WebSVN - NaviCtrl - Diff - Rev 392 and 397


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.h"
 
#define SPEAK_CF_OFF            23
#define SPEAK_CALIBRATE     24
#define SPEAK_MIKROKOPTER   21
#define SPEAK_STARTING      52
#define SPEAK_CF_ON             46
#define SPEAK_ERR_CALIBARTION  1
#define SPEAK_GPS_ON            50
#define SPEAK_GPS_OFF           19
#define SPEAK_GPS_HOLD          17
#define SPEAK_GPS_HOME          18
#define SPEAK_WP_REACHED        12
#define SPEAK_NEXT_WP           13
 
 
#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 SpeakHoTT;
/*extern u8 MotorCurrent[12];
extern u8 MotorTemperature[12];
extern u8 MotorState[12];
extern u8 MotorMaxPwm[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 Current;
 u8 Temperature;
 u8 MaxPWM;
 u8 State;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[12];
 
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);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 392	Rev 397
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
-		7	#define SPEAK_CF_OFF 23
-		8	#define SPEAK_CALIBRATE 24
-		9	#define SPEAK_MIKROKOPTER 21
-		10	#define SPEAK_STARTING 52
-		11	#define SPEAK_CF_ON 46
-		12	#define SPEAK_ERR_CALIBARTION 1
-		13	#define SPEAK_GPS_ON 50
-		14	#define SPEAK_GPS_OFF 19
-		15	#define SPEAK_GPS_HOLD 17
-		16	#define SPEAK_GPS_HOME 18
-		17	#define SPEAK_WP_REACHED 12
-		18	#define SPEAK_NEXT_WP 13
6		19
7		20
8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	21	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
9		22
10	#define SPI_FCCMD_USER 10	23	#define SPI_FCCMD_USER 10
11	#define SPI_FCCMD_STICK 11	24	#define SPI_FCCMD_STICK 11
12	#define SPI_FCCMD_MISC 12	25	#define SPI_FCCMD_MISC 12
13	#define SPI_FCCMD_PARAMETER1 13	26	#define SPI_FCCMD_PARAMETER1 13
14	#define SPI_FCCMD_VERSION 14	27	#define SPI_FCCMD_VERSION 14
15	#define SPI_FCCMD_SERVOS 15	28	#define SPI_FCCMD_SERVOS 15
16	#define SPI_FCCMD_ACCU 16	29	#define SPI_FCCMD_ACCU 16
17		30
18	extern s32 Kalman_K;	31	extern s32 Kalman_K;
19	extern s32 Kalman_Kompass ;	32	extern s32 Kalman_Kompass ;
20	extern s32 Kalman_MaxDrift;	33	extern s32 Kalman_MaxDrift;
21	extern s32 Kalman_MaxFusion;	34	extern s32 Kalman_MaxFusion;
22	extern s32 ToFcGpsZ;	35	extern s32 ToFcGpsZ;
23	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	36	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
24	extern s32 HeadFreeStartAngle;	37	extern s32 HeadFreeStartAngle;
25	extern s16 FC_WP_EventChannel;	38	extern s16 FC_WP_EventChannel;
26	extern u32 ToFC_AltitudeRate;	39	extern u32 ToFC_AltitudeRate;
27	extern s32 ToFC_AltitudeSetpoint;	40	extern s32 ToFC_AltitudeSetpoint;
28	extern u8 NC_GPS_ModeCharacter;	41	extern u8 NC_GPS_ModeCharacter;
29	extern u8 FC_is_Calibrated;	42	extern u8 FC_is_Calibrated;
30	extern u8 FCCalibActive;	43	extern u8 FCCalibActive;
-		44	extern u8 SpeakHoTT;
31	/*extern u8 MotorCurrent[12];	45	/*extern u8 MotorCurrent[12];
32	extern u8 MotorTemperature[12];	46	extern u8 MotorTemperature[12];
33	extern u8 MotorState[12];	47	extern u8 MotorState[12];
34	extern u8 MotorMaxPwm[12];	48	extern u8 MotorMaxPwm[12];
35	*/	49	*/
36	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	50	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
37	extern u32 FC_I2C_ErrorConter;	51	extern u32 FC_I2C_ErrorConter;
38	extern u8 FromFC_VarioCharacter;	52	extern u8 FromFC_VarioCharacter;
39	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	53	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
40	extern s16 POI_KameraNick;	54	extern s16 POI_KameraNick;
41	extern u8 NC_To_FC_Flags;	55	extern u8 NC_To_FC_Flags;
42	typedef struct	56	typedef struct
43	{	57	{
44	u8 Command;	58	u8 Command;
45	s16 AngleNick; // NickAngle in 0.1 deg	59	s16 AngleNick; // NickAngle in 0.1 deg
46	s16 AngleRoll; // RollAngle in 0.1 deg	60	s16 AngleRoll; // RollAngle in 0.1 deg
47	s16 AccNick;	61	s16 AccNick;
48	s16 AccRoll;	62	s16 AccRoll;
49	s16 GyroHeading; // Heading in 0.1 deg	63	s16 GyroHeading; // Heading in 0.1 deg
50	s16 GyroNick;	64	s16 GyroNick;
51	s16 GyroRoll;	65	s16 GyroRoll;
52	s16 GyroYaw;	66	s16 GyroYaw;
53	u16 FCStatus;	67	u16 FCStatus;
54	union	68	union
55	{	69	{
56	u8 Byte[12];	70	u8 Byte[12];
57	s8 sByte[12];	71	s8 sByte[12];
58	u16 Int[6];	72	u16 Int[6];
59	s16 sInt[6];	73	s16 sInt[6];
60	u32 Long[3];	74	u32 Long[3];
61	s32 sLong[3];	75	s32 sLong[3];
62	float Float[3];	76	float Float[3];
63	} Param;	77	} Param;
64	u8 Chksum;	78	u8 Chksum;
65	} __attribute__((packed)) FromFlightCtrl_t;	79	} __attribute__((packed)) FromFlightCtrl_t;
66		80
67	//NC_To_FC_Flags	81	//NC_To_FC_Flags
68	#define NC_TO_FC_FLYING_RANGE 0x01	82	#define NC_TO_FC_FLYING_RANGE 0x01
69	#define NC_TO_FC_EMERGENCY_LANDING 0x02	83	#define NC_TO_FC_EMERGENCY_LANDING 0x02
70		84
71	#define SPI_NCCMD_OSD_DATA 100	85	#define SPI_NCCMD_OSD_DATA 100
72	#define SPI_NCCMD_GPS_POS 101	86	#define SPI_NCCMD_GPS_POS 101
73	#define SPI_NCCMD_GPS_TARGET 102	87	#define SPI_NCCMD_GPS_TARGET 102
74	#define SPI_NCCMD_KALMAN 103	88	#define SPI_NCCMD_KALMAN 103
75	#define SPI_NCCMD_VERSION 104	89	#define SPI_NCCMD_VERSION 104
76	#define SPI_NCCMD_GPSINFO 105	90	#define SPI_NCCMD_GPSINFO 105
77	#define SPI_NCCMD_HOTT_INFO 106	91	#define SPI_NCCMD_HOTT_INFO 106
78	#define SPI_MISC 107	92	#define SPI_MISC 107
79		93
80	#define HOTT_VARIO_PACKET_ID 0x89	94	#define HOTT_VARIO_PACKET_ID 0x89
81	#define HOTT_GPS_PACKET_ID 0x8A	95	#define HOTT_GPS_PACKET_ID 0x8A
82	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	96	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
83	#define HOTT_GENERAL_PACKET_ID 0x8D	97	#define HOTT_GENERAL_PACKET_ID 0x8D
84		98
85	typedef struct	99	typedef struct
86	{	100	{
87	u8 Command;	101	u8 Command;
88	GPS_Stick_t GPSStick;	102	GPS_Stick_t GPSStick;
89	s16 CompassHeading;	103	s16 CompassHeading;
90	s16 AccErrorN; // s16 MagVecX;	104	s16 AccErrorN; // s16 MagVecX;
91	s16 AccErrorR; // s16 MagVecY;	105	s16 AccErrorR; // s16 MagVecY;
92	s16 MagVecZ;	106	s16 MagVecZ;
93	s16 NCStatus;	107	s16 NCStatus;
94	u16 BeepTime;	108	u16 BeepTime;
95	union	109	union
96	{	110	{
97	u8 Byte[12];	111	u8 Byte[12];
98	s8 sByte[12];	112	s8 sByte[12];
99	u16 Int[6];	113	u16 Int[6];
100	s16 sInt[6];	114	s16 sInt[6];
101	u32 Long[3];	115	u32 Long[3];
102	s32 sLong[3];	116	s32 sLong[3];
103	float Float[3];	117	float Float[3];
104	}Param;	118	}Param;
105	u8 Chksum;	119	u8 Chksum;
106	} __attribute__((packed)) ToFlightCtrl_t;	120	} __attribute__((packed)) ToFlightCtrl_t;
107		121
108	typedef struct	122	typedef struct
109	{	123	{
110	u8 Current;	124	u8 Current;
111	u8 Temperature;	125	u8 Temperature;
112	u8 MaxPWM;	126	u8 MaxPWM;
113	u8 State;	127	u8 State;
114	} __attribute__((packed)) Motor_t;	128	} __attribute__((packed)) Motor_t;
115		129
116	extern Motor_t Motor[12];	130	extern Motor_t Motor[12];
117		131
118	typedef struct	132	typedef struct
119	{	133	{
120	u8 Major;	134	u8 Major;
121	u8 Minor;	135	u8 Minor;
122	u8 Patch;	136	u8 Patch;
123	u8 Compatible;	137	u8 Compatible;
124	u8 Hardware;	138	u8 Hardware;
125	} __attribute__((packed)) SPI_Version_t;	139	} __attribute__((packed)) SPI_Version_t;
126		140
127	extern FromFlightCtrl_t FromFlightCtrl;	141	extern FromFlightCtrl_t FromFlightCtrl;
128	extern ToFlightCtrl_t ToFlightCtrl;	142	extern ToFlightCtrl_t ToFlightCtrl;
129	extern volatile u32 SPI0_Timeout;	143	extern volatile u32 SPI0_Timeout;
130	extern SPI_Version_t FC_Version;	144	extern SPI_Version_t FC_Version;
131	extern u8 GPS_Aid_StickMultiplikator;	145	extern u8 GPS_Aid_StickMultiplikator;
132	extern u8 CompassCalState;	146	extern u8 CompassCalState;
133		147
134	void SPI0_Init(void);	148	void SPI0_Init(void);
135	void SPI0_GetFlightCtrlVersion(void);	149	void SPI0_GetFlightCtrlVersion(void);
136	void SPI0_UpdateBuffer(void);	150	void SPI0_UpdateBuffer(void);
137		151
138		152
139		153
140	#endif //_SPI_SLAVE_H	154	#endif //_SPI_SLAVE_H
141		155

Subversion Repositories NaviCtrl

(root)/tags/V2.08a/spi_slave.h @ 744 - Rev 392 → 397