0,0 → 1,104 |
#ifndef _SPI_SLAVE_H |
#define _SPI_SLAVE_H |
|
#include "fifo.h" |
#include "gps.h" |
|
|
#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
|
#define SPI_FCCMD_USER 10 |
#define SPI_FCCMD_STICK 11 |
#define SPI_FCCMD_MISC 12 |
#define SPI_FCCMD_PARAMETER1 13 |
#define SPI_FCCMD_VERSION 14 |
#define SPI_FCCMD_SERVOS 15 |
#define SPI_FCCMD_ACCU 16 |
|
extern s32 Kalman_K; |
extern s32 Kalman_MaxDrift; |
extern s32 Kalman_MaxFusion; |
extern s32 ToFcGpsZ; |
extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
extern s32 HeadFreeStartAngle; |
extern s16 FC_WP_EventChannel; |
extern u32 ToFC_AltitudeRate; |
extern s32 ToFC_AltitudeSetpoint; |
|
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; |
u16 FCStatus; |
union |
{ |
u8 Byte[12]; |
s8 sByte[12]; |
u16 Int[6]; |
s16 sInt[6]; |
u32 Long[3]; |
s32 sLong[3]; |
float Float[3]; |
} Param; |
u8 Chksum; |
} __attribute__((packed)) FromFlightCtrl_t; |
|
#define SPI_NCCMD_OSD_DATA 100 |
#define SPI_NCCMD_GPS_POS 101 |
#define SPI_NCCMD_GPS_TARGET 102 |
#define SPI_NCCMD_KALMAN 103 |
#define SPI_NCCMD_VERSION 104 |
#define SPI_NCCMD_GPSINFO 105 |
|
typedef struct |
{ |
u8 Command; |
GPS_Stick_t GPSStick; |
s16 CompassHeading; |
s16 MagVecX; |
s16 MagVecY; |
s16 MagVecZ; |
s16 NCStatus; |
u16 BeepTime; |
union |
{ |
u8 Byte[12]; |
s8 sByte[12]; |
u16 Int[6]; |
s16 sInt[6]; |
u32 Long[3]; |
s32 sLong[3]; |
float Float[3]; |
}Param; |
u8 Chksum; |
} __attribute__((packed)) ToFlightCtrl_t; |
|
|
typedef struct |
{ |
u8 Major; |
u8 Minor; |
u8 Patch; |
u8 Compatible; |
u8 Hardware; |
} __attribute__((packed)) SPI_Version_t; |
|
extern FromFlightCtrl_t FromFlightCtrl; |
extern ToFlightCtrl_t ToFlightCtrl; |
extern volatile u32 SPI0_Timeout; |
extern SPI_Version_t FC_Version; |
|
void SPI0_Init(void); |
void SPI0_GetFlightCtrlVersion(void); |
void SPI0_UpdateBuffer(void); |
|
|
|
#endif //_SPI_SLAVE_H |