WebSVN - NaviCtrl - Diff - Rev 222 and 231


#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;
extern volatile u8 FC_ErrorCode[5];
 
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 222	Rev 231
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;	22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
23	extern s32 HeadFreeStartAngle;	23	extern s32 HeadFreeStartAngle;
-		24	extern volatile u8 FC_ErrorCode[5];
24		25
25	typedef struct	26	typedef struct
26	{	27	{
27	u8 Command;	28	u8 Command;
28	s16 AngleNick; // NickAngle in 0.1 deg	29	s16 AngleNick; // NickAngle in 0.1 deg
29	s16 AngleRoll; // RollAngle in 0.1 deg	30	s16 AngleRoll; // RollAngle in 0.1 deg
30	s16 AccNick;	31	s16 AccNick;
31	s16 AccRoll;	32	s16 AccRoll;
32	s16 GyroHeading; // Heading in 0.1 deg	33	s16 GyroHeading; // Heading in 0.1 deg
33	s16 GyroNick;	34	s16 GyroNick;
34	s16 GyroRoll;	35	s16 GyroRoll;
35	s16 GyroYaw;	36	s16 GyroYaw;
36	union	37	union
37	{	38	{
38	u8 Byte[12];	39	u8 Byte[12];
39	s8 sByte[12];	40	s8 sByte[12];
40	u16 Int[6];	41	u16 Int[6];
41	s16 sInt[6];	42	s16 sInt[6];
42	u32 Long[3];	43	u32 Long[3];
43	s32 sLong[3];	44	s32 sLong[3];
44	float Float[3];	45	float Float[3];
45	} Param;	46	} Param;
46	u8 Chksum;	47	u8 Chksum;
47	} __attribute__((packed)) FromFlightCtrl_t;	48	} __attribute__((packed)) FromFlightCtrl_t;
48		49
49	#define SPI_NCCMD_OSD_DATA 100	50	#define SPI_NCCMD_OSD_DATA 100
50	#define SPI_NCCMD_GPS_POS 101	51	#define SPI_NCCMD_GPS_POS 101
51	#define SPI_NCCMD_GPS_TARGET 102	52	#define SPI_NCCMD_GPS_TARGET 102
52	#define SPI_NCCMD_KALMAN 103	53	#define SPI_NCCMD_KALMAN 103
53	#define SPI_NCCMD_VERSION 104	54	#define SPI_NCCMD_VERSION 104
54	#define SPI_NCCMD_GPSINFO 105	55	#define SPI_NCCMD_GPSINFO 105
55		56
56	typedef struct	57	typedef struct
57	{	58	{
58	u8 Command;	59	u8 Command;
59	GPS_Stick_t GPSStick;	60	GPS_Stick_t GPSStick;
60	s16 CompassHeading;	61	s16 CompassHeading;
61	s16 Status;	62	s16 Status;
62	u16 BeepTime;	63	u16 BeepTime;
63	union	64	union
64	{	65	{
65	u8 Byte[12];	66	u8 Byte[12];
66	s8 sByte[12];	67	s8 sByte[12];
67	u16 Int[6];	68	u16 Int[6];
68	s16 sInt[6];	69	s16 sInt[6];
69	u32 Long[3];	70	u32 Long[3];
70	s32 sLong[3];	71	s32 sLong[3];
71	float Float[3];	72	float Float[3];
72	}Param;	73	}Param;
73	u8 Chksum;	74	u8 Chksum;
74	} __attribute__((packed)) ToFlightCtrl_t;	75	} __attribute__((packed)) ToFlightCtrl_t;
75		76
76		77
77	typedef struct	78	typedef struct
78	{	79	{
79	u8 Major;	80	u8 Major;
80	u8 Minor;	81	u8 Minor;
81	u8 Patch;	82	u8 Patch;
82	u8 Compatible;	83	u8 Compatible;
83	u8 Hardware;	84	u8 Hardware;
84	} __attribute__((packed)) SPI_Version_t;	85	} __attribute__((packed)) SPI_Version_t;
85		86
86	extern FromFlightCtrl_t FromFlightCtrl;	87	extern FromFlightCtrl_t FromFlightCtrl;
87	extern ToFlightCtrl_t ToFlightCtrl;	88	extern ToFlightCtrl_t ToFlightCtrl;
88	extern volatile u32 SPI0_Timeout;	89	extern volatile u32 SPI0_Timeout;
89	extern SPI_Version_t FC_Version;	90	extern SPI_Version_t FC_Version;
90	extern fifo_t CompassCalcStateFiFo;	91	extern fifo_t CompassCalcStateFiFo;
91		92
92	void SPI0_Init(void);	93	void SPI0_Init(void);
93	void SPI0_GetFlightCtrlVersion(void);	94	void SPI0_GetFlightCtrlVersion(void);
94	void SPI0_UpdateBuffer(void);	95	void SPI0_UpdateBuffer(void);
95		96
96		97
97		98
98	#endif //_SPI_SLAVE_H	99	#endif //_SPI_SLAVE_H
99		100

Subversion Repositories NaviCtrl

(root)/tags/V2.06a/spi_slave.h @ 553 - Rev 222 → 231