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Rev 1077 | Rev 1078 | ||
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Line 50... | Line 50... | ||
50 | #define SPI_SLAVE_SELECT PC5 |
50 | #define SPI_SLAVE_SELECT PC5 |
Line 51... | Line 51... | ||
51 | 51 | ||
52 | 52 | ||
53 | #define SPI_CMD_USER 10 |
53 | #define SPI_CMD_USER 10 |
54 | #define SPI_CMD_STICK 11 |
54 | #define SPI_CMD_STICK 11 |
- | 55 | #define SPI_CMD_MISC 12 |
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Line 55... | Line 56... | ||
55 | #define SPI_CMD_CAL_COMPASS 12 |
56 | #define SPI_CMD_PARAMETER1 13 |
56 | #define SPI_CMD_PARAMETER1 13 |
57 | #define SPI_CMD_VERSION 14 |
57 | 58 | ||
58 | typedef struct |
59 | typedef struct |
Line 75... | Line 76... | ||
75 | int16_t Int[6]; |
76 | int16_t Int[6]; |
76 | int32_t Long[3]; |
77 | int32_t Long[3]; |
77 | float Float[3]; |
78 | float Float[3]; |
78 | } Param; |
79 | } Param; |
79 | uint8_t Chksum; |
80 | uint8_t Chksum; |
80 | } ToNaviCtrl_t; |
81 | } __attribute__((packed)) ToNaviCtrl_t; |
Line 81... | Line 82... | ||
81 | 82 | ||
82 | 83 | ||
83 | 84 | ||
- | 85 | #define SPI_CMD_OSD_DATA 100 |
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Line 84... | Line 86... | ||
84 | #define SPI_CMD_OSD_DATA 100 |
86 | #define SPI_CMD_GPS_POS 101 |
85 | #define SPI_CMD_GPS_POS 101 |
87 | #define SPI_CMD_GPS_TARGET 102 |
86 | #define SPI_CMD_GPS_TARGET 102 |
88 | #define SPI_KALMAN 103 |
87 | 89 | ||
Line 100... | Line 102... | ||
100 | int16_t Int[6]; |
102 | int16_t Int[6]; |
101 | int32_t Long[3]; |
103 | int32_t Long[3]; |
102 | float Float[3]; |
104 | float Float[3]; |
103 | } Param; |
105 | } Param; |
104 | uint8_t Chksum; |
106 | uint8_t Chksum; |
- | 107 | } __attribute__((packed)) FromNaviCtrl_t; |
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- | 108 | ||
- | 109 | typedef struct |
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- | 110 | { |
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- | 111 | int16_t OsdBar; |
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105 | } FromNaviCtrl_t; |
112 | int16_t Distance; |
- | 113 | int8_t Kalman_K; |
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- | 114 | int8_t Kalman_MaxDrift; |
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- | 115 | int8_t Kalman_MaxFusion; |
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- | 116 | } __attribute__((packed)) FromNaviCtrl_Value_t; |
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- | 117 | ||
- | 118 | ||
- | 119 | typedef struct |
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- | 120 | { |
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- | 121 | uint8_t Major; |
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- | 122 | uint8_t Minor; |
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- | 123 | uint8_t Patch; |
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- | 124 | uint8_t Compatible; |
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- | 125 | } __attribute__((packed)) SPI_VersionInfo_t; |
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Line 106... | Line 126... | ||
106 | 126 | ||
107 | 127 | ||
- | 128 | extern ToNaviCtrl_t ToNaviCtrl; |
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Line 108... | Line 129... | ||
108 | extern ToNaviCtrl_t ToNaviCtrl; |
129 | extern FromNaviCtrl_t FromNaviCtrl; |
109 | extern FromNaviCtrl_t FromNaviCtrl; |
130 | extern FromNaviCtrl_Value_t FromNaviCtrl_Value; |
110 | 131 |