WebSVN - NaviCtrl - Diff - Rev 149 and 202


#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
 
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
        {
                s8        sByte[12];
                u8    Byte[12];
                s16   Int[6];
                s32   Long[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
 
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 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 149	Rev 202
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_FCCMD_USER 10
10	#define SPI_CMD_STICK 11	10	#define SPI_FCCMD_STICK 11
11	#define SPI_CMD_MISC 12	11	#define SPI_FCCMD_MISC 12
12	#define SPI_CMD_PARAMETER1 13	12	#define SPI_FCCMD_PARAMETER1 13
13	#define SPI_CMD_VERSION 14	13	#define SPI_FCCMD_VERSION 14
14	#define SPI_CMD_SERVOS 15	14	#define SPI_FCCMD_SERVOS 15
15		15
16	extern s32 Kalman_K;	16	extern s32 Kalman_K;
17	extern s32 Kalman_MaxDrift;	17	extern s32 Kalman_MaxDrift;
18	extern s32 Kalman_MaxFusion;	18	extern s32 Kalman_MaxFusion;
19	extern s32 ToFcGpsZ;	19	extern s32 ToFcGpsZ;
20		20
21	typedef struct	21	typedef struct
22	{	22	{
23	u8 Command;	23	u8 Command;
24	s16 AngleNick; // NickAngle in 0.1 deg	24	s16 AngleNick; // NickAngle in 0.1 deg
25	s16 AngleRoll; // RollAngle in 0.1 deg	25	s16 AngleRoll; // RollAngle in 0.1 deg
26	s16 AccNick;	26	s16 AccNick;
27	s16 AccRoll;	27	s16 AccRoll;
28	s16 GyroHeading; // Heading in 0.1 deg	28	s16 GyroHeading; // Heading in 0.1 deg
29	s16 GyroNick;	29	s16 GyroNick;
30	s16 GyroRoll;	30	s16 GyroRoll;
31	s16 GyroYaw;	31	s16 GyroYaw;
32	union	32	union
33	{	33	{
34	s8 sByte[12];	34	s8 sByte[12];
35	u8 Byte[12];	35	u8 Byte[12];
36	s16 Int[6];	36	s16 Int[6];
37	s32 Long[3];	37	s32 Long[3];
38	float Float[3];	38	float Float[3];
39	} Param;	39	} Param;
40	u8 Chksum;	40	u8 Chksum;
41	} __attribute__((packed)) FromFlightCtrl_t;	41	} __attribute__((packed)) FromFlightCtrl_t;
42		-
-		42
-		43	#define SPI_NCCMD_OSD_DATA 100
-		44	#define SPI_NCCMD_GPS_POS 101
43		45	#define SPI_NCCMD_GPS_TARGET 102
-		46	#define SPI_NCCMD_KALMAN 103
44	#define SPI_KALMAN 103	47	#define SPI_NCCMD_VERSION 104
45		48
46	typedef struct	49	typedef struct
47	{	50	{
48	u8 Command;	51	u8 Command;
49	s16 GPS_Nick;	52	s16 GPS_Nick;
50	s16 GPS_Roll;	53	s16 GPS_Roll;
51	s16 GPS_Yaw;	54	s16 GPS_Yaw;
52	s16 CompassHeading;	55	s16 CompassHeading;
53	s16 Status;	56	s16 Status;
54	u16 BeepTime;	57	u16 BeepTime;
55	union	58	union
56	{	59	{
57	s8 sByte[12];	60	s8 sByte[12];
58	u8 Byte[12];	61	u8 Byte[12];
59	s16 Int[6];	62	s16 Int[6];
60	s32 Long[3];	63	s32 Long[3];
61	float Float[3];	64	float Float[3];
62	}Param;	65	}Param;
63	u8 Chksum;	66	u8 Chksum;
64	} __attribute__((packed)) ToFlightCtrl_t;	67	} __attribute__((packed)) ToFlightCtrl_t;
65		68
66		69
67	typedef struct	70	typedef struct
68	{	71	{
69	u8 Major;	72	u8 Major;
70	u8 Minor;	73	u8 Minor;
71	u8 Patch;	74	u8 Patch;
72	u8 Compatible;	75	u8 Compatible;
73	u8 Hardware;	76	u8 Hardware;
74	} __attribute__((packed)) SPI_Version_t;	77	} __attribute__((packed)) SPI_Version_t;
75		78
76	extern volatile FromFlightCtrl_t FromFlightCtrl;	79	extern volatile FromFlightCtrl_t FromFlightCtrl;
77	extern volatile ToFlightCtrl_t ToFlightCtrl;	80	extern volatile ToFlightCtrl_t ToFlightCtrl;
78	extern volatile u32 SPI0_Timeout;	81	extern volatile u32 SPI0_Timeout;
79	extern SPI_Version_t FC_Version;	82	extern SPI_Version_t FC_Version;
80	extern fifo_t CompassCalcStateFiFo;	83	extern fifo_t CompassCalcStateFiFo;
81		84
82	void SPI0_Init(void);	85	void SPI0_Init(void);
83	void SPI0_GetFlightCtrlVersion(void);	86	void SPI0_GetFlightCtrlVersion(void);
84	void SPI0_UpdateBuffer(void);	87	void SPI0_UpdateBuffer(void);
85		88
86		89
87		90
88	#endif //_SPI_SLAVE_H	91	#endif //_SPI_SLAVE_H
89		92

Subversion Repositories NaviCtrl

(root)/tags/V0.28n/spi_slave.h @ 875 - Rev 149 → 202