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Rev 1378 Rev 1550
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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_FCCMD_USER                  10
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#define SPI_CMD_STICK       11
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#define SPI_FCCMD_STICK                 11
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#define SPI_CMD_MISC        12
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#define SPI_FCCMD_MISC                  12
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#define SPI_CMD_PARAMETER1  13
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_VERSION               14
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#define SPI_CMD_VERSION     14
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#define SPI_FCCMD_SERVOS                15
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#define SPI_CMD_SERVOS          15
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#define SPI_FCCMD_ACCU                  16
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struct str_ToNaviCtrl
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struct str_ToNaviCtrl
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        signed int  GyroNick;
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        signed int  GyroNick;
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        signed int  GyroRoll;
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        signed int  GyroRoll;
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        signed int  GyroGier;
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        signed int  GyroGier;
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        union
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        union
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        {
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        {
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                char sByte[12];
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                unsigned char Byte[12];
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                unsigned char Byte[12];
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                char sByte[12];
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                unsigned int Int[6];
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                int  Int[6];
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                int  sInt[6];
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                unsigned long Long[3];
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                long Long[3];
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                long sLong[3];
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                float Float[3];
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                float Float[3];
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        } Param;
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        } Param;
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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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#define SPI_NCCMD_KALMAN                103
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#define SPI_NCCMD_VERSION               104
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#define SPI_KALMAN          103
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#define SPI_NCCMD_GPSINFO               105
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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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        signed int  CompassValue;
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        signed int  CompassValue;
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        signed int  Status;
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        signed int  Status;
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        unsigned int BeepTime;
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        unsigned int BeepTime;
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        union
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        union
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        {
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        {
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                char sByte[12];
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                unsigned char Byte[12];
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                unsigned char Byte[12];
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                char sByte[12];
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                unsigned int Int[6];
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                int  Int[6];
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                int  sInt[6];
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                unsigned long Long[3];
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                long Long[3];
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                long sLong[3];
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                float Float[3];
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                float Float[3];
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        } Param;
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        } Param;
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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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{
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{
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  unsigned char Major;
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  unsigned char Major;
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  unsigned char Minor;
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  unsigned char Minor;
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  unsigned char Patch;
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  unsigned char Patch;
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  unsigned char Compatible;
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  unsigned char Compatible;
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  unsigned char Hardware;
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};
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};
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// Satfix types for GPSData.SatFix
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#define SATFIX_NONE                             0x00
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#define SATFIX_DEADRECKOING             0x01
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#define SATFIX_2D                               0x02
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#define SATFIX_3D                               0x03
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#define SATFIX_GPS_DEADRECKOING 0x04
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#define SATFIX_TIMEONLY                 0x05
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// Flags for interpretation of the GPSData.Flags
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#define FLAG_GPSFIXOK                   0x01 // (i.e. within DOP & ACC Masks)
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#define FLAG_DIFFSOLN                   0x02 // (is DGPS used)
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#define FLAG_WKNSET                             0x04 // (is Week Number valid)
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#define FLAG_TOWSET                             0x08 // (is Time of Week valid)
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struct str_GPSInfo
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{
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        unsigned char   Flags;                  // Status Flags
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        unsigned char   NumOfSats;              // number of satelites
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        unsigned char   SatFix;                 // type of satfix
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        unsigned int    HomeDistance;   // distance to Home in dm
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        int                             HomeBearing;    // bearing to home in deg
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};
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#ifdef USE_SPI_COMMUNICATION
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_GPSInfo GPSInfo;
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extern struct str_SPI_VersionInfo NC_Version;
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extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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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_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl FromNaviCtrl;
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extern unsigned char SPI_CommandCounter,NaviDataOkay;
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extern struct str_FromNaviCtrl FromNaviCtrl;
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extern unsigned char SPI_CommandCounter,NaviDataOkay;
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//#define SPI_CMD_VALUE   0x03
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