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Rev 1821 Rev 2035
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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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//#include <util/delay.h>
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#define SPI_CMD_USER        10
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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_STICK       11
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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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        uint8_t Sync1;
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        uint8_t Sync2;
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        uint8_t Command;
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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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        int16_t AccRoll;
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        int16_t GyroHeading;
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        int16_t GyroPitch;
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        int16_t GyroRoll;
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        int16_t GyroYaw;
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        union {
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                int8_t sByte[12];
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                uint8_t Byte[12];
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                int16_t Int[6];
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                int32_t Long[3];
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                float Float[3];
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        } Param;
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        uint8_t Chksum;
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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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#define SPI_NCCMD_KALMAN                103
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#define SPI_NCCMD_VERSION               104
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#define SPI_NCCMD_GPSINFO               105
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#define SPI_NCCMD_HOTT_DATA             106
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#define SPI_MISC                                107
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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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#define FLAG_GPS_NAVIGATION_ACTIVE      0x10 // NC to FC -> NC is ready to navigate
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typedef struct {
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        uint8_t sync1;
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        uint8_t sync2;
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        uint8_t command;
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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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        int16_t accRoll;
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        int16_t gyroHeading;
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        int16_t gyroPitch;
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        int16_t gyroRoll;
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        int16_t gyroYaw;
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        uint8_t FCStatus;
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        union {
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                int8_t  asSignedByte[12];
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                uint8_t asByte[12];
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                int16_t asInt[6];
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                int32_t asLong[3];
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                float   asFloat[3];
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        } param;
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        uint8_t chksum;
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}__attribute__((packed)) ToNaviCtrl_t;
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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 GPSStickYaw;
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        int16_t accErrorPitch;
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        int16_t accErrorRoll;
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        int16_t GPS_Yaw;
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        int16_t magVectorZ;
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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  asSignedByte[12];
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                uint8_t asByte[12];
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                int8_t Byte[12];
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                int16_t asSignedInt[6];
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                uint16_t asInt[6];
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                int16_t Int[6];
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                int32_t asSignedLong[3];
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                int32_t Long[3];
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                uint32_t asLong[3];
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                float Float[3];
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                float   asFloat[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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}__attribute__((packed)) SPI_VersionInfo_t;
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        uint8_t hardware;
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extern ToNaviCtrl_t toNaviCtrl;
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}__attribute__((packed)) SPI_VersionInfo_t;
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extern FromNaviCtrl_t fromNaviCtrl;
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// Some of this is defined for compatibility with H&I NaviCtrl rather than necessity of the data...
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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;
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        int8_t kalmanMaxFusion;
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        uint8_t serialDataOkay;
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        int8_t GPS_Z;
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}__attribute__((packed)) NCData_t;
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typedef struct {
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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 char   speed;                  // m/sek
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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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}__attribute__((packed)) GPSInfo_t;
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extern SPI_VersionInfo_t naviCtrlVersion;
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extern ToNaviCtrl_t toNaviCtrl;
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        int8_t KalmanMaxFusion;
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extern FromNaviCtrl_t fromNaviCtrl;
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        uint8_t SerialDataOkay;
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extern NCData_t naviCtrlData;
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}__attribute__((packed)) NCData_t;
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extern GPSInfo_t GPSInfo;
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extern uint8_t NCDataOkay;
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extern uint8_t NCDataOkay;
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extern uint8_t NCSerialDataOkay;
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void SPI_MasterInit(void);
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extern uint8_t NCSerialDataOkay;