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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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//#include <util/delay.h>
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#include <util/delay.h>
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#include <inttypes.h>
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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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typedef struct
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struct str_ToNaviCtrl
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{
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{
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        uint8_t Sync1;
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 unsigned char Sync1, Sync2;
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        uint8_t Sync2;
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 unsigned char Command;
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        uint8_t Command;
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 signed int  IntegralNick;
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        int16_t IntegralPitch;
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 signed int  IntegralRoll;
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        int16_t IntegralRoll;
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 signed int  AccNick;
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        int16_t AccPitch;
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 signed int  AccRoll;
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        int16_t AccRoll;
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 signed int  GyroCompass;
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        int16_t GyroHeading;
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 signed int  GyroNick;
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        int16_t GyroPitch;
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 signed int  GyroRoll;
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        int16_t GyroRoll;
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        int16_t GyroYaw;
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        union
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 signed int  GyroGier;
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        {
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 union  
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                int8_t  sByte[12];
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 { char Byte[12];
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                uint8_t Byte[12];
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   int  Int[6];
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                int16_t Int[6];
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   long 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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        uint8_t Chksum;
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 } Param;
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} ToNaviCtrl_t;
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 unsigned char Chksum;
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};
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#define SPI_CMD_OSD_DATA         100
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#define SPI_CMD_OSD_DATA         100
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#define SPI_CMD_GPS_POS          101
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#define SPI_CMD_GPS_POS          101
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#define SPI_CMD_GPS_TARGET   102
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#define SPI_CMD_GPS_TARGET   102
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struct str_FromNaviCtrl
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typedef struct
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{
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{
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 unsigned char Command;
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        uint8_t Command;
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  signed int  GPS_Nick;
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        int16_t GPS_Pitch;
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  signed int  GPS_Roll;
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        int16_t GPS_Roll;
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  signed int  GPS_Gier;
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        int16_t GPS_Yaw;
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  signed int  CompassValue;
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        int16_t CompassHeading;
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        int16_t Status;
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  signed int  Status;
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        uint8_t BeepTime;
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  unsigned char BeepTime;
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        union
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  union  
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        {
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  { char Byte[12];
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                int8_t  Byte[12];
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    int  Int[6];
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                int16_t Int[6];
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    long 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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  unsigned char Chksum;
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        } Param;
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};
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        uint8_t Chksum;
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} FromNaviCtrl_t;
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_FromNaviCtrl FromNaviCtrl;
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//#define SPI_CMD_VALUE   0x03
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extern ToNaviCtrl_t   ToNaviCtrl;
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extern FromNaviCtrl_t FromNaviCtrl;
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#define  UpdateSPI_Buffer() ;
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#define  UpdateSPI_Buffer() ;
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#define  SPI_TransmitByte() ;
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#define  SPI_TransmitByte() ;
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#endif
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#endif
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