WebSVN - NaviCtrl - Diff - Rev 205 and 206


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.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;
 
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
        {
                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;
        s16 GPS_Nick;
        s16 GPS_Roll;
        s16 GPS_Yaw;
        s16 CompassHeading;
        s16 Status;
        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 volatile FromFlightCtrl_t   FromFlightCtrl;
extern volatile ToFlightCtrl_t     ToFlightCtrl;
extern volatile u32 SPI0_Timeout;
extern SPI_Version_t FC_Version;
extern fifo_t CompassCalcStateFiFo;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 205	Rev 206
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_FCCMD_USER 10	9	#define SPI_FCCMD_USER 10
10	#define SPI_FCCMD_STICK 11	10	#define SPI_FCCMD_STICK 11
11	#define SPI_FCCMD_MISC 12	11	#define SPI_FCCMD_MISC 12
12	#define SPI_FCCMD_PARAMETER1 13	12	#define SPI_FCCMD_PARAMETER1 13
13	#define SPI_FCCMD_VERSION 14	13	#define SPI_FCCMD_VERSION 14
14	#define SPI_FCCMD_SERVOS 15	14	#define SPI_FCCMD_SERVOS 15
-		15	#define SPI_FCCMD_ACCU 16
15		16
16	extern s32 Kalman_K;	17	extern s32 Kalman_K;
17	extern s32 Kalman_MaxDrift;	18	extern s32 Kalman_MaxDrift;
18	extern s32 Kalman_MaxFusion;	19	extern s32 Kalman_MaxFusion;
19	extern s32 ToFcGpsZ;	20	extern s32 ToFcGpsZ;
20		21
21	typedef struct	22	typedef struct
22	{	23	{
23	u8 Command;	24	u8 Command;
24	s16 AngleNick; // NickAngle in 0.1 deg	25	s16 AngleNick; // NickAngle in 0.1 deg
25	s16 AngleRoll; // RollAngle in 0.1 deg	26	s16 AngleRoll; // RollAngle in 0.1 deg
26	s16 AccNick;	27	s16 AccNick;
27	s16 AccRoll;	28	s16 AccRoll;
28	s16 GyroHeading; // Heading in 0.1 deg	29	s16 GyroHeading; // Heading in 0.1 deg
29	s16 GyroNick;	30	s16 GyroNick;
30	s16 GyroRoll;	31	s16 GyroRoll;
31	s16 GyroYaw;	32	s16 GyroYaw;
32	union	33	union
33	{	34	{
34	u8 Byte[12];	35	u8 Byte[12];
35	s8 sByte[12];	36	s8 sByte[12];
36	u16 Int[6];	37	u16 Int[6];
37	s16 sInt[6];	38	s16 sInt[6];
38	u32 Long[3];	39	u32 Long[3];
39	s32 sLong[3];	40	s32 sLong[3];
40	float Float[3];	41	float Float[3];
41	} Param;	42	} Param;
42	u8 Chksum;	43	u8 Chksum;
43	} __attribute__((packed)) FromFlightCtrl_t;	44	} __attribute__((packed)) FromFlightCtrl_t;
44		45
45	#define SPI_NCCMD_OSD_DATA 100	46	#define SPI_NCCMD_OSD_DATA 100
46	#define SPI_NCCMD_GPS_POS 101	47	#define SPI_NCCMD_GPS_POS 101
47	#define SPI_NCCMD_GPS_TARGET 102	48	#define SPI_NCCMD_GPS_TARGET 102
48	#define SPI_NCCMD_KALMAN 103	49	#define SPI_NCCMD_KALMAN 103
49	#define SPI_NCCMD_VERSION 104	50	#define SPI_NCCMD_VERSION 104
50	#define SPI_NCCMD_GPSINFO 105	51	#define SPI_NCCMD_GPSINFO 105
51		52
52	typedef struct	53	typedef struct
53	{	54	{
54	u8 Command;	55	u8 Command;
55	s16 GPS_Nick;	56	s16 GPS_Nick;
56	s16 GPS_Roll;	57	s16 GPS_Roll;
57	s16 GPS_Yaw;	58	s16 GPS_Yaw;
58	s16 CompassHeading;	59	s16 CompassHeading;
59	s16 Status;	60	s16 Status;
60	u16 BeepTime;	61	u16 BeepTime;
61	union	62	union
62	{	63	{
63	u8 Byte[12];	64	u8 Byte[12];
64	s8 sByte[12];	65	s8 sByte[12];
65	u16 Int[6];	66	u16 Int[6];
66	s16 sInt[6];	67	s16 sInt[6];
67	u32 Long[3];	68	u32 Long[3];
68	s32 sLong[3];	69	s32 sLong[3];
69	float Float[3];	70	float Float[3];
70	}Param;	71	}Param;
71	u8 Chksum;	72	u8 Chksum;
72	} __attribute__((packed)) ToFlightCtrl_t;	73	} __attribute__((packed)) ToFlightCtrl_t;
73		74
74		75
75	typedef struct	76	typedef struct
76	{	77	{
77	u8 Major;	78	u8 Major;
78	u8 Minor;	79	u8 Minor;
79	u8 Patch;	80	u8 Patch;
80	u8 Compatible;	81	u8 Compatible;
81	u8 Hardware;	82	u8 Hardware;
82	} __attribute__((packed)) SPI_Version_t;	83	} __attribute__((packed)) SPI_Version_t;
83		84
84	extern volatile FromFlightCtrl_t FromFlightCtrl;	85	extern volatile FromFlightCtrl_t FromFlightCtrl;
85	extern volatile ToFlightCtrl_t ToFlightCtrl;	86	extern volatile ToFlightCtrl_t ToFlightCtrl;
86	extern volatile u32 SPI0_Timeout;	87	extern volatile u32 SPI0_Timeout;
87	extern SPI_Version_t FC_Version;	88	extern SPI_Version_t FC_Version;
88	extern fifo_t CompassCalcStateFiFo;	89	extern fifo_t CompassCalcStateFiFo;
89		90
90	void SPI0_Init(void);	91	void SPI0_Init(void);
91	void SPI0_GetFlightCtrlVersion(void);	92	void SPI0_GetFlightCtrlVersion(void);
92	void SPI0_UpdateBuffer(void);	93	void SPI0_UpdateBuffer(void);
93		94
94		95
95		96
96	#endif //_SPI_SLAVE_H	97	#endif //_SPI_SLAVE_H
97		98

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.h @ 814 - Rev 205 → 206