| 0,0 → 1,83 |
|---|
| #ifndef _SPI_H |
| #define _SPI_H |
| |
| #define SPI_PROTOCOL_COMP 1 |
| |
| |
| #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
| |
| // IMPORTANT: no syncbytes in structure ! |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_CAL_COMPASS 12 |
| |
| struct str_FromFlightCtrl |
| { |
| u8 Command; |
| s16 IntegralNick; |
| s16 IntegralRoll; |
| s16 AccNick; |
| s16 AccRoll; |
| s16 GyroCompass; |
| s16 GyroNick; |
| s16 GyroRoll; |
| s16 GyroGier; |
| union |
| { u8 Byte[12]; |
| s8 sByte[12]; |
| s16 Int[6]; |
| float Float[3]; |
| int Long[3]; |
| } Param; |
| u8 Chksum; |
| } __attribute__((packed)); |
| |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| |
| struct str_ToFlightCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| s16 GPS_Nick; |
| s16 GPS_Roll; |
| s16 GPS_Gier; |
| s16 CompassValue; |
| s16 Status; |
| unsigned char BeepTime; |
| union |
| { u8 Byte[12]; |
| s16 Int[6]; |
| float Float[3]; |
| int Long[3]; |
| } Param; |
| unsigned char Chksum; |
| } __attribute__((packed)); |
| |
| |
| #define X_AXIS 1 |
| #define Y_AXIS 2 |
| #define Z_AXIS 3 |
| |
| |
| |
| struct str_MicroMag |
| { |
| unsigned char ReadAxis, WaitingforMeasurement; |
| s16 Axis[3]; |
| s16 Heading; |
| } __attribute__((packed)); |
| |
| |
| extern struct str_FromFlightCtrl FromFlightCtrl; |
| extern struct str_ToFlightCtrl ToFlightCtrl; |
| |
| extern volatile struct str_MicroMag MicroMag; |
| |
| extern s16 GPS_Nick, GPS_Roll, CompassValue; |
| |
| extern void SPI0_Init(void); |
| extern void SPI_CheckSlaveSelect(void); |
| extern void UpdateSPI_Buffer(void); |
| #endif |