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// ######################## SPI - FlightCtrl ###################
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#ifndef _SPI_H
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#define _SPI_H
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//#define USE_SPI_COMMUNICATION
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#define SPI_PROTOCOL_COMP   1
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//-----------------------------------------
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#define DDR_SPI DDRB
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#define DD_SS   PB4
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#define DD_SCK  PB7
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#define DD_MOSI PB5
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#define DD_MISO PB6
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// for compatibility reasons gcc3.x <-> gcc4.x
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#ifndef SPCR
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#define SPCR   SPCR0
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#endif
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#ifndef SPE
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#define SPE   SPE0
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#endif
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#ifndef MSTR
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#define MSTR   MSTR0
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#endif
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#ifndef SPR1
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#define SPR1   SPR01
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#endif
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#ifndef SPR0
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#define SPR0   SPR00
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#endif
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#ifndef SPIE
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#define SPIE   SPIE0
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#endif
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#ifndef SPDR
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#define SPDR   SPDR0
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#endif
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#ifndef SPIF
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#define SPIF   SPIF0
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#endif
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#ifndef SPSR
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#define SPSR   SPSR0
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#endif
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// -------------------------
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#define SLAVE_SELECT_DDR_PORT   DDRC
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#define SLAVE_SELECT_PORT       PORTC
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#define SPI_SLAVE_SELECT        PC5
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struct str_ToNaviCtrl
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{
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 unsigned char Sync1, Sync2;
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 unsigned char Comp;
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 int IntegralPitch;
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 int IntegralRoll;
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 char StickPitch,StickRoll,StickYaw;
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 unsigned char ChkSum;
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};
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struct str_FromNaviCtrl
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{
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 unsigned int Dummy;
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 unsigned char Comp;
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 int GPS_Pitch;
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 int GPS_Roll;
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 int CompassHeading;
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};
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl   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 UpdateSPI_Buffer(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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#define  UpdateSPI_Buffer() ;
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#define  SPI_TransmitByte() ;
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#endif
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#endif