WebSVN - NaviCtrl - Diff - Rev 482 and 483


#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 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, 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];
 
 
//Motor_Version[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 unsigned char 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);
 
 
#endif //_SPI_SLAVE_H
 

Rev 482	Rev 483
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];
51		55	extern u8 MotorMaxPwm[12];
52		56	*/
53	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	57	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
54	extern u32 FC_I2C_ErrorConter;	58	extern u32 FC_I2C_ErrorConter;
55	extern u8 FromFC_VarioCharacter;	59	extern u8 FromFC_VarioCharacter;
56	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	60	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
57	extern s16 POI_KameraNick;	61	extern s16 POI_KameraNick;
58	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	62	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
59	typedef struct	63	typedef struct
60	{	64	{
61	u8 Command;	65	u8 Command;
62	s16 AngleNick; // NickAngle in 0.1 deg	66	s16 AngleNick; // NickAngle in 0.1 deg
63	s16 AngleRoll; // RollAngle in 0.1 deg	67	s16 AngleRoll; // RollAngle in 0.1 deg
64	s16 AccNick;	68	s16 AccNick;
65	s16 AccRoll;	69	s16 AccRoll;
66	s16 GyroHeading; // Heading in 0.1 deg	70	s16 GyroHeading; // Heading in 0.1 deg
67	s16 GyroNick;	71	s16 GyroNick;
68	s16 GyroRoll;	72	s16 GyroRoll;
69	s16 GyroYaw;	73	s16 GyroYaw;
70	u16 FCStatus;	74	u16 FCStatus;
71	union	75	union
72	{	76	{
73	u8 Byte[12];	77	u8 Byte[12];
74	s8 sByte[12];	78	s8 sByte[12];
75	u16 Int[6];	79	u16 Int[6];
76	s16 sInt[6];	80	s16 sInt[6];
77	u32 Long[3];	81	u32 Long[3];
78	s32 sLong[3];	82	s32 sLong[3];
79	float Float[3];	83	float Float[3];
80	} Param;	84	} Param;
81	u8 Chksum;	85	u8 Chksum;
82	} __attribute__((packed)) FromFlightCtrl_t;	86	} __attribute__((packed)) FromFlightCtrl_t;
83		87
84	//NC_To_FC_Flags	88	//NC_To_FC_Flags
85	#define NC_TO_FC_FLYING_RANGE 0x01	89	#define NC_TO_FC_FLYING_RANGE 0x01
86	#define NC_TO_FC_EMERGENCY_LANDING 0x02	90	#define NC_TO_FC_EMERGENCY_LANDING 0x02
87	#define NC_TO_FC_AUTOSTART 0x04	91	#define NC_TO_FC_AUTOSTART 0x04
88	#define NC_TO_FC_AUTOLANDING 0x08 // not used	92	#define NC_TO_FC_AUTOLANDING 0x08 // not used
89		93
90	#define SPI_NCCMD_OSD_DATA 100	94	#define SPI_NCCMD_OSD_DATA 100
91	#define SPI_NCCMD_GPS_POS 101	95	#define SPI_NCCMD_GPS_POS 101
92	#define SPI_NCCMD_GPS_TARGET 102	96	#define SPI_NCCMD_GPS_TARGET 102
93	#define SPI_NCCMD_KALMAN 103	97	#define SPI_NCCMD_KALMAN 103
94	#define SPI_NCCMD_VERSION 104	98	#define SPI_NCCMD_VERSION 104
95	#define SPI_NCCMD_GPSINFO 105	99	#define SPI_NCCMD_GPSINFO 105
96	#define SPI_NCCMD_HOTT_INFO 106	100	#define SPI_NCCMD_HOTT_INFO 106
97	#define SPI_MISC 107	101	#define SPI_MISC 107
98		102
99	#define HOTT_VARIO_PACKET_ID 0x89	103	#define HOTT_VARIO_PACKET_ID 0x89
100	#define HOTT_GPS_PACKET_ID 0x8A	104	#define HOTT_GPS_PACKET_ID 0x8A
101	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	105	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
102	#define HOTT_GENERAL_PACKET_ID 0x8D	106	#define HOTT_GENERAL_PACKET_ID 0x8D
103	#define JETI_GPS_PACKET_ID1 0x01	107	#define JETI_GPS_PACKET_ID1 0x01
104	#define JETI_GPS_PACKET_ID2 0x02	108	#define JETI_GPS_PACKET_ID2 0x02
105		109
106	typedef struct	110	typedef struct
107	{	111	{
108	u8 Command;	112	u8 Command;
109	GPS_Stick_t GPSStick;	113	GPS_Stick_t GPSStick;
110	s16 MagVecX;	114	s16 MagVecX;
111	s16 CompassHeading;	115	s16 CompassHeading;
112	s16 AccErrorN;	116	s16 AccErrorN;
113	s16 AccErrorR;	117	s16 AccErrorR;
114	s16 MagVecY;	118	s16 MagVecY;
115	s16 MagVecZ;	119	s16 MagVecZ;
116	u16 BeepTime;	120	u16 BeepTime;
117	union	121	union
118	{	122	{
119	u8 Byte[12];	123	u8 Byte[12];
120	s8 sByte[12];	124	s8 sByte[12];
121	u16 Int[6];	125	u16 Int[6];
122	s16 sInt[6];	126	s16 sInt[6];
123	u32 Long[3];	127	u32 Long[3];
124	s32 sLong[3];	128	s32 sLong[3];
125	float Float[3];	129	float Float[3];
126	}Param;	130	}Param;
127	u8 Chksum;	131	u8 Chksum;
128	} __attribute__((packed)) ToFlightCtrl_t;	132	} __attribute__((packed)) ToFlightCtrl_t;
129		133
130	typedef struct	134	typedef struct
131	{	135	{
132	u8 Current;	136	u8 Current;
133	u8 Temperature;	137	u8 Temperature;
134	u8 MaxPWM;	138	u8 MaxPWM;
135	u8 State;	139	u8 State;
136	} __attribute__((packed)) Motor_t;	140	} __attribute__((packed)) Motor_t;
137		141
138	extern Motor_t Motor[12];	142	extern Motor_t Motor[12];
-		143
-		144
139		145	//Motor_Version[12]
140	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	146	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
141	#define MOTOR_STATE_FAST_MODE 0x02	147	#define MOTOR_STATE_FAST_MODE 0x02
142	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	148	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
143	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt	149	extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
144		-
145		150
146		151
147	typedef struct	152	typedef struct
148	{	153	{
149	u8 Major;	154	u8 Major;
150	u8 Minor;	155	u8 Minor;
151	u8 Patch;	156	u8 Patch;
152	u8 Compatible;	157	u8 Compatible;
153	u8 Hardware;	158	u8 Hardware;
154	} __attribute__((packed)) SPI_Version_t;	159	} __attribute__((packed)) SPI_Version_t;
155		160
156	extern FromFlightCtrl_t FromFlightCtrl;	161	extern FromFlightCtrl_t FromFlightCtrl;
157	extern ToFlightCtrl_t ToFlightCtrl;	162	extern ToFlightCtrl_t ToFlightCtrl;
158	extern volatile u32 SPI0_Timeout;	163	extern volatile u32 SPI0_Timeout;
159	extern SPI_Version_t FC_Version;	164	extern SPI_Version_t FC_Version;
160	extern u8 GPS_Aid_StickMultiplikator;	165	extern u8 GPS_Aid_StickMultiplikator;
161	extern u8 CompassCalState;	166	extern u8 CompassCalState;
162		167
163	void SPI0_Init(void);	168	void SPI0_Init(void);
164	void SPI0_GetFlightCtrlVersion(void);	169	void SPI0_GetFlightCtrlVersion(void);
165	void SPI0_UpdateBuffer(void);	170	void SPI0_UpdateBuffer(void);
166	u16 BL3_Current(u8 who); // in 0.1A	-
167		171
168	#endif //_SPI_SLAVE_H	172	#endif //_SPI_SLAVE_H
169		173

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(root)/tags/V2.14b/spi_slave.h @ 818 - Rev 482 → 483