WebSVN - NaviCtrl - Diff - Rev 471 and 482


#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_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
 
#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); }
 
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,LogFC_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 NC_Wait_for_LED;
extern s16 GyroCompassCorrected;
 
 
 
 
 
 
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, NC_To_FC_Autostart;
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 NC_TO_FC_AUTOSTART                      0x04
#define NC_TO_FC_AUTOLANDING            0x08 // not used 
 
#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
 
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;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[12];
 
 
 
#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[12]; // 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 u8 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
 
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 471	Rev 482
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_BL_ACCU 16	29	#define SPI_FCCMD_BL_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 NC_Wait_for_LED;	49	extern u8 NC_Wait_for_LED;
50	extern s16 GyroCompassCorrected;	50	extern s16 GyroCompassCorrected;
51		-
52	/*extern u8 MotorCurrent[12];	-
53	extern u8 MotorTemperature[12];	-
54	extern u8 MotorState[12];	-
55	extern u8 MotorMaxPwm[12];	51
56	*/	52
57	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	53	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
58	extern u32 FC_I2C_ErrorConter;	54	extern u32 FC_I2C_ErrorConter;
59	extern u8 FromFC_VarioCharacter;	55	extern u8 FromFC_VarioCharacter;
60	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	56	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
61	extern s16 POI_KameraNick;	57	extern s16 POI_KameraNick;
62	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	58	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
63	typedef struct	59	typedef struct
64	{	60	{
65	u8 Command;	61	u8 Command;
66	s16 AngleNick; // NickAngle in 0.1 deg	62	s16 AngleNick; // NickAngle in 0.1 deg
67	s16 AngleRoll; // RollAngle in 0.1 deg	63	s16 AngleRoll; // RollAngle in 0.1 deg
68	s16 AccNick;	64	s16 AccNick;
69	s16 AccRoll;	65	s16 AccRoll;
70	s16 GyroHeading; // Heading in 0.1 deg	66	s16 GyroHeading; // Heading in 0.1 deg
71	s16 GyroNick;	67	s16 GyroNick;
72	s16 GyroRoll;	68	s16 GyroRoll;
73	s16 GyroYaw;	69	s16 GyroYaw;
74	u16 FCStatus;	70	u16 FCStatus;
75	union	71	union
76	{	72	{
77	u8 Byte[12];	73	u8 Byte[12];
78	s8 sByte[12];	74	s8 sByte[12];
79	u16 Int[6];	75	u16 Int[6];
80	s16 sInt[6];	76	s16 sInt[6];
81	u32 Long[3];	77	u32 Long[3];
82	s32 sLong[3];	78	s32 sLong[3];
83	float Float[3];	79	float Float[3];
84	} Param;	80	} Param;
85	u8 Chksum;	81	u8 Chksum;
86	} __attribute__((packed)) FromFlightCtrl_t;	82	} __attribute__((packed)) FromFlightCtrl_t;
87		83
88	//NC_To_FC_Flags	84	//NC_To_FC_Flags
89	#define NC_TO_FC_FLYING_RANGE 0x01	85	#define NC_TO_FC_FLYING_RANGE 0x01
90	#define NC_TO_FC_EMERGENCY_LANDING 0x02	86	#define NC_TO_FC_EMERGENCY_LANDING 0x02
91	#define NC_TO_FC_AUTOSTART 0x04	87	#define NC_TO_FC_AUTOSTART 0x04
92	#define NC_TO_FC_AUTOLANDING 0x08 // not used	88	#define NC_TO_FC_AUTOLANDING 0x08 // not used
93		89
94	#define SPI_NCCMD_OSD_DATA 100	90	#define SPI_NCCMD_OSD_DATA 100
95	#define SPI_NCCMD_GPS_POS 101	91	#define SPI_NCCMD_GPS_POS 101
96	#define SPI_NCCMD_GPS_TARGET 102	92	#define SPI_NCCMD_GPS_TARGET 102
97	#define SPI_NCCMD_KALMAN 103	93	#define SPI_NCCMD_KALMAN 103
98	#define SPI_NCCMD_VERSION 104	94	#define SPI_NCCMD_VERSION 104
99	#define SPI_NCCMD_GPSINFO 105	95	#define SPI_NCCMD_GPSINFO 105
100	#define SPI_NCCMD_HOTT_INFO 106	96	#define SPI_NCCMD_HOTT_INFO 106
101	#define SPI_MISC 107	97	#define SPI_MISC 107
102		98
103	#define HOTT_VARIO_PACKET_ID 0x89	99	#define HOTT_VARIO_PACKET_ID 0x89
104	#define HOTT_GPS_PACKET_ID 0x8A	100	#define HOTT_GPS_PACKET_ID 0x8A
105	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	101	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
106	#define HOTT_GENERAL_PACKET_ID 0x8D	102	#define HOTT_GENERAL_PACKET_ID 0x8D
107	#define JETI_GPS_PACKET_ID1 0x01	103	#define JETI_GPS_PACKET_ID1 0x01
108	#define JETI_GPS_PACKET_ID2 0x02	104	#define JETI_GPS_PACKET_ID2 0x02
109		105
110	typedef struct	106	typedef struct
111	{	107	{
112	u8 Command;	108	u8 Command;
113	GPS_Stick_t GPSStick;	109	GPS_Stick_t GPSStick;
114	s16 MagVecX;	110	s16 MagVecX;
115	s16 CompassHeading;	111	s16 CompassHeading;
116	s16 AccErrorN;	112	s16 AccErrorN;
117	s16 AccErrorR;	113	s16 AccErrorR;
118	s16 MagVecY;	114	s16 MagVecY;
119	s16 MagVecZ;	115	s16 MagVecZ;
120	u16 BeepTime;	116	u16 BeepTime;
121	union	117	union
122	{	118	{
123	u8 Byte[12];	119	u8 Byte[12];
124	s8 sByte[12];	120	s8 sByte[12];
125	u16 Int[6];	121	u16 Int[6];
126	s16 sInt[6];	122	s16 sInt[6];
127	u32 Long[3];	123	u32 Long[3];
128	s32 sLong[3];	124	s32 sLong[3];
129	float Float[3];	125	float Float[3];
130	}Param;	126	}Param;
131	u8 Chksum;	127	u8 Chksum;
132	} __attribute__((packed)) ToFlightCtrl_t;	128	} __attribute__((packed)) ToFlightCtrl_t;
133		129
134	typedef struct	130	typedef struct
135	{	131	{
136	u8 Current;	132	u8 Current;
137	u8 Temperature;	133	u8 Temperature;
138	u8 MaxPWM;	134	u8 MaxPWM;
139	u8 State;	135	u8 State;
140	} __attribute__((packed)) Motor_t;	136	} __attribute__((packed)) Motor_t;
141		137
142	extern Motor_t Motor[12];	138	extern Motor_t Motor[12];
143		-
144		-
145	//Motor_Version[12]	139
146	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	140	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
147	#define MOTOR_STATE_FAST_MODE 0x02	141	#define MOTOR_STATE_FAST_MODE 0x02
148	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	142	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
149	extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt	143	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
-		144
150		145
151		146
152	typedef struct	147	typedef struct
153	{	148	{
154	u8 Major;	149	u8 Major;
155	u8 Minor;	150	u8 Minor;
156	u8 Patch;	151	u8 Patch;
157	u8 Compatible;	152	u8 Compatible;
158	u8 Hardware;	153	u8 Hardware;
159	} __attribute__((packed)) SPI_Version_t;	154	} __attribute__((packed)) SPI_Version_t;
160		155
161	extern FromFlightCtrl_t FromFlightCtrl;	156	extern FromFlightCtrl_t FromFlightCtrl;
162	extern ToFlightCtrl_t ToFlightCtrl;	157	extern ToFlightCtrl_t ToFlightCtrl;
163	extern volatile u32 SPI0_Timeout;	158	extern volatile u32 SPI0_Timeout;
164	extern SPI_Version_t FC_Version;	159	extern SPI_Version_t FC_Version;
165	extern u8 GPS_Aid_StickMultiplikator;	160	extern u8 GPS_Aid_StickMultiplikator;
166	extern u8 CompassCalState;	161	extern u8 CompassCalState;
167		162
168	void SPI0_Init(void);	163	void SPI0_Init(void);
169	void SPI0_GetFlightCtrlVersion(void);	164	void SPI0_GetFlightCtrlVersion(void);
170	void SPI0_UpdateBuffer(void);	165	void SPI0_UpdateBuffer(void);
-		166	u16 BL3_Current(u8 who); // in 0.1A
171		167
172	#endif //_SPI_SLAVE_H	168	#endif //_SPI_SLAVE_H
173		169

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(root)/tags/V2.14b/spi_slave.h @ 818 - Rev 471 → 482