WebSVN - NaviCtrl - Diff - Rev 625 and 636


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.h"
#include "main.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_20M                       37   // ?
#define SPEAK_MK_OFF            38
#define SPEAK_ALTITUDE_ON       39
#define SPEAK_ALTITUDE_OFF      40
#define SPEAK_100M                      41   // ?
#define SPEAK_CONNECTED         42
#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_SLOW3                 15
#define SPI_FCCMD_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
#define SPI_FCCMD_NEUTRAL               18
#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
#define SPI_FCCMD_SLOW2                 20
 
#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); }
 
// devides only the Poti-value
#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); 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,CompassDirectionAtMotorStart;
extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
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 s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
extern s16 CompassSetpoint;
extern u8 AmountOfMotors;
extern s16 SimulatedDirection;    // simulated compass direction
           
extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
extern u8 Logging_BL_MinOfMaxPWM;
extern u8 ErrorCheck_BL_MinOfMaxPWM;
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;
extern u16 FlugMinutenGesamt;
extern u32 LoggingGasFilter, LoggingGasCnt;
extern u8 HoverGas;
 
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
#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;
 u8 NotReadyCnt;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[MAX_MOTORS];
 
#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[MAX_MOTORS]; // 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 s16 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
extern u8 Out1TriggerUpdateNewData;
extern u8 LowVoltageLandingActive;
 
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 625	Rev 636
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	#include "main.h"	6	#include "main.h"
7		7
8	#define SPEAK_ERR_CALIBARTION 1	8	#define SPEAK_ERR_CALIBARTION 1
9	#define SPEAK_ERR_RECEICER 2	9	#define SPEAK_ERR_RECEICER 2
10	#define SPEAK_ERR_DATABUS 3	10	#define SPEAK_ERR_DATABUS 3
11	#define SPEAK_ERR_NAVI 4	11	#define SPEAK_ERR_NAVI 4
12	#define SPEAK_ERROR 5	12	#define SPEAK_ERROR 5
13	#define SPEAK_ERR_COMPASS 6	13	#define SPEAK_ERR_COMPASS 6
14	#define SPEAK_ERR_SENSOR 7	14	#define SPEAK_ERR_SENSOR 7
15	#define SPEAK_ERR_GPS 8	15	#define SPEAK_ERR_GPS 8
16	#define SPEAK_ERR_MOTOR 9	16	#define SPEAK_ERR_MOTOR 9
17	#define SPEAK_MAX_TEMPERAT 10	17	#define SPEAK_MAX_TEMPERAT 10
18	#define SPEAK_ALTI_REACHED 11	18	#define SPEAK_ALTI_REACHED 11
19	#define SPEAK_WP_REACHED 12	19	#define SPEAK_WP_REACHED 12
20	#define SPEAK_NEXT_WP 13	20	#define SPEAK_NEXT_WP 13
21	#define SPEAK_LANDING 14	21	#define SPEAK_LANDING 14
22	#define SPEAK_GPS_FIX 15	22	#define SPEAK_GPS_FIX 15
23	#define SPEAK_UNDERVOLTAGE 16	23	#define SPEAK_UNDERVOLTAGE 16
24	#define SPEAK_GPS_HOLD 17	24	#define SPEAK_GPS_HOLD 17
25	#define SPEAK_GPS_HOME 18	25	#define SPEAK_GPS_HOME 18
26	#define SPEAK_GPS_OFF 19	26	#define SPEAK_GPS_OFF 19
27	#define SPEAK_BEEP 20	27	#define SPEAK_BEEP 20
28	#define SPEAK_MIKROKOPTER 21	28	#define SPEAK_MIKROKOPTER 21
29	#define SPEAK_CAPACITY 22	29	#define SPEAK_CAPACITY 22
30	#define SPEAK_CF_OFF 23	30	#define SPEAK_CF_OFF 23
31	#define SPEAK_CALIBRATE 24	31	#define SPEAK_CALIBRATE 24
32	#define SPEAK_MAX_RANGE 25	32	#define SPEAK_MAX_RANGE 25
33	#define SPEAK_MAX_ALTITUD 26	33	#define SPEAK_MAX_ALTITUD 26
34		34
35	#define SPEAK_20M 37 // ?	35	#define SPEAK_20M 37 // ?
36	#define SPEAK_MK_OFF 38	36	#define SPEAK_MK_OFF 38
37	#define SPEAK_ALTITUDE_ON 39	37	#define SPEAK_ALTITUDE_ON 39
38	#define SPEAK_ALTITUDE_OFF 40	38	#define SPEAK_ALTITUDE_OFF 40
39	#define SPEAK_100M 41 // ?	39	#define SPEAK_100M 41 // ?
-		40	#define SPEAK_CONNECTED 42
40	#define SPEAK_CF_ON 46	41	#define SPEAK_CF_ON 46
41	#define SPEAK_SINKING 47 // ?	42	#define SPEAK_SINKING 47 // ?
42	#define SPEAK_RISING 48	43	#define SPEAK_RISING 48
43	#define SPEAK_HOLDING 49 // ?	44	#define SPEAK_HOLDING 49 // ?
44	#define SPEAK_GPS_ON 50	45	#define SPEAK_GPS_ON 50 // ?
45	#define SPEAK_FOLLWING 51 // ?	46	#define SPEAK_FOLLWING 51 // ?
46	#define SPEAK_STARTING 52	47	#define SPEAK_STARTING 52
47		48
48		49
49	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	50	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
50		51
51	#define SPI_FCCMD_USER 10	52	#define SPI_FCCMD_USER 10
52	#define SPI_FCCMD_STICK 11	53	#define SPI_FCCMD_STICK 11
53	#define SPI_FCCMD_MISC 12	54	#define SPI_FCCMD_MISC 12
54	#define SPI_FCCMD_PARAMETER1 13	55	#define SPI_FCCMD_PARAMETER1 13
55	#define SPI_FCCMD_VERSION 14	56	#define SPI_FCCMD_VERSION 14
56	#define SPI_FCCMD_SLOW3 15	57	#define SPI_FCCMD_SLOW3 15
57	#define SPI_FCCMD_BL_ACCU 16	58	#define SPI_FCCMD_BL_ACCU 16
58	#define SPI_FCCMD_PARAMETER2 17	59	#define SPI_FCCMD_PARAMETER2 17
59	#define SPI_FCCMD_NEUTRAL 18	60	#define SPI_FCCMD_NEUTRAL 18
60	#define SPI_FCCMD_SLOW 19 // kommt nicht vor	61	#define SPI_FCCMD_SLOW 19 // kommt nicht vor
61	#define SPI_FCCMD_SLOW2 20	62	#define SPI_FCCMD_SLOW2 20
62		63
63	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }	64	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
64	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }	65	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
65		66
66	// devides only the Poti-value	67	// devides only the Poti-value
67	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }	68	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
68	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }	69	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }
69		70
70	extern s32 Kalman_K;	71	extern s32 Kalman_K;
71	extern s32 Kalman_Kompass ;	72	extern s32 Kalman_Kompass ;
72	extern s32 Kalman_MaxDrift;	73	extern s32 Kalman_MaxDrift;
73	extern s32 Kalman_MaxFusion;	74	extern s32 Kalman_MaxFusion;
74	extern s32 ToFcGpsZ;	75	extern s32 ToFcGpsZ;
75	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	76	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
76	extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;	77	extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;
77	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;	78	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
78	extern u32 ToFC_AltitudeRate;	79	extern u32 ToFC_AltitudeRate;
79	extern s32 ToFC_AltitudeSetpoint;	80	extern s32 ToFC_AltitudeSetpoint;
80	extern u8 NC_GPS_ModeCharacter;	81	extern u8 NC_GPS_ModeCharacter;
81	extern u8 FC_is_Calibrated;	82	extern u8 FC_is_Calibrated;
82	extern u8 FCCalibActive;	83	extern u8 FCCalibActive;
83	extern u8 SpeakHoTT;	84	extern u8 SpeakHoTT;
84	extern u8 NC_Wait_for_LED;	85	extern u8 NC_Wait_for_LED;
85	extern s16 GyroCompassCorrected;	86	extern s16 GyroCompassCorrected;
86	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination	87	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
87	extern s16 CompassSetpoint;	88	extern s16 CompassSetpoint;
88	extern u8 AmountOfMotors;	89	extern u8 AmountOfMotors;
89	extern s16 SimulatedDirection; // simulated compass direction	90	extern s16 SimulatedDirection; // simulated compass direction
90		91
91	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	92	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
92	extern u8 Logging_BL_MinOfMaxPWM;	93	extern u8 Logging_BL_MinOfMaxPWM;
93	extern u8 ErrorCheck_BL_MinOfMaxPWM;	94	extern u8 ErrorCheck_BL_MinOfMaxPWM;
94	extern u32 FC_I2C_ErrorConter;	95	extern u32 FC_I2C_ErrorConter;
95	extern u8 FromFC_VarioCharacter;	96	extern u8 FromFC_VarioCharacter;
96	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	97	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
97	extern s16 POI_KameraNick;	98	extern s16 POI_KameraNick;
98	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	99	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
99	extern u16 FlugMinutenGesamt;	100	extern u16 FlugMinutenGesamt;
100	extern u32 LoggingGasFilter, LoggingGasCnt;	101	extern u32 LoggingGasFilter, LoggingGasCnt;
101	extern u8 HoverGas;	102	extern u8 HoverGas;
102		103
103	typedef struct	104	typedef struct
104	{	105	{
105	u8 Command;	106	u8 Command;
106	s16 AngleNick; // NickAngle in 0.1 deg	107	s16 AngleNick; // NickAngle in 0.1 deg
107	s16 AngleRoll; // RollAngle in 0.1 deg	108	s16 AngleRoll; // RollAngle in 0.1 deg
108	s16 AccNick;	109	s16 AccNick;
109	s16 AccRoll;	110	s16 AccRoll;
110	s16 GyroHeading; // Heading in 0.1 deg	111	s16 GyroHeading; // Heading in 0.1 deg
111	s16 GyroNick;	112	s16 GyroNick;
112	s16 GyroRoll;	113	s16 GyroRoll;
113	s16 GyroYaw;	114	s16 GyroYaw;
114	u16 FCStatus;	115	u16 FCStatus;
115	union	116	union
116	{	117	{
117	u8 Byte[12];	118	u8 Byte[12];
118	s8 sByte[12];	119	s8 sByte[12];
119	u16 Int[6];	120	u16 Int[6];
120	s16 sInt[6];	121	s16 sInt[6];
121	u32 Long[3];	122	u32 Long[3];
122	s32 sLong[3];	123	s32 sLong[3];
123	float Float[3];	124	float Float[3];
124	} Param;	125	} Param;
125	u8 Chksum;	126	u8 Chksum;
126	} __attribute__((packed)) FromFlightCtrl_t;	127	} __attribute__((packed)) FromFlightCtrl_t;
127		128
128	#define SPI_NCCMD_OSD_DATA 100	129	#define SPI_NCCMD_OSD_DATA 100
129	#define SPI_NCCMD_GPS_POS 101	130	#define SPI_NCCMD_GPS_POS 101
130	#define SPI_NCCMD_GPS_TARGET 102	131	#define SPI_NCCMD_GPS_TARGET 102
131	#define SPI_NCCMD_KALMAN 103	132	#define SPI_NCCMD_KALMAN 103
132	#define SPI_NCCMD_VERSION 104	133	#define SPI_NCCMD_VERSION 104
133	#define SPI_NCCMD_GPSINFO 105	134	#define SPI_NCCMD_GPSINFO 105
134	#define SPI_NCCMD_HOTT_INFO 106	135	#define SPI_NCCMD_HOTT_INFO 106
135	#define SPI_MISC 107	136	#define SPI_MISC 107
136		137
137	#define HOTT_VARIO_PACKET_ID 0x89	138	#define HOTT_VARIO_PACKET_ID 0x89
138	#define HOTT_GPS_PACKET_ID 0x8A	139	#define HOTT_GPS_PACKET_ID 0x8A
139	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	140	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
140	#define HOTT_GENERAL_PACKET_ID 0x8D	141	#define HOTT_GENERAL_PACKET_ID 0x8D
141	#define JETI_GPS_PACKET_ID1 0x01	142	#define JETI_GPS_PACKET_ID1 0x01
142	#define JETI_GPS_PACKET_ID2 0x02	143	#define JETI_GPS_PACKET_ID2 0x02
143	#define HOTT_WPL_NAME 0x03	144	#define HOTT_WPL_NAME 0x03
144		145
145	typedef struct	146	typedef struct
146	{	147	{
147	u8 Command;	148	u8 Command;
148	GPS_Stick_t GPSStick;	149	GPS_Stick_t GPSStick;
149	s16 MagVecX;	150	s16 MagVecX;
150	s16 CompassHeading;	151	s16 CompassHeading;
151	s16 AccErrorN;	152	s16 AccErrorN;
152	s16 AccErrorR;	153	s16 AccErrorR;
153	s16 MagVecY;	154	s16 MagVecY;
154	s16 MagVecZ;	155	s16 MagVecZ;
155	u16 BeepTime;	156	u16 BeepTime;
156	union	157	union
157	{	158	{
158	u8 Byte[12];	159	u8 Byte[12];
159	s8 sByte[12];	160	s8 sByte[12];
160	u16 Int[6];	161	u16 Int[6];
161	s16 sInt[6];	162	s16 sInt[6];
162	u32 Long[3];	163	u32 Long[3];
163	s32 sLong[3];	164	s32 sLong[3];
164	float Float[3];	165	float Float[3];
165	}Param;	166	}Param;
166	u8 Chksum;	167	u8 Chksum;
167	} __attribute__((packed)) ToFlightCtrl_t;	168	} __attribute__((packed)) ToFlightCtrl_t;
168		169
169	typedef struct	170	typedef struct
170	{	171	{
171	u8 Current;	172	u8 Current;
172	u8 Temperature;	173	u8 Temperature;
173	u8 MaxPWM;	174	u8 MaxPWM;
174	u8 State;	175	u8 State;
175	u8 NotReadyCnt;	176	u8 NotReadyCnt;
176	} __attribute__((packed)) Motor_t;	177	} __attribute__((packed)) Motor_t;
177		178
178	extern Motor_t Motor[MAX_MOTORS];	179	extern Motor_t Motor[MAX_MOTORS];
179		180
180	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	181	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
181	#define MOTOR_STATE_FAST_MODE 0x02	182	#define MOTOR_STATE_FAST_MODE 0x02
182	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	183	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
183	extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt	184	extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt
184		185
185		186
186	typedef struct	187	typedef struct
187	{	188	{
188	u8 Major;	189	u8 Major;
189	u8 Minor;	190	u8 Minor;
190	u8 Patch;	191	u8 Patch;
191	u8 Compatible;	192	u8 Compatible;
192	u8 Hardware;	193	u8 Hardware;
193	} __attribute__((packed)) SPI_Version_t;	194	} __attribute__((packed)) SPI_Version_t;
194		195
195	extern FromFlightCtrl_t FromFlightCtrl;	196	extern FromFlightCtrl_t FromFlightCtrl;
196	extern ToFlightCtrl_t ToFlightCtrl;	197	extern ToFlightCtrl_t ToFlightCtrl;
197	extern volatile u32 SPI0_Timeout;	198	extern volatile u32 SPI0_Timeout;
198	extern SPI_Version_t FC_Version;	199	extern SPI_Version_t FC_Version;
199	extern s16 GPS_Aid_StickMultiplikator;	200	extern s16 GPS_Aid_StickMultiplikator;
200	extern u8 CompassCalState;	201	extern u8 CompassCalState;
201	extern u8 Out1TriggerUpdateNewData;	202	extern u8 Out1TriggerUpdateNewData;
202	extern u8 LowVoltageLandingActive;	203	extern u8 LowVoltageLandingActive;
203		204
204	void SPI0_Init(void);	205	void SPI0_Init(void);
205	void SPI0_GetFlightCtrlVersion(void);	206	void SPI0_GetFlightCtrlVersion(void);
206	void SPI0_UpdateBuffer(void);	207	void SPI0_UpdateBuffer(void);
207	u16 BL3_Current(u8 who); // in 0.1A	208	u16 BL3_Current(u8 who); // in 0.1A
208		209
209	#endif //_SPI_SLAVE_H	210	#endif //_SPI_SLAVE_H
210		211

Subversion Repositories NaviCtrl

(root)/tags/V2.10e/spi_slave.h @ 655 - Rev 625 → 636