0,0 → 1,205 |
#ifndef _SPI_SLAVE_H |
#define _SPI_SLAVE_H |
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#include "fifo.h" |
#include "gps.h" |
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#define SPEAK_ERR_CALIBARTION 1 |
#define SPEAK_ERR_RECEICER 2 |
#define SPEAK_ERR_DATABUS 3 |
#define SPEAK_ERR_NAVI 4 |
#define SPEAK_ERROR 5 |
#define SPEAK_ERR_COMPASS 6 |
#define SPEAK_ERR_SENSOR 7 |
#define SPEAK_ERR_GPS 8 |
#define SPEAK_ERR_MOTOR 9 |
#define SPEAK_MAX_TEMPERAT 10 |
#define SPEAK_ALTI_REACHED 11 |
#define SPEAK_WP_REACHED 12 |
#define SPEAK_NEXT_WP 13 |
#define SPEAK_LANDING 14 |
#define SPEAK_GPS_FIX 15 |
#define SPEAK_UNDERVOLTAGE 16 |
#define SPEAK_GPS_HOLD 17 |
#define SPEAK_GPS_HOME 18 |
#define SPEAK_GPS_OFF 19 |
#define SPEAK_BEEP 20 |
#define SPEAK_MIKROKOPTER 21 |
#define SPEAK_CAPACITY 22 |
#define SPEAK_CF_OFF 23 |
#define SPEAK_CALIBRATE 24 |
#define SPEAK_MAX_RANGE 25 |
#define SPEAK_MAX_ALTITUD 26 |
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#define SPEAK_MK_OFF 38 |
#define SPEAK_ALTITUDE_ON 39 |
#define SPEAK_ALTITUDE_OFF 40 |
#define SPEAK_CF_ON 46 |
#define SPEAK_SINKING 47 |
#define SPEAK_RISING 48 |
#define SPEAK_HOLDING 49 |
#define SPEAK_GPS_ON 50 |
#define SPEAK_FOLLWING 51 |
#define SPEAK_STARTING 52 |
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#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
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#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_BL_ACCU 16 |
#define SPI_FCCMD_PARAMETER2 17 |
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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// devides only the Poti-value |
#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; } |
#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); } |
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extern s32 Kalman_K; |
extern s32 Kalman_Kompass ; |
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,LogFC_WP_EventChannel; |
extern u32 ToFC_AltitudeRate; |
extern s32 ToFC_AltitudeSetpoint; |
extern u8 NC_GPS_ModeCharacter; |
extern u8 FC_is_Calibrated; |
extern u8 FCCalibActive; |
extern u8 SpeakHoTT; |
extern u8 NC_Wait_for_LED; |
extern s16 GyroCompassCorrected; |
extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
extern s16 CompassSetpoint; |
extern u8 AmountOfMotors; |
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extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
extern u8 Logging_BL_MinOfMaxPWM; |
extern u8 ErrorCheck_BL_MinOfMaxPWM; |
extern u32 FC_I2C_ErrorConter; |
extern u8 FromFC_VarioCharacter; |
extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
extern s16 POI_KameraNick; |
extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
extern u16 FlugMinutenGesamt; |
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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; |
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//NC_To_FC_Flags |
#define NC_TO_FC_FLYING_RANGE 0x01 |
#define NC_TO_FC_EMERGENCY_LANDING 0x02 |
#define NC_TO_FC_AUTOSTART 0x04 |
#define NC_TO_FC_AUTOLANDING 0x08 // not used |
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#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 |
#define SPI_NCCMD_HOTT_INFO 106 |
#define SPI_MISC 107 |
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#define HOTT_VARIO_PACKET_ID 0x89 |
#define HOTT_GPS_PACKET_ID 0x8A |
#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
#define HOTT_GENERAL_PACKET_ID 0x8D |
#define JETI_GPS_PACKET_ID1 0x01 |
#define JETI_GPS_PACKET_ID2 0x02 |
#define HOTT_WPL_NAME 0x03 |
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typedef struct |
{ |
u8 Command; |
GPS_Stick_t GPSStick; |
s16 MagVecX; |
s16 CompassHeading; |
s16 AccErrorN; |
s16 AccErrorR; |
s16 MagVecY; |
s16 MagVecZ; |
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; |
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typedef struct |
{ |
u8 Current; |
u8 Temperature; |
u8 MaxPWM; |
u8 State; |
u8 NotReadyCnt; |
} __attribute__((packed)) Motor_t; |
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extern Motor_t Motor[12]; |
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#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
#define MOTOR_STATE_FAST_MODE 0x02 |
#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
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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 FromFlightCtrl_t FromFlightCtrl; |
extern ToFlightCtrl_t ToFlightCtrl; |
extern volatile u32 SPI0_Timeout; |
extern SPI_Version_t FC_Version; |
extern s16 GPS_Aid_StickMultiplikator; |
extern u8 CompassCalState; |
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void SPI0_Init(void); |
void SPI0_GetFlightCtrlVersion(void); |
void SPI0_UpdateBuffer(void); |
u16 BL3_Current(u8 who); // in 0.1A |
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#endif //_SPI_SLAVE_H |