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1 | #ifndef _SPI_H |
1 | #ifndef _SPI_SLAVE_H |
2 | #define _SPI_H |
2 | #define _SPI_SLAVE_H |
- | 3 | ||
- | 4 | #include "fifo.h" |
|
3 | - | ||
4 | #define SPI_PROTOCOL_COMP 1 |
5 | |
5 | 6 | ||
6 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
7 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
7 | - | ||
8 | // IMPORTANT: no syncbytes in structure ! |
- | |
9 | #define SPI_CMD_USER 10 |
- | |
10 | #define SPI_CMD_STICK 11 |
8 | |
11 | #define SPI_CMD_CAL_COMPASS 12 |
- | |
- | 9 | #define SPI_PROTOCOL_COMP 2 |
|
- | 10 | ||
- | 11 | #define SPI_CMD_USER 10 |
|
- | 12 | #define SPI_CMD_STICK 11 |
|
- | 13 | #define SPI_CMD_MISC 12 |
|
- | 14 | #define SPI_CMD_PARAMETER1 13 |
|
12 | #define SPI_CMD_PARAMETER1 13 |
15 | #define SPI_CMD_VERSION 14 |
- | 16 | ||
- | 17 | extern s32 FC_Kalman_K; |
|
- | 18 | extern s32 Kalman_MaxDrift; |
|
13 | 19 | extern s32 Kalman_MaxFusion; |
|
14 | struct str_FromFlightCtrl |
20 | typedef struct |
15 | { |
21 | { |
16 | u8 Command; |
22 | u8 Command; |
17 | s16 IntegralNick; |
23 | s16 IntegralNick; |
18 | s16 IntegralRoll; |
24 | s16 IntegralRoll; |
19 | s16 AccNick; |
25 | s16 AccNick; |
20 | s16 AccRoll; |
26 | s16 AccRoll; |
21 | s16 GyroCompass; |
27 | s16 GyroHeading; |
22 | s16 GyroNick; |
28 | s16 GyroNick; |
23 | s16 GyroRoll; |
29 | s16 GyroRoll; |
24 | s16 GyroGier; |
30 | s16 GyroYaw; |
25 | union |
31 | union |
- | 32 | { |
|
26 | { u8 Byte[12]; |
33 | s8 sByte[12]; |
27 | s8 sByte[12]; |
34 | u8 Byte[12]; |
28 | s16 Int[6]; |
35 | s16 Int[6]; |
- | 36 | s32 Long[3]; |
|
29 | float Float[3]; |
37 | float Float[3]; |
30 | int Long[3]; |
- | |
31 | } Param; |
38 | } Param; |
32 | u8 Chksum; |
39 | u8 Chksum; |
33 | } __attribute__((packed)); |
40 | } __attribute__((packed)) FromFlightCtrl_t; |
34 | 41 | ||
35 | #define SPI_CMD_OSD_DATA 100 |
42 | #define SPI_CMD_OSD_DATA 100 |
36 | #define SPI_CMD_GPS_POS 101 |
43 | #define SPI_CMD_GPS_POS 101 |
37 | #define SPI_CMD_GPS_TARGET 102 |
44 | #define SPI_CMD_GPS_TARGET 102 |
- | 45 | #define SPI_KALMAN 103 |
|
38 | 46 | ||
39 | struct str_ToFlightCtrl |
47 | typedef struct |
40 | { |
- | |
41 | unsigned char Sync1, Sync2; |
48 | { |
42 | unsigned char Command; |
49 | u8 Command; |
43 | s16 GPS_Nick; |
50 | s16 GPS_Nick; |
44 | s16 GPS_Roll; |
51 | s16 GPS_Roll; |
45 | s16 GPS_Gier; |
52 | s16 GPS_Yaw; |
46 | s16 CompassValue; |
53 | s16 CompassHeading; |
47 | s16 Status; |
54 | s16 Status; |
48 | unsigned char BeepTime; |
55 | u16 BeepTime; |
- | 56 | union |
|
- | 57 | { |
|
49 | union |
58 | s8 sByte[12]; |
50 | { u8 Byte[12]; |
59 | u8 Byte[12]; |
51 | s16 Int[6]; |
60 | s16 Int[6]; |
52 | float Float[3]; |
61 | s32 Long[3]; |
53 | int Long[3]; |
62 | float Float[3]; |
54 | } Param; |
63 | }Param; |
55 | unsigned char Chksum; |
64 | u8 Chksum; |
56 | } __attribute__((packed)); |
- | |
57 | - | ||
58 | - | ||
59 | #define X_AXIS 1 |
- | |
60 | #define Y_AXIS 2 |
- | |
61 | #define Z_AXIS 3 |
- | |
62 | 65 | } __attribute__((packed)) ToFlightCtrl_t; |
|
63 | 66 | ||
64 | 67 | ||
65 | struct str_MicroMag |
68 | typedef struct |
66 | { |
69 | { |
- | 70 | u8 Major; |
|
67 | unsigned char ReadAxis, WaitingforMeasurement; |
71 | u8 Minor; |
- | 72 | u8 Patch; |
|
- | 73 | u8 Compatible; |
|
- | 74 | } __attribute__((packed)) SPI_Version_t; |
|
- | 75 | ||
- | 76 | extern volatile FromFlightCtrl_t FromFlightCtrl; |
|
- | 77 | extern volatile ToFlightCtrl_t ToFlightCtrl; |
|
68 | s16 Axis[3]; |
78 | extern SPI_Version_t FC_Version; |
69 | s16 Heading; |
79 | extern fifo_t CompassCalcStateFiFo; |
70 | } __attribute__((packed)); |
- | |
71 | - | ||
72 | 80 | extern u32 CheckSPIOkay; |
|
73 | extern struct str_FromFlightCtrl FromFlightCtrl; |
- | |
74 | extern struct str_ToFlightCtrl ToFlightCtrl; |
- | |
75 | - | ||
76 | extern volatile struct str_MicroMag MicroMag; |
81 | |
77 | 82 | void SPI0_Init(void); |
|
78 | extern s16 GPS_Nick, GPS_Roll, CompassValue; |
83 | void SPI0_GetFlightCtrlVersion(void); |
79 | 84 | void SPI0_UpdateBuffer(void); |
|
80 | extern void SPI0_Init(void); |
85 | |
81 | extern void SPI_CheckSlaveSelect(void); |
86 | |
82 | extern void UpdateSPI_Buffer(void); |
87 | |
83 | #endif |
88 | #endif //_SPI_SLAVE_H |
84 | 89 |