Subversion Repositories FlightCtrl

Rev

Rev 1215 | Rev 1241 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1215 Rev 1231
Line 56... Line 56...
56 
#define SPI_CMD_PARAMETER1  13
 56 
#define SPI_CMD_PARAMETER1  13
57 
#define SPI_CMD_VERSION     14
 57 
#define SPI_CMD_VERSION     14
Line 58... Line 58...
58 
 
 58 
 
59 
struct str_ToNaviCtrl
 59 
struct str_ToNaviCtrl
60 
{
 60 
{
61 
 unsigned char Sync1, Sync2;
 61 
        unsigned char Sync1, Sync2;
62 
 unsigned char Command;
 62 
        unsigned char Command;
63 
 signed int  IntegralNick;
 63 
        signed int  IntegralNick;
64 
 signed int  IntegralRoll;
 64 
        signed int  IntegralRoll;
65 
 signed int  AccNick;
 65 
        signed int  AccNick;
66 
 signed int  AccRoll;
 66 
        signed int  AccRoll;
67 
 signed int  GyroCompass;
 67 
        signed int  GyroCompass;
68 
 signed int  GyroNick;
 68 
        signed int  GyroNick;
69 
 signed int  GyroRoll;
 69 
        signed int  GyroRoll;
70 
 signed int  GyroGier;
 70 
        signed int  GyroGier;
- 
 
 71 
        union
71 
 union
 72 
        {
- 
 
 73 
                char sByte[12];
72 
 { char Byte[12];
 74 
                unsigned char Byte[12];
73 
   int  Int[6];
 75 
                int  Int[6];
74 
   long Long[3];
 76 
                long Long[3];
75 
   float Float[3];
 77 
                float Float[3];
76 
 } Param;
 78 
        } Param;
77 
 unsigned char Chksum;
 79 
        unsigned char Chksum;
Line 78... Line 80...
78 
};
 80 
};
79 
 
 - 
 
- 
 
 81 
 
80 
#define SPI_KALMAN           103
 82 
#define SPI_KALMAN          103
81 
 
 83 
#define SPI_EXTCTRL                     104
82 
struct str_FromNaviCtrl
 84 
struct str_FromNaviCtrl
83 
{
 85 
{
84 
 unsigned char Command;
 86 
        unsigned char Command;
85 
  signed int  GPS_Nick;
 87 
        signed int  GPS_Nick;
86 
  signed int  GPS_Roll;
 88 
        signed int  GPS_Roll;
87 
  signed int  GPS_Gier;
 89 
        signed int  GPS_Gier;
88 
  signed int  CompassValue;
 90 
        signed int  CompassValue;
89 
  signed int  Status;
 91 
        signed int  Status;
- 
 
 92 
        unsigned int BeepTime;
90 
  unsigned int BeepTime;
 93 
        union
- 
 
 94 
        {
91 
  union
 95 
                char sByte[12];
92 
  { char Byte[12];
 96 
                unsigned char Byte[12];
93 
    int  Int[6];
 97 
                int  Int[6];
94 
    long Long[3];
 98 
                long Long[3];
95 
    float Float[3];
 99 
                float Float[3];
96 
  } Param;
 100 
        } Param;
Line 97... Line 101...
97 
  unsigned char Chksum;
 101 
        unsigned char Chksum;
98 
};
 102 
};
99 
 
 103