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Rev 1775 Rev 1821
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#define SPI_CMD_MISC            12
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#define SPI_CMD_MISC            12
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#define SPI_CMD_PARAMETER1      13
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#define SPI_CMD_PARAMETER1      13
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#define SPI_CMD_VERSION         14
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#define SPI_CMD_VERSION         14
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typedef struct {
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typedef struct {
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  uint8_t Sync1;
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        uint8_t Sync1;
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  uint8_t Sync2;
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        uint8_t Sync2;
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  uint8_t Command;
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        uint8_t Command;
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  int16_t IntegralPitch;
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        int16_t IntegralPitch;
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  int16_t IntegralRoll;
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        int16_t IntegralRoll;
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  int16_t AccPitch;
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        int16_t AccPitch;
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  int16_t AccRoll;
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        int16_t AccRoll;
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  int16_t GyroHeading;
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        int16_t GyroHeading;
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  int16_t GyroPitch;
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        int16_t GyroPitch;
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  int16_t GyroRoll;
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        int16_t GyroRoll;
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  int16_t GyroYaw;
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        int16_t GyroYaw;
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  union {
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        union {
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    int8_t  sByte[12];
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                int8_t sByte[12];
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    uint8_t Byte[12];
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                uint8_t Byte[12];
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    int16_t Int[6];
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                int16_t Int[6];
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    int32_t 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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        } Param;
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  uint8_t Chksum;
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        uint8_t Chksum;
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} __attribute__((packed)) ToNaviCtrl_t;
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}__attribute__((packed)) ToNaviCtrl_t;
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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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#define SPI_KALMAN                      103
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#define SPI_KALMAN                      103
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typedef struct {
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typedef struct {
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  uint8_t Command;
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        uint8_t Command;
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  int16_t GPSStickPitch;
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        int16_t GPSStickPitch;
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  int16_t GPSStickRoll;
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        int16_t GPSStickRoll;
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  int16_t GPS_Yaw;
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        int16_t GPS_Yaw;
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  int16_t CompassHeading;
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        int16_t CompassHeading;
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  int16_t Status;
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        int16_t Status;
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  uint16_t BeepTime;
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        uint16_t BeepTime;
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  union {
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        union {
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    int8_t  Byte[12];
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                int8_t Byte[12];
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    int16_t Int[6];
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                int16_t Int[6];
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    int32_t 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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        } Param;
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  uint8_t Chksum;
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        uint8_t Chksum;
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} __attribute__((packed)) FromNaviCtrl_t;
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}__attribute__((packed)) FromNaviCtrl_t;
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typedef struct {
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typedef struct {
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  uint8_t Major;
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        uint8_t Major;
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  uint8_t Minor;
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        uint8_t Minor;
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  uint8_t Patch;
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        uint8_t Patch;
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  uint8_t Compatible;
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        uint8_t Compatible;
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  //    unsigned char Hardware;
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//    unsigned char Hardware;
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} __attribute__((packed)) SPI_VersionInfo_t;
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}__attribute__((packed)) SPI_VersionInfo_t;
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extern ToNaviCtrl_t                     toNaviCtrl;
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extern ToNaviCtrl_t toNaviCtrl;
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extern FromNaviCtrl_t                   fromNaviCtrl;
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extern FromNaviCtrl_t fromNaviCtrl;
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typedef struct {
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typedef struct {
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  int8_t        KalmanK;
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        int8_t KalmanK;
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  int8_t        KalmanMaxDrift;
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        int8_t KalmanMaxDrift;