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#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H

#include "fifo.h"
#include "gps.h"
#include "main.h"

#define SPEAK_ERR_CALIBARTION  1
#define SPEAK_ERR_RECEICER       2
#define SPEAK_ERR_DATABUS        3
#define SPEAK_ERR_NAVI           4
#define SPEAK_ERROR                      5
#define SPEAK_ERR_COMPASS        6
#define SPEAK_ERR_SENSOR         7
#define SPEAK_ERR_GPS            8
#define SPEAK_ERR_MOTOR          9
#define SPEAK_MAX_TEMPERAT  10
#define SPEAK_ALTI_REACHED  11
#define SPEAK_WP_REACHED    12
#define SPEAK_NEXT_WP       13
#define SPEAK_LANDING       14
#define SPEAK_GPS_FIX       15
#define SPEAK_UNDERVOLTAGE  16
#define SPEAK_GPS_HOLD      17
#define SPEAK_GPS_HOME      18
#define SPEAK_GPS_OFF       19
#define SPEAK_BEEP          20
#define SPEAK_MIKROKOPTER   21
#define SPEAK_CAPACITY      22
#define SPEAK_CF_OFF        23
#define SPEAK_CALIBRATE     24
#define SPEAK_MAX_RANGE     25
#define SPEAK_MAX_ALTITUD   26

#define SPEAK_20M                       37   // ?
#define SPEAK_MK_OFF            38
#define SPEAK_ALTITUDE_ON       39
#define SPEAK_ALTITUDE_OFF      40
#define SPEAK_100M                      41   // ?
#define SPEAK_CONNECTED         42
#define SPEAK_CF_ON             46
#define SPEAK_SINKING           47   // ?
#define SPEAK_RISING            48
#define SPEAK_HOLDING           49   // ?
#define SPEAK_GPS_ON            50       // ?
#define SPEAK_FOLLWING          51   // ?
#define SPEAK_STARTING      52


#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)

#define SPI_FCCMD_USER                  10
#define SPI_FCCMD_STICK                 11
#define SPI_FCCMD_MISC                  12
#define SPI_FCCMD_PARAMETER1    13
#define SPI_FCCMD_VERSION               14
#define SPI_FCCMD_SLOW3                 15
#define SPI_FCCMD_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
#define SPI_FCCMD_NEUTRAL               18
#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
#define SPI_FCCMD_SLOW2                 20
#define SPI_FCCMD_STICK2                21

#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }

// devides only the Poti-value
#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }

extern s32 Kalman_K;
extern s32 Kalman_Kompass ;
extern s32 Kalman_MaxDrift;
extern s32 Kalman_MaxFusion;
extern s32 ToFcGpsZ;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;
extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
extern u32 ToFC_AltitudeRate;
extern s32 ToFC_AltitudeSetpoint_dm;
extern u8 NC_GPS_ModeCharacter;
extern u8 FC_is_Calibrated;
extern u8 FCCalibActive;
extern u8 SpeakHoTT;
extern u8 NC_Wait_for_LED;

#define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
extern s8 PPM_In[MAX_RC_IN];
           
extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
extern u8 Logging_BL_MinOfMaxPWM;
extern u8 ErrorCheck_BL_MinOfMaxPWM;
extern u32 FC_I2C_ErrorConter;
extern u8 FromFC_VarioCharacter;
extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
extern s16 POI_KameraNick;
extern u16 FlugMinutenGesamt;
extern u32 LoggingGasFilter, LoggingGasCnt;
extern u8 HoverGas;
extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;
extern u8 RequestConfigFromFC;
extern u8 CamCtrlCharacter;

typedef struct
{
        u8   Command;
        s16  AngleNick;  // NickAngle in 0.1 deg
        s16  AngleRoll;  // RollAngle in 0.1 deg
        s16  GyroHeading; // Heading in 0.1 deg
        s16  GyroYaw;
        u16  FCStatus;
        union
        {
                u8    Byte[20];
                s8        sByte[20];
                u16   Int[10];
                s16   sInt[10];
                u32   Long[5];
                s32   sLong[5];
                float Float[5];
        } __attribute__((packed)) Param;
        u8 Chksum;
 } __attribute__((packed)) FromFlightCtrl_t;

#define SPI_NCCMD_OSD_DATA              100
#define SPI_NCCMD_GPS_POS               101
#define SPI_NCCMD_GPS_TARGET    102
#define SPI_NCCMD_KALMAN                103
#define SPI_NCCMD_VERSION               104
#define SPI_NCCMD_GPSINFO               105
#define SPI_NCCMD_HOTT_INFO             106
#define SPI_MISC                                107
#define SPI_SERIAL_CH                   108

#define HOTT_VARIO_PACKET_ID            0x89
#define HOTT_GPS_PACKET_ID                      0x8A
#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E
#define HOTT_GENERAL_PACKET_ID          0x8D
#define JETI_GPS_PACKET_ID1                     0x01
#define JETI_GPS_PACKET_ID2                     0x02
#define HOTT_WPL_NAME                           0x03

typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 CompassHeading;
        s16 AccErrorN;
        s16 AccErrorR;
        union
        {
                u8    Byte[20];
                s8    sByte[20];
                u16       Int[10];
                s16   sInt[10];
                u32   Long[5];
                s32   sLong[5];
                float Float[5];
        } __attribute__((packed)) Param;
        u8 Chksum;
 } __attribute__((packed)) ToFlightCtrl_t;

typedef struct
{
        unsigned char Sync1,Sync2;
        unsigned char WhoAmI;
        unsigned char Data[200];
        unsigned char Chksum;
}__attribute__((packed)) str_HugeBlockFromFC;
extern str_HugeBlockFromFC HugeBlockFromFC;

typedef struct
{
        unsigned char Sync1,Sync2;
        unsigned char WhoAmI;
        unsigned char Data[200];
        unsigned char Chksum;
}__attribute__((packed)) str_HugeBlockToFC;
extern str_HugeBlockToFC HugeBlockToFC;

typedef struct
{
 u8 Current;
 u8 Temperature;
 u8 MaxPWM;
 u8 State;
 u8 NotReadyCnt;
} __attribute__((packed)) Motor_t;

extern Motor_t Motor[MAX_MOTORS];

#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
#define MOTOR_STATE_FAST_MODE           0x02
#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt


typedef struct
{
   u8 Major;
   u8 Minor;
   u8 Patch;
   u8 Compatible;
   u8 Hardware;
} __attribute__((packed)) SPI_Version_t;


extern FromFlightCtrl_t   FromFlightCtrl;
extern ToFlightCtrl_t     ToFlightCtrl;
extern volatile u32 SPI0_Timeout;
extern SPI_Version_t FC_Version;
extern s16 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
extern u8 Out1TriggerUpdateNewData;
extern u8 LowVoltageLandingActive;

void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A

typedef struct
{
        unsigned char Revision;
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
        unsigned char Hoehe_MinGas;           // Wert : 0-100
        unsigned char Luftdruck_D;            // Wert : 0-250
        unsigned char HoeheChannel;           // Wert : 0-32
        unsigned char Hoehe_P;                // Wert : 0-32
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
        unsigned char Stick_P;                // Wert : 1-6
        unsigned char Stick_D;                // Wert : 0-64
        unsigned char StickGier_P;            // Wert : 1-20
        unsigned char Gas_Min;                // Wert : 0-32
        unsigned char Gas_Max;                // Wert : 33-250
        unsigned char GyroAccFaktor;          // Wert : 1-64
        unsigned char KompassWirkung;         // Wert : 0-32
        unsigned char Gyro_P;                 // Wert : 10-250
        unsigned char Gyro_I;                 // Wert : 0-250
        unsigned char Gyro_D;                 // Wert : 0-250
        unsigned char Gyro_Gier_P;            // Wert : 10-250
        unsigned char Gyro_Gier_I;            // Wert : 0-250
        unsigned char Gyro_Stability;         // Wert : 0-16
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
        unsigned char I_Faktor;               // Wert : 0-250
        unsigned char UserParam1;             // Wert : 0-250
        unsigned char UserParam2;             // Wert : 0-250
        unsigned char UserParam3;             // Wert : 0-250
        unsigned char UserParam4;             // Wert : 0-250
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
        //--- Seit V0.75
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
        unsigned char ServoRollComp;          // Wert : 0-250
        unsigned char ServoRollMin;           // Wert : 0-250
        unsigned char ServoRollMax;           // Wert : 0-250
        //---
        unsigned char ServoNickRefresh;       // Speed of the Servo
    unsigned char ServoManualControlSpeed;//
    unsigned char CamOrientation;         //
        unsigned char Servo3;                    // Value or mapping of the Servo Output
        unsigned char Servo4;                            // Value or mapping of the Servo Output
        unsigned char Servo5;                            // Value or mapping of the Servo Output
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
        unsigned char Driftkomp;
        unsigned char DynamicStability;
        unsigned char UserParam5;             // Wert : 0-250
        unsigned char UserParam6;             // Wert : 0-250
        unsigned char UserParam7;             // Wert : 0-250
        unsigned char UserParam8;             // Wert : 0-250
        //---Output ---------------------------------------------
        unsigned char J16Bitmask;             // for the J16 Output
        unsigned char J16Timing;              // for the J16 Output
        unsigned char J17Bitmask;             // for the J17 Output
        unsigned char J17Timing;              // for the J17 Output
        // seit version V0.75c
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
        //---NaviCtrl---------------------------------------------
        unsigned char AutoPhotoDistance;      // Auto Photo
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
        unsigned char NaviGpsGain;
        unsigned char NaviGpsP;
        unsigned char NaviGpsI;
        unsigned char NaviGpsD;
        unsigned char NaviGpsPLimit;
        unsigned char NaviGpsILimit;
        unsigned char NaviGpsDLimit;
        unsigned char NaviGpsA;
        unsigned char NaviGpsMinSat;
        unsigned char NaviStickThreshold;
        unsigned char NaviWindCorrection;
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
        unsigned char NaviMaxFlyingRange;     // in 10m
        unsigned char NaviAngleLimitation;
        unsigned char NaviPH_LoginTime;
        unsigned char NaviDescendRange;
        //---Ext.Ctrl---------------------------------------------
        unsigned char ExternalControl;         // for serial Control
        //---CareFree---------------------------------------------
        unsigned char OrientationAngle;        // Where is the front-direction?
        unsigned char CareFreeChannel;     // switch for CareFree
    unsigned char MotorSafetySwitch;
    unsigned char MotorSmooth;
    unsigned char ComingHomeAltitude;
    unsigned char FailSafeTime;
    unsigned char MaxAltitude;
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
        unsigned char ServoFilterNick;  
        unsigned char ServoFilterRoll;  
    unsigned char Servo3OnValue;
    unsigned char Servo3OffValue;
    unsigned char Servo4OnValue;
    unsigned char Servo4OffValue;
        unsigned char ServoFS_Pos[5];
        unsigned char StartLandChannel;  
        unsigned char LandingSpeed;  
        unsigned char CompassOffset;        
        unsigned char AutoLandingVoltage;   // in 0,1V  0 -> disabled
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
        unsigned char AutoPhotoAtitudes;
        unsigned char SingleWpSpeed;
        unsigned char LandingPulse;
        unsigned char SingleWpControlChannel;
        unsigned char MenuKeyChannel;
    unsigned char CamCtrlModeChannel;
    unsigned char CamCtrlZoomChannel;  
        unsigned char reserved[32];
        //------------------------------------------------
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
        unsigned char ExtraConfig;        // bitcodiert
        unsigned char GlobalConfig3;      // bitcodiert
        char Name[12];
        unsigned char crc;                                // must be the last byte!
} __attribute__((packed)) paramset_t; // must be 179 bytes

extern paramset_t EE_Parameter;

#endif //_SPI_SLAVE_H