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Rev 935 Rev 936
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#define _SPI_H
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#define _SPI_H
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//#include <util/delay.h>
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//#include <util/delay.h>
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#include <inttypes.h>
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#include <inttypes.h>
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#define USE_SPI_COMMUNICATION
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#define SPI_CMD_USER        10
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#define SPI_CMD_USER        10
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#define SPI_CMD_STICK       11
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#define SPI_CMD_STICK       11
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#define SPI_CMD_CAL_COMPASS 12
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#define SPI_CMD_CAL_COMPASS 12
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#define SPI_CMD_PARAMETER1      13
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typedef struct
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typedef struct
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        int16_t GPS_Nick;
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        int16_t GPS_Nick;
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        int16_t GPS_Roll;
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        int16_t GPS_Roll;
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        int16_t GPS_Yaw;
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        int16_t GPS_Yaw;
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        int16_t CompassHeading;
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        int16_t CompassHeading;
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        int16_t Status;
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        int16_t Status;
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        uint8_t BeepTime;
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        uint16_t BeepTime;
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        union
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        union
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        {
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        {
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                int8_t  Byte[12];
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                int8_t  Byte[12];
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                int16_t Int[6];
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                int16_t Int[6];
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                int32_t Long[3];
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                int32_t Long[3];
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                float   Float[3];
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                float   Float[3];
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        } Param;
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        } Param;
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        uint8_t Chksum;
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        uint8_t Chksum;
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} FromNaviCtrl_t;
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} FromNaviCtrl_t;
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#ifdef USE_SPI_COMMUNICATION
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extern ToNaviCtrl_t   ToNaviCtrl;
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extern ToNaviCtrl_t   ToNaviCtrl;
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extern FromNaviCtrl_t FromNaviCtrl;
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extern FromNaviCtrl_t FromNaviCtrl;
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extern void SPI_MasterInit(void);
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extern void SPI_StartTransmitPacket(void);
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extern void SPI_TransmitByte(void);
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#else
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// -------------------------------- Dummy -----------------------------------------
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#define  SPI_MasterInit() ;
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#define  SPI_StartTransmitPacket() ;
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void SPI_MasterInit(void);