Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H

//#include <util/delay.h>
#include <inttypes.h>
#define SPI_PROTOCOL_COMP   1

#define SPI_CMD_USER        10
#define SPI_CMD_STICK       11
#define SPI_CMD_MISC            12
#define SPI_CMD_PARAMETER1      13
#define SPI_CMD_VERSION         14

typedef struct {
  uint8_t Sync1;
  uint8_t Sync2;
  uint8_t Command;
  int16_t IntegralPitch;
  int16_t IntegralRoll;
  int16_t AccPitch;
  int16_t AccRoll;
  int16_t GyroHeading;
  int16_t GyroPitch;
  int16_t GyroRoll;
  int16_t GyroYaw;
  union {
    int8_t  sByte[12];
    uint8_t Byte[12];
    int16_t Int[6];
    int32_t Long[3];
    float   Float[3];
  } Param;
  uint8_t Chksum;
} __attribute__((packed)) ToNaviCtrl_t;

#define SPI_CMD_OSD_DATA        100
#define SPI_CMD_GPS_POS         101
#define SPI_CMD_GPS_TARGET      102
#define SPI_KALMAN                      103

typedef struct {
  uint8_t Command;
  int16_t GPSStickPitch;
  int16_t GPSStickRoll;
  int16_t GPS_Yaw;
  int16_t CompassHeading;
  int16_t Status;
  uint16_t BeepTime;
  union {
    int8_t  Byte[12];
    int16_t Int[6];
    int32_t Long[3];
    float   Float[3];
  } Param;
  uint8_t Chksum;
} __attribute__((packed)) FromNaviCtrl_t;

typedef struct {
  uint8_t Major;
  uint8_t Minor;
  uint8_t Patch;
  uint8_t Compatible;
  //    unsigned char Hardware;
} __attribute__((packed)) SPI_VersionInfo_t;

extern ToNaviCtrl_t                     toNaviCtrl;
extern FromNaviCtrl_t                   fromNaviCtrl;

typedef struct {
  int8_t        KalmanK;
  int8_t        KalmanMaxDrift;
  int8_t        KalmanMaxFusion;
  uint8_t       SerialDataOkay;
} __attribute__((packed)) NCData_t;

extern uint8_t NCDataOkay;
extern uint8_t NCSerialDataOkay;

void SPI_MasterInit(void);
void SPI_StartTransmitPacket(void);
void SPI_TransmitByte(void);
// new:
// extern void UpdateSPI_Buffer(void);

#endif //_SPI_H