WebSVN - NaviCtrl - Diff - Rev 119 and 121


#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
#define SPI_CMD_SERVOS           15
 
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 119	Rev 121
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	#define SPI_CMD_SERVO 15	14	#define SPI_CMD_SERVOS 15
15		15
16	extern s32 FC_Kalman_K;	16	extern s32 FC_Kalman_K;
17	extern s32 Kalman_MaxDrift;	17	extern s32 Kalman_MaxDrift;
18	extern s32 Kalman_MaxFusion;	18	extern s32 Kalman_MaxFusion;
19		19
20	typedef struct	20	typedef struct
21	{	21	{
22	u8 Command;	22	u8 Command;
23	s16 AngleNick; // NickAngle in 0.1 deg	23	s16 AngleNick; // NickAngle in 0.1 deg
24	s16 AngleRoll; // RollAngle in 0.1 deg	24	s16 AngleRoll; // RollAngle in 0.1 deg
25	s16 AccNick;	25	s16 AccNick;
26	s16 AccRoll;	26	s16 AccRoll;
27	s16 GyroHeading; // Heading in 0.1 deg	27	s16 GyroHeading; // Heading in 0.1 deg
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		41
42		42
43	#define SPI_KALMAN 103	43	#define SPI_KALMAN 103
44	#define SPI_EXTCTRL 104	-
45		44
46	typedef struct	45	typedef struct
47	{	46	{
48	u8 Command;	47	u8 Command;
49	s16 GPS_Nick;	48	s16 GPS_Nick;
50	s16 GPS_Roll;	49	s16 GPS_Roll;
51	s16 GPS_Yaw;	50	s16 GPS_Yaw;
52	s16 CompassHeading;	51	s16 CompassHeading;
53	s16 Status;	52	s16 Status;
54	u16 BeepTime;	53	u16 BeepTime;
55	union	54	union
56	{	55	{
57	s8 sByte[12];	56	s8 sByte[12];
58	u8 Byte[12];	57	u8 Byte[12];
59	s16 Int[6];	58	s16 Int[6];
60	s32 Long[3];	59	s32 Long[3];
61	float Float[3];	60	float Float[3];
62	}Param;	61	}Param;
63	u8 Chksum;	62	u8 Chksum;
64	} __attribute__((packed)) ToFlightCtrl_t;	63	} __attribute__((packed)) ToFlightCtrl_t;
65		64
66		65
67	typedef struct	66	typedef struct
68	{	67	{
69	u8 Major;	68	u8 Major;
70	u8 Minor;	69	u8 Minor;
71	u8 Patch;	70	u8 Patch;
72	u8 Compatible;	71	u8 Compatible;
73	u8 Hardware;	72	u8 Hardware;
74	} __attribute__((packed)) SPI_Version_t;	73	} __attribute__((packed)) SPI_Version_t;
75		74
76	extern volatile FromFlightCtrl_t FromFlightCtrl;	75	extern volatile FromFlightCtrl_t FromFlightCtrl;
77	extern volatile ToFlightCtrl_t ToFlightCtrl;	76	extern volatile ToFlightCtrl_t ToFlightCtrl;
78	extern SPI_Version_t FC_Version;	77	extern SPI_Version_t FC_Version;
79	extern fifo_t CompassCalcStateFiFo;	78	extern fifo_t CompassCalcStateFiFo;
80	extern u32 CheckSPIOkay;	79	extern u32 CheckSPIOkay;
81		80
82	void SPI0_Init(void);	81	void SPI0_Init(void);
83	void SPI0_GetFlightCtrlVersion(void);	82	void SPI0_GetFlightCtrlVersion(void);
84	void SPI0_UpdateBuffer(void);	83	void SPI0_UpdateBuffer(void);
85		84
86		85
87		86
88	#endif //_SPI_SLAVE_H	87	#endif //_SPI_SLAVE_H
89		88

Subversion Repositories NaviCtrl

(root)/tags/V0.26b/spi_slave.h @ 341 - Rev 119 → 121