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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 | #define SPEAK_CF_OFF 23 |
7 | #define SPEAK_CF_OFF 23 |
8 | #define SPEAK_CALIBRATE 24 |
8 | #define SPEAK_CALIBRATE 24 |
9 | #define SPEAK_MIKROKOPTER 21 |
9 | #define SPEAK_MIKROKOPTER 21 |
10 | #define SPEAK_STARTING 52 |
10 | #define SPEAK_STARTING 52 |
11 | #define SPEAK_CF_ON 46 |
11 | #define SPEAK_CF_ON 46 |
12 | #define SPEAK_ERR_CALIBARTION 1 |
12 | #define SPEAK_ERR_CALIBARTION 1 |
13 | #define SPEAK_GPS_ON 50 |
13 | #define SPEAK_GPS_ON 50 |
14 | #define SPEAK_GPS_OFF 19 |
14 | #define SPEAK_GPS_OFF 19 |
15 | #define SPEAK_GPS_HOLD 17 |
15 | #define SPEAK_GPS_HOLD 17 |
16 | #define SPEAK_GPS_HOME 18 |
16 | #define SPEAK_GPS_HOME 18 |
17 | #define SPEAK_WP_REACHED 12 |
17 | #define SPEAK_WP_REACHED 12 |
18 | #define SPEAK_NEXT_WP 13 |
18 | #define SPEAK_NEXT_WP 13 |
19 | 19 | ||
20 | 20 | ||
21 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
21 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
22 | 22 | ||
23 | #define SPI_FCCMD_USER 10 |
23 | #define SPI_FCCMD_USER 10 |
24 | #define SPI_FCCMD_STICK 11 |
24 | #define SPI_FCCMD_STICK 11 |
25 | #define SPI_FCCMD_MISC 12 |
25 | #define SPI_FCCMD_MISC 12 |
26 | #define SPI_FCCMD_PARAMETER1 13 |
26 | #define SPI_FCCMD_PARAMETER1 13 |
27 | #define SPI_FCCMD_VERSION 14 |
27 | #define SPI_FCCMD_VERSION 14 |
28 | #define SPI_FCCMD_SERVOS 15 |
28 | #define SPI_FCCMD_SERVOS 15 |
29 | #define SPI_FCCMD_ACCU 16 |
29 | #define SPI_FCCMD_ACCU 16 |
30 | #define SPI_FCCMD_PARAMETER2 17 |
30 | #define SPI_FCCMD_PARAMETER2 17 |
31 | 31 | ||
32 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
32 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
33 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
33 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
34 | 34 | ||
35 | extern s32 Kalman_K; |
35 | extern s32 Kalman_K; |
36 | extern s32 Kalman_Kompass ; |
36 | extern s32 Kalman_Kompass ; |
37 | extern s32 Kalman_MaxDrift; |
37 | extern s32 Kalman_MaxDrift; |
38 | extern s32 Kalman_MaxFusion; |
38 | extern s32 Kalman_MaxFusion; |
39 | extern s32 ToFcGpsZ; |
39 | extern s32 ToFcGpsZ; |
40 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
40 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
41 | extern s32 HeadFreeStartAngle; |
41 | extern s32 HeadFreeStartAngle; |
42 | extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel; |
42 | extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel; |
43 | extern u32 ToFC_AltitudeRate; |
43 | extern u32 ToFC_AltitudeRate; |
44 | extern s32 ToFC_AltitudeSetpoint; |
44 | extern s32 ToFC_AltitudeSetpoint; |
45 | extern u8 NC_GPS_ModeCharacter; |
45 | extern u8 NC_GPS_ModeCharacter; |
46 | extern u8 FC_is_Calibrated; |
46 | extern u8 FC_is_Calibrated; |
47 | extern u8 FCCalibActive; |
47 | extern u8 FCCalibActive; |
48 | extern u8 SpeakHoTT; |
48 | extern u8 SpeakHoTT; |
49 | /*extern u8 MotorCurrent[12]; |
49 | /*extern u8 MotorCurrent[12]; |
50 | extern u8 MotorTemperature[12]; |
50 | extern u8 MotorTemperature[12]; |
51 | extern u8 MotorState[12]; |
51 | extern u8 MotorState[12]; |
52 | extern u8 MotorMaxPwm[12]; |
52 | extern u8 MotorMaxPwm[12]; |
53 | */ |
53 | */ |
54 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
54 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
55 | extern u32 FC_I2C_ErrorConter; |
55 | extern u32 FC_I2C_ErrorConter; |
56 | extern u8 FromFC_VarioCharacter; |
56 | extern u8 FromFC_VarioCharacter; |
57 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
57 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
58 | extern s16 POI_KameraNick; |
58 | extern s16 POI_KameraNick; |
59 | extern u8 NC_To_FC_Flags; |
59 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
60 | typedef struct |
60 | typedef struct |
61 | { |
61 | { |
62 | u8 Command; |
62 | u8 Command; |
63 | s16 AngleNick; // NickAngle in 0.1 deg |
63 | s16 AngleNick; // NickAngle in 0.1 deg |
64 | s16 AngleRoll; // RollAngle in 0.1 deg |
64 | s16 AngleRoll; // RollAngle in 0.1 deg |
65 | s16 AccNick; |
65 | s16 AccNick; |
66 | s16 AccRoll; |
66 | s16 AccRoll; |
67 | s16 GyroHeading; // Heading in 0.1 deg |
67 | s16 GyroHeading; // Heading in 0.1 deg |
68 | s16 GyroNick; |
68 | s16 GyroNick; |
69 | s16 GyroRoll; |
69 | s16 GyroRoll; |
70 | s16 GyroYaw; |
70 | s16 GyroYaw; |
71 | u16 FCStatus; |
71 | u16 FCStatus; |
72 | union |
72 | union |
73 | { |
73 | { |
74 | u8 Byte[12]; |
74 | u8 Byte[12]; |
75 | s8 sByte[12]; |
75 | s8 sByte[12]; |
76 | u16 Int[6]; |
76 | u16 Int[6]; |
77 | s16 sInt[6]; |
77 | s16 sInt[6]; |
78 | u32 Long[3]; |
78 | u32 Long[3]; |
79 | s32 sLong[3]; |
79 | s32 sLong[3]; |
80 | float Float[3]; |
80 | float Float[3]; |
81 | } Param; |
81 | } Param; |
82 | u8 Chksum; |
82 | u8 Chksum; |
83 | } __attribute__((packed)) FromFlightCtrl_t; |
83 | } __attribute__((packed)) FromFlightCtrl_t; |
84 | 84 | ||
85 | //NC_To_FC_Flags |
85 | //NC_To_FC_Flags |
86 | #define NC_TO_FC_FLYING_RANGE 0x01 |
86 | #define NC_TO_FC_FLYING_RANGE 0x01 |
87 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
87 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
- | 88 | #define NC_TO_FC_AUTOSTART 0x04 |
|
- | 89 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
|
88 | 90 | ||
89 | #define SPI_NCCMD_OSD_DATA 100 |
91 | #define SPI_NCCMD_OSD_DATA 100 |
90 | #define SPI_NCCMD_GPS_POS 101 |
92 | #define SPI_NCCMD_GPS_POS 101 |
91 | #define SPI_NCCMD_GPS_TARGET 102 |
93 | #define SPI_NCCMD_GPS_TARGET 102 |
92 | #define SPI_NCCMD_KALMAN 103 |
94 | #define SPI_NCCMD_KALMAN 103 |
93 | #define SPI_NCCMD_VERSION 104 |
95 | #define SPI_NCCMD_VERSION 104 |
94 | #define SPI_NCCMD_GPSINFO 105 |
96 | #define SPI_NCCMD_GPSINFO 105 |
95 | #define SPI_NCCMD_HOTT_INFO 106 |
97 | #define SPI_NCCMD_HOTT_INFO 106 |
96 | #define SPI_MISC 107 |
98 | #define SPI_MISC 107 |
97 | 99 | ||
98 | #define HOTT_VARIO_PACKET_ID 0x89 |
100 | #define HOTT_VARIO_PACKET_ID 0x89 |
99 | #define HOTT_GPS_PACKET_ID 0x8A |
101 | #define HOTT_GPS_PACKET_ID 0x8A |
100 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
102 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
101 | #define HOTT_GENERAL_PACKET_ID 0x8D |
103 | #define HOTT_GENERAL_PACKET_ID 0x8D |
102 | 104 | ||
103 | typedef struct |
105 | typedef struct |
104 | { |
106 | { |
105 | u8 Command; |
107 | u8 Command; |
106 | GPS_Stick_t GPSStick; |
108 | GPS_Stick_t GPSStick; |
107 | s16 MagVecX; |
109 | s16 MagVecX; |
108 | s16 CompassHeading; |
110 | s16 CompassHeading; |
109 | s16 AccErrorN; |
111 | s16 AccErrorN; |
110 | s16 AccErrorR; |
112 | s16 AccErrorR; |
111 | s16 MagVecY; |
113 | s16 MagVecY; |
112 | s16 MagVecZ; |
114 | s16 MagVecZ; |
113 | u16 BeepTime; |
115 | u16 BeepTime; |
114 | union |
116 | union |
115 | { |
117 | { |
116 | u8 Byte[12]; |
118 | u8 Byte[12]; |
117 | s8 sByte[12]; |
119 | s8 sByte[12]; |
118 | u16 Int[6]; |
120 | u16 Int[6]; |
119 | s16 sInt[6]; |
121 | s16 sInt[6]; |
120 | u32 Long[3]; |
122 | u32 Long[3]; |
121 | s32 sLong[3]; |
123 | s32 sLong[3]; |
122 | float Float[3]; |
124 | float Float[3]; |
123 | }Param; |
125 | }Param; |
124 | u8 Chksum; |
126 | u8 Chksum; |
125 | } __attribute__((packed)) ToFlightCtrl_t; |
127 | } __attribute__((packed)) ToFlightCtrl_t; |
126 | 128 | ||
127 | typedef struct |
129 | typedef struct |
128 | { |
130 | { |
129 | u8 Current; |
131 | u8 Current; |
130 | u8 Temperature; |
132 | u8 Temperature; |
131 | u8 MaxPWM; |
133 | u8 MaxPWM; |
132 | u8 State; |
134 | u8 State; |
133 | } __attribute__((packed)) Motor_t; |
135 | } __attribute__((packed)) Motor_t; |
134 | 136 | ||
135 | extern Motor_t Motor[12]; |
137 | extern Motor_t Motor[12]; |
136 | 138 | ||
137 | typedef struct |
139 | typedef struct |
138 | { |
140 | { |
139 | u8 Major; |
141 | u8 Major; |
140 | u8 Minor; |
142 | u8 Minor; |
141 | u8 Patch; |
143 | u8 Patch; |
142 | u8 Compatible; |
144 | u8 Compatible; |
143 | u8 Hardware; |
145 | u8 Hardware; |
144 | } __attribute__((packed)) SPI_Version_t; |
146 | } __attribute__((packed)) SPI_Version_t; |
145 | 147 | ||
146 | extern FromFlightCtrl_t FromFlightCtrl; |
148 | extern FromFlightCtrl_t FromFlightCtrl; |
147 | extern ToFlightCtrl_t ToFlightCtrl; |
149 | extern ToFlightCtrl_t ToFlightCtrl; |
148 | extern volatile u32 SPI0_Timeout; |
150 | extern volatile u32 SPI0_Timeout; |
149 | extern SPI_Version_t FC_Version; |
151 | extern SPI_Version_t FC_Version; |
150 | extern u8 GPS_Aid_StickMultiplikator; |
152 | extern u8 GPS_Aid_StickMultiplikator; |
151 | extern u8 CompassCalState; |
153 | extern u8 CompassCalState; |
152 | 154 | ||
153 | void SPI0_Init(void); |
155 | void SPI0_Init(void); |
154 | void SPI0_GetFlightCtrlVersion(void); |
156 | void SPI0_GetFlightCtrlVersion(void); |
155 | void SPI0_UpdateBuffer(void); |
157 | void SPI0_UpdateBuffer(void); |
156 | 158 | ||
157 | 159 | ||
158 | 160 | ||
159 | #endif //_SPI_SLAVE_H |
161 | #endif //_SPI_SLAVE_H |
160 | 162 |