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Line 46... | Line 46... | ||
46 | #define SLAVE_SELECT_DDR_PORT DDRC |
46 | #define SLAVE_SELECT_DDR_PORT DDRC |
47 | #define SLAVE_SELECT_PORT PORTC |
47 | #define SLAVE_SELECT_PORT PORTC |
48 | #define SPI_SLAVE_SELECT PC5 |
48 | #define SPI_SLAVE_SELECT PC5 |
Line 49... | Line 49... | ||
49 | 49 | ||
50 | 50 | ||
51 | #define SPI_CMD_USER 10 |
51 | #define SPI_FCCMD_USER 10 |
52 | #define SPI_CMD_STICK 11 |
52 | #define SPI_FCCMD_STICK 11 |
53 | #define SPI_CMD_MISC 12 |
53 | #define SPI_FCCMD_MISC 12 |
54 | #define SPI_CMD_PARAMETER1 13 |
54 | #define SPI_FCCMD_PARAMETER1 13 |
Line 55... | Line 55... | ||
55 | #define SPI_CMD_VERSION 14 |
55 | #define SPI_FCCMD_VERSION 14 |
56 | #define SPI_CMD_SERVOS 15 |
56 | #define SPI_FCCMD_SERVOS 15 |
57 | 57 | ||
58 | struct str_ToNaviCtrl |
58 | struct str_ToNaviCtrl |
Line 76... | Line 76... | ||
76 | float Float[3]; |
76 | float Float[3]; |
77 | } Param; |
77 | } Param; |
78 | unsigned char Chksum; |
78 | unsigned char Chksum; |
79 | }; |
79 | }; |
Line 80... | Line 80... | ||
80 | 80 | ||
- | 81 | #define SPI_NCCMD_KALMAN 103 |
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Line 81... | Line 82... | ||
81 | #define SPI_KALMAN 103 |
82 | #define SPI_NCCMD_VERSION 104 |
82 | 83 | ||
83 | struct str_FromNaviCtrl |
84 | struct str_FromNaviCtrl |
84 | { |
85 | { |
Line 113... | Line 114... | ||
113 | { |
114 | { |
114 | unsigned char Major; |
115 | unsigned char Major; |
115 | unsigned char Minor; |
116 | unsigned char Minor; |
116 | unsigned char Patch; |
117 | unsigned char Patch; |
117 | unsigned char Compatible; |
118 | unsigned char Compatible; |
- | 119 | unsigned char Hardware; |
|
118 | }; |
120 | }; |
Line 119... | Line 121... | ||
119 | 121 | ||
Line -... | Line 122... | ||
- | 122 | #ifdef USE_SPI_COMMUNICATION |
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120 | #ifdef USE_SPI_COMMUNICATION |
123 | |
121 | 124 | extern struct str_SPI_VersionInfo NC_Version; |
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122 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
125 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
123 | extern struct str_ToNaviCtrl ToNaviCtrl; |
126 | extern struct str_ToNaviCtrl ToNaviCtrl; |