WebSVN - NaviCtrl - Diff - Rev 61 and 62 - /tags/V0.14b/spi


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
 
 
#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
 
#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
 
extern s32 FC_Kalman_K;
extern s32 Kalman_MaxDrift;
extern s32 Kalman_MaxFusion;
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
         {
           s8    sByte[12];
           u8    Byte[12];
           s16   Int[6];
           s32   Long[3];
           float Float[3];
         } Param;
         u8 Chksum;
 } __attribute__((packed)) FromFlightCtrl_t;
 
#define SPI_KALMAN           103
 
typedef struct
{
        u8 Command;
        s16 GPS_Nick;
        s16 GPS_Roll;
        s16 GPS_Yaw;
        s16 CompassHeading;
        s16 Status;
        u16 BeepTime;
        union
        {
                s8    sByte[12];
                u8    Byte[12];
                s16   Int[6];
                s32   Long[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 volatile FromFlightCtrl_t   FromFlightCtrl;
extern volatile ToFlightCtrl_t     ToFlightCtrl;
extern SPI_Version_t FC_Version;
extern fifo_t CompassCalcStateFiFo;
extern u32 CheckSPIOkay;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 61	Rev 62
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		5
6		6
7	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	7	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
8		8
9	#define SPI_CMD_USER 10	9	#define SPI_CMD_USER 10
10	#define SPI_CMD_STICK 11	10	#define SPI_CMD_STICK 11
11	#define SPI_CMD_MISC 12	11	#define SPI_CMD_MISC 12
12	#define SPI_CMD_PARAMETER1 13	12	#define SPI_CMD_PARAMETER1 13
13	#define SPI_CMD_VERSION 14	13	#define SPI_CMD_VERSION 14
14		14
15	extern s32 FC_Kalman_K;	15	extern s32 FC_Kalman_K;
16	extern s32 Kalman_MaxDrift;	16	extern s32 Kalman_MaxDrift;
17	extern s32 Kalman_MaxFusion;	17	extern s32 Kalman_MaxFusion;
18	typedef struct	18	typedef struct
19	{	19	{
20	u8 Command;	20	u8 Command;
21	s16 IntegralNick;	21	s16 AngleNick; // NickAngle in 0.1 deg
22	s16 IntegralRoll;	22	s16 AngleRoll; // RollAngle in 0.1 deg
23	s16 AccNick;	23	s16 AccNick;
24	s16 AccRoll;	24	s16 AccRoll;
25	s16 GyroHeading;	25	s16 GyroHeading; // Heading in 0.1 deg
26	s16 GyroNick;	26	s16 GyroNick;
27	s16 GyroRoll;	27	s16 GyroRoll;
28	s16 GyroYaw;	28	s16 GyroYaw;
29	union	29	union
30	{	30	{
31	s8 sByte[12];	31	s8 sByte[12];
32	u8 Byte[12];	32	u8 Byte[12];
33	s16 Int[6];	33	s16 Int[6];
34	s32 Long[3];	34	s32 Long[3];
35	float Float[3];	35	float Float[3];
36	} Param;	36	} Param;
37	u8 Chksum;	37	u8 Chksum;
38	} __attribute__((packed)) FromFlightCtrl_t;	38	} __attribute__((packed)) FromFlightCtrl_t;
39		39
40	#define SPI_KALMAN 103	40	#define SPI_KALMAN 103
41		41
42	typedef struct	42	typedef struct
43	{	43	{
44	u8 Command;	44	u8 Command;
45	s16 GPS_Nick;	45	s16 GPS_Nick;
46	s16 GPS_Roll;	46	s16 GPS_Roll;
47	s16 GPS_Yaw;	47	s16 GPS_Yaw;
48	s16 CompassHeading;	48	s16 CompassHeading;
49	s16 Status;	49	s16 Status;
50	u16 BeepTime;	50	u16 BeepTime;
51	union	51	union
52	{	52	{
53	s8 sByte[12];	53	s8 sByte[12];
54	u8 Byte[12];	54	u8 Byte[12];
55	s16 Int[6];	55	s16 Int[6];
56	s32 Long[3];	56	s32 Long[3];
57	float Float[3];	57	float Float[3];
58	}Param;	58	}Param;
59	u8 Chksum;	59	u8 Chksum;
60	} __attribute__((packed)) ToFlightCtrl_t;	60	} __attribute__((packed)) ToFlightCtrl_t;
61		61
62		62
63	typedef struct	63	typedef struct
64	{	64	{
65	u8 Major;	65	u8 Major;
66	u8 Minor;	66	u8 Minor;
67	u8 Patch;	67	u8 Patch;
68	u8 Compatible;	68	u8 Compatible;
69	u8 Hardware;	69	u8 Hardware;
70	} __attribute__((packed)) SPI_Version_t;	70	} __attribute__((packed)) SPI_Version_t;
71		71
72	extern volatile FromFlightCtrl_t FromFlightCtrl;	72	extern volatile FromFlightCtrl_t FromFlightCtrl;
73	extern volatile ToFlightCtrl_t ToFlightCtrl;	73	extern volatile ToFlightCtrl_t ToFlightCtrl;
74	extern SPI_Version_t FC_Version;	74	extern SPI_Version_t FC_Version;
75	extern fifo_t CompassCalcStateFiFo;	75	extern fifo_t CompassCalcStateFiFo;
76	extern u32 CheckSPIOkay;	76	extern u32 CheckSPIOkay;
77		77
78	void SPI0_Init(void);	78	void SPI0_Init(void);
79	void SPI0_GetFlightCtrlVersion(void);	79	void SPI0_GetFlightCtrlVersion(void);
80	void SPI0_UpdateBuffer(void);	80	void SPI0_UpdateBuffer(void);
81		81
82		82
83		83
84	#endif //_SPI_SLAVE_H	84	#endif //_SPI_SLAVE_H
85		85

Subversion Repositories NaviCtrl

(root)/tags/V0.14b/spi_slave.h @ 240 - Rev 61 → 62