| 0,0 → 1,99 |
|---|
| #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 volatile u8 FC_ErrorCode[5]; |
| |
| 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 |
| { |
| 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 Status; |
| 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; |
| extern fifo_t CompassCalcStateFiFo; |
| |
| void SPI0_Init(void); |
| void SPI0_GetFlightCtrlVersion(void); |
| void SPI0_UpdateBuffer(void); |
| |
| |
| |
| #endif //_SPI_SLAVE_H |