WebSVN - NaviCtrl - Diff - Rev 276 and 277


#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_MaxDrift;
extern s32 Kalman_MaxFusion;
extern s32 ToFcGpsZ;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle;
extern s16 NewCompassDirectionSetpoint;
extern s16 FC_WP_EventChannel;
 
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;
        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
 
typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 CompassHeading;
        s16 Status;
        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;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 276	Rev 277
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 s32 NewCompassDirectionSetpoint;	24	extern s16 NewCompassDirectionSetpoint;
25	extern s32 FC_WP_EventChannel;	25	extern s16 FC_WP_EventChannel;
26		26
27	typedef struct	27	typedef struct
28	{	28	{
29	u8 Command;	29	u8 Command;
30	s16 AngleNick; // NickAngle in 0.1 deg	30	s16 AngleNick; // NickAngle in 0.1 deg
31	s16 AngleRoll; // RollAngle in 0.1 deg	31	s16 AngleRoll; // RollAngle in 0.1 deg
32	s16 AccNick;	32	s16 AccNick;
33	s16 AccRoll;	33	s16 AccRoll;
34	s16 GyroHeading; // Heading in 0.1 deg	34	s16 GyroHeading; // Heading in 0.1 deg
35	s16 GyroNick;	35	s16 GyroNick;
36	s16 GyroRoll;	36	s16 GyroRoll;
37	s16 GyroYaw;	37	s16 GyroYaw;
38	union	38	union
39	{	39	{
40	u8 Byte[12];	40	u8 Byte[12];
41	s8 sByte[12];	41	s8 sByte[12];
42	u16 Int[6];	42	u16 Int[6];
43	s16 sInt[6];	43	s16 sInt[6];
44	u32 Long[3];	44	u32 Long[3];
45	s32 sLong[3];	45	s32 sLong[3];
46	float Float[3];	46	float Float[3];
47	} Param;	47	} Param;
48	u8 Chksum;	48	u8 Chksum;
49	} __attribute__((packed)) FromFlightCtrl_t;	49	} __attribute__((packed)) FromFlightCtrl_t;
50		50
51	#define SPI_NCCMD_OSD_DATA 100	51	#define SPI_NCCMD_OSD_DATA 100
52	#define SPI_NCCMD_GPS_POS 101	52	#define SPI_NCCMD_GPS_POS 101
53	#define SPI_NCCMD_GPS_TARGET 102	53	#define SPI_NCCMD_GPS_TARGET 102
54	#define SPI_NCCMD_KALMAN 103	54	#define SPI_NCCMD_KALMAN 103
55	#define SPI_NCCMD_VERSION 104	55	#define SPI_NCCMD_VERSION 104
56	#define SPI_NCCMD_GPSINFO 105	56	#define SPI_NCCMD_GPSINFO 105
57		57
58	typedef struct	58	typedef struct
59	{	59	{
60	u8 Command;	60	u8 Command;
61	GPS_Stick_t GPSStick;	61	GPS_Stick_t GPSStick;
62	s16 CompassHeading;	62	s16 CompassHeading;
63	s16 Status;	63	s16 Status;
64	u16 BeepTime;	64	u16 BeepTime;
65	union	65	union
66	{	66	{
67	u8 Byte[12];	67	u8 Byte[12];
68	s8 sByte[12];	68	s8 sByte[12];
69	u16 Int[6];	69	u16 Int[6];
70	s16 sInt[6];	70	s16 sInt[6];
71	u32 Long[3];	71	u32 Long[3];
72	s32 sLong[3];	72	s32 sLong[3];
73	float Float[3];	73	float Float[3];
74	}Param;	74	}Param;
75	u8 Chksum;	75	u8 Chksum;
76	} __attribute__((packed)) ToFlightCtrl_t;	76	} __attribute__((packed)) ToFlightCtrl_t;
77		77
78		78
79	typedef struct	79	typedef struct
80	{	80	{
81	u8 Major;	81	u8 Major;
82	u8 Minor;	82	u8 Minor;
83	u8 Patch;	83	u8 Patch;
84	u8 Compatible;	84	u8 Compatible;
85	u8 Hardware;	85	u8 Hardware;
86	} __attribute__((packed)) SPI_Version_t;	86	} __attribute__((packed)) SPI_Version_t;
87		87
88	extern FromFlightCtrl_t FromFlightCtrl;	88	extern FromFlightCtrl_t FromFlightCtrl;
89	extern ToFlightCtrl_t ToFlightCtrl;	89	extern ToFlightCtrl_t ToFlightCtrl;
90	extern volatile u32 SPI0_Timeout;	90	extern volatile u32 SPI0_Timeout;
91	extern SPI_Version_t FC_Version;	91	extern SPI_Version_t FC_Version;
92		92
93	void SPI0_Init(void);	93	void SPI0_Init(void);
94	void SPI0_GetFlightCtrlVersion(void);	94	void SPI0_GetFlightCtrlVersion(void);
95	void SPI0_UpdateBuffer(void);	95	void SPI0_UpdateBuffer(void);
96		96
97		97
98		98
99	#endif //_SPI_SLAVE_H	99	#endif //_SPI_SLAVE_H
100		100

Subversion Repositories NaviCtrl

(root)/tags/V2.12a/spi_slave.h @ 684 - Rev 276 → 277