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// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
//#include <util/delay.h>
#include <inttypes.h>
#define USE_SPI_COMMUNICATION
#define SPI_PROTOCOL_COMP 1
//-----------------------------------------
#define DDR_SPI DDRB
#define DD_SS PB4
#define DD_SCK PB7
#define DD_MOSI PB5
#define DD_MISO PB6
// for compatibility reasons gcc3.x <-> gcc4.x
#ifndef SPCR
#define SPCR SPCR0
#endif
#ifndef SPE
#define SPE SPE0
#endif
#ifndef MSTR
#define MSTR MSTR0
#endif
#ifndef SPR1
#define SPR1 SPR01
#endif
#ifndef SPR0
#define SPR0 SPR00
#endif
#ifndef SPIE
#define SPIE SPIE0
#endif
#ifndef SPDR
#define SPDR SPDR0
#endif
#ifndef SPIF
#define SPIF SPIF0
#endif
#ifndef SPSR
#define SPSR SPSR0
#endif
// -------------------------
#define SLAVE_SELECT_DDR_PORT DDRC
#define SLAVE_SELECT_PORT PORTC
#define SPI_SLAVE_SELECT PC5
#define SPI_CMD_USER 10
#define SPI_CMD_STICK 11
#define SPI_CMD_CAL_COMPASS 12
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;
} ToNaviCtrl_t;
#define SPI_CMD_OSD_DATA 100
#define SPI_CMD_GPS_POS 101
#define SPI_CMD_GPS_TARGET 102
typedef struct
{
uint8_t Command;
int16_t GPS_Pitch;
int16_t GPS_Roll;
int16_t GPS_Yaw;
int16_t CompassHeading;
int16_t Status;
uint8_t BeepTime;
union
{
int8_t Byte[12];
int16_t Int[6];
int32_t Long[3];
float Float[3];
} Param;
uint8_t Chksum;
} FromNaviCtrl_t;
#ifdef USE_SPI_COMMUNICATION
extern ToNaviCtrl_t ToNaviCtrl;
extern FromNaviCtrl_t FromNaviCtrl;
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void SPI_TransmitByte(void);
#else
// -------------------------------- Dummy -----------------------------------------
#define SPI_MasterInit() ;
#define SPI_StartTransmitPacket() ;
#define UpdateSPI_Buffer() ;
#define SPI_TransmitByte() ;
#endif
#endif //_SPI_H