WebSVN - NaviCtrl - Diff - Rev 532 and 559 - /tags/V2.07b_Beta/spi


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.h"
 
#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
 
#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
 
 
#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_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
 
#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); }
 
// 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); }
 
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;
extern s16 SimulatedDirection;    // simulated compass direction
           
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;
 
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;
 
//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
#define NC_TO_FC_SIMULATION_ACTIVE      0x10 // don't start motors if simulation ist active
 
#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 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
 
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;
 
typedef struct
{
 u8 Current;
 u8 Temperature;
 u8 MaxPWM;
 u8 State;
 u8 NotReadyCnt;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[12];
 
#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
 
 
 
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 s16 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A
 
#endif //_SPI_SLAVE_H
 

Rev 532	Rev 559
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	#include "gps.h"
6		6
7	#define SPEAK_ERR_CALIBARTION 1	7	#define SPEAK_ERR_CALIBARTION 1
8	#define SPEAK_ERR_RECEICER 2	8	#define SPEAK_ERR_RECEICER 2
9	#define SPEAK_ERR_DATABUS 3	9	#define SPEAK_ERR_DATABUS 3
10	#define SPEAK_ERR_NAVI 4	10	#define SPEAK_ERR_NAVI 4
11	#define SPEAK_ERROR 5	11	#define SPEAK_ERROR 5
12	#define SPEAK_ERR_COMPASS 6	12	#define SPEAK_ERR_COMPASS 6
13	#define SPEAK_ERR_SENSOR 7	13	#define SPEAK_ERR_SENSOR 7
14	#define SPEAK_ERR_GPS 8	14	#define SPEAK_ERR_GPS 8
15	#define SPEAK_ERR_MOTOR 9	15	#define SPEAK_ERR_MOTOR 9
16	#define SPEAK_MAX_TEMPERAT 10	16	#define SPEAK_MAX_TEMPERAT 10
17	#define SPEAK_ALTI_REACHED 11	17	#define SPEAK_ALTI_REACHED 11
18	#define SPEAK_WP_REACHED 12	18	#define SPEAK_WP_REACHED 12
19	#define SPEAK_NEXT_WP 13	19	#define SPEAK_NEXT_WP 13
20	#define SPEAK_LANDING 14	20	#define SPEAK_LANDING 14
21	#define SPEAK_GPS_FIX 15	21	#define SPEAK_GPS_FIX 15
22	#define SPEAK_UNDERVOLTAGE 16	22	#define SPEAK_UNDERVOLTAGE 16
23	#define SPEAK_GPS_HOLD 17	23	#define SPEAK_GPS_HOLD 17
24	#define SPEAK_GPS_HOME 18	24	#define SPEAK_GPS_HOME 18
25	#define SPEAK_GPS_OFF 19	25	#define SPEAK_GPS_OFF 19
26	#define SPEAK_BEEP 20	26	#define SPEAK_BEEP 20
27	#define SPEAK_MIKROKOPTER 21	27	#define SPEAK_MIKROKOPTER 21
28	#define SPEAK_CAPACITY 22	28	#define SPEAK_CAPACITY 22
29	#define SPEAK_CF_OFF 23	29	#define SPEAK_CF_OFF 23
30	#define SPEAK_CALIBRATE 24	30	#define SPEAK_CALIBRATE 24
31	#define SPEAK_MAX_RANGE 25	31	#define SPEAK_MAX_RANGE 25
32	#define SPEAK_MAX_ALTITUD 26	32	#define SPEAK_MAX_ALTITUD 26
33		33
34	#define SPEAK_MK_OFF 38	34	#define SPEAK_MK_OFF 38
35	#define SPEAK_ALTITUDE_ON 39	35	#define SPEAK_ALTITUDE_ON 39
36	#define SPEAK_ALTITUDE_OFF 40	36	#define SPEAK_ALTITUDE_OFF 40
37	#define SPEAK_CF_ON 46	37	#define SPEAK_CF_ON 46
38	#define SPEAK_SINKING 47	38	#define SPEAK_SINKING 47
39	#define SPEAK_RISING 48	39	#define SPEAK_RISING 48
40	#define SPEAK_HOLDING 49	40	#define SPEAK_HOLDING 49
41	#define SPEAK_GPS_ON 50	41	#define SPEAK_GPS_ON 50
42	#define SPEAK_FOLLWING 51	42	#define SPEAK_FOLLWING 51
43	#define SPEAK_STARTING 52	43	#define SPEAK_STARTING 52
44		44
45		45
46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
47		47
48	#define SPI_FCCMD_USER 10	48	#define SPI_FCCMD_USER 10
49	#define SPI_FCCMD_STICK 11	49	#define SPI_FCCMD_STICK 11
50	#define SPI_FCCMD_MISC 12	50	#define SPI_FCCMD_MISC 12
51	#define SPI_FCCMD_PARAMETER1 13	51	#define SPI_FCCMD_PARAMETER1 13
52	#define SPI_FCCMD_VERSION 14	52	#define SPI_FCCMD_VERSION 14
53	#define SPI_FCCMD_SERVOS 15	53	#define SPI_FCCMD_SERVOS 15
54	#define SPI_FCCMD_BL_ACCU 16	54	#define SPI_FCCMD_BL_ACCU 16
55	#define SPI_FCCMD_PARAMETER2 17	55	#define SPI_FCCMD_PARAMETER2 17
56		56
57	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }	57	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }	58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
59		59
60	// devides only the Poti-value	60	// devides only the Poti-value
61	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }	61	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
62	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }	62	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }
63		63
64	extern s32 Kalman_K;	64	extern s32 Kalman_K;
65	extern s32 Kalman_Kompass ;	65	extern s32 Kalman_Kompass ;
66	extern s32 Kalman_MaxDrift;	66	extern s32 Kalman_MaxDrift;
67	extern s32 Kalman_MaxFusion;	67	extern s32 Kalman_MaxFusion;
68	extern s32 ToFcGpsZ;	68	extern s32 ToFcGpsZ;
69	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	69	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
70	extern s32 HeadFreeStartAngle;	70	extern s32 HeadFreeStartAngle;
71	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;	71	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;
72	extern u32 ToFC_AltitudeRate;	72	extern u32 ToFC_AltitudeRate;
73	extern s32 ToFC_AltitudeSetpoint;	73	extern s32 ToFC_AltitudeSetpoint;
74	extern u8 NC_GPS_ModeCharacter;	74	extern u8 NC_GPS_ModeCharacter;
75	extern u8 FC_is_Calibrated;	75	extern u8 FC_is_Calibrated;
76	extern u8 FCCalibActive;	76	extern u8 FCCalibActive;
77	extern u8 SpeakHoTT;	77	extern u8 SpeakHoTT;
78	extern u8 NC_Wait_for_LED;	78	extern u8 NC_Wait_for_LED;
79	extern s16 GyroCompassCorrected;	79	extern s16 GyroCompassCorrected;
80	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination	80	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
81	extern s16 CompassSetpoint;	81	extern s16 CompassSetpoint;
82	extern u8 AmountOfMotors;	82	extern u8 AmountOfMotors;
-		83	extern s16 SimulatedDirection; // simulated compass direction
83		84
84	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	85	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
85	extern u8 Logging_BL_MinOfMaxPWM;	86	extern u8 Logging_BL_MinOfMaxPWM;
86	extern u8 ErrorCheck_BL_MinOfMaxPWM;	87	extern u8 ErrorCheck_BL_MinOfMaxPWM;
87	extern u32 FC_I2C_ErrorConter;	88	extern u32 FC_I2C_ErrorConter;
88	extern u8 FromFC_VarioCharacter;	89	extern u8 FromFC_VarioCharacter;
89	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	90	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
90	extern s16 POI_KameraNick;	91	extern s16 POI_KameraNick;
91	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	92	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
92	extern u16 FlugMinutenGesamt;	93	extern u16 FlugMinutenGesamt;
93		94
94	typedef struct	95	typedef struct
95	{	96	{
96	u8 Command;	97	u8 Command;
97	s16 AngleNick; // NickAngle in 0.1 deg	98	s16 AngleNick; // NickAngle in 0.1 deg
98	s16 AngleRoll; // RollAngle in 0.1 deg	99	s16 AngleRoll; // RollAngle in 0.1 deg
99	s16 AccNick;	100	s16 AccNick;
100	s16 AccRoll;	101	s16 AccRoll;
101	s16 GyroHeading; // Heading in 0.1 deg	102	s16 GyroHeading; // Heading in 0.1 deg
102	s16 GyroNick;	103	s16 GyroNick;
103	s16 GyroRoll;	104	s16 GyroRoll;
104	s16 GyroYaw;	105	s16 GyroYaw;
105	u16 FCStatus;	106	u16 FCStatus;
106	union	107	union
107	{	108	{
108	u8 Byte[12];	109	u8 Byte[12];
109	s8 sByte[12];	110	s8 sByte[12];
110	u16 Int[6];	111	u16 Int[6];
111	s16 sInt[6];	112	s16 sInt[6];
112	u32 Long[3];	113	u32 Long[3];
113	s32 sLong[3];	114	s32 sLong[3];
114	float Float[3];	115	float Float[3];
115	} Param;	116	} Param;
116	u8 Chksum;	117	u8 Chksum;
117	} __attribute__((packed)) FromFlightCtrl_t;	118	} __attribute__((packed)) FromFlightCtrl_t;
118		119
119	//NC_To_FC_Flags	120	//NC_To_FC_Flags
120	#define NC_TO_FC_FLYING_RANGE 0x01	121	#define NC_TO_FC_FLYING_RANGE 0x01
121	#define NC_TO_FC_EMERGENCY_LANDING 0x02	122	#define NC_TO_FC_EMERGENCY_LANDING 0x02
122	#define NC_TO_FC_AUTOSTART 0x04	123	#define NC_TO_FC_AUTOSTART 0x04
123	#define NC_TO_FC_AUTOLANDING 0x08 // not used	124	#define NC_TO_FC_AUTOLANDING 0x08 // not used
-		125	#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active
124		126
125	#define SPI_NCCMD_OSD_DATA 100	127	#define SPI_NCCMD_OSD_DATA 100
126	#define SPI_NCCMD_GPS_POS 101	128	#define SPI_NCCMD_GPS_POS 101
127	#define SPI_NCCMD_GPS_TARGET 102	129	#define SPI_NCCMD_GPS_TARGET 102
128	#define SPI_NCCMD_KALMAN 103	130	#define SPI_NCCMD_KALMAN 103
129	#define SPI_NCCMD_VERSION 104	131	#define SPI_NCCMD_VERSION 104
130	#define SPI_NCCMD_GPSINFO 105	132	#define SPI_NCCMD_GPSINFO 105
131	#define SPI_NCCMD_HOTT_INFO 106	133	#define SPI_NCCMD_HOTT_INFO 106
132	#define SPI_MISC 107	134	#define SPI_MISC 107
133		135
134	#define HOTT_VARIO_PACKET_ID 0x89	136	#define HOTT_VARIO_PACKET_ID 0x89
135	#define HOTT_GPS_PACKET_ID 0x8A	137	#define HOTT_GPS_PACKET_ID 0x8A
136	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	138	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
137	#define HOTT_GENERAL_PACKET_ID 0x8D	139	#define HOTT_GENERAL_PACKET_ID 0x8D
138	#define JETI_GPS_PACKET_ID1 0x01	140	#define JETI_GPS_PACKET_ID1 0x01
139	#define JETI_GPS_PACKET_ID2 0x02	141	#define JETI_GPS_PACKET_ID2 0x02
140	#define HOTT_WPL_NAME 0x03	142	#define HOTT_WPL_NAME 0x03
141		143
142	typedef struct	144	typedef struct
143	{	145	{
144	u8 Command;	146	u8 Command;
145	GPS_Stick_t GPSStick;	147	GPS_Stick_t GPSStick;
146	s16 MagVecX;	148	s16 MagVecX;
147	s16 CompassHeading;	149	s16 CompassHeading;
148	s16 AccErrorN;	150	s16 AccErrorN;
149	s16 AccErrorR;	151	s16 AccErrorR;
150	s16 MagVecY;	152	s16 MagVecY;
151	s16 MagVecZ;	153	s16 MagVecZ;
152	u16 BeepTime;	154	u16 BeepTime;
153	union	155	union
154	{	156	{
155	u8 Byte[12];	157	u8 Byte[12];
156	s8 sByte[12];	158	s8 sByte[12];
157	u16 Int[6];	159	u16 Int[6];
158	s16 sInt[6];	160	s16 sInt[6];
159	u32 Long[3];	161	u32 Long[3];
160	s32 sLong[3];	162	s32 sLong[3];
161	float Float[3];	163	float Float[3];
162	}Param;	164	}Param;
163	u8 Chksum;	165	u8 Chksum;
164	} __attribute__((packed)) ToFlightCtrl_t;	166	} __attribute__((packed)) ToFlightCtrl_t;
165		167
166	typedef struct	168	typedef struct
167	{	169	{
168	u8 Current;	170	u8 Current;
169	u8 Temperature;	171	u8 Temperature;
170	u8 MaxPWM;	172	u8 MaxPWM;
171	u8 State;	173	u8 State;
172	u8 NotReadyCnt;	174	u8 NotReadyCnt;
173	} __attribute__((packed)) Motor_t;	175	} __attribute__((packed)) Motor_t;
174		176
175	extern Motor_t Motor[12];	177	extern Motor_t Motor[12];
176		178
177	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	179	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
178	#define MOTOR_STATE_FAST_MODE 0x02	180	#define MOTOR_STATE_FAST_MODE 0x02
179	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	181	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
180	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt	182	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
181		183
182		184
183		185
184	typedef struct	186	typedef struct
185	{	187	{
186	u8 Major;	188	u8 Major;
187	u8 Minor;	189	u8 Minor;
188	u8 Patch;	190	u8 Patch;
189	u8 Compatible;	191	u8 Compatible;
190	u8 Hardware;	192	u8 Hardware;
191	} __attribute__((packed)) SPI_Version_t;	193	} __attribute__((packed)) SPI_Version_t;
192		194
193	extern FromFlightCtrl_t FromFlightCtrl;	195	extern FromFlightCtrl_t FromFlightCtrl;
194	extern ToFlightCtrl_t ToFlightCtrl;	196	extern ToFlightCtrl_t ToFlightCtrl;
195	extern volatile u32 SPI0_Timeout;	197	extern volatile u32 SPI0_Timeout;
196	extern SPI_Version_t FC_Version;	198	extern SPI_Version_t FC_Version;
197	extern s16 GPS_Aid_StickMultiplikator;	199	extern s16 GPS_Aid_StickMultiplikator;
198	extern u8 CompassCalState;	200	extern u8 CompassCalState;
199		201
200	void SPI0_Init(void);	202	void SPI0_Init(void);
201	void SPI0_GetFlightCtrlVersion(void);	203	void SPI0_GetFlightCtrlVersion(void);
202	void SPI0_UpdateBuffer(void);	204	void SPI0_UpdateBuffer(void);
203	u16 BL3_Current(u8 who); // in 0.1A	205	u16 BL3_Current(u8 who); // in 0.1A
204		206
205	#endif //_SPI_SLAVE_H	207	#endif //_SPI_SLAVE_H
206		208

Subversion Repositories NaviCtrl

(root)/tags/V2.07b_Beta/spi_slave.h @ 652 - Rev 532 → 559