WebSVN - NaviCtrl - Diff - Rev 636 and 690

 #ifndef _SPI_SLAVE_H
 #define _SPI_SLAVE_H
 #include "fifo.h"
 #include "gps.h"
 #include "main.h"
 #define SPEAK_ERR_CALIBARTION  1
 #define SPEAK_ERR_RECEICER       2
 #define SPEAK_ERR_DATABUS        3
 #define SPEAK_ERR_NAVI           4
 #define SPEAK_ERROR                      5
 #define SPEAK_ERR_COMPASS        6
 #define SPEAK_ERR_SENSOR         7
 #define SPEAK_ERR_GPS            8
 #define SPEAK_ERR_MOTOR          9
 #define SPEAK_MAX_TEMPERAT  10
 #define SPEAK_ALTI_REACHED  11
 #define SPEAK_WP_REACHED    12
 #define SPEAK_NEXT_WP       13
 #define SPEAK_LANDING       14
 #define SPEAK_GPS_FIX       15
 #define SPEAK_UNDERVOLTAGE  16
 #define SPEAK_GPS_HOLD      17
 #define SPEAK_GPS_HOME      18
 #define SPEAK_GPS_OFF       19
 #define SPEAK_BEEP          20
 #define SPEAK_MIKROKOPTER   21
 #define SPEAK_CAPACITY      22
 #define SPEAK_CF_OFF        23
 #define SPEAK_CALIBRATE     24
 #define SPEAK_MAX_RANGE     25
 #define SPEAK_MAX_ALTITUD   26
 #define SPEAK_20M                       37   // ?
 #define SPEAK_MK_OFF            38
 #define SPEAK_ALTITUDE_ON       39
 #define SPEAK_ALTITUDE_OFF      40
 #define SPEAK_100M                      41   // ?
 #define SPEAK_CONNECTED         42
 #define SPEAK_CF_ON             46
 #define SPEAK_SINKING           47   // ?
 #define SPEAK_RISING            48
 #define SPEAK_HOLDING           49   // ?
 #define SPEAK_GPS_ON            50       // ?
 #define SPEAK_FOLLWING          51   // ?
 #define SPEAK_STARTING      52
 #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_SLOW3                 15
 #define SPI_FCCMD_BL_ACCU               16
 #define SPI_FCCMD_PARAMETER2    17
 #define SPI_FCCMD_NEUTRAL               18
 #define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
 #define SPI_FCCMD_SLOW2                 20
+#define SPI_FCCMD_STICK2                21
 #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); }
 // devides only the Poti-value
 #define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
 #define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); 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,CompassDirectionAtMotorStart;
 extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
 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 s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
 extern s16 CompassSetpoint;
 extern u8 AmountOfMotors;
 extern s16 SimulatedDirection;    // simulated compass direction
+#define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
+extern s8 PPM_In[MAX_RC_IN];
 extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
 extern u8 Logging_BL_MinOfMaxPWM;
 extern u8 ErrorCheck_BL_MinOfMaxPWM;
 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;
 extern u16 FlugMinutenGesamt;
 extern u32 LoggingGasFilter, LoggingGasCnt;
 extern u8 HoverGas;
+extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;
 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];
+                u8    Byte[20];
-                s8        sByte[12];
+                s8        sByte[20];
-                u16   Int[6];
+                u16   Int[10];
-                s16   sInt[6];
+                s16   sInt[10];
-                u32   Long[3];
+                u32   Long[5];
-                s32   sLong[3];
+                s32   sLong[5];
-                float Float[3];
+                float Float[5];
-        } Param;
+        } __attribute__((packed)) Param;
         u8 Chksum;
  } __attribute__((packed)) FromFlightCtrl_t;
 #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 SPI_SERIAL_CH                   108
 #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
 #define HOTT_WPL_NAME                           0x03
 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];
+                u8    Byte[20];
-                s8    sByte[12];
+                s8    sByte[20];
-                u16       Int[6];
+                u16       Int[10];
-                s16   sInt[6];
+                s16   sInt[10];
-                u32   Long[3];
+                u32   Long[5];
-                s32   sLong[3];
+                s32   sLong[5];
-                float Float[3];
+                float Float[5];
-        }Param;
+        } __attribute__((packed)) Param;
         u8 Chksum;
  } __attribute__((packed)) ToFlightCtrl_t;
+typedef struct
+{
+        unsigned char Sync1,Sync2;
+        unsigned char WhoAmI;
+        unsigned char Data[240];
+        unsigned char Chksum;
+}__attribute__((packed)) str_HugeBlockFromFC;
+extern str_HugeBlockFromFC HugeBlockFromFC;
+typedef struct
+{
+        unsigned char Sync1,Sync2;
+        unsigned char WhoAmI;
+        unsigned char Data[240];
+        unsigned char Chksum;
+}__attribute__((packed)) str_HugeBlockToFC;
+extern str_HugeBlockToFC HugeBlockToFC;
 typedef struct
+{
  u8 Current;
  u8 Temperature;
  u8 MaxPWM;
  u8 State;
  u8 NotReadyCnt;
 } __attribute__((packed)) Motor_t;
 extern Motor_t Motor[MAX_MOTORS];
 #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[MAX_MOTORS]; // 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 s16 GPS_Aid_StickMultiplikator;
 extern u8 CompassCalState;
 extern u8 Out1TriggerUpdateNewData;
 extern u8 LowVoltageLandingActive;
 void SPI0_Init(void);
 void SPI0_GetFlightCtrlVersion(void);
 void SPI0_UpdateBuffer(void);
 u16 BL3_Current(u8 who); // in 0.1A
 #endif //_SPI_SLAVE_H

Subversion Repositories NaviCtrl

(root)/tags/V2.20e/spi_slave.h @ 911 - Rev 636 → 690