WebSVN - NaviCtrl - Diff - Rev 204 and 205


#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
        {
 
                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 204	Rev 205
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		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];	-
35	u8 Byte[12];	34	u8 Byte[12];
-		35	s8 sByte[12];
-		36	u16 Int[6];
36	s16 Int[6];	37	s16 sInt[6];
-		38	u32 Long[3];
37	s32 Long[3];	39	s32 sLong[3];
38	float Float[3];	40	float Float[3];
39	} Param;	41	} Param;
40	u8 Chksum;	42	u8 Chksum;
41	} __attribute__((packed)) FromFlightCtrl_t;	43	} __attribute__((packed)) FromFlightCtrl_t;
42		44
43	#define SPI_NCCMD_OSD_DATA 100	45	#define SPI_NCCMD_OSD_DATA 100
44	#define SPI_NCCMD_GPS_POS 101	46	#define SPI_NCCMD_GPS_POS 101
45	#define SPI_NCCMD_GPS_TARGET 102	47	#define SPI_NCCMD_GPS_TARGET 102
46	#define SPI_NCCMD_KALMAN 103	48	#define SPI_NCCMD_KALMAN 103
47	#define SPI_NCCMD_VERSION 104	49	#define SPI_NCCMD_VERSION 104
48	#define SPI_NCCMD_GPSINFO 105	50	#define SPI_NCCMD_GPSINFO 105
49		51
50	typedef struct	52	typedef struct
51	{	53	{
52	u8 Command;	54	u8 Command;
53	s16 GPS_Nick;	55	s16 GPS_Nick;
54	s16 GPS_Roll;	56	s16 GPS_Roll;
55	s16 GPS_Yaw;	57	s16 GPS_Yaw;
56	s16 CompassHeading;	58	s16 CompassHeading;
57	s16 Status;	59	s16 Status;
58	u16 BeepTime;	60	u16 BeepTime;
59	union	61	union
60	{	62	{
61	s8 sByte[12];	-
62	u8 Byte[12];	63	u8 Byte[12];
-		64	s8 sByte[12];
-		65	u16 Int[6];
63	s16 Int[6];	66	s16 sInt[6];
-		67	u32 Long[3];
64	s32 Long[3];	68	s32 sLong[3];
65	float Float[3];	69	float Float[3];
66	}Param;	70	}Param;
67	u8 Chksum;	71	u8 Chksum;
68	} __attribute__((packed)) ToFlightCtrl_t;	72	} __attribute__((packed)) ToFlightCtrl_t;
69		73
70		74
71	typedef struct	75	typedef struct
72	{	76	{
73	u8 Major;	77	u8 Major;
74	u8 Minor;	78	u8 Minor;
75	u8 Patch;	79	u8 Patch;
76	u8 Compatible;	80	u8 Compatible;
77	u8 Hardware;	81	u8 Hardware;
78	} __attribute__((packed)) SPI_Version_t;	82	} __attribute__((packed)) SPI_Version_t;
79		83
80	extern volatile FromFlightCtrl_t FromFlightCtrl;	84	extern volatile FromFlightCtrl_t FromFlightCtrl;
81	extern volatile ToFlightCtrl_t ToFlightCtrl;	85	extern volatile ToFlightCtrl_t ToFlightCtrl;
82	extern volatile u32 SPI0_Timeout;	86	extern volatile u32 SPI0_Timeout;
83	extern SPI_Version_t FC_Version;	87	extern SPI_Version_t FC_Version;
84	extern fifo_t CompassCalcStateFiFo;	88	extern fifo_t CompassCalcStateFiFo;
85		89
86	void SPI0_Init(void);	90	void SPI0_Init(void);
87	void SPI0_GetFlightCtrlVersion(void);	91	void SPI0_GetFlightCtrlVersion(void);
88	void SPI0_UpdateBuffer(void);	92	void SPI0_UpdateBuffer(void);
89		93
90		94
91		95
92	#endif //_SPI_SLAVE_H	96	#endif //_SPI_SLAVE_H
93		97

Subversion Repositories NaviCtrl

(root)/tags/V0.28n/spi_slave.h @ 875 - Rev 204 → 205