WebSVN - NaviCtrl - Diff - Rev 49 and 54 - /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_PROTOCOL_COMP   2
 
#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  IntegralNick;
         s16  IntegralRoll;
         s16  AccNick;
         s16  AccRoll;
         s16  GyroHeading;
         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;
} __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 49	Rev 54
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_PROTOCOL_COMP 2	9	#define SPI_PROTOCOL_COMP 2
10		10
11	#define SPI_CMD_USER 10	11	#define SPI_CMD_USER 10
12	#define SPI_CMD_STICK 11	12	#define SPI_CMD_STICK 11
13	#define SPI_CMD_MISC 12	13	#define SPI_CMD_MISC 12
14	#define SPI_CMD_PARAMETER1 13	14	#define SPI_CMD_PARAMETER1 13
15	#define SPI_CMD_VERSION 14	15	#define SPI_CMD_VERSION 14
16		16
17	extern s32 FC_Kalman_K;	17	extern s32 FC_Kalman_K;
18	extern s32 Kalman_MaxDrift;	18	extern s32 Kalman_MaxDrift;
19	extern s32 Kalman_MaxFusion;	19	extern s32 Kalman_MaxFusion;
20	typedef struct	20	typedef struct
21	{	21	{
22	u8 Command;	22	u8 Command;
23	s16 IntegralNick;	23	s16 IntegralNick;
24	s16 IntegralRoll;	24	s16 IntegralRoll;
25	s16 AccNick;	25	s16 AccNick;
26	s16 AccRoll;	26	s16 AccRoll;
27	s16 GyroHeading;	27	s16 GyroHeading;
28	s16 GyroNick;	28	s16 GyroNick;
29	s16 GyroRoll;	29	s16 GyroRoll;
30	s16 GyroYaw;	30	s16 GyroYaw;
31	union	31	union
32	{	32	{
33	s8 sByte[12];	33	s8 sByte[12];
34	u8 Byte[12];	34	u8 Byte[12];
35	s16 Int[6];	35	s16 Int[6];
36	s32 Long[3];	36	s32 Long[3];
37	float Float[3];	37	float Float[3];
38	} Param;	38	} Param;
39	u8 Chksum;	39	u8 Chksum;
40	} __attribute__((packed)) FromFlightCtrl_t;	40	} __attribute__((packed)) FromFlightCtrl_t;
41		-
42	#define SPI_CMD_OSD_DATA 100	-
43	#define SPI_CMD_GPS_POS 101	-
44	#define SPI_CMD_GPS_TARGET 102	41
45	#define SPI_KALMAN 103	42	#define SPI_KALMAN 103
46		43
47	typedef struct	44	typedef struct
48	{	45	{
49	u8 Command;	46	u8 Command;
50	s16 GPS_Nick;	47	s16 GPS_Nick;
51	s16 GPS_Roll;	48	s16 GPS_Roll;
52	s16 GPS_Yaw;	49	s16 GPS_Yaw;
53	s16 CompassHeading;	50	s16 CompassHeading;
54	s16 Status;	51	s16 Status;
55	u16 BeepTime;	52	u16 BeepTime;
56	union	53	union
57	{	54	{
58	s8 sByte[12];	55	s8 sByte[12];
59	u8 Byte[12];	56	u8 Byte[12];
60	s16 Int[6];	57	s16 Int[6];
61	s32 Long[3];	58	s32 Long[3];
62	float Float[3];	59	float Float[3];
63	}Param;	60	}Param;
64	u8 Chksum;	61	u8 Chksum;
65	} __attribute__((packed)) ToFlightCtrl_t;	62	} __attribute__((packed)) ToFlightCtrl_t;
66		63
67		64
68	typedef struct	65	typedef struct
69	{	66	{
70	u8 Major;	67	u8 Major;
71	u8 Minor;	68	u8 Minor;
72	u8 Patch;	69	u8 Patch;
73	u8 Compatible;	70	u8 Compatible;
74	} __attribute__((packed)) SPI_Version_t;	71	} __attribute__((packed)) SPI_Version_t;
75		72
76	extern volatile FromFlightCtrl_t FromFlightCtrl;	73	extern volatile FromFlightCtrl_t FromFlightCtrl;
77	extern volatile ToFlightCtrl_t ToFlightCtrl;	74	extern volatile ToFlightCtrl_t ToFlightCtrl;
78	extern SPI_Version_t FC_Version;	75	extern SPI_Version_t FC_Version;
79	extern fifo_t CompassCalcStateFiFo;	76	extern fifo_t CompassCalcStateFiFo;
80	extern u32 CheckSPIOkay;	77	extern u32 CheckSPIOkay;
81		78
82	void SPI0_Init(void);	79	void SPI0_Init(void);
83	void SPI0_GetFlightCtrlVersion(void);	80	void SPI0_GetFlightCtrlVersion(void);
84	void SPI0_UpdateBuffer(void);	81	void SPI0_UpdateBuffer(void);
85		82
86		83
87		84
88	#endif //_SPI_SLAVE_H	85	#endif //_SPI_SLAVE_H
89		86

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(root)/tags/V0.14b/spi_slave.h @ 262 - Rev 49 → 54