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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 s16 FC_WP_EventChannel; |
24 | extern s16 FC_WP_EventChannel; |
25 | extern u32 ToFC_AltitudeRate; |
25 | extern u32 ToFC_AltitudeRate; |
26 | extern s32 ToFC_AltitudeSetpoint; |
26 | extern s32 ToFC_AltitudeSetpoint; |
27 | - | ||
- | 27 | extern u8 NC_GPS_ModeCharacter; |
|
28 | typedef struct |
28 | typedef struct |
29 | { |
29 | { |
30 | u8 Command; |
30 | u8 Command; |
31 | s16 AngleNick; // NickAngle in 0.1 deg |
31 | s16 AngleNick; // NickAngle in 0.1 deg |
32 | s16 AngleRoll; // RollAngle in 0.1 deg |
32 | s16 AngleRoll; // RollAngle in 0.1 deg |
33 | s16 AccNick; |
33 | s16 AccNick; |
34 | s16 AccRoll; |
34 | s16 AccRoll; |
35 | s16 GyroHeading; // Heading in 0.1 deg |
35 | s16 GyroHeading; // Heading in 0.1 deg |
36 | s16 GyroNick; |
36 | s16 GyroNick; |
37 | s16 GyroRoll; |
37 | s16 GyroRoll; |
38 | s16 GyroYaw; |
38 | s16 GyroYaw; |
39 | u16 FCStatus; |
39 | u16 FCStatus; |
40 | union |
40 | union |
41 | { |
41 | { |
42 | u8 Byte[12]; |
42 | u8 Byte[12]; |
43 | s8 sByte[12]; |
43 | s8 sByte[12]; |
44 | u16 Int[6]; |
44 | u16 Int[6]; |
45 | s16 sInt[6]; |
45 | s16 sInt[6]; |
46 | u32 Long[3]; |
46 | u32 Long[3]; |
47 | s32 sLong[3]; |
47 | s32 sLong[3]; |
48 | float Float[3]; |
48 | float Float[3]; |
49 | } Param; |
49 | } Param; |
50 | u8 Chksum; |
50 | u8 Chksum; |
51 | } __attribute__((packed)) FromFlightCtrl_t; |
51 | } __attribute__((packed)) FromFlightCtrl_t; |
52 | 52 | ||
53 | #define SPI_NCCMD_OSD_DATA 100 |
53 | #define SPI_NCCMD_OSD_DATA 100 |
54 | #define SPI_NCCMD_GPS_POS 101 |
54 | #define SPI_NCCMD_GPS_POS 101 |
55 | #define SPI_NCCMD_GPS_TARGET 102 |
55 | #define SPI_NCCMD_GPS_TARGET 102 |
56 | #define SPI_NCCMD_KALMAN 103 |
56 | #define SPI_NCCMD_KALMAN 103 |
57 | #define SPI_NCCMD_VERSION 104 |
57 | #define SPI_NCCMD_VERSION 104 |
58 | #define SPI_NCCMD_GPSINFO 105 |
58 | #define SPI_NCCMD_GPSINFO 105 |
59 | 59 | ||
60 | typedef struct |
60 | typedef struct |
61 | { |
61 | { |
62 | u8 Command; |
62 | u8 Command; |
63 | GPS_Stick_t GPSStick; |
63 | GPS_Stick_t GPSStick; |
64 | s16 CompassHeading; |
64 | s16 CompassHeading; |
65 | s16 MagVecX; |
65 | s16 MagVecX; |
66 | s16 MagVecY; |
66 | s16 MagVecY; |
67 | s16 MagVecZ; |
67 | s16 MagVecZ; |
68 | s16 NCStatus; |
68 | s16 NCStatus; |
69 | u16 BeepTime; |
69 | u16 BeepTime; |
70 | union |
70 | union |
71 | { |
71 | { |
72 | u8 Byte[12]; |
72 | u8 Byte[12]; |
73 | s8 sByte[12]; |
73 | s8 sByte[12]; |
74 | u16 Int[6]; |
74 | u16 Int[6]; |
75 | s16 sInt[6]; |
75 | s16 sInt[6]; |
76 | u32 Long[3]; |
76 | u32 Long[3]; |
77 | s32 sLong[3]; |
77 | s32 sLong[3]; |
78 | float Float[3]; |
78 | float Float[3]; |
79 | }Param; |
79 | }Param; |
80 | u8 Chksum; |
80 | u8 Chksum; |
81 | } __attribute__((packed)) ToFlightCtrl_t; |
81 | } __attribute__((packed)) ToFlightCtrl_t; |
82 | 82 | ||
83 | 83 | ||
84 | typedef struct |
84 | typedef struct |
85 | { |
85 | { |
86 | u8 Major; |
86 | u8 Major; |
87 | u8 Minor; |
87 | u8 Minor; |
88 | u8 Patch; |
88 | u8 Patch; |
89 | u8 Compatible; |
89 | u8 Compatible; |
90 | u8 Hardware; |
90 | u8 Hardware; |
91 | } __attribute__((packed)) SPI_Version_t; |
91 | } __attribute__((packed)) SPI_Version_t; |
92 | 92 | ||
93 | extern FromFlightCtrl_t FromFlightCtrl; |
93 | extern FromFlightCtrl_t FromFlightCtrl; |
94 | extern ToFlightCtrl_t ToFlightCtrl; |
94 | extern ToFlightCtrl_t ToFlightCtrl; |
95 | extern volatile u32 SPI0_Timeout; |
95 | extern volatile u32 SPI0_Timeout; |
96 | extern SPI_Version_t FC_Version; |
96 | extern SPI_Version_t FC_Version; |
97 | extern u8 DisableFC_Sticks; |
97 | extern u8 DisableFC_Sticks; |
98 | 98 | ||
99 | void SPI0_Init(void); |
99 | void SPI0_Init(void); |
100 | void SPI0_GetFlightCtrlVersion(void); |
100 | void SPI0_GetFlightCtrlVersion(void); |
101 | void SPI0_UpdateBuffer(void); |
101 | void SPI0_UpdateBuffer(void); |
102 | 102 | ||
103 | 103 | ||
104 | 104 | ||
105 | #endif //_SPI_SLAVE_H |
105 | #endif //_SPI_SLAVE_H |
106 | 106 |