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1 | #ifndef _SPI_SLAVE_H |
1 | #ifndef _SPI_SLAVE_H |
2 | #define _SPI_SLAVE_H |
2 | #define _SPI_SLAVE_H |
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3 | 3 | ||
- | 4 | #include "fifo.h" |
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4 | #include "fifo.h" |
5 | #include "gps.h" |
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5 | 6 | ||
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51 | #define SPI_NCCMD_GPSINFO 105 |
52 | #define SPI_NCCMD_GPSINFO 105 |
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52 | 53 | ||
53 | typedef struct |
54 | typedef struct |
54 | { |
55 | { |
55 | u8 Command; |
56 | u8 Command; |
56 | s16 GPS_Nick; |
- | |
57 | s16 GPS_Roll; |
- | |
58 | s16 GPS_Yaw; |
57 | GPS_Stick_t GPSStick; |
59 | s16 CompassHeading; |
58 | s16 CompassHeading; |
60 | s16 Status; |
59 | s16 Status; |
61 | u16 BeepTime; |
60 | u16 BeepTime; |
62 | union |
61 | union |
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80 | u8 Patch; |
79 | u8 Patch; |
81 | u8 Compatible; |
80 | u8 Compatible; |
82 | u8 Hardware; |
81 | u8 Hardware; |
83 | } __attribute__((packed)) SPI_Version_t; |
82 | } __attribute__((packed)) SPI_Version_t; |
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84 | 83 | ||
85 | extern volatile FromFlightCtrl_t FromFlightCtrl; |
84 | extern FromFlightCtrl_t FromFlightCtrl; |
86 | extern volatile ToFlightCtrl_t ToFlightCtrl; |
85 | extern ToFlightCtrl_t ToFlightCtrl; |
87 | extern volatile u32 SPI0_Timeout; |
86 | extern volatile u32 SPI0_Timeout; |
88 | extern SPI_Version_t FC_Version; |
87 | extern SPI_Version_t FC_Version; |
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89 | extern fifo_t CompassCalcStateFiFo; |
88 | extern fifo_t CompassCalcStateFiFo; |