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| Rev 27 | Rev 39 | ||
|---|---|---|---|
| 1 | 1 | ||
| 2 | #include "91x_conf.h" |
2 | #include "91x_conf.h" |
| 3 | #include "91x_lib.h" |
3 | #include "91x_lib.h" |
| 4 | #include "91x_wiu.h" |
4 | #include "91x_wiu.h" |
| 5 | #include "uart.h" |
5 | #include "uart.h" |
| 6 | #include "ramfunc.h" |
6 | #include "ramfunc.h" |
| 7 | #include "menu.h" |
7 | #include "menu.h" |
| 8 | #include <stdio.h> |
8 | #include <stdio.h> |
| 9 | #include <stdlib.h> |
9 | #include <stdlib.h> |
| 10 | #include <math.h> |
10 | #include <math.h> |
| 11 | #include "printf_P.h" |
11 | #include "printf_P.h" |
| 12 | #include "timer.h" |
12 | #include "timer.h" |
| 13 | #include "spi_slave.h" |
13 | #include "spi_slave.h" |
| 14 | #include "i2c.h" |
14 | #include "i2c.h" |
| 15 | #include "GPS.h" |
15 | #include "GPS.h" |
| 16 | #include "GPSUart.h" |
16 | #include "GPSUart.h" |
| 17 | #include "sdc.h" |
17 | #include "sdc.h" |
| 18 | #include "ssc.h" |
18 | #include "ssc.h" |
| 19 | #include "fat16.h" |
19 | #include "fat16.h" |
| 20 | #include "usb.h" |
20 | #include "usb.h" |
| 21 | #include "string.h" |
21 | #include "string.h" |
| 22 | #include "settings.h" |
22 | #include "settings.h" |
| 23 | - | ||
| 24 | - | ||
| 25 | - | ||
| 26 | 23 | ||
| 27 | //#include "hw_config.h" |
24 | //#include "hw_config.h" |
| 28 | 25 | ||
| 29 | #define VERSION_HAUPTVERSION 0 |
26 | #define VERSION_HAUPTVERSION 0 |
| 30 | #define VERSION_NEBENVERSION 1 |
27 | #define VERSION_NEBENVERSION 4 |
| 31 | #define VERSION_KOMPATIBEL 7 |
28 | #define VERSION_KOMPATIBEL 7 |
| 32 | 29 | ||
| 33 | #define GPIO_ToggleBit(GPIO, Pin) if (GPIO_ReadBit(GPIO, Pin)) GPIO_WriteBit(GPIO, Pin, Bit_RESET); else GPIO_WriteBit(GPIO, Pin, Bit_SET); |
30 | #define GPIO_ToggleBit(GPIO, Pin) if (GPIO_ReadBit(GPIO, Pin)) GPIO_WriteBit(GPIO, Pin, Bit_RESET); else GPIO_WriteBit(GPIO, Pin, Bit_SET); |
| 34 | 31 | ||
| 35 | 32 | ||
| 36 | extern u32 TimerCompassUpdate; |
33 | extern u32 TimerCompassUpdate; |
| 37 | extern u32 TimerI2CReadDelay; |
34 | extern u32 TimerI2CReadDelay; |
| 38 | extern u8 BeepTime; |
35 | extern u8 BeepTime; |
| 39 | void InitInterrupt(void); |
36 | void InitInterrupt(void); |
| 40 | 37 | ||
| 41 | extern u8 text[20]; |
38 | extern u8 text[20]; |
| 42 | extern u8 Parameter_UserParam1; |
39 | extern u8 Parameter_UserParam1; |
| 43 | extern u8 Parameter_UserParam2; |
40 | extern u8 Parameter_UserParam2; |
| 44 | extern u8 Parameter_UserParam3; |
41 | extern u8 Parameter_UserParam3; |
| 45 | extern u8 Parameter_UserParam4; |
42 | extern u8 Parameter_UserParam4; |
| 46 | extern u8 Parameter_UserParam5; |
43 | extern u8 Parameter_UserParam5; |
| 47 | extern u8 Parameter_UserParam6; |
44 | extern u8 Parameter_UserParam6; |
| 48 | extern u8 Parameter_UserParam7; |
45 | extern u8 Parameter_UserParam7; |
| 49 | extern u8 Parameter_UserParam8; |
46 | extern u8 Parameter_UserParam8; |
| 50 | extern s32 FC_StickNick; |
47 | extern s32 FC_StickNick; |
| 51 | extern s32 FC_StickRoll; |
48 | extern s32 FC_StickRoll; |
| 52 | extern s32 FC_StickGier; |
49 | extern s32 FC_StickGier; |
| 53 | extern s32 FC_StickGas; |
50 | extern s32 FC_StickGas; |
| 54 | extern s32 FC_Poti1; |
51 | extern s32 FC_Poti1; |
| 55 | extern s32 FC_Poti2; |
52 | extern s32 FC_Poti2; |
| 56 | extern s32 FC_Poti3; |
53 | extern s32 FC_Poti3; |
| 57 | extern s32 FC_Poti4; |
54 | extern s32 FC_Poti4; |
| 58 | extern s32 SenderOkay; |
55 | extern s32 SenderOkay; |
| 59 | extern s32 UBat; |
56 | extern s32 UBat; |
| 60 | extern s32 UndervoltageLevel; |
57 | extern s32 UndervoltageLevel; |
| 61 | extern s32 ActiveSetting; |
58 | extern s32 ActiveSetting; |
| 62 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 63 | extern s32 Parameter_NaviGpsModeControl; |
60 | extern s32 Parameter_NaviGpsModeControl; |
| 64 | extern s32 Parameter_NaviGpsGain; |
61 | extern s32 Parameter_NaviGpsGain; |
| 65 | extern s32 Parameter_NaviGpsP; |
62 | extern s32 Parameter_NaviGpsP; |
| 66 | extern s32 Parameter_NaviGpsI; |
63 | extern s32 Parameter_NaviGpsI; |
| 67 | extern s32 Parameter_NaviGpsD; |
64 | extern s32 Parameter_NaviGpsD; |
| 68 | extern s32 Parameter_NaviGpsACC; |
65 | extern s32 Parameter_NaviGpsACC; |
| 69 | extern s32 Parameter_NaviGpsMinSat; |
66 | extern s32 Parameter_NaviGpsMinSat; |
| 70 | extern s32 Parameter_NaviStickThreshold; |
67 | extern s32 Parameter_NaviStickThreshold; |
| 71 | extern s32 Parameter_RadiusAlert; |
68 | extern s32 Parameter_RadiusAlert; |
| 72 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
69 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 73 | #define FLAG_MOTOR_RUN 1 |
70 | #define FLAG_MOTOR_RUN 1 |
| 74 | #define FLAG_FLY 2 |
71 | #define FLAG_FLY 2 |
| 75 | #define FLAG_CALIBRATE 4 |
72 | #define FLAG_CALIBRATE 4 |
| 76 | #define FLAG_START 8 |
73 | #define FLAG_START 8 |
| 77 | extern u32 MikroKopterFlags; |
74 | extern u32 MikroKopterFlags; |
| 78 | extern u32 ClearFlags; |
75 | extern u32 ClearFlags; |
| 79 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 80 | 77 | ||
| 81 | 78 | ||