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// ######################## SPI - FlightCtrl ###################
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// ######################## SPI - FlightCtrl ###################
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#ifndef _SPI_H
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#ifndef _SPI_H
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#define _SPI_H
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#define _SPI_H
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#define SPI_PROTOCOL_COMP   1
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#define SPI_PROTOCOL_COMP   1
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//-----------------------------------------
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//-----------------------------------------
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#define DDR_SPI DDRB
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#define DDR_SPI DDRB
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#define DD_SS   PB4
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#define DD_SS   PB4
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#define DD_SCK  PB7
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#define DD_SCK  PB7
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#define DD_MOSI PB5
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#define DD_MOSI PB5
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#define DD_MISO PB6
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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 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_DDR_PORT   DDRC
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#define SLAVE_SELECT_PORT       PORTC
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#define SLAVE_SELECT_PORT       PORTC
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#define SPI_SLAVE_SELECT        PC5
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#define SPI_SLAVE_SELECT        PC5
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struct str_ToNaviCtrl
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struct str_ToNaviCtrl
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{
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{
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 unsigned char Comp;
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 unsigned char Comp;
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 int IntegralNick;
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 int IntegralNick;
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 int IntegralRoll;
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 int IntegralRoll;
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 char StickNick,StickRoll,StickGier;
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 char StickNick,StickRoll,StickGier;
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};
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};
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struct str_FromNaviCtrl
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struct str_FromNaviCtrl
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{
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{
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 unsigned int Dummy;
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 unsigned char Comp;
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 unsigned char Comp;
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 int GPS_Nick;
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 int GPS_Nick;
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 int GPS_Roll;
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 int GPS_Roll;
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 int CompassValue;
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 int CompassValue;
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};
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};
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl   FromNaviCtrl;
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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_MasterInit(void);
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extern void SPI_StartTransmitPacket(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 UpdateSPI_Buffer(void);
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extern void SPI_TransmitByte(void);
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extern void SPI_TransmitByte(void);
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#endif
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#endif
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