WebSVN - NaviCtrl - Diff - Rev 338 and 342


#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;
 
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;
 
#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 338	Rev 342
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
38	typedef struct	38	typedef struct
39	{	39	{
40	u8 Command;	40	u8 Command;
41	s16 AngleNick; // NickAngle in 0.1 deg	41	s16 AngleNick; // NickAngle in 0.1 deg
42	s16 AngleRoll; // RollAngle in 0.1 deg	42	s16 AngleRoll; // RollAngle in 0.1 deg
43	s16 AccNick;	43	s16 AccNick;
44	s16 AccRoll;	44	s16 AccRoll;
45	s16 GyroHeading; // Heading in 0.1 deg	45	s16 GyroHeading; // Heading in 0.1 deg
46	s16 GyroNick;	46	s16 GyroNick;
47	s16 GyroRoll;	47	s16 GyroRoll;
48	s16 GyroYaw;	48	s16 GyroYaw;
49	u16 FCStatus;	49	u16 FCStatus;
50	union	50	union
51	{	51	{
52	u8 Byte[12];	52	u8 Byte[12];
53	s8 sByte[12];	53	s8 sByte[12];
54	u16 Int[6];	54	u16 Int[6];
55	s16 sInt[6];	55	s16 sInt[6];
56	u32 Long[3];	56	u32 Long[3];
57	s32 sLong[3];	57	s32 sLong[3];
58	float Float[3];	58	float Float[3];
59	} Param;	59	} Param;
60	u8 Chksum;	60	u8 Chksum;
61	} __attribute__((packed)) FromFlightCtrl_t;	61	} __attribute__((packed)) FromFlightCtrl_t;
62		62
63	#define SPI_NCCMD_OSD_DATA 100	63	#define SPI_NCCMD_OSD_DATA 100
64	#define SPI_NCCMD_GPS_POS 101	64	#define SPI_NCCMD_GPS_POS 101
65	#define SPI_NCCMD_GPS_TARGET 102	65	#define SPI_NCCMD_GPS_TARGET 102
66	#define SPI_NCCMD_KALMAN 103	66	#define SPI_NCCMD_KALMAN 103
67	#define SPI_NCCMD_VERSION 104	67	#define SPI_NCCMD_VERSION 104
68	#define SPI_NCCMD_GPSINFO 105	68	#define SPI_NCCMD_GPSINFO 105
69	#define SPI_NCCMD_HOTT_INFO 106	69	#define SPI_NCCMD_HOTT_INFO 106
-		70	#define SPI_MISC 107
70		71
71	#define HOTT_VARIO_PACKET_ID 0x89	72	#define HOTT_VARIO_PACKET_ID 0x89
72	#define HOTT_GPS_PACKET_ID 0x8A	73	#define HOTT_GPS_PACKET_ID 0x8A
73	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	74	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
74	#define HOTT_GENERAL_PACKET_ID 0x8D	75	#define HOTT_GENERAL_PACKET_ID 0x8D
75		76
76	typedef struct	77	typedef struct
77	{	78	{
78	u8 Command;	79	u8 Command;
79	GPS_Stick_t GPSStick;	80	GPS_Stick_t GPSStick;
80	s16 CompassHeading;	81	s16 CompassHeading;
81	s16 AccErrorN; // s16 MagVecX;	82	s16 AccErrorN; // s16 MagVecX;
82	s16 AccErrorR; // s16 MagVecY;	83	s16 AccErrorR; // s16 MagVecY;
83	s16 MagVecZ;	84	s16 MagVecZ;
84	s16 NCStatus;	85	s16 NCStatus;
85	u16 BeepTime;	86	u16 BeepTime;
86	union	87	union
87	{	88	{
88	u8 Byte[12];	89	u8 Byte[12];
89	s8 sByte[12];	90	s8 sByte[12];
90	u16 Int[6];	91	u16 Int[6];
91	s16 sInt[6];	92	s16 sInt[6];
92	u32 Long[3];	93	u32 Long[3];
93	s32 sLong[3];	94	s32 sLong[3];
94	float Float[3];	95	float Float[3];
95	}Param;	96	}Param;
96	u8 Chksum;	97	u8 Chksum;
97	} __attribute__((packed)) ToFlightCtrl_t;	98	} __attribute__((packed)) ToFlightCtrl_t;
98		99
99		100
100	typedef struct	101	typedef struct
101	{	102	{
102	u8 Major;	103	u8 Major;
103	u8 Minor;	104	u8 Minor;
104	u8 Patch;	105	u8 Patch;
105	u8 Compatible;	106	u8 Compatible;
106	u8 Hardware;	107	u8 Hardware;
107	} __attribute__((packed)) SPI_Version_t;	108	} __attribute__((packed)) SPI_Version_t;
108		109
109	extern FromFlightCtrl_t FromFlightCtrl;	110	extern FromFlightCtrl_t FromFlightCtrl;
110	extern ToFlightCtrl_t ToFlightCtrl;	111	extern ToFlightCtrl_t ToFlightCtrl;
111	extern volatile u32 SPI0_Timeout;	112	extern volatile u32 SPI0_Timeout;
112	extern SPI_Version_t FC_Version;	113	extern SPI_Version_t FC_Version;
113	extern u8 GPS_Aid_StickMultiplikator;	114	extern u8 GPS_Aid_StickMultiplikator;
114		115
115	void SPI0_Init(void);	116	void SPI0_Init(void);
116	void SPI0_GetFlightCtrlVersion(void);	117	void SPI0_GetFlightCtrlVersion(void);
117	void SPI0_UpdateBuffer(void);	118	void SPI0_UpdateBuffer(void);
118		119
119		120
120		121
121	#endif //_SPI_SLAVE_H	122	#endif //_SPI_SLAVE_H
122		123

Subversion Repositories NaviCtrl

(root)/tags/V2.08a/spi_slave.h @ 744 - Rev 338 → 342