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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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- 
 
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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 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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//-----------------------------------------
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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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// for compatibility reasons gcc3.x <-> gcc4.x
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#ifndef SPCR  
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#ifndef SPCR
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#define SPCR   SPCR0
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#define SPCR   SPCR0
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#endif    
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#endif
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#ifndef SPE  
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#ifndef SPE
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#define SPE   SPE0
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#define SPE   SPE0
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#endif    
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#endif
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#ifndef MSTR  
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#ifndef MSTR
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#define MSTR   MSTR0
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#define MSTR   MSTR0
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#endif    
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#endif
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#ifndef SPR1  
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#ifndef SPR1
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#define SPR1   SPR01
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#define SPR1   SPR01
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#endif    
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#endif
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#ifndef SPR0  
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#ifndef SPR0
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#define SPR0   SPR00
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#define SPR0   SPR00
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#endif    
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#endif
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#ifndef SPIE  
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#ifndef SPIE
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#define SPIE   SPIE0
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#define SPIE   SPIE0
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#endif    
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#endif
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#ifndef SPDR  
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#ifndef SPDR
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#define SPDR   SPDR0
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#define SPDR   SPDR0
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#endif    
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#endif
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#ifndef SPIF  
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#ifndef SPIF
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#define SPIF   SPIF0
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#define SPIF   SPIF0
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#endif    
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#endif
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#ifndef SPSR  
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#ifndef SPSR
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#define SPSR   SPSR0
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#define SPSR   SPSR0
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#endif    
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#endif
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// -------------------------
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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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#define SPI_CMD_USER        10
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#define SPI_CMD_STICK       11
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#define SPI_CMD_USER        10
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#define SPI_CMD_CAL_COMPASS 12
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#define SPI_CMD_STICK       11
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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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        int16_t IntegralRoll;
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        int16_t AccPitch;
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 signed int  IntegralRoll;
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        int16_t AccRoll;
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 signed int  AccNick;
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        int16_t GyroHeading;
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 signed int  AccRoll;
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        int16_t GyroPitch;
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 signed int  GyroCompass;
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        int16_t GyroRoll;
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 signed int  GyroNick;
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        int16_t GyroYaw;
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 signed int  GyroRoll;
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        union
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        {
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                int8_t  sByte[12];
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 signed int  GyroGier;
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                uint8_t Byte[12];
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 union  
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                int16_t Int[6];
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 { char Byte[12];
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                int32_t Long[3];
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   int  Int[6];
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                float   Float[3];
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   long Long[3];
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   float Float[3];
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 } Param;
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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_GPS_POS          101
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#define SPI_CMD_GPS_TARGET   102
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struct str_FromNaviCtrl
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{
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 unsigned char Command;
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  signed int  GPS_Nick;
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  signed int  GPS_Roll;
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  signed int  GPS_Gier;
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  signed int  CompassValue;
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  signed int  Status;
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        } Param;
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        uint8_t Chksum;
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} ToNaviCtrl_t;
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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_TARGET   102
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typedef struct
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{
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        uint8_t Command;
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        int16_t GPS_Pitch;
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        int16_t GPS_Roll;
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        int16_t GPS_Yaw;
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        int16_t CompassHeading;
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        int16_t Status;
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  unsigned char BeepTime;
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        uint8_t BeepTime;
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  union  
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        union
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  { char Byte[12];
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        {
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    int  Int[6];
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    long Long[3];
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    float Float[3];
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                int8_t  Byte[12];
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  } Param;
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                int16_t Int[6];
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  unsigned char Chksum;
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};
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                int32_t Long[3];
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                float   Float[3];
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        } Param;
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#ifdef USE_SPI_COMMUNICATION
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        uint8_t Chksum;
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} FromNaviCtrl_t;
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl FromNaviCtrl;
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#ifdef USE_SPI_COMMUNICATION
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//#define SPI_CMD_VALUE   0x03
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extern ToNaviCtrl_t   ToNaviCtrl;