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Rev 1645 | Rev 1775 | ||
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Line 14... | Line 14... | ||
14 | 14 | ||
15 | typedef struct { |
15 | typedef struct { |
16 | uint8_t Sync1; |
16 | uint8_t Sync1; |
17 | uint8_t Sync2; |
17 | uint8_t Sync2; |
18 | uint8_t Command; |
18 | uint8_t Command; |
19 | int16_t IntegralNick; |
19 | int16_t IntegralPitch; |
20 | int16_t IntegralRoll; |
20 | int16_t IntegralRoll; |
21 | int16_t AccNick; |
21 | int16_t AccPitch; |
22 | int16_t AccRoll; |
22 | int16_t AccRoll; |
23 | int16_t GyroHeading; |
23 | int16_t GyroHeading; |
24 | int16_t GyroNick; |
24 | int16_t GyroPitch; |
25 | int16_t GyroRoll; |
25 | int16_t GyroRoll; |
26 | int16_t GyroYaw; |
26 | int16_t GyroYaw; |
27 | union { |
27 | union { |
28 | int8_t sByte[12]; |
28 | int8_t sByte[12]; |
Line 39... | Line 39... | ||
39 | #define SPI_CMD_GPS_TARGET 102 |
39 | #define SPI_CMD_GPS_TARGET 102 |
40 | #define SPI_KALMAN 103 |
40 | #define SPI_KALMAN 103 |
Line 41... | Line 41... | ||
41 | 41 | ||
42 | typedef struct { |
42 | typedef struct { |
43 | uint8_t Command; |
43 | uint8_t Command; |
44 | int16_t GPSStickNick; |
44 | int16_t GPSStickPitch; |
45 | int16_t GPSStickRoll; |
45 | int16_t GPSStickRoll; |
46 | int16_t GPS_Yaw; |
46 | int16_t GPS_Yaw; |
47 | int16_t CompassHeading; |
47 | int16_t CompassHeading; |
48 | int16_t Status; |
48 | int16_t Status; |
Line 54... | Line 54... | ||
54 | float Float[3]; |
54 | float Float[3]; |
55 | } Param; |
55 | } Param; |
56 | uint8_t Chksum; |
56 | uint8_t Chksum; |
57 | } __attribute__((packed)) FromNaviCtrl_t; |
57 | } __attribute__((packed)) FromNaviCtrl_t; |
Line 58... | Line -... | ||
58 | - | ||
59 | 58 | ||
60 | typedef struct { |
59 | typedef struct { |
61 | uint8_t Major; |
60 | uint8_t Major; |
62 | uint8_t Minor; |
61 | uint8_t Minor; |
63 | uint8_t Patch; |
62 | uint8_t Patch; |
- | 63 | uint8_t Compatible; |
|
64 | uint8_t Compatible; |
64 | // unsigned char Hardware; |
Line 65... | Line 65... | ||
65 | } __attribute__((packed)) SPI_VersionInfo_t; |
65 | } __attribute__((packed)) SPI_VersionInfo_t; |
66 | 66 | ||
Line 67... | Line 67... | ||
67 | extern ToNaviCtrl_t ToNaviCtrl; |
67 | extern ToNaviCtrl_t toNaviCtrl; |
68 | extern FromNaviCtrl_t FromNaviCtrl; |
68 | extern FromNaviCtrl_t fromNaviCtrl; |
69 | 69 | ||
70 | typedef struct { |
70 | typedef struct { |
Line 78... | Line 78... | ||
78 | extern uint8_t NCSerialDataOkay; |
78 | extern uint8_t NCSerialDataOkay; |
Line 79... | Line 79... | ||
79 | 79 | ||
80 | void SPI_MasterInit(void); |
80 | void SPI_MasterInit(void); |
81 | void SPI_StartTransmitPacket(void); |
81 | void SPI_StartTransmitPacket(void); |
- | 82 | void SPI_TransmitByte(void); |
|
- | 83 | // new: |
|
Line 82... | Line 84... | ||
82 | void SPI_TransmitByte(void); |
84 | // extern void UpdateSPI_Buffer(void); |