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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_CMD_VERSION     14
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#define SPI_FCCMD_VERSION               14
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#define SPI_CMD_SERVOS          15
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#define SPI_FCCMD_SERVOS                15
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struct str_ToNaviCtrl
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struct str_ToNaviCtrl
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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_KALMAN          103
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#define SPI_NCCMD_VERSION               104
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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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{
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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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#ifdef USE_SPI_COMMUNICATION
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#ifdef USE_SPI_COMMUNICATION
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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;