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Rev 487 Rev 489
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extern u32 ToFC_AltitudeRate;
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extern u32 ToFC_AltitudeRate;
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extern s32 ToFC_AltitudeSetpoint;
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extern s32 ToFC_AltitudeSetpoint;
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extern u8 NC_GPS_ModeCharacter;
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extern u8 NC_GPS_ModeCharacter;
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extern u8 FC_is_Calibrated;
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extern u8 FC_is_Calibrated;
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extern u8 FCCalibActive;
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extern u8 FCCalibActive;
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extern u8 SpeakHoTT;
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extern u8 SpeakHoTT;
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extern u8 NC_Wait_for_LED;
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extern u8 NC_Wait_for_LED;
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extern s16 GyroCompassCorrected;
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extern s16 GyroCompassCorrected;
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/*extern u8 MotorCurrent[12];
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extern u8 MotorTemperature[12];
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extern u8 MotorState[12];
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extern u8 MotorMaxPwm[12];
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*/
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extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
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extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
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extern u32 FC_I2C_ErrorConter;
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extern u32 FC_I2C_ErrorConter;
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extern u8 FromFC_VarioCharacter;
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extern u8 FromFC_VarioCharacter;
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extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
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extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
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//NC_To_FC_Flags
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//NC_To_FC_Flags
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#define NC_TO_FC_FLYING_RANGE           0x01
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#define NC_TO_FC_FLYING_RANGE           0x01
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#define NC_TO_FC_EMERGENCY_LANDING      0x02
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#define NC_TO_FC_EMERGENCY_LANDING      0x02
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#define NC_TO_FC_AUTOSTART                      0x04
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#define NC_TO_FC_AUTOSTART                      0x04
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#define NC_TO_FC_AUTOLANDING            0x08 // not used
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#define NC_TO_FC_AUTOLANDING            0x08 // not used
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#define SPI_NCCMD_OSD_DATA              100
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#define SPI_NCCMD_OSD_DATA              100
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#define SPI_NCCMD_GPS_POS               101
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#define SPI_NCCMD_GPS_POS               101
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{
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{
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        u8 Command;
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        u8 Command;
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        GPS_Stick_t GPSStick;
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        GPS_Stick_t GPSStick;
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        s16 MagVecX;
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        s16 MagVecX;
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        s16 CompassHeading;
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        s16 CompassHeading;
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        s16 AccErrorN;
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        s16 AccErrorN;
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        s16 AccErrorR;
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        s16 AccErrorR;
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        s16 MagVecY;
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        s16 MagVecY;
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        s16 MagVecZ;  
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        s16 MagVecZ;
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        u16 BeepTime;
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        u16 BeepTime;
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        union
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        union
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        {
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        {
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                u8    Byte[12];
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                u8    Byte[12];
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                s8    sByte[12];
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                s8    sByte[12];
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 u8 State;
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 u8 State;
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} __attribute__((packed)) Motor_t;
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} __attribute__((packed)) Motor_t;
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extern Motor_t Motor[12];
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extern Motor_t Motor[12];
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//Motor_Version[12]
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define MOTOR_STATE_FAST_MODE           0x02
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#define MOTOR_STATE_FAST_MODE           0x02
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#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
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extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
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extern FromFlightCtrl_t   FromFlightCtrl;
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extern FromFlightCtrl_t   FromFlightCtrl;
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extern ToFlightCtrl_t     ToFlightCtrl;
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extern ToFlightCtrl_t     ToFlightCtrl;
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extern volatile u32 SPI0_Timeout;
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extern volatile u32 SPI0_Timeout;
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extern SPI_Version_t FC_Version;
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extern SPI_Version_t FC_Version;
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extern u8 GPS_Aid_StickMultiplikator;
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extern u8 GPS_Aid_StickMultiplikator;
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extern u8 CompassCalState;
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extern u8 FromFC_LowVoltageHomeActive;
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extern u8 CompassCalState;
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void SPI0_Init(void);
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void SPI0_Init(void);
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 189 
void SPI0_GetFlightCtrlVersion(void);
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void SPI0_GetFlightCtrlVersion(void);
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void SPI0_UpdateBuffer(void);