WebSVN - NaviCtrl - Diff - Rev 215 and 222


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.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;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle;
 
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;
        GPS_Stick_t GPSStick;
        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 FromFlightCtrl_t   FromFlightCtrl;
extern 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 215	Rev 222
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	#include "gps.h"	5	#include "gps.h"
6		6
7		7
8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
9		9
10	#define SPI_FCCMD_USER 10	10	#define SPI_FCCMD_USER 10
11	#define SPI_FCCMD_STICK 11	11	#define SPI_FCCMD_STICK 11
12	#define SPI_FCCMD_MISC 12	12	#define SPI_FCCMD_MISC 12
13	#define SPI_FCCMD_PARAMETER1 13	13	#define SPI_FCCMD_PARAMETER1 13
14	#define SPI_FCCMD_VERSION 14	14	#define SPI_FCCMD_VERSION 14
15	#define SPI_FCCMD_SERVOS 15	15	#define SPI_FCCMD_SERVOS 15
16	#define SPI_FCCMD_ACCU 16	16	#define SPI_FCCMD_ACCU 16
17		17
18	extern s32 Kalman_K;	18	extern s32 Kalman_K;
19	extern s32 Kalman_MaxDrift;	19	extern s32 Kalman_MaxDrift;
20	extern s32 Kalman_MaxFusion;	20	extern s32 Kalman_MaxFusion;
21	extern s32 ToFcGpsZ;	21	extern s32 ToFcGpsZ;
-		22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
-		23	extern s32 HeadFreeStartAngle;
22		24
23	typedef struct	25	typedef struct
24	{	26	{
25	u8 Command;	27	u8 Command;
26	s16 AngleNick; // NickAngle in 0.1 deg	28	s16 AngleNick; // NickAngle in 0.1 deg
27	s16 AngleRoll; // RollAngle in 0.1 deg	29	s16 AngleRoll; // RollAngle in 0.1 deg
28	s16 AccNick;	30	s16 AccNick;
29	s16 AccRoll;	31	s16 AccRoll;
30	s16 GyroHeading; // Heading in 0.1 deg	32	s16 GyroHeading; // Heading in 0.1 deg
31	s16 GyroNick;	33	s16 GyroNick;
32	s16 GyroRoll;	34	s16 GyroRoll;
33	s16 GyroYaw;	35	s16 GyroYaw;
34	union	36	union
35	{	37	{
36	u8 Byte[12];	38	u8 Byte[12];
37	s8 sByte[12];	39	s8 sByte[12];
38	u16 Int[6];	40	u16 Int[6];
39	s16 sInt[6];	41	s16 sInt[6];
40	u32 Long[3];	42	u32 Long[3];
41	s32 sLong[3];	43	s32 sLong[3];
42	float Float[3];	44	float Float[3];
43	} Param;	45	} Param;
44	u8 Chksum;	46	u8 Chksum;
45	} __attribute__((packed)) FromFlightCtrl_t;	47	} __attribute__((packed)) FromFlightCtrl_t;
46		48
47	#define SPI_NCCMD_OSD_DATA 100	49	#define SPI_NCCMD_OSD_DATA 100
48	#define SPI_NCCMD_GPS_POS 101	50	#define SPI_NCCMD_GPS_POS 101
49	#define SPI_NCCMD_GPS_TARGET 102	51	#define SPI_NCCMD_GPS_TARGET 102
50	#define SPI_NCCMD_KALMAN 103	52	#define SPI_NCCMD_KALMAN 103
51	#define SPI_NCCMD_VERSION 104	53	#define SPI_NCCMD_VERSION 104
52	#define SPI_NCCMD_GPSINFO 105	54	#define SPI_NCCMD_GPSINFO 105
53		55
54	typedef struct	56	typedef struct
55	{	57	{
56	u8 Command;	58	u8 Command;
57	GPS_Stick_t GPSStick;	59	GPS_Stick_t GPSStick;
58	s16 CompassHeading;	60	s16 CompassHeading;
59	s16 Status;	61	s16 Status;
60	u16 BeepTime;	62	u16 BeepTime;
61	union	63	union
62	{	64	{
63	u8 Byte[12];	65	u8 Byte[12];
64	s8 sByte[12];	66	s8 sByte[12];
65	u16 Int[6];	67	u16 Int[6];
66	s16 sInt[6];	68	s16 sInt[6];
67	u32 Long[3];	69	u32 Long[3];
68	s32 sLong[3];	70	s32 sLong[3];
69	float Float[3];	71	float Float[3];
70	}Param;	72	}Param;
71	u8 Chksum;	73	u8 Chksum;
72	} __attribute__((packed)) ToFlightCtrl_t;	74	} __attribute__((packed)) ToFlightCtrl_t;
73		75
74		76
75	typedef struct	77	typedef struct
76	{	78	{
77	u8 Major;	79	u8 Major;
78	u8 Minor;	80	u8 Minor;
79	u8 Patch;	81	u8 Patch;
80	u8 Compatible;	82	u8 Compatible;
81	u8 Hardware;	83	u8 Hardware;
82	} __attribute__((packed)) SPI_Version_t;	84	} __attribute__((packed)) SPI_Version_t;
83		85
84	extern FromFlightCtrl_t FromFlightCtrl;	86	extern FromFlightCtrl_t FromFlightCtrl;
85	extern ToFlightCtrl_t ToFlightCtrl;	87	extern ToFlightCtrl_t ToFlightCtrl;
86	extern volatile u32 SPI0_Timeout;	88	extern volatile u32 SPI0_Timeout;
87	extern SPI_Version_t FC_Version;	89	extern SPI_Version_t FC_Version;
88	extern fifo_t CompassCalcStateFiFo;	90	extern fifo_t CompassCalcStateFiFo;
89		91
90	void SPI0_Init(void);	92	void SPI0_Init(void);
91	void SPI0_GetFlightCtrlVersion(void);	93	void SPI0_GetFlightCtrlVersion(void);
92	void SPI0_UpdateBuffer(void);	94	void SPI0_UpdateBuffer(void);
93		95
94		96
95		97
96	#endif //_SPI_SLAVE_H	98	#endif //_SPI_SLAVE_H
97		99

Subversion Repositories NaviCtrl

(root)/tags/V0.30h/spi_slave.h @ 491 - Rev 215 → 222