Subversion Repositories FlightCtrl

Rev

Rev 1077 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1077 Rev 1078
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
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
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;
- 
 
 108 
 
- 
 
 109 
typedef struct
- 
 
 110 
{
- 
 
 111 
        int16_t OsdBar;
105 
} FromNaviCtrl_t;
 112 
        int16_t Distance;
- 
 
 113 
        int8_t Kalman_K;
- 
 
 114 
        int8_t Kalman_MaxDrift;
- 
 
 115 
        int8_t Kalman_MaxFusion;
- 
 
 116 
} __attribute__((packed)) FromNaviCtrl_Value_t;
- 
 
 117 
 
- 
 
 118 
 
- 
 
 119 
typedef struct
- 
 
 120 
{
- 
 
 121 
        uint8_t Major;
- 
 
 122 
        uint8_t Minor;
- 
 
 123 
        uint8_t Patch;
- 
 
 124 
        uint8_t Compatible;
- 
 
 125 
} __attribute__((packed)) SPI_VersionInfo_t;
Line 106... Line 126...
106 
 
 126 
 
107 
 
 127 
 
- 
 
 128 
extern ToNaviCtrl_t                     ToNaviCtrl;
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