_H |
#define _SPI_SLAVE_H |
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#include "fifo.h" |
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#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
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#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 |
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extern s32 FC_Kalman_K; |
extern s32 Kalman_MaxDrift; |
extern s32 Kalman_MaxFusion; |
typedef struct |
{ |
u8 Command; |
s16 AngleNick; // NickAngle in 0.1 deg |
s16 AngleRoll; // RollAngle in 0.1 deg |
s16 AccNick; |
s16 AccRoll; |
s16 GyroHeading; // Heading in 0.1 deg |
s16 GyroNick; |
s16 GyroRoll; |
s16 GyroYaw; |
union |
{ |
s8 sByte[12]; |
u8 Byte[12]; |
s16 Int[6]; |
s32 Long[3]; |
float Float[3]; |
} Param; |
u8 Chksum; |
} __attribute__((packed)) FromFlightCtrl_t; |
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#define SPI_KALMAN 103 |
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typedef struct |
{ |
u8 Command; |
s16 GPS_Nick; |
s16 GPS_Roll; |
s16 GPS_Yaw; |
s16 CompassHeading; |
s16 Status; |
u16 BeepTime; |
union |
{ |
s8 sByte[12]; |
u8 Byte[12]; |
s16 Int[6]; |
s32 Long[3]; |
float Float[3]; |
}Param; |
u8 Chksum; |
} __attribute__((packed)) ToFlightCtrl_t; |
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typedef struct |
{ |
u8 Major; |
u8 Minor; |
u8 Patch; |
u8 Compatible; |
u8 Hardware; |
} __attribute__((packed)) SPI_Version_t; |
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extern volatile FromFlightCtrl_t FromFlightCtrl; |
extern volatile ToFlightCtrl_t ToFlightCtrl; |
extern SPI_Version_t FC_Version; |
extern fifo_t CompassCalcStateFiFo; |
extern u32 CheckSPIOkay; |
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void SPI0_Init(void); |
void SPI0_GetFlightCtrlVersion(void); |
void SPI0_UpdateBuffer(void); |
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#endif //_SPI_SLAVE_H |