WebSVN - NaviCtrl - Diff - Rev 206 and 215


#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;
 
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
 

Rev 206	Rev 215
1	#ifndef _SPI_SLAVE_H	1	#ifndef _SPI_SLAVE_H
2	#define _SPI_SLAVE_H	2	#define _SPI_SLAVE_H
3		3
4	#include "fifo.h"	4	#include "fifo.h"
-		5	#include "gps.h"
5		6
6		7
7	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
8		9
9	#define SPI_FCCMD_USER 10	10	#define SPI_FCCMD_USER 10
10	#define SPI_FCCMD_STICK 11	11	#define SPI_FCCMD_STICK 11
11	#define SPI_FCCMD_MISC 12	12	#define SPI_FCCMD_MISC 12
12	#define SPI_FCCMD_PARAMETER1 13	13	#define SPI_FCCMD_PARAMETER1 13
13	#define SPI_FCCMD_VERSION 14	14	#define SPI_FCCMD_VERSION 14
14	#define SPI_FCCMD_SERVOS 15	15	#define SPI_FCCMD_SERVOS 15
15	#define SPI_FCCMD_ACCU 16	16	#define SPI_FCCMD_ACCU 16
16		17
17	extern s32 Kalman_K;	18	extern s32 Kalman_K;
18	extern s32 Kalman_MaxDrift;	19	extern s32 Kalman_MaxDrift;
19	extern s32 Kalman_MaxFusion;	20	extern s32 Kalman_MaxFusion;
20	extern s32 ToFcGpsZ;	21	extern s32 ToFcGpsZ;
21		22
22	typedef struct	23	typedef struct
23	{	24	{
24	u8 Command;	25	u8 Command;
25	s16 AngleNick; // NickAngle in 0.1 deg	26	s16 AngleNick; // NickAngle in 0.1 deg
26	s16 AngleRoll; // RollAngle in 0.1 deg	27	s16 AngleRoll; // RollAngle in 0.1 deg
27	s16 AccNick;	28	s16 AccNick;
28	s16 AccRoll;	29	s16 AccRoll;
29	s16 GyroHeading; // Heading in 0.1 deg	30	s16 GyroHeading; // Heading in 0.1 deg
30	s16 GyroNick;	31	s16 GyroNick;
31	s16 GyroRoll;	32	s16 GyroRoll;
32	s16 GyroYaw;	33	s16 GyroYaw;
33	union	34	union
34	{	35	{
35	u8 Byte[12];	36	u8 Byte[12];
36	s8 sByte[12];	37	s8 sByte[12];
37	u16 Int[6];	38	u16 Int[6];
38	s16 sInt[6];	39	s16 sInt[6];
39	u32 Long[3];	40	u32 Long[3];
40	s32 sLong[3];	41	s32 sLong[3];
41	float Float[3];	42	float Float[3];
42	} Param;	43	} Param;
43	u8 Chksum;	44	u8 Chksum;
44	} __attribute__((packed)) FromFlightCtrl_t;	45	} __attribute__((packed)) FromFlightCtrl_t;
45		46
46	#define SPI_NCCMD_OSD_DATA 100	47	#define SPI_NCCMD_OSD_DATA 100
47	#define SPI_NCCMD_GPS_POS 101	48	#define SPI_NCCMD_GPS_POS 101
48	#define SPI_NCCMD_GPS_TARGET 102	49	#define SPI_NCCMD_GPS_TARGET 102
49	#define SPI_NCCMD_KALMAN 103	50	#define SPI_NCCMD_KALMAN 103
50	#define SPI_NCCMD_VERSION 104	51	#define SPI_NCCMD_VERSION 104
51	#define SPI_NCCMD_GPSINFO 105	52	#define SPI_NCCMD_GPSINFO 105
52		53
53	typedef struct	54	typedef struct
54	{	55	{
55	u8 Command;	56	u8 Command;
56	s16 GPS_Nick;	57	GPS_Stick_t GPSStick;
57	s16 GPS_Roll;	-
58	s16 GPS_Yaw;	-
59	s16 CompassHeading;	58	s16 CompassHeading;
60	s16 Status;	59	s16 Status;
61	u16 BeepTime;	60	u16 BeepTime;
62	union	61	union
63	{	62	{
64	u8 Byte[12];	63	u8 Byte[12];
65	s8 sByte[12];	64	s8 sByte[12];
66	u16 Int[6];	65	u16 Int[6];
67	s16 sInt[6];	66	s16 sInt[6];
68	u32 Long[3];	67	u32 Long[3];
69	s32 sLong[3];	68	s32 sLong[3];
70	float Float[3];	69	float Float[3];
71	}Param;	70	}Param;
72	u8 Chksum;	71	u8 Chksum;
73	} __attribute__((packed)) ToFlightCtrl_t;	72	} __attribute__((packed)) ToFlightCtrl_t;
74		73
75		74
76	typedef struct	75	typedef struct
77	{	76	{
78	u8 Major;	77	u8 Major;
79	u8 Minor;	78	u8 Minor;
80	u8 Patch;	79	u8 Patch;
81	u8 Compatible;	80	u8 Compatible;
82	u8 Hardware;	81	u8 Hardware;
83	} __attribute__((packed)) SPI_Version_t;	82	} __attribute__((packed)) SPI_Version_t;
84		83
85	extern volatile FromFlightCtrl_t FromFlightCtrl;	84	extern FromFlightCtrl_t FromFlightCtrl;
86	extern volatile ToFlightCtrl_t ToFlightCtrl;	85	extern ToFlightCtrl_t ToFlightCtrl;
87	extern volatile u32 SPI0_Timeout;	86	extern volatile u32 SPI0_Timeout;
88	extern SPI_Version_t FC_Version;	87	extern SPI_Version_t FC_Version;
89	extern fifo_t CompassCalcStateFiFo;	88	extern fifo_t CompassCalcStateFiFo;
90		89
91	void SPI0_Init(void);	90	void SPI0_Init(void);
92	void SPI0_GetFlightCtrlVersion(void);	91	void SPI0_GetFlightCtrlVersion(void);
93	void SPI0_UpdateBuffer(void);	92	void SPI0_UpdateBuffer(void);
94		93
95		94
96		95
97	#endif //_SPI_SLAVE_H	96	#endif //_SPI_SLAVE_H
98		97

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.h @ 814 - Rev 206 → 215