WebSVN - FlightCtrl - Diff - Rev 1221 and 1222 - /branches/V0.73d Code Redesign killagreg/spi.h


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
//#include <util/delay.h>
#include <inttypes.h>
 
 
#define SPI_PROTOCOL_COMP   1
 
 
#define SPI_CMD_USER        10
#define SPI_CMD_STICK       11
#define SPI_CMD_MISC            12
#define SPI_CMD_PARAMETER1      13
#define SPI_CMD_VERSION         14
 
typedef struct
{
        uint8_t Sync1;
        uint8_t Sync2;
        uint8_t Command;
        int16_t IntegralNick;
        int16_t IntegralRoll;
        int16_t AccNick;
        int16_t AccRoll;
        int16_t GyroHeading;
        int16_t GyroNick;
        int16_t GyroRoll;
        int16_t GyroYaw;
        union
        {
                int8_t  sByte[12];
                uint8_t Byte[12];
                int16_t Int[6];
                int32_t Long[3];
                float   Float[3];
        } Param;
        uint8_t Chksum;
} __attribute__((packed)) ToNaviCtrl_t;
 
 
 
#define SPI_CMD_OSD_DATA        100
#define SPI_CMD_GPS_POS         101
#define SPI_CMD_GPS_TARGET      102
#define SPI_KALMAN                      103
 
typedef struct
{
        uint8_t Command;
        int16_t GPSStickNick;
        int16_t GPSStickRoll;
        int16_t GPS_Yaw;
        int16_t CompassHeading;
        int16_t Status;
        uint16_t BeepTime;
        union
        {
                int8_t  Byte[12];
                int16_t Int[6];
                int32_t Long[3];
                float   Float[3];
        } Param;
        uint8_t Chksum;
} __attribute__((packed)) FromNaviCtrl_t;
 
 
typedef struct
{
        uint8_t Major;
        uint8_t Minor;
        uint8_t Patch;
        uint8_t Compatible;
} __attribute__((packed)) SPI_VersionInfo_t;
 
 
extern ToNaviCtrl_t                     ToNaviCtrl;
extern FromNaviCtrl_t                   FromNaviCtrl;
 
 
typedef struct
{
        int8_t  KalmanK;
        int8_t  KalmanMaxDrift;
        int8_t  KalmanMaxFusion;
        uint8_t SerialDataOkay;
} __attribute__((packed)) NCData_t;
 
 
extern uint8_t NCDataOkay;
extern uint8_t NCSerialDataOkay;
 
void SPI_MasterInit(void);
void SPI_StartTransmitPacket(void);
void SPI_TransmitByte(void);
 
 
 
#endif //_SPI_H
 

Rev 1221	Rev 1222
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#ifndef _SPI_H	2	#ifndef _SPI_H
3	#define _SPI_H	3	#define _SPI_H
4		4
5	//#include <util/delay.h>	5	//#include <util/delay.h>
6	#include <inttypes.h>	6	#include <inttypes.h>
7		7
8		8
9	#define SPI_PROTOCOL_COMP 1	9	#define SPI_PROTOCOL_COMP 1
10		10
11		11
12	#define SPI_CMD_USER 10	12	#define SPI_CMD_USER 10
13	#define SPI_CMD_STICK 11	13	#define SPI_CMD_STICK 11
14	#define SPI_CMD_MISC 12	14	#define SPI_CMD_MISC 12
15	#define SPI_CMD_PARAMETER1 13	15	#define SPI_CMD_PARAMETER1 13
16	#define SPI_CMD_VERSION 14	16	#define SPI_CMD_VERSION 14
17		17
18	typedef struct	18	typedef struct
19	{	19	{
20	uint8_t Sync1;	20	uint8_t Sync1;
21	uint8_t Sync2;	21	uint8_t Sync2;
22	uint8_t Command;	22	uint8_t Command;
23	int16_t IntegralNick;	23	int16_t IntegralNick;
24	int16_t IntegralRoll;	24	int16_t IntegralRoll;
25	int16_t AccNick;	25	int16_t AccNick;
26	int16_t AccRoll;	26	int16_t AccRoll;
27	int16_t GyroHeading;	27	int16_t GyroHeading;
28	int16_t GyroNick;	28	int16_t GyroNick;
29	int16_t GyroRoll;	29	int16_t GyroRoll;
30	int16_t GyroYaw;	30	int16_t GyroYaw;
31	union	31	union
32	{	32	{
33	int8_t sByte[12];	33	int8_t sByte[12];
34	uint8_t Byte[12];	34	uint8_t Byte[12];
35	int16_t Int[6];	35	int16_t Int[6];
36	int32_t Long[3];	36	int32_t Long[3];
37	float Float[3];	37	float Float[3];
38	} Param;	38	} Param;
39	uint8_t Chksum;	39	uint8_t Chksum;
40	} __attribute__((packed)) ToNaviCtrl_t;	40	} __attribute__((packed)) ToNaviCtrl_t;
41		41
42		42
43		43
44	#define SPI_CMD_OSD_DATA 100	44	#define SPI_CMD_OSD_DATA 100
45	#define SPI_CMD_GPS_POS 101	45	#define SPI_CMD_GPS_POS 101
46	#define SPI_CMD_GPS_TARGET 102	46	#define SPI_CMD_GPS_TARGET 102
47	#define SPI_KALMAN 103	47	#define SPI_KALMAN 103
48		48
49	typedef struct	49	typedef struct
50	{	50	{
51	uint8_t Command;	51	uint8_t Command;
52	int16_t GPSStickNick;	52	int16_t GPSStickNick;
53	int16_t GPSStickRoll;	53	int16_t GPSStickRoll;
54	int16_t GPS_Yaw;	54	int16_t GPS_Yaw;
55	int16_t CompassHeading;	55	int16_t CompassHeading;
56	int16_t Status;	56	int16_t Status;
57	uint16_t BeepTime;	57	uint16_t BeepTime;
58	union	58	union
59	{	59	{
60	int8_t Byte[12];	60	int8_t Byte[12];
61	int16_t Int[6];	61	int16_t Int[6];
62	int32_t Long[3];	62	int32_t Long[3];
63	float Float[3];	63	float Float[3];
64	} Param;	64	} Param;
65	uint8_t Chksum;	65	uint8_t Chksum;
66	} __attribute__((packed)) FromNaviCtrl_t;	66	} __attribute__((packed)) FromNaviCtrl_t;
67		67
68		68
69	typedef struct	69	typedef struct
70	{	70	{
71	uint8_t Major;	71	uint8_t Major;
72	uint8_t Minor;	72	uint8_t Minor;
73	uint8_t Patch;	73	uint8_t Patch;
74	uint8_t Compatible;	74	uint8_t Compatible;
75	} __attribute__((packed)) SPI_VersionInfo_t;	75	} __attribute__((packed)) SPI_VersionInfo_t;
76		76
77		77
78	extern ToNaviCtrl_t ToNaviCtrl;	78	extern ToNaviCtrl_t ToNaviCtrl;
79	extern FromNaviCtrl_t FromNaviCtrl;	79	extern FromNaviCtrl_t FromNaviCtrl;
-		80
-		81
-		82	typedef struct
-		83	{
-		84	int8_t KalmanK;
-		85	int8_t KalmanMaxDrift;
-		86	int8_t KalmanMaxFusion;
-		87	uint8_t SerialDataOkay;
-		88	} __attribute__((packed)) NCData_t;
-		89
-		90
-		91	extern uint8_t NCDataOkay;
-		92	extern uint8_t NCSerialDataOkay;
80		93
81	void SPI_MasterInit(void);	94	void SPI_MasterInit(void);
82	void SPI_StartTransmitPacket(void);	95	void SPI_StartTransmitPacket(void);
83	void SPI_TransmitByte(void);	96	void SPI_TransmitByte(void);
84		97
85		98
86		99
87	#endif //_SPI_H	100	#endif //_SPI_H
88		101

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(root)/branches/V0.73d Code Redesign killagreg/spi.h - Rev 1221 → 1222