WebSVN - NaviCtrl - Diff - Rev 342 and 351


#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_Kompass ;
extern s32 Kalman_MaxDrift;
extern s32 Kalman_MaxFusion;
extern s32 ToFcGpsZ;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle;
extern s16 FC_WP_EventChannel;
extern u32 ToFC_AltitudeRate;
extern s32 ToFC_AltitudeSetpoint;
extern u8 NC_GPS_ModeCharacter;
extern u8 FC_is_Calibrated;
extern u8 FCCalibActive;
extern u8 MotorCurrent[12];
extern u8 MotorTemperature[12];
extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
extern u32 FC_I2C_ErrorConter;
extern u8 FromFC_VarioCharacter;
extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
 
extern s16 POI_KameraNick;
extern u8 NC_To_FC_Flags;
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;
        u16  FCStatus;
        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;
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE           0x01
#define NC_TO_FC_EMERGENCY_LANDING      0x02
 
#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
#define SPI_NCCMD_HOTT_INFO             106
#define SPI_MISC                                107
 
#define HOTT_VARIO_PACKET_ID            0x89
#define HOTT_GPS_PACKET_ID                      0x8A
#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E
#define HOTT_GENERAL_PACKET_ID          0x8D
 
typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 CompassHeading;
        s16 AccErrorN; //       s16 MagVecX;
        s16 AccErrorR; //       s16 MagVecY;
        s16 MagVecZ;
        s16 NCStatus;
        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 u8 GPS_Aid_StickMultiplikator;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 342	Rev 351
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_Kompass ;	19	extern s32 Kalman_Kompass ;
20	extern s32 Kalman_MaxDrift;	20	extern s32 Kalman_MaxDrift;
21	extern s32 Kalman_MaxFusion;	21	extern s32 Kalman_MaxFusion;
22	extern s32 ToFcGpsZ;	22	extern s32 ToFcGpsZ;
23	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	23	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
24	extern s32 HeadFreeStartAngle;	24	extern s32 HeadFreeStartAngle;
25	extern s16 FC_WP_EventChannel;	25	extern s16 FC_WP_EventChannel;
26	extern u32 ToFC_AltitudeRate;	26	extern u32 ToFC_AltitudeRate;
27	extern s32 ToFC_AltitudeSetpoint;	27	extern s32 ToFC_AltitudeSetpoint;
28	extern u8 NC_GPS_ModeCharacter;	28	extern u8 NC_GPS_ModeCharacter;
29	extern u8 FC_is_Calibrated;	29	extern u8 FC_is_Calibrated;
30	extern u8 FCCalibActive;	30	extern u8 FCCalibActive;
31	extern u8 MotorCurrent[12];	31	extern u8 MotorCurrent[12];
32	extern u8 MotorTemperature[12];	32	extern u8 MotorTemperature[12];
33	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	33	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
34	extern u32 FC_I2C_ErrorConter;	34	extern u32 FC_I2C_ErrorConter;
35	extern u8 FromFC_VarioCharacter;	35	extern u8 FromFC_VarioCharacter;
36	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	36	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
37		-
-		37	extern s16 POI_KameraNick;
-		38	extern u8 NC_To_FC_Flags;
38	typedef struct	39	typedef struct
39	{	40	{
40	u8 Command;	41	u8 Command;
41	s16 AngleNick; // NickAngle in 0.1 deg	42	s16 AngleNick; // NickAngle in 0.1 deg
42	s16 AngleRoll; // RollAngle in 0.1 deg	43	s16 AngleRoll; // RollAngle in 0.1 deg
43	s16 AccNick;	44	s16 AccNick;
44	s16 AccRoll;	45	s16 AccRoll;
45	s16 GyroHeading; // Heading in 0.1 deg	46	s16 GyroHeading; // Heading in 0.1 deg
46	s16 GyroNick;	47	s16 GyroNick;
47	s16 GyroRoll;	48	s16 GyroRoll;
48	s16 GyroYaw;	49	s16 GyroYaw;
49	u16 FCStatus;	50	u16 FCStatus;
50	union	51	union
51	{	52	{
52	u8 Byte[12];	53	u8 Byte[12];
53	s8 sByte[12];	54	s8 sByte[12];
54	u16 Int[6];	55	u16 Int[6];
55	s16 sInt[6];	56	s16 sInt[6];
56	u32 Long[3];	57	u32 Long[3];
57	s32 sLong[3];	58	s32 sLong[3];
58	float Float[3];	59	float Float[3];
59	} Param;	60	} Param;
60	u8 Chksum;	61	u8 Chksum;
61	} __attribute__((packed)) FromFlightCtrl_t;	62	} __attribute__((packed)) FromFlightCtrl_t;
-		63
-		64	//NC_To_FC_Flags
-		65	#define NC_TO_FC_FLYING_RANGE 0x01
-		66	#define NC_TO_FC_EMERGENCY_LANDING 0x02
62		67
63	#define SPI_NCCMD_OSD_DATA 100	68	#define SPI_NCCMD_OSD_DATA 100
64	#define SPI_NCCMD_GPS_POS 101	69	#define SPI_NCCMD_GPS_POS 101
65	#define SPI_NCCMD_GPS_TARGET 102	70	#define SPI_NCCMD_GPS_TARGET 102
66	#define SPI_NCCMD_KALMAN 103	71	#define SPI_NCCMD_KALMAN 103
67	#define SPI_NCCMD_VERSION 104	72	#define SPI_NCCMD_VERSION 104
68	#define SPI_NCCMD_GPSINFO 105	73	#define SPI_NCCMD_GPSINFO 105
69	#define SPI_NCCMD_HOTT_INFO 106	74	#define SPI_NCCMD_HOTT_INFO 106
70	#define SPI_MISC 107	75	#define SPI_MISC 107
71		76
72	#define HOTT_VARIO_PACKET_ID 0x89	77	#define HOTT_VARIO_PACKET_ID 0x89
73	#define HOTT_GPS_PACKET_ID 0x8A	78	#define HOTT_GPS_PACKET_ID 0x8A
74	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	79	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
75	#define HOTT_GENERAL_PACKET_ID 0x8D	80	#define HOTT_GENERAL_PACKET_ID 0x8D
76		81
77	typedef struct	82	typedef struct
78	{	83	{
79	u8 Command;	84	u8 Command;
80	GPS_Stick_t GPSStick;	85	GPS_Stick_t GPSStick;
81	s16 CompassHeading;	86	s16 CompassHeading;
82	s16 AccErrorN; // s16 MagVecX;	87	s16 AccErrorN; // s16 MagVecX;
83	s16 AccErrorR; // s16 MagVecY;	88	s16 AccErrorR; // s16 MagVecY;
84	s16 MagVecZ;	89	s16 MagVecZ;
85	s16 NCStatus;	90	s16 NCStatus;
86	u16 BeepTime;	91	u16 BeepTime;
87	union	92	union
88	{	93	{
89	u8 Byte[12];	94	u8 Byte[12];
90	s8 sByte[12];	95	s8 sByte[12];
91	u16 Int[6];	96	u16 Int[6];
92	s16 sInt[6];	97	s16 sInt[6];
93	u32 Long[3];	98	u32 Long[3];
94	s32 sLong[3];	99	s32 sLong[3];
95	float Float[3];	100	float Float[3];
96	}Param;	101	}Param;
97	u8 Chksum;	102	u8 Chksum;
98	} __attribute__((packed)) ToFlightCtrl_t;	103	} __attribute__((packed)) ToFlightCtrl_t;
99		104
100		105
101	typedef struct	106	typedef struct
102	{	107	{
103	u8 Major;	108	u8 Major;
104	u8 Minor;	109	u8 Minor;
105	u8 Patch;	110	u8 Patch;
106	u8 Compatible;	111	u8 Compatible;
107	u8 Hardware;	112	u8 Hardware;
108	} __attribute__((packed)) SPI_Version_t;	113	} __attribute__((packed)) SPI_Version_t;
109		114
110	extern FromFlightCtrl_t FromFlightCtrl;	115	extern FromFlightCtrl_t FromFlightCtrl;
111	extern ToFlightCtrl_t ToFlightCtrl;	116	extern ToFlightCtrl_t ToFlightCtrl;
112	extern volatile u32 SPI0_Timeout;	117	extern volatile u32 SPI0_Timeout;
113	extern SPI_Version_t FC_Version;	118	extern SPI_Version_t FC_Version;
114	extern u8 GPS_Aid_StickMultiplikator;	119	extern u8 GPS_Aid_StickMultiplikator;
115		120
116	void SPI0_Init(void);	121	void SPI0_Init(void);
117	void SPI0_GetFlightCtrlVersion(void);	122	void SPI0_GetFlightCtrlVersion(void);
118	void SPI0_UpdateBuffer(void);	123	void SPI0_UpdateBuffer(void);
119		124
120		125
121		126
122	#endif //_SPI_SLAVE_H	127	#endif //_SPI_SLAVE_H
123		128

Subversion Repositories NaviCtrl

(root)/tags/V2.06d/spi_slave.h @ 612 - Rev 342 → 351