WebSVN - NaviCtrl - Diff - Rev 284 and 285


#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;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle;
extern s16 FC_WP_EventChannel;
extern u32 ToFC_AltitudeSpeed;
extern s32 ToFC_AltitudeSetpoint;
 
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;
 
#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 MagVecX;
//      s16 MagVecY;
//      s16 MagVecZ;
        s16 NCStatus;
        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;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 284	Rev 285
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		7
8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
9		9
10	#define SPI_FCCMD_USER 10	10	#define SPI_FCCMD_USER 10
11	#define SPI_FCCMD_STICK 11	11	#define SPI_FCCMD_STICK 11
12	#define SPI_FCCMD_MISC 12	12	#define SPI_FCCMD_MISC 12
13	#define SPI_FCCMD_PARAMETER1 13	13	#define SPI_FCCMD_PARAMETER1 13
14	#define SPI_FCCMD_VERSION 14	14	#define SPI_FCCMD_VERSION 14
15	#define SPI_FCCMD_SERVOS 15	15	#define SPI_FCCMD_SERVOS 15
16	#define SPI_FCCMD_ACCU 16	16	#define SPI_FCCMD_ACCU 16
17		17
18	extern s32 Kalman_K;	18	extern s32 Kalman_K;
19	extern s32 Kalman_MaxDrift;	19	extern s32 Kalman_MaxDrift;
20	extern s32 Kalman_MaxFusion;	20	extern s32 Kalman_MaxFusion;
21	extern s32 ToFcGpsZ;	21	extern s32 ToFcGpsZ;
22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
23	extern s32 HeadFreeStartAngle;	23	extern s32 HeadFreeStartAngle;
24	extern s16 FC_WP_EventChannel;	24	extern s16 FC_WP_EventChannel;
-		25	extern u32 ToFC_AltitudeSpeed;
-		26	extern s32 ToFC_AltitudeSetpoint;
25		27
26	typedef struct	28	typedef struct
27	{	29	{
28	u8 Command;	30	u8 Command;
29	s16 AngleNick; // NickAngle in 0.1 deg	31	s16 AngleNick; // NickAngle in 0.1 deg
30	s16 AngleRoll; // RollAngle in 0.1 deg	32	s16 AngleRoll; // RollAngle in 0.1 deg
31	s16 AccNick;	33	s16 AccNick;
32	s16 AccRoll;	34	s16 AccRoll;
33	s16 GyroHeading; // Heading in 0.1 deg	35	s16 GyroHeading; // Heading in 0.1 deg
34	s16 GyroNick;	36	s16 GyroNick;
35	s16 GyroRoll;	37	s16 GyroRoll;
36	s16 GyroYaw;	38	s16 GyroYaw;
37	u16 FCStatus;	39	u16 FCStatus;
38	union	40	union
39	{	41	{
40	u8 Byte[12];	42	u8 Byte[12];
41	s8 sByte[12];	43	s8 sByte[12];
42	u16 Int[6];	44	u16 Int[6];
43	s16 sInt[6];	45	s16 sInt[6];
44	u32 Long[3];	46	u32 Long[3];
45	s32 sLong[3];	47	s32 sLong[3];
46	float Float[3];	48	float Float[3];
47	} Param;	49	} Param;
48	u8 Chksum;	50	u8 Chksum;
49	} __attribute__((packed)) FromFlightCtrl_t;	51	} __attribute__((packed)) FromFlightCtrl_t;
50		52
51	#define SPI_NCCMD_OSD_DATA 100	53	#define SPI_NCCMD_OSD_DATA 100
52	#define SPI_NCCMD_GPS_POS 101	54	#define SPI_NCCMD_GPS_POS 101
53	#define SPI_NCCMD_GPS_TARGET 102	55	#define SPI_NCCMD_GPS_TARGET 102
54	#define SPI_NCCMD_KALMAN 103	56	#define SPI_NCCMD_KALMAN 103
55	#define SPI_NCCMD_VERSION 104	57	#define SPI_NCCMD_VERSION 104
56	#define SPI_NCCMD_GPSINFO 105	58	#define SPI_NCCMD_GPSINFO 105
57		59
58	typedef struct	60	typedef struct
59	{	61	{
60	u8 Command;	62	u8 Command;
61	GPS_Stick_t GPSStick;	63	GPS_Stick_t GPSStick;
62	s16 CompassHeading;	64	s16 CompassHeading;
63	s16 MagVecX;	65	// s16 MagVecX;
64	s16 MagVecY;	66	// s16 MagVecY;
65	s16 MagVecZ;	67	// s16 MagVecZ;
66	s16 NCStatus;	68	s16 NCStatus;
67	u16 BeepTime;	69	u16 BeepTime;
68	union	70	union
69	{	71	{
70	u8 Byte[12];	72	u8 Byte[12];
71	s8 sByte[12];	73	s8 sByte[12];
72	u16 Int[6];	74	u16 Int[6];
73	s16 sInt[6];	75	s16 sInt[6];
74	u32 Long[3];	76	u32 Long[3];
75	s32 sLong[3];	77	s32 sLong[3];
76	float Float[3];	78	float Float[3];
77	}Param;	79	}Param;
78	u8 Chksum;	80	u8 Chksum;
79	} __attribute__((packed)) ToFlightCtrl_t;	81	} __attribute__((packed)) ToFlightCtrl_t;
80		82
81		83
82	typedef struct	84	typedef struct
83	{	85	{
84	u8 Major;	86	u8 Major;
85	u8 Minor;	87	u8 Minor;
86	u8 Patch;	88	u8 Patch;
87	u8 Compatible;	89	u8 Compatible;
88	u8 Hardware;	90	u8 Hardware;
89	} __attribute__((packed)) SPI_Version_t;	91	} __attribute__((packed)) SPI_Version_t;
90		92
91	extern FromFlightCtrl_t FromFlightCtrl;	93	extern FromFlightCtrl_t FromFlightCtrl;
92	extern ToFlightCtrl_t ToFlightCtrl;	94	extern ToFlightCtrl_t ToFlightCtrl;
93	extern volatile u32 SPI0_Timeout;	95	extern volatile u32 SPI0_Timeout;
94	extern SPI_Version_t FC_Version;	96	extern SPI_Version_t FC_Version;
95		97
96	void SPI0_Init(void);	98	void SPI0_Init(void);
97	void SPI0_GetFlightCtrlVersion(void);	99	void SPI0_GetFlightCtrlVersion(void);
98	void SPI0_UpdateBuffer(void);	100	void SPI0_UpdateBuffer(void);
99		101
100		102
101		103
102	#endif //_SPI_SLAVE_H	104	#endif //_SPI_SLAVE_H
103		105

Subversion Repositories NaviCtrl

(root)/tags/V0.24b/spi_slave.h @ 572 - Rev 284 → 285