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Rev | Author | Line No. | Line |
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827 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
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3 | #define _SPI_H |
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4 | |||
5 | #include <util/delay.h> |
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1852 | killagreg | 6 | #include "vector.h" |
827 | ingob | 7 | |
1051 | killagreg | 8 | #define USE_SPI_COMMUNICATION |
2407 | holgerb | 9 | #define SPI_BYTEGAP 5 |
827 | ingob | 10 | //----------------------------------------- |
11 | #define DDR_SPI DDRB |
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1561 | killagreg | 12 | #define SLAVE_SELECT_DDR_PORT DDRC |
13 | #define SLAVE_SELECT_PORT PORTC |
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827 | ingob | 14 | |
1561 | killagreg | 15 | #if defined(__AVR_ATmega1284P__) |
16 | #define DD_SS PORTB4 |
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17 | #define DD_SCK PORTB7 |
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18 | #define DD_MOSI PORTB5 |
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19 | #define DD_MISO PORTB6 |
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20 | #define SPI_SLAVE_SELECT PORTC5 |
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21 | #else |
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22 | #define DD_SS PB4 |
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23 | #define DD_SCK PB7 |
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24 | #define DD_MOSI PB5 |
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25 | #define DD_MISO PB6 |
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26 | #define SPI_SLAVE_SELECT PC5 |
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27 | #endif |
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28 | |||
1051 | killagreg | 29 | // for compatibility reasons gcc3.x <-> gcc4.x |
30 | #ifndef SPCR |
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827 | ingob | 31 | #define SPCR SPCR0 |
1051 | killagreg | 32 | #endif |
33 | #ifndef SPE |
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827 | ingob | 34 | #define SPE SPE0 |
1051 | killagreg | 35 | #endif |
36 | #ifndef MSTR |
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827 | ingob | 37 | #define MSTR MSTR0 |
1051 | killagreg | 38 | #endif |
39 | #ifndef SPR1 |
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827 | ingob | 40 | #define SPR1 SPR01 |
1051 | killagreg | 41 | #endif |
42 | #ifndef SPR0 |
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827 | ingob | 43 | #define SPR0 SPR00 |
1051 | killagreg | 44 | #endif |
45 | #ifndef SPIE |
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827 | ingob | 46 | #define SPIE SPIE0 |
1051 | killagreg | 47 | #endif |
48 | #ifndef SPDR |
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827 | ingob | 49 | #define SPDR SPDR0 |
1051 | killagreg | 50 | #endif |
51 | #ifndef SPIF |
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827 | ingob | 52 | #define SPIF SPIF0 |
1051 | killagreg | 53 | #endif |
54 | #ifndef SPSR |
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827 | ingob | 55 | #define SPSR SPSR0 |
1051 | killagreg | 56 | #endif |
827 | ingob | 57 | // ------------------------- |
58 | |||
1448 | killagreg | 59 | #define SPI_FCCMD_STICK 11 |
60 | #define SPI_FCCMD_MISC 12 |
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61 | #define SPI_FCCMD_PARAMETER1 13 |
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62 | #define SPI_FCCMD_VERSION 14 |
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2499 | holgerb | 63 | #define SPI_FCCMD_SLOW3 15 |
2341 | holgerb | 64 | #define SPI_FCCMD_BL_ACCU 16 |
2183 | holgerb | 65 | #define SPI_FCCMD_PARAMETER2 17 |
2478 | holgerb | 66 | #define SPI_FCCMD_NEUTRAL 18 |
67 | #define SPI_FCCMD_SLOW 19 |
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2499 | holgerb | 68 | #define SPI_FCCMD_SLOW2 20 |
2596 | holgerb | 69 | #define SPI_FCCMD_STICK2 21 |
2725 | holgerb | 70 | #define SPI_FCCMD_STATUSTEXT 22 |
991 | ingob | 71 | |
2596 | holgerb | 72 | |
73 | #define SPI_FCSYNCBYTE1 0xAA |
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74 | #define SPI_FCSYNCBYTE2 0x85 |
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75 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
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76 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
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77 | #define SPI_NCSYNCBYTE1 0x82 |
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78 | #define SPI_NCSYNCBYTE2 0x55 |
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79 | #define SPI_NCSYNCBYTE_HB1 0xB2 // for the huge Block |
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80 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
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81 | |||
2702 | holgerb | 82 | |
83 | #define KM_BIT_YAW 0x01 |
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84 | #define KM_BIT_UART 0x02 |
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85 | #define KM_BIT_SLOW 0x04 // Fast switch off |
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86 | #define KM_BIT_OFF 0x08 // Fast switch off |
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87 | #define KM_BIT_EXTCNTRL 0x10 |
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88 | |||
2729 | holgerb | 89 | |
2596 | holgerb | 90 | /* |
827 | ingob | 91 | struct str_ToNaviCtrl |
92 | { |
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1231 | killagreg | 93 | unsigned char Sync1, Sync2; |
94 | unsigned char Command; |
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95 | signed int IntegralNick; |
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96 | signed int IntegralRoll; |
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97 | signed int AccNick; |
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98 | signed int AccRoll; |
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99 | signed int GyroCompass; |
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100 | signed int GyroNick; |
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101 | signed int GyroRoll; |
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102 | signed int GyroGier; |
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1852 | killagreg | 103 | unsigned int FCStatus; |
1231 | killagreg | 104 | union |
105 | { |
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1472 | killagreg | 106 | unsigned char Byte[12]; |
1231 | killagreg | 107 | char sByte[12]; |
1472 | killagreg | 108 | unsigned int Int[6]; |
109 | int sInt[6]; |
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110 | unsigned long Long[3]; |
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111 | long sLong[3]; |
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1231 | killagreg | 112 | float Float[3]; |
113 | } Param; |
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114 | unsigned char Chksum; |
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1051 | killagreg | 115 | }; |
2596 | holgerb | 116 | */ |
827 | ingob | 117 | |
2596 | holgerb | 118 | struct str_HugeBlockToNavi |
119 | { |
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120 | unsigned char Sync1,Sync2; |
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121 | unsigned char WhoAmI; |
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2631 | holgerb | 122 | unsigned char Data[200]; |
2596 | holgerb | 123 | unsigned char Chksum; |
124 | }; |
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125 | extern struct str_HugeBlockToNavi HugeBlockToNavi; |
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126 | |||
127 | struct str_HugeBlockFromNavi |
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128 | { |
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129 | unsigned char WhoAmI; |
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2631 | holgerb | 130 | unsigned char Data[200]; |
2596 | holgerb | 131 | unsigned char Chksum; |
132 | }; |
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133 | extern struct str_HugeBlockFromNavi HugeBlockFromNavi; |
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134 | |||
135 | extern void TransmitHugeBlock(void); |
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2604 | holgerb | 136 | extern void SendSettingToNC(void); |
2596 | holgerb | 137 | |
138 | struct str_ToNaviCtrl |
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139 | { |
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140 | unsigned char Sync1, Sync2; |
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141 | unsigned char Command; |
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142 | signed int IntegralNick; |
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143 | signed int IntegralRoll; |
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144 | signed int GyroCompass; |
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145 | signed int GyroGier; |
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146 | union |
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147 | { |
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2725 | holgerb | 148 | unsigned char Byte[22]; |
149 | char sByte[22]; |
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150 | unsigned int Int[11]; |
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151 | int sInt[11]; |
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2596 | holgerb | 152 | } Param; |
153 | unsigned char Chksum; |
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154 | }; |
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155 | |||
156 | |||
1448 | killagreg | 157 | #define SPI_NCCMD_KALMAN 103 |
158 | #define SPI_NCCMD_VERSION 104 |
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1451 | killagreg | 159 | #define SPI_NCCMD_GPSINFO 105 |
1940 | holgerb | 160 | #define SPI_NCCMD_HOTT_DATA 106 |
1972 | holgerb | 161 | #define SPI_MISC 107 |
2596 | holgerb | 162 | #define SPI_SERIAL_CH 108 // kommt nur, wenn NC den Datensatz empfangen hat |
2662 | holgerb | 163 | #define SPI_OEM_NAME 109 // kommt nur nach einer Settings-Übertragung per HugeBlock |
1241 | killagreg | 164 | |
827 | ingob | 165 | struct str_FromNaviCtrl |
166 | { |
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1231 | killagreg | 167 | unsigned char Command; |
2596 | holgerb | 168 | signed int GPS_Nick; |
169 | signed int GPS_Roll; |
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170 | signed int CompassValue; |
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1936 | holgerb | 171 | signed int AccErrorN; |
172 | signed int AccErrorR; |
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1231 | killagreg | 173 | union |
174 | { |
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2596 | holgerb | 175 | unsigned char Byte[20]; |
176 | char sByte[20]; |
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177 | unsigned int Int[10]; |
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178 | int sInt[10]; |
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179 | unsigned long Long[5]; |
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180 | long sLong[5]; |
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181 | float Float[5]; |
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1231 | killagreg | 182 | } Param; |
183 | unsigned char Chksum; |
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1051 | killagreg | 184 | }; |
827 | ingob | 185 | |
978 | hbuss | 186 | struct str_FromNaviCtrl_Value |
187 | { |
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992 | hbuss | 188 | signed char Kalman_K; |
189 | signed char Kalman_MaxDrift; |
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190 | signed char Kalman_MaxFusion; |
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1215 | hbuss | 191 | unsigned char SerialDataOkay; |
2501 | holgerb | 192 | signed char reserve; |
978 | hbuss | 193 | }; |
827 | ingob | 194 | |
1051 | killagreg | 195 | struct str_SPI_VersionInfo |
196 | { |
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197 | unsigned char Major; |
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198 | unsigned char Minor; |
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199 | unsigned char Patch; |
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200 | unsigned char Compatible; |
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1448 | killagreg | 201 | unsigned char Hardware; |
1051 | killagreg | 202 | }; |
203 | |||
1451 | killagreg | 204 | // Satfix types for GPSData.SatFix |
205 | #define SATFIX_NONE 0x00 |
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206 | #define SATFIX_DEADRECKOING 0x01 |
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207 | #define SATFIX_2D 0x02 |
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208 | #define SATFIX_3D 0x03 |
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209 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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210 | #define SATFIX_TIMEONLY 0x05 |
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211 | // Flags for interpretation of the GPSData.Flags |
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1916 | holgerb | 212 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
213 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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214 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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215 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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216 | #define FLAG_GPS_NAVIGATION_ACTIVE 0x10 // NC to FC -> NC is ready to navigate |
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1451 | killagreg | 217 | |
218 | struct str_GPSInfo |
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219 | { |
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1472 | killagreg | 220 | unsigned char Flags; // Status Flags |
221 | unsigned char NumOfSats; // number of satelites |
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222 | unsigned char SatFix; // type of satfix |
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1690 | holgerb | 223 | unsigned char Speed; // m/sek |
1472 | killagreg | 224 | unsigned int HomeDistance; // distance to Home in dm |
225 | int HomeBearing; // bearing to home in deg |
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1451 | killagreg | 226 | }; |
227 | |||
228 | |||
827 | ingob | 229 | #ifdef USE_SPI_COMMUNICATION |
1451 | killagreg | 230 | extern struct str_GPSInfo GPSInfo; |
1448 | killagreg | 231 | extern struct str_SPI_VersionInfo NC_Version; |
978 | hbuss | 232 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
827 | ingob | 233 | extern struct str_ToNaviCtrl ToNaviCtrl; |
234 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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1215 | hbuss | 235 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
1664 | holgerb | 236 | extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
2619 | holgerb | 237 | extern unsigned char NC_ErrorCode,Partner_ErrorCode; |
827 | ingob | 238 | extern void SPI_MasterInit(void); |
2386 | holgerb | 239 | extern unsigned char SPI_StartTransmitPacket(void); |
827 | ingob | 240 | extern void UpdateSPI_Buffer(void); |
241 | extern void SPI_TransmitByte(void); |
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1840 | holgerb | 242 | extern signed int POI_KameraNick; |
2034 | holgerb | 243 | extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude; |
1852 | killagreg | 244 | extern vector16_t MagVec; |
1972 | holgerb | 245 | extern unsigned char EarthMagneticField; |
246 | extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic; |
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2485 | holgerb | 247 | extern signed char FromNC_WP_EventChannel_New; |
2501 | holgerb | 248 | extern unsigned char NCForcesNewDirection; // allows Yawing without CareFree (Yawing at Coming Home) |
2604 | holgerb | 249 | extern unsigned char NC_RequestsConfig; |
2624 | holgerb | 250 | extern unsigned char CamCtrlCharacter; |
2676 | holgerb | 251 | extern unsigned char NCParachute; |
252 | extern unsigned char BaroCalState; |
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2681 | holgerb | 253 | extern unsigned int FromNC_Laser_cm; |
2691 | holgerb | 254 | extern unsigned char FlyzonePointCnt; |
2702 | holgerb | 255 | extern unsigned int TrigLogging_CountExternal; |
2709 | holgerb | 256 | extern unsigned char FromNcBaudrateIndex; |
2729 | holgerb | 257 | extern unsigned char GPS_TimeHours, GPS_TimeMinutes, GPS_TimeSeconds; |
827 | ingob | 258 | #else |
259 | |||
260 | |||
261 | // -------------------------------- Dummy ----------------------------------------- |
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1051 | killagreg | 262 | #define SPI_MasterInit() ; |
2386 | holgerb | 263 | //#define SPI_StartTransmitPacket() ; |
827 | ingob | 264 | #define UpdateSPI_Buffer() ; |
265 | #define SPI_TransmitByte() ; |
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266 | #endif |
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267 | |||
268 | |||
269 | #endif |