WebSVN - NaviCtrl - Diff - Rev 489 and 504


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.h"
 
#define SPEAK_ERR_CALIBARTION  1
#define SPEAK_ERR_RECEICER       2
#define SPEAK_ERR_DATABUS        3
#define SPEAK_ERR_NAVI           4
#define SPEAK_ERROR                      5
#define SPEAK_ERR_COMPASS        6
#define SPEAK_ERR_SENSOR         7
#define SPEAK_ERR_GPS            8
#define SPEAK_ERR_MOTOR          9
#define SPEAK_MAX_TEMPERAT  10
#define SPEAK_ALTI_REACHED  11
#define SPEAK_WP_REACHED    12
#define SPEAK_NEXT_WP       13
#define SPEAK_LANDING       14
#define SPEAK_GPS_FIX       15
#define SPEAK_UNDERVOLTAGE  16
#define SPEAK_GPS_HOLD      17
#define SPEAK_GPS_HOME      18
#define SPEAK_GPS_OFF       19
#define SPEAK_BEEP          20
#define SPEAK_MIKROKOPTER   21
#define SPEAK_CAPACITY      22
#define SPEAK_CF_OFF        23
#define SPEAK_CALIBRATE     24
#define SPEAK_MAX_RANGE     25
#define SPEAK_MAX_ALTITUD   26
 
#define SPEAK_MK_OFF            38
#define SPEAK_ALTITUDE_ON       39
#define SPEAK_ALTITUDE_OFF      40
#define SPEAK_CF_ON             46
#define SPEAK_SINKING           47
#define SPEAK_RISING            48
#define SPEAK_HOLDING           49
#define SPEAK_GPS_ON            50
#define SPEAK_FOLLWING          51
#define SPEAK_STARTING      52
 
 
#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_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
 
#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
 
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,LogFC_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 SpeakHoTT;
extern u8 NC_Wait_for_LED;
extern s16 GyroCompassCorrected;
 
 
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, NC_To_FC_Autostart;
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 NC_TO_FC_AUTOSTART                      0x04
#define NC_TO_FC_AUTOLANDING            0x08 // not used
 
#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
#define JETI_GPS_PACKET_ID1                     0x01
#define JETI_GPS_PACKET_ID2                     0x02
#define HOTT_WPL_NAME                           0x03
 
typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 MagVecX;
        s16 CompassHeading;
        s16 AccErrorN;
        s16 AccErrorR;
        s16 MagVecY;
        s16 MagVecZ;
        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 Current;
 u8 Temperature;
 u8 MaxPWM;
 u8 State;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[12];
 
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
#define MOTOR_STATE_FAST_MODE           0x02
#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
 
 
 
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;
extern u8 CompassCalState;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A
 
#endif //_SPI_SLAVE_H
 

Rev 489	Rev 504
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	#define SPEAK_ERR_CALIBARTION 1	7	#define SPEAK_ERR_CALIBARTION 1
8	#define SPEAK_ERR_RECEICER 2	8	#define SPEAK_ERR_RECEICER 2
9	#define SPEAK_ERR_DATABUS 3	9	#define SPEAK_ERR_DATABUS 3
10	#define SPEAK_ERR_NAVI 4	10	#define SPEAK_ERR_NAVI 4
11	#define SPEAK_ERROR 5	11	#define SPEAK_ERROR 5
12	#define SPEAK_ERR_COMPASS 6	12	#define SPEAK_ERR_COMPASS 6
13	#define SPEAK_ERR_SENSOR 7	13	#define SPEAK_ERR_SENSOR 7
14	#define SPEAK_ERR_GPS 8	14	#define SPEAK_ERR_GPS 8
15	#define SPEAK_ERR_MOTOR 9	15	#define SPEAK_ERR_MOTOR 9
16	#define SPEAK_MAX_TEMPERAT 10	16	#define SPEAK_MAX_TEMPERAT 10
17	#define SPEAK_ALTI_REACHED 11	17	#define SPEAK_ALTI_REACHED 11
18	#define SPEAK_WP_REACHED 12	18	#define SPEAK_WP_REACHED 12
19	#define SPEAK_NEXT_WP 13	19	#define SPEAK_NEXT_WP 13
20	#define SPEAK_LANDING 14	20	#define SPEAK_LANDING 14
21	#define SPEAK_GPS_FIX 15	21	#define SPEAK_GPS_FIX 15
22	#define SPEAK_UNDERVOLTAGE 16	22	#define SPEAK_UNDERVOLTAGE 16
23	#define SPEAK_GPS_HOLD 17	23	#define SPEAK_GPS_HOLD 17
24	#define SPEAK_GPS_HOME 18	24	#define SPEAK_GPS_HOME 18
25	#define SPEAK_GPS_OFF 19	25	#define SPEAK_GPS_OFF 19
26	#define SPEAK_BEEP 20	26	#define SPEAK_BEEP 20
27	#define SPEAK_MIKROKOPTER 21	27	#define SPEAK_MIKROKOPTER 21
28	#define SPEAK_CAPACITY 22	28	#define SPEAK_CAPACITY 22
29	#define SPEAK_CF_OFF 23	29	#define SPEAK_CF_OFF 23
30	#define SPEAK_CALIBRATE 24	30	#define SPEAK_CALIBRATE 24
31	#define SPEAK_MAX_RANGE 25	31	#define SPEAK_MAX_RANGE 25
32	#define SPEAK_MAX_ALTITUD 26	32	#define SPEAK_MAX_ALTITUD 26
33		33
34	#define SPEAK_MK_OFF 38	34	#define SPEAK_MK_OFF 38
35	#define SPEAK_ALTITUDE_ON 39	35	#define SPEAK_ALTITUDE_ON 39
36	#define SPEAK_ALTITUDE_OFF 40	36	#define SPEAK_ALTITUDE_OFF 40
37	#define SPEAK_CF_ON 46	37	#define SPEAK_CF_ON 46
38	#define SPEAK_SINKING 47	38	#define SPEAK_SINKING 47
39	#define SPEAK_RISING 48	39	#define SPEAK_RISING 48
40	#define SPEAK_HOLDING 49	40	#define SPEAK_HOLDING 49
41	#define SPEAK_GPS_ON 50	41	#define SPEAK_GPS_ON 50
42	#define SPEAK_FOLLWING 51	42	#define SPEAK_FOLLWING 51
43	#define SPEAK_STARTING 52	43	#define SPEAK_STARTING 52
44		44
45		45
46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
47		47
48	#define SPI_FCCMD_USER 10	48	#define SPI_FCCMD_USER 10
49	#define SPI_FCCMD_STICK 11	49	#define SPI_FCCMD_STICK 11
50	#define SPI_FCCMD_MISC 12	50	#define SPI_FCCMD_MISC 12
51	#define SPI_FCCMD_PARAMETER1 13	51	#define SPI_FCCMD_PARAMETER1 13
52	#define SPI_FCCMD_VERSION 14	52	#define SPI_FCCMD_VERSION 14
53	#define SPI_FCCMD_SERVOS 15	53	#define SPI_FCCMD_SERVOS 15
54	#define SPI_FCCMD_BL_ACCU 16	54	#define SPI_FCCMD_BL_ACCU 16
55	#define SPI_FCCMD_PARAMETER2 17	55	#define SPI_FCCMD_PARAMETER2 17
56		56
57	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }	57	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }	58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
59		59
60	extern s32 Kalman_K;	60	extern s32 Kalman_K;
61	extern s32 Kalman_Kompass ;	61	extern s32 Kalman_Kompass ;
62	extern s32 Kalman_MaxDrift;	62	extern s32 Kalman_MaxDrift;
63	extern s32 Kalman_MaxFusion;	63	extern s32 Kalman_MaxFusion;
64	extern s32 ToFcGpsZ;	64	extern s32 ToFcGpsZ;
65	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	65	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
66	extern s32 HeadFreeStartAngle;	66	extern s32 HeadFreeStartAngle;
67	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;	67	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;
68	extern u32 ToFC_AltitudeRate;	68	extern u32 ToFC_AltitudeRate;
69	extern s32 ToFC_AltitudeSetpoint;	69	extern s32 ToFC_AltitudeSetpoint;
70	extern u8 NC_GPS_ModeCharacter;	70	extern u8 NC_GPS_ModeCharacter;
71	extern u8 FC_is_Calibrated;	71	extern u8 FC_is_Calibrated;
72	extern u8 FCCalibActive;	72	extern u8 FCCalibActive;
73	extern u8 SpeakHoTT;	73	extern u8 SpeakHoTT;
74	extern u8 NC_Wait_for_LED;	74	extern u8 NC_Wait_for_LED;
75	extern s16 GyroCompassCorrected;	75	extern s16 GyroCompassCorrected;
76		76
77		77
78	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	78	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
79	extern u32 FC_I2C_ErrorConter;	79	extern u32 FC_I2C_ErrorConter;
80	extern u8 FromFC_VarioCharacter;	80	extern u8 FromFC_VarioCharacter;
81	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	81	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
82	extern s16 POI_KameraNick;	82	extern s16 POI_KameraNick;
83	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	83	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
84	typedef struct	84	typedef struct
85	{	85	{
86	u8 Command;	86	u8 Command;
87	s16 AngleNick; // NickAngle in 0.1 deg	87	s16 AngleNick; // NickAngle in 0.1 deg
88	s16 AngleRoll; // RollAngle in 0.1 deg	88	s16 AngleRoll; // RollAngle in 0.1 deg
89	s16 AccNick;	89	s16 AccNick;
90	s16 AccRoll;	90	s16 AccRoll;
91	s16 GyroHeading; // Heading in 0.1 deg	91	s16 GyroHeading; // Heading in 0.1 deg
92	s16 GyroNick;	92	s16 GyroNick;
93	s16 GyroRoll;	93	s16 GyroRoll;
94	s16 GyroYaw;	94	s16 GyroYaw;
95	u16 FCStatus;	95	u16 FCStatus;
96	union	96	union
97	{	97	{
98	u8 Byte[12];	98	u8 Byte[12];
99	s8 sByte[12];	99	s8 sByte[12];
100	u16 Int[6];	100	u16 Int[6];
101	s16 sInt[6];	101	s16 sInt[6];
102	u32 Long[3];	102	u32 Long[3];
103	s32 sLong[3];	103	s32 sLong[3];
104	float Float[3];	104	float Float[3];
105	} Param;	105	} Param;
106	u8 Chksum;	106	u8 Chksum;
107	} __attribute__((packed)) FromFlightCtrl_t;	107	} __attribute__((packed)) FromFlightCtrl_t;
108		108
109	//NC_To_FC_Flags	109	//NC_To_FC_Flags
110	#define NC_TO_FC_FLYING_RANGE 0x01	110	#define NC_TO_FC_FLYING_RANGE 0x01
111	#define NC_TO_FC_EMERGENCY_LANDING 0x02	111	#define NC_TO_FC_EMERGENCY_LANDING 0x02
112	#define NC_TO_FC_AUTOSTART 0x04	112	#define NC_TO_FC_AUTOSTART 0x04
113	#define NC_TO_FC_AUTOLANDING 0x08 // not used	113	#define NC_TO_FC_AUTOLANDING 0x08 // not used
114		114
115	#define SPI_NCCMD_OSD_DATA 100	115	#define SPI_NCCMD_OSD_DATA 100
116	#define SPI_NCCMD_GPS_POS 101	116	#define SPI_NCCMD_GPS_POS 101
117	#define SPI_NCCMD_GPS_TARGET 102	117	#define SPI_NCCMD_GPS_TARGET 102
118	#define SPI_NCCMD_KALMAN 103	118	#define SPI_NCCMD_KALMAN 103
119	#define SPI_NCCMD_VERSION 104	119	#define SPI_NCCMD_VERSION 104
120	#define SPI_NCCMD_GPSINFO 105	120	#define SPI_NCCMD_GPSINFO 105
121	#define SPI_NCCMD_HOTT_INFO 106	121	#define SPI_NCCMD_HOTT_INFO 106
122	#define SPI_MISC 107	122	#define SPI_MISC 107
123		123
124	#define HOTT_VARIO_PACKET_ID 0x89	124	#define HOTT_VARIO_PACKET_ID 0x89
125	#define HOTT_GPS_PACKET_ID 0x8A	125	#define HOTT_GPS_PACKET_ID 0x8A
126	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	126	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
127	#define HOTT_GENERAL_PACKET_ID 0x8D	127	#define HOTT_GENERAL_PACKET_ID 0x8D
128	#define JETI_GPS_PACKET_ID1 0x01	128	#define JETI_GPS_PACKET_ID1 0x01
129	#define JETI_GPS_PACKET_ID2 0x02	129	#define JETI_GPS_PACKET_ID2 0x02
-		130	#define HOTT_WPL_NAME 0x03
130		131
131	typedef struct	132	typedef struct
132	{	133	{
133	u8 Command;	134	u8 Command;
134	GPS_Stick_t GPSStick;	135	GPS_Stick_t GPSStick;
135	s16 MagVecX;	136	s16 MagVecX;
136	s16 CompassHeading;	137	s16 CompassHeading;
137	s16 AccErrorN;	138	s16 AccErrorN;
138	s16 AccErrorR;	139	s16 AccErrorR;
139	s16 MagVecY;	140	s16 MagVecY;
140	s16 MagVecZ;	141	s16 MagVecZ;
141	u16 BeepTime;	142	u16 BeepTime;
142	union	143	union
143	{	144	{
144	u8 Byte[12];	145	u8 Byte[12];
145	s8 sByte[12];	146	s8 sByte[12];
146	u16 Int[6];	147	u16 Int[6];
147	s16 sInt[6];	148	s16 sInt[6];
148	u32 Long[3];	149	u32 Long[3];
149	s32 sLong[3];	150	s32 sLong[3];
150	float Float[3];	151	float Float[3];
151	}Param;	152	}Param;
152	u8 Chksum;	153	u8 Chksum;
153	} __attribute__((packed)) ToFlightCtrl_t;	154	} __attribute__((packed)) ToFlightCtrl_t;
154		155
155	typedef struct	156	typedef struct
156	{	157	{
157	u8 Current;	158	u8 Current;
158	u8 Temperature;	159	u8 Temperature;
159	u8 MaxPWM;	160	u8 MaxPWM;
160	u8 State;	161	u8 State;
161	} __attribute__((packed)) Motor_t;	162	} __attribute__((packed)) Motor_t;
162		163
163	extern Motor_t Motor[12];	164	extern Motor_t Motor[12];
164		165
165	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	166	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
166	#define MOTOR_STATE_FAST_MODE 0x02	167	#define MOTOR_STATE_FAST_MODE 0x02
167	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	168	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
168	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt	169	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
169		170
170		171
171		172
172	typedef struct	173	typedef struct
173	{	174	{
174	u8 Major;	175	u8 Major;
175	u8 Minor;	176	u8 Minor;
176	u8 Patch;	177	u8 Patch;
177	u8 Compatible;	178	u8 Compatible;
178	u8 Hardware;	179	u8 Hardware;
179	} __attribute__((packed)) SPI_Version_t;	180	} __attribute__((packed)) SPI_Version_t;
180		181
181	extern FromFlightCtrl_t FromFlightCtrl;	182	extern FromFlightCtrl_t FromFlightCtrl;
182	extern ToFlightCtrl_t ToFlightCtrl;	183	extern ToFlightCtrl_t ToFlightCtrl;
183	extern volatile u32 SPI0_Timeout;	184	extern volatile u32 SPI0_Timeout;
184	extern SPI_Version_t FC_Version;	185	extern SPI_Version_t FC_Version;
185	extern u8 GPS_Aid_StickMultiplikator;	186	extern u8 GPS_Aid_StickMultiplikator;
186	extern u8 CompassCalState;	187	extern u8 CompassCalState;
187		188
188	void SPI0_Init(void);	189	void SPI0_Init(void);
189	void SPI0_GetFlightCtrlVersion(void);	190	void SPI0_GetFlightCtrlVersion(void);
190	void SPI0_UpdateBuffer(void);	191	void SPI0_UpdateBuffer(void);
191	u16 BL3_Current(u8 who); // in 0.1A	192	u16 BL3_Current(u8 who); // in 0.1A
192		193
193	#endif //_SPI_SLAVE_H	194	#endif //_SPI_SLAVE_H
194		195

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(root)/tags/V2.06d/spi_slave.h @ 709 - Rev 489 → 504