WebSVN - NaviCtrl - Diff - Rev 54 and 57 - /tags/V0.28n/spi


#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
 
extern s32 FC_Kalman_K;
extern s32 Kalman_MaxDrift;
extern s32 Kalman_MaxFusion;
typedef struct
 {
         u8   Command;
         s16  IntegralNick;
         s16  IntegralRoll;
         s16  AccNick;
         s16  AccRoll;
         s16  GyroHeading;
         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;
} __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 54	Rev 57
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		-
9	#define SPI_PROTOCOL_COMP 2	-
10		8
11	#define SPI_CMD_USER 10	9	#define SPI_CMD_USER 10
12	#define SPI_CMD_STICK 11	10	#define SPI_CMD_STICK 11
13	#define SPI_CMD_MISC 12	11	#define SPI_CMD_MISC 12
14	#define SPI_CMD_PARAMETER1 13	12	#define SPI_CMD_PARAMETER1 13
15	#define SPI_CMD_VERSION 14	13	#define SPI_CMD_VERSION 14
16		14
17	extern s32 FC_Kalman_K;	15	extern s32 FC_Kalman_K;
18	extern s32 Kalman_MaxDrift;	16	extern s32 Kalman_MaxDrift;
19	extern s32 Kalman_MaxFusion;	17	extern s32 Kalman_MaxFusion;
20	typedef struct	18	typedef struct
21	{	19	{
22	u8 Command;	20	u8 Command;
23	s16 IntegralNick;	21	s16 IntegralNick;
24	s16 IntegralRoll;	22	s16 IntegralRoll;
25	s16 AccNick;	23	s16 AccNick;
26	s16 AccRoll;	24	s16 AccRoll;
27	s16 GyroHeading;	25	s16 GyroHeading;
28	s16 GyroNick;	26	s16 GyroNick;
29	s16 GyroRoll;	27	s16 GyroRoll;
30	s16 GyroYaw;	28	s16 GyroYaw;
31	union	29	union
32	{	30	{
33	s8 sByte[12];	31	s8 sByte[12];
34	u8 Byte[12];	32	u8 Byte[12];
35	s16 Int[6];	33	s16 Int[6];
36	s32 Long[3];	34	s32 Long[3];
37	float Float[3];	35	float Float[3];
38	} Param;	36	} Param;
39	u8 Chksum;	37	u8 Chksum;
40	} __attribute__((packed)) FromFlightCtrl_t;	38	} __attribute__((packed)) FromFlightCtrl_t;
41		39
42	#define SPI_KALMAN 103	40	#define SPI_KALMAN 103
43		41
44	typedef struct	42	typedef struct
45	{	43	{
46	u8 Command;	44	u8 Command;
47	s16 GPS_Nick;	45	s16 GPS_Nick;
48	s16 GPS_Roll;	46	s16 GPS_Roll;
49	s16 GPS_Yaw;	47	s16 GPS_Yaw;
50	s16 CompassHeading;	48	s16 CompassHeading;
51	s16 Status;	49	s16 Status;
52	u16 BeepTime;	50	u16 BeepTime;
53	union	51	union
54	{	52	{
55	s8 sByte[12];	53	s8 sByte[12];
56	u8 Byte[12];	54	u8 Byte[12];
57	s16 Int[6];	55	s16 Int[6];
58	s32 Long[3];	56	s32 Long[3];
59	float Float[3];	57	float Float[3];
60	}Param;	58	}Param;
61	u8 Chksum;	59	u8 Chksum;
62	} __attribute__((packed)) ToFlightCtrl_t;	60	} __attribute__((packed)) ToFlightCtrl_t;
63		61
64		62
65	typedef struct	63	typedef struct
66	{	64	{
67	u8 Major;	65	u8 Major;
68	u8 Minor;	66	u8 Minor;
69	u8 Patch;	67	u8 Patch;
70	u8 Compatible;	68	u8 Compatible;
71	} __attribute__((packed)) SPI_Version_t;	69	} __attribute__((packed)) SPI_Version_t;
72		70
73	extern volatile FromFlightCtrl_t FromFlightCtrl;	71	extern volatile FromFlightCtrl_t FromFlightCtrl;
74	extern volatile ToFlightCtrl_t ToFlightCtrl;	72	extern volatile ToFlightCtrl_t ToFlightCtrl;
75	extern SPI_Version_t FC_Version;	73	extern SPI_Version_t FC_Version;
76	extern fifo_t CompassCalcStateFiFo;	74	extern fifo_t CompassCalcStateFiFo;
77	extern u32 CheckSPIOkay;	75	extern u32 CheckSPIOkay;
78		76
79	void SPI0_Init(void);	77	void SPI0_Init(void);
80	void SPI0_GetFlightCtrlVersion(void);	78	void SPI0_GetFlightCtrlVersion(void);
81	void SPI0_UpdateBuffer(void);	79	void SPI0_UpdateBuffer(void);
82		80
83		81
84		82
85	#endif //_SPI_SLAVE_H	83	#endif //_SPI_SLAVE_H
86		84

Subversion Repositories NaviCtrl

(root)/tags/V0.28n/spi_slave.h @ 875 - Rev 54 → 57