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41 ingob 1 
#ifndef _SPI_SLAVE_H
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#define _SPI_SLAVE_H
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#include "fifo.h"
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#include "gps.h"
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#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
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#define SPI_FCCMD_USER                  10
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#define SPI_FCCMD_STICK                 11
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#define SPI_FCCMD_MISC                  12
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_ACCU                  16
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extern s32 Kalman_K;
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extern s32 Kalman_MaxDrift;
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extern s32 Kalman_MaxFusion;
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extern s32 ToFcGpsZ;
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extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
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extern s32 HeadFreeStartAngle;
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typedef struct
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{
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        u8   Command;
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        s16  AngleNick;  // NickAngle in 0.1 deg
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        s16  AngleRoll;  // RollAngle in 0.1 deg
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        s16  AccNick;
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        s16  AccRoll;
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        s16  GyroHeading;        // Heading in 0.1 deg
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        s16  GyroNick;
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        s16  GyroRoll;
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        s16  GyroYaw;
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        union
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        {
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                u8    Byte[12];
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                s8        sByte[12];
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                u16   Int[6];
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                s16   sInt[6];
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                u32   Long[3];
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                s32   sLong[3];
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                float Float[3];
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        } Param;
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        u8 Chksum;
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 } __attribute__((packed)) FromFlightCtrl_t;
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#define SPI_NCCMD_OSD_DATA              100
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#define SPI_NCCMD_GPS_POS               101
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#define SPI_NCCMD_GPS_TARGET    102
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#define SPI_NCCMD_KALMAN                103
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#define SPI_NCCMD_VERSION               104
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#define SPI_NCCMD_GPSINFO               105
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typedef struct
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{
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        u8 Command;
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        GPS_Stick_t GPSStick;
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        s16 CompassHeading;
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        s16 Status;
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        u16 BeepTime;
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        union
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        {
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                u8    Byte[12];
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                s8    sByte[12];
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                u16       Int[6];
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                s16   sInt[6];
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                u32   Long[3];
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                s32   sLong[3];
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                float Float[3];
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        }Param;
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        u8 Chksum;
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 } __attribute__((packed)) ToFlightCtrl_t;
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typedef struct
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{
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   u8 Major;
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   u8 Minor;
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   u8 Patch;
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   u8 Compatible;
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   u8 Hardware;
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} __attribute__((packed)) SPI_Version_t;
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extern FromFlightCtrl_t   FromFlightCtrl;
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extern ToFlightCtrl_t     ToFlightCtrl;
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extern volatile u32 SPI0_Timeout;
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extern SPI_Version_t FC_Version;
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extern fifo_t CompassCalcStateFiFo;
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void SPI0_Init(void);
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void SPI0_GetFlightCtrlVersion(void);
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void SPI0_UpdateBuffer(void);
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#endif //_SPI_SLAVE_H