0,0 → 1,362 |
#ifndef _SPI_SLAVE_H |
#define _SPI_SLAVE_H |
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#include "fifo.h" |
#include "gps.h" |
#include "main.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_20M 37 // ? |
#define SPEAK_MK_OFF 38 |
#define SPEAK_ALTITUDE_ON 39 |
#define SPEAK_ALTITUDE_OFF 40 |
#define SPEAK_100M 41 // ? |
#define SPEAK_CONNECTED 42 |
#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_SLOW3 15 |
#define SPI_FCCMD_BL_ACCU 16 |
#define SPI_FCCMD_PARAMETER2 17 |
#define SPI_FCCMD_NEUTRAL 18 |
#define SPI_FCCMD_SLOW 19 // kommt nicht vor |
#define SPI_FCCMD_SLOW2 20 |
#define SPI_FCCMD_STICK2 21 |
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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,CompassDirectionAtMotorStart; |
extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed; |
extern u32 ToFC_AltitudeRate; |
extern s32 ToFC_AltitudeSetpoint_dm; |
extern u8 NC_GPS_ModeCharacter; |
extern u8 FC_is_Calibrated; |
extern u8 FCCalibActive; |
extern u8 SpeakHoTT; |
extern u8 NC_Wait_for_LED; |
extern u8 CntSpiErrorPerSecond; |
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#define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
extern s8 PPM_In[MAX_RC_IN]; |
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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 u16 FlugMinutenGesamt; |
extern u32 LoggingGasFilter, LoggingGasCnt; |
extern u8 HoverGas; |
extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll; |
extern u8 RequestConfigFromFC; |
extern u8 SendOemName; |
extern u8 CamCtrlCharacter; |
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typedef struct |
{ |
u8 Command; |
s16 AngleNick; // NickAngle in 0.1 deg |
s16 AngleRoll; // RollAngle in 0.1 deg |
s16 GyroHeading; // Heading in 0.1 deg |
s16 GyroYaw; |
u16 FCStatus; |
union |
{ |
u8 Byte[20]; |
s8 sByte[20]; |
u16 Int[10]; |
s16 sInt[10]; |
u32 Long[5]; |
s32 sLong[5]; |
float Float[5]; |
} __attribute__((packed)) Param; |
u8 Chksum; |
} __attribute__((packed)) FromFlightCtrl_t; |
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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 |
#define SPI_SERIAL_CH 108 |
#define SPI_OEM_NAME 109 |
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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 CompassHeading; |
s16 AccErrorN; |
s16 AccErrorR; |
union |
{ |
u8 Byte[20]; |
s8 sByte[20]; |
u16 Int[10]; |
s16 sInt[10]; |
u32 Long[5]; |
s32 sLong[5]; |
float Float[5]; |
} __attribute__((packed)) Param; |
u8 Chksum; |
} __attribute__((packed)) ToFlightCtrl_t; |
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typedef struct |
{ |
unsigned char Sync1,Sync2; |
unsigned char WhoAmI; |
unsigned char Data[200]; |
unsigned char Chksum; |
}__attribute__((packed)) str_HugeBlockFromFC; |
extern str_HugeBlockFromFC HugeBlockFromFC; |
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typedef struct |
{ |
unsigned char Sync1,Sync2; |
unsigned char WhoAmI; |
unsigned char Data[200]; |
unsigned char Chksum; |
}__attribute__((packed)) str_HugeBlockToFC; |
extern str_HugeBlockToFC HugeBlockToFC; |
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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[MAX_MOTORS]; |
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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[MAX_MOTORS]; // 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; |
extern u8 Out1TriggerUpdateNewData; |
extern u8 LowVoltageLandingActive; |
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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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typedef struct |
{ |
unsigned char Revision; |
unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char HoeheChannel; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
unsigned char Hoehe_HoverBand; // Wert : 0-250 |
unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
unsigned char Stick_P; // Wert : 1-6 |
unsigned char Stick_D; // Wert : 0-64 |
unsigned char StickGier_P; // Wert : 1-20 |
unsigned char Gas_Min; // Wert : 0-32 |
unsigned char Gas_Max; // Wert : 33-250 |
unsigned char GyroAccFaktor; // Wert : 1-64 |
unsigned char KompassWirkung; // Wert : 0-32 |
unsigned char Gyro_P; // Wert : 10-250 |
unsigned char Gyro_I; // Wert : 0-250 |
unsigned char Gyro_D; // Wert : 0-250 |
unsigned char Gyro_Gier_P; // Wert : 10-250 |
unsigned char Gyro_Gier_I; // Wert : 0-250 |
unsigned char Gyro_Stability; // Wert : 0-16 |
unsigned char UnterspannungsWarnung; // Wert : 0-250 |
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
unsigned char I_Faktor; // Wert : 0-250 |
unsigned char UserParam1; // Wert : 0-250 |
unsigned char UserParam2; // Wert : 0-250 |
unsigned char UserParam3; // Wert : 0-250 |
unsigned char UserParam4; // Wert : 0-250 |
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
//--- Seit V0.75 |
unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoRollComp; // Wert : 0-250 |
unsigned char ServoRollMin; // Wert : 0-250 |
unsigned char ServoRollMax; // Wert : 0-250 |
//--- |
unsigned char ServoNickRefresh; // Speed of the Servo |
unsigned char ServoManualControlSpeed;// |
unsigned char CamOrientation; // |
unsigned char Servo3; // Value or mapping of the Servo Output |
unsigned char Servo4; // Value or mapping of the Servo Output |
unsigned char Servo5; // Value or mapping of the Servo Output |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
unsigned char Driftkomp; |
unsigned char DynamicStability; |
unsigned char UserParam5; // Wert : 0-250 |
unsigned char UserParam6; // Wert : 0-250 |
unsigned char UserParam7; // Wert : 0-250 |
unsigned char UserParam8; // Wert : 0-250 |
//---Output --------------------------------------------- |
unsigned char J16Bitmask; // for the J16 Output |
unsigned char J16Timing; // for the J16 Output |
unsigned char J17Bitmask; // for the J17 Output |
unsigned char J17Timing; // for the J17 Output |
// seit version V0.75c |
unsigned char WARN_J16_Bitmask; // for the J16 Output |
unsigned char WARN_J17_Bitmask; // for the J17 Output |
//---NaviCtrl--------------------------------------------- |
unsigned char AutoPhotoDistance; // Auto Photo |
unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
unsigned char NaviGpsGain; |
unsigned char NaviGpsP; |
unsigned char NaviGpsI; |
unsigned char NaviGpsD; |
unsigned char NaviGpsPLimit; |
unsigned char NaviGpsILimit; |
unsigned char NaviGpsDLimit; |
unsigned char NaviGpsA; |
unsigned char NaviGpsMinSat; |
unsigned char NaviStickThreshold; |
unsigned char NaviWindCorrection; |
unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
unsigned char NaviMaxFlyingRange; // in 10m |
unsigned char NaviAngleLimitation; |
unsigned char NaviPH_LoginTime; |
unsigned char NaviDescendRange; |
//---Ext.Ctrl--------------------------------------------- |
unsigned char ExternalControl; // for serial Control |
//---CareFree--------------------------------------------- |
unsigned char OrientationAngle; // Where is the front-direction? |
unsigned char CareFreeChannel; // switch for CareFree |
unsigned char MotorSafetySwitch; |
unsigned char MotorSmooth; |
unsigned char ComingHomeAltitude; |
unsigned char FailSafeTime; |
unsigned char MaxAltitude; |
unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
unsigned char ServoFilterNick; |
unsigned char ServoFilterRoll; |
unsigned char Servo3OnValue; |
unsigned char Servo3OffValue; |
unsigned char Servo4OnValue; |
unsigned char Servo4OffValue; |
unsigned char ServoFS_Pos[5]; |
unsigned char StartLandChannel; |
unsigned char LandingSpeed; |
unsigned char CompassOffset; |
unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
unsigned char AutoPhotoAtitudes; |
unsigned char SingleWpSpeed; |
unsigned char LandingPulse; |
unsigned char SingleWpControlChannel; |
unsigned char MenuKeyChannel; |
unsigned char CamCtrlModeChannel; |
unsigned char CamCtrlZoomChannel; |
unsigned char reserved[32]; |
//------------------------------------------------ |
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
unsigned char ExtraConfig; // bitcodiert |
unsigned char GlobalConfig3; // bitcodiert |
char Name[12]; |
unsigned char crc; // must be the last byte! |
} __attribute__((packed)) paramset_t; // must be 179 bytes |
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extern paramset_t EE_Parameter; |
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#endif //_SPI_SLAVE_H |