WebSVN - NaviCtrl - Diff - Rev 448 and 454


#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 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
 
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];
 
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 448	Rev 454
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_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 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, NC_To_FC_Autostart;	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	88	#define NC_TO_FC_AUTOSTART 0x04
89	#define NC_TO_FC_AUTOLANDING 0x08 // not used	89	#define NC_TO_FC_AUTOLANDING 0x08 // not used
90		90
91	#define SPI_NCCMD_OSD_DATA 100	91	#define SPI_NCCMD_OSD_DATA 100
92	#define SPI_NCCMD_GPS_POS 101	92	#define SPI_NCCMD_GPS_POS 101
93	#define SPI_NCCMD_GPS_TARGET 102	93	#define SPI_NCCMD_GPS_TARGET 102
94	#define SPI_NCCMD_KALMAN 103	94	#define SPI_NCCMD_KALMAN 103
95	#define SPI_NCCMD_VERSION 104	95	#define SPI_NCCMD_VERSION 104
96	#define SPI_NCCMD_GPSINFO 105	96	#define SPI_NCCMD_GPSINFO 105
97	#define SPI_NCCMD_HOTT_INFO 106	97	#define SPI_NCCMD_HOTT_INFO 106
98	#define SPI_MISC 107	98	#define SPI_MISC 107
99		99
100	#define HOTT_VARIO_PACKET_ID 0x89	100	#define HOTT_VARIO_PACKET_ID 0x89
101	#define HOTT_GPS_PACKET_ID 0x8A	101	#define HOTT_GPS_PACKET_ID 0x8A
102	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	102	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
103	#define HOTT_GENERAL_PACKET_ID 0x8D	103	#define HOTT_GENERAL_PACKET_ID 0x8D
104		104
105	typedef struct	105	typedef struct
106	{	106	{
107	u8 Command;	107	u8 Command;
108	GPS_Stick_t GPSStick;	108	GPS_Stick_t GPSStick;
109	s16 MagVecX;	109	s16 MagVecX;
110	s16 CompassHeading;	110	s16 CompassHeading;
111	s16 AccErrorN;	111	s16 AccErrorN;
112	s16 AccErrorR;	112	s16 AccErrorR;
113	s16 MagVecY;	113	s16 MagVecY;
114	s16 MagVecZ;	114	s16 MagVecZ;
115	u16 BeepTime;	115	u16 BeepTime;
116	union	116	union
117	{	117	{
118	u8 Byte[12];	118	u8 Byte[12];
119	s8 sByte[12];	119	s8 sByte[12];
120	u16 Int[6];	120	u16 Int[6];
121	s16 sInt[6];	121	s16 sInt[6];
122	u32 Long[3];	122	u32 Long[3];
123	s32 sLong[3];	123	s32 sLong[3];
124	float Float[3];	124	float Float[3];
125	}Param;	125	}Param;
126	u8 Chksum;	126	u8 Chksum;
127	} __attribute__((packed)) ToFlightCtrl_t;	127	} __attribute__((packed)) ToFlightCtrl_t;
128		128
129	typedef struct	129	typedef struct
130	{	130	{
131	u8 Current;	131	u8 Current;
132	u8 Temperature;	132	u8 Temperature;
133	u8 MaxPWM;	133	u8 MaxPWM;
134	u8 State;	134	u8 State;
135	} __attribute__((packed)) Motor_t;	135	} __attribute__((packed)) Motor_t;
136		136
137	extern Motor_t Motor[12];	137	extern Motor_t Motor[12];
138		138
139	typedef struct	139	typedef struct
140	{	140	{
141	u8 Major;	141	u8 Major;
142	u8 Minor;	142	u8 Minor;
143	u8 Patch;	143	u8 Patch;
144	u8 Compatible;	144	u8 Compatible;
145	u8 Hardware;	145	u8 Hardware;
146	} __attribute__((packed)) SPI_Version_t;	146	} __attribute__((packed)) SPI_Version_t;
147		147
148	extern FromFlightCtrl_t FromFlightCtrl;	148	extern FromFlightCtrl_t FromFlightCtrl;
149	extern ToFlightCtrl_t ToFlightCtrl;	149	extern ToFlightCtrl_t ToFlightCtrl;
150	extern volatile u32 SPI0_Timeout;	150	extern volatile u32 SPI0_Timeout;
151	extern SPI_Version_t FC_Version;	151	extern SPI_Version_t FC_Version;
152	extern u8 GPS_Aid_StickMultiplikator;	152	extern u8 GPS_Aid_StickMultiplikator;
153	extern u8 CompassCalState;	153	extern u8 CompassCalState;
154		154
155	void SPI0_Init(void);	155	void SPI0_Init(void);
156	void SPI0_GetFlightCtrlVersion(void);	156	void SPI0_GetFlightCtrlVersion(void);
157	void SPI0_UpdateBuffer(void);	157	void SPI0_UpdateBuffer(void);
158		158
159		159
160		160
161	#endif //_SPI_SLAVE_H	161	#endif //_SPI_SLAVE_H
162		162

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(root)/tags/V2.14e/spi_slave.h @ 764 - Rev 448 → 454