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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 | 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_Kompass ; |
19 | extern s32 Kalman_Kompass ; |
20 | extern s32 Kalman_MaxDrift; |
20 | extern s32 Kalman_MaxDrift; |
21 | extern s32 Kalman_MaxFusion; |
21 | extern s32 Kalman_MaxFusion; |
22 | extern s32 ToFcGpsZ; |
22 | extern s32 ToFcGpsZ; |
23 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
23 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
24 | extern s32 HeadFreeStartAngle; |
24 | extern s32 HeadFreeStartAngle; |
25 | extern s16 FC_WP_EventChannel; |
25 | extern s16 FC_WP_EventChannel; |
26 | extern u32 ToFC_AltitudeRate; |
26 | extern u32 ToFC_AltitudeRate; |
27 | extern s32 ToFC_AltitudeSetpoint; |
27 | extern s32 ToFC_AltitudeSetpoint; |
28 | extern u8 NC_GPS_ModeCharacter; |
28 | extern u8 NC_GPS_ModeCharacter; |
29 | extern u8 FC_is_Calibrated; |
29 | extern u8 FC_is_Calibrated; |
30 | extern u8 FCCalibActive; |
30 | extern u8 FCCalibActive; |
31 | /*extern u8 MotorCurrent[12]; |
31 | /*extern u8 MotorCurrent[12]; |
32 | extern u8 MotorTemperature[12]; |
32 | extern u8 MotorTemperature[12]; |
33 | extern u8 MotorState[12]; |
33 | extern u8 MotorState[12]; |
34 | extern u8 MotorMaxPwm[12]; |
34 | extern u8 MotorMaxPwm[12]; |
35 | */ |
35 | */ |
36 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
36 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
37 | extern u32 FC_I2C_ErrorConter; |
37 | extern u32 FC_I2C_ErrorConter; |
38 | extern u8 FromFC_VarioCharacter; |
38 | extern u8 FromFC_VarioCharacter; |
39 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
39 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
40 | extern s16 POI_KameraNick; |
40 | extern s16 POI_KameraNick; |
41 | extern u8 NC_To_FC_Flags; |
41 | extern u8 NC_To_FC_Flags; |
42 | typedef struct |
42 | typedef struct |
43 | { |
43 | { |
44 | u8 Command; |
44 | u8 Command; |
45 | s16 AngleNick; // NickAngle in 0.1 deg |
45 | s16 AngleNick; // NickAngle in 0.1 deg |
46 | s16 AngleRoll; // RollAngle in 0.1 deg |
46 | s16 AngleRoll; // RollAngle in 0.1 deg |
47 | s16 AccNick; |
47 | s16 AccNick; |
48 | s16 AccRoll; |
48 | s16 AccRoll; |
49 | s16 GyroHeading; // Heading in 0.1 deg |
49 | s16 GyroHeading; // Heading in 0.1 deg |
50 | s16 GyroNick; |
50 | s16 GyroNick; |
51 | s16 GyroRoll; |
51 | s16 GyroRoll; |
52 | s16 GyroYaw; |
52 | s16 GyroYaw; |
53 | u16 FCStatus; |
53 | u16 FCStatus; |
54 | union |
54 | union |
55 | { |
55 | { |
56 | u8 Byte[12]; |
56 | u8 Byte[12]; |
57 | s8 sByte[12]; |
57 | s8 sByte[12]; |
58 | u16 Int[6]; |
58 | u16 Int[6]; |
59 | s16 sInt[6]; |
59 | s16 sInt[6]; |
60 | u32 Long[3]; |
60 | u32 Long[3]; |
61 | s32 sLong[3]; |
61 | s32 sLong[3]; |
62 | float Float[3]; |
62 | float Float[3]; |
63 | } Param; |
63 | } Param; |
64 | u8 Chksum; |
64 | u8 Chksum; |
65 | } __attribute__((packed)) FromFlightCtrl_t; |
65 | } __attribute__((packed)) FromFlightCtrl_t; |
66 | 66 | ||
67 | //NC_To_FC_Flags |
67 | //NC_To_FC_Flags |
68 | #define NC_TO_FC_FLYING_RANGE 0x01 |
68 | #define NC_TO_FC_FLYING_RANGE 0x01 |
69 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
69 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
70 | 70 | ||
71 | #define SPI_NCCMD_OSD_DATA 100 |
71 | #define SPI_NCCMD_OSD_DATA 100 |
72 | #define SPI_NCCMD_GPS_POS 101 |
72 | #define SPI_NCCMD_GPS_POS 101 |
73 | #define SPI_NCCMD_GPS_TARGET 102 |
73 | #define SPI_NCCMD_GPS_TARGET 102 |
74 | #define SPI_NCCMD_KALMAN 103 |
74 | #define SPI_NCCMD_KALMAN 103 |
75 | #define SPI_NCCMD_VERSION 104 |
75 | #define SPI_NCCMD_VERSION 104 |
76 | #define SPI_NCCMD_GPSINFO 105 |
76 | #define SPI_NCCMD_GPSINFO 105 |
77 | #define SPI_NCCMD_HOTT_INFO 106 |
77 | #define SPI_NCCMD_HOTT_INFO 106 |
78 | #define SPI_MISC 107 |
78 | #define SPI_MISC 107 |
79 | 79 | ||
80 | #define HOTT_VARIO_PACKET_ID 0x89 |
80 | #define HOTT_VARIO_PACKET_ID 0x89 |
81 | #define HOTT_GPS_PACKET_ID 0x8A |
81 | #define HOTT_GPS_PACKET_ID 0x8A |
82 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
82 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
83 | #define HOTT_GENERAL_PACKET_ID 0x8D |
83 | #define HOTT_GENERAL_PACKET_ID 0x8D |
84 | 84 | ||
85 | typedef struct |
85 | typedef struct |
86 | { |
86 | { |
87 | u8 Command; |
87 | u8 Command; |
88 | GPS_Stick_t GPSStick; |
88 | GPS_Stick_t GPSStick; |
89 | s16 CompassHeading; |
89 | s16 CompassHeading; |
90 | s16 AccErrorN; // s16 MagVecX; |
90 | s16 AccErrorN; // s16 MagVecX; |
91 | s16 AccErrorR; // s16 MagVecY; |
91 | s16 AccErrorR; // s16 MagVecY; |
92 | s16 MagVecZ; |
92 | s16 MagVecZ; |
93 | s16 NCStatus; |
93 | s16 NCStatus; |
94 | u16 BeepTime; |
94 | u16 BeepTime; |
95 | union |
95 | union |
96 | { |
96 | { |
97 | u8 Byte[12]; |
97 | u8 Byte[12]; |
98 | s8 sByte[12]; |
98 | s8 sByte[12]; |
99 | u16 Int[6]; |
99 | u16 Int[6]; |
100 | s16 sInt[6]; |
100 | s16 sInt[6]; |
101 | u32 Long[3]; |
101 | u32 Long[3]; |
102 | s32 sLong[3]; |
102 | s32 sLong[3]; |
103 | float Float[3]; |
103 | float Float[3]; |
104 | }Param; |
104 | }Param; |
105 | u8 Chksum; |
105 | u8 Chksum; |
106 | } __attribute__((packed)) ToFlightCtrl_t; |
106 | } __attribute__((packed)) ToFlightCtrl_t; |
107 | 107 | ||
108 | typedef struct |
108 | typedef struct |
109 | { |
109 | { |
110 | u8 Current; |
110 | u8 Current; |
111 | u8 Temperature; |
111 | u8 Temperature; |
112 | u8 MaxPWM; |
112 | u8 MaxPWM; |
113 | u8 State; |
113 | u8 State; |
114 | } __attribute__((packed)) Motor_t; |
114 | } __attribute__((packed)) Motor_t; |
115 | 115 | ||
116 | extern Motor_t Motor[12]; |
116 | extern Motor_t Motor[12]; |
117 | 117 | ||
118 | typedef struct |
118 | typedef struct |
119 | { |
119 | { |
120 | u8 Major; |
120 | u8 Major; |
121 | u8 Minor; |
121 | u8 Minor; |
122 | u8 Patch; |
122 | u8 Patch; |
123 | u8 Compatible; |
123 | u8 Compatible; |
124 | u8 Hardware; |
124 | u8 Hardware; |
125 | } __attribute__((packed)) SPI_Version_t; |
125 | } __attribute__((packed)) SPI_Version_t; |
126 | 126 | ||
127 | extern FromFlightCtrl_t FromFlightCtrl; |
127 | extern FromFlightCtrl_t FromFlightCtrl; |
128 | extern ToFlightCtrl_t ToFlightCtrl; |
128 | extern ToFlightCtrl_t ToFlightCtrl; |
129 | extern volatile u32 SPI0_Timeout; |
129 | extern volatile u32 SPI0_Timeout; |
130 | extern SPI_Version_t FC_Version; |
130 | extern SPI_Version_t FC_Version; |
131 | extern u8 GPS_Aid_StickMultiplikator; |
131 | extern u8 GPS_Aid_StickMultiplikator; |
- | 132 | extern u8 CompassCalState; |
|
132 | 133 | ||
133 | void SPI0_Init(void); |
134 | void SPI0_Init(void); |
134 | void SPI0_GetFlightCtrlVersion(void); |
135 | void SPI0_GetFlightCtrlVersion(void); |
135 | void SPI0_UpdateBuffer(void); |
136 | void SPI0_UpdateBuffer(void); |
136 | 137 | ||
137 | 138 | ||
138 | 139 | ||
139 | #endif //_SPI_SLAVE_H |
140 | #endif //_SPI_SLAVE_H |
140 | 141 |