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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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//#define USE_SPI_COMMUNICATION
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#define USE_SPI_COMMUNICATION
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#define SPI_PROTOCOL_COMP   1
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#define SPI_PROTOCOL_COMP   1
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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_Value
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{
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{
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 unsigned char Sync1, Sync2;
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 unsigned char Sync1, Sync2;
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 unsigned char Comp;
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 unsigned char Command;
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 int IntegralNick;
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 signed int IntegralNick;
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 signed int  IntegralRoll;
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  char StickNick,StickRoll,  
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       StickGier, StickGas,  
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       Poti1,Poti2,  
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           Poti3,Poti4;
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  signed int  GyroCompass;
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 int IntegralRoll;
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  signed int  d0;
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 char StickNick,StickRoll,StickGier;
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  signed int  d1;
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  unsigned char Chksum;
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};
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 struct str_ToNaviCtrl_Version
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 {
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  unsigned char Sync1, Sync2;
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  unsigned char Command;
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  unsigned char  HVersion;
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  unsigned char  NVersion;
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  unsigned char  Comp;
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  unsigned char  d0;
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  signed int  d1;
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  signed int  d2;
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  signed int  d3;
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  signed int  d4;
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  signed int  d5;
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  signed int  d6;
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  signed int  d7;
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 unsigned char ChkSum;
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  unsigned char Chksum;
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};
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 };
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struct str_FromNaviCtrl_Value
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struct str_FromNaviCtrl
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{
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{
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 unsigned char Command;
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 unsigned int Dummy;
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  signed int  GPS_Nick;
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 unsigned char Comp;
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  signed int  GPS_Roll;
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  signed int  GPS_Gier;
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  signed int  GPS_Height;
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  signed int  CompassValue;
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  signed int  Status;
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  signed int  d0;
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 int GPS_Nick;
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  signed int  d1;
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  signed int  d2;
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  unsigned char Chksum;
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};
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 struct str_FromNaviCtrl_Version
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 {
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  unsigned char Command;
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  unsigned char  HVersion;
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  unsigned char  NVersion;
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  unsigned char  Comp;
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  unsigned char  d0;
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  signed int  d1;
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  signed int  d2;
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  signed int  d3;
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  signed int  d4;
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  signed int  d5;
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  signed int  d6;
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 int GPS_Roll;
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  signed int  d7;
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  unsigned char Chksum;
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 };
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 int CompassValue;
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#ifdef USE_SPI_COMMUNICATION
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};
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extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
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extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl   FromNaviCtrl;
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#define SPI_CMD_VERSION 0x02
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#define SPI_CMD_VALUE   0x03