WebSVN - NaviCtrl - Diff - Rev 734 and 738


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.h"
#include "main.h"
 
#define SPEAK_ERR_CALIBARTION  1
#define SPEAK_ERR_RECEICER       2
#define SPEAK_ERR_DATABUS        3
#define SPEAK_ERR_NAVI           4
#define SPEAK_ERROR                      5
#define SPEAK_ERR_COMPASS        6
#define SPEAK_ERR_SENSOR         7
#define SPEAK_ERR_GPS            8
#define SPEAK_ERR_MOTOR          9
#define SPEAK_MAX_TEMPERAT  10
#define SPEAK_ALTI_REACHED  11
#define SPEAK_WP_REACHED    12
#define SPEAK_NEXT_WP       13
#define SPEAK_LANDING       14
#define SPEAK_GPS_FIX       15
#define SPEAK_UNDERVOLTAGE  16
#define SPEAK_GPS_HOLD      17
#define SPEAK_GPS_HOME      18
#define SPEAK_GPS_OFF       19
#define SPEAK_BEEP          20
#define SPEAK_MIKROKOPTER   21
#define SPEAK_CAPACITY      22
#define SPEAK_CF_OFF        23
#define SPEAK_CALIBRATE     24
#define SPEAK_MAX_RANGE     25
#define SPEAK_MAX_ALTITUD   26
 
#define SPEAK_20M                       37   // ?
#define SPEAK_MK_OFF            38
#define SPEAK_ALTITUDE_ON       39
#define SPEAK_ALTITUDE_OFF      40
#define SPEAK_100M                      41   // ?
#define SPEAK_CONNECTED         42
#define SPEAK_CF_ON             46
#define SPEAK_SINKING           47   // ?
#define SPEAK_RISING            48
#define SPEAK_HOLDING           49   // ?
#define SPEAK_GPS_ON            50       // ?
#define SPEAK_FOLLWING          51   // ?
#define SPEAK_STARTING      52
 
 
#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
 
#define SPI_FCCMD_USER                  10
#define SPI_FCCMD_STICK                 11
#define SPI_FCCMD_MISC                  12
#define SPI_FCCMD_PARAMETER1    13
#define SPI_FCCMD_VERSION               14
#define SPI_FCCMD_SLOW3                 15
#define SPI_FCCMD_BL_ACCU               16
#define SPI_FCCMD_PARAMETER2    17
#define SPI_FCCMD_NEUTRAL               18
#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
#define SPI_FCCMD_SLOW2                 20
#define SPI_FCCMD_STICK2                21
 
#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
 
// devides only the Poti-value
#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }
 
extern s32 Kalman_K;
extern s32 Kalman_Kompass ;
extern s32 Kalman_MaxDrift;
extern s32 Kalman_MaxFusion;
extern s32 ToFcGpsZ;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;
extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
extern u32 ToFC_AltitudeRate;
extern s32 ToFC_AltitudeSetpoint_dm;
extern u8 NC_GPS_ModeCharacter;
extern u8 FC_is_Calibrated;
extern u8 FCCalibActive;
extern u8 SpeakHoTT;
extern u8 NC_Wait_for_LED;
 
#define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
extern s8 PPM_In[MAX_RC_IN];
           
extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
extern u8 Logging_BL_MinOfMaxPWM;
extern u8 ErrorCheck_BL_MinOfMaxPWM;
extern u32 FC_I2C_ErrorConter;
extern u8 FromFC_VarioCharacter;
extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
extern s16 POI_KameraNick;
extern u16 FlugMinutenGesamt;
extern u32 LoggingGasFilter, LoggingGasCnt;
extern u8 HoverGas;
extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;
extern u8 RequestConfigFromFC;
extern u8 CamCtrlCharacter;
 
typedef struct
{
        u8   Command;
        s16  AngleNick;  // NickAngle in 0.1 deg
        s16  AngleRoll;  // RollAngle in 0.1 deg
        s16  GyroHeading; // Heading in 0.1 deg
        s16  GyroYaw;
        u16  FCStatus;
        union
        {
                u8    Byte[20];
                s8        sByte[20];
                u16   Int[10];
                s16   sInt[10];
                u32   Long[5];
                s32   sLong[5];
                float Float[5];
        } __attribute__((packed)) Param;
        u8 Chksum;
 } __attribute__((packed)) FromFlightCtrl_t;
 
#define SPI_NCCMD_OSD_DATA              100
#define SPI_NCCMD_GPS_POS               101
#define SPI_NCCMD_GPS_TARGET    102
#define SPI_NCCMD_KALMAN                103
#define SPI_NCCMD_VERSION               104
#define SPI_NCCMD_GPSINFO               105
#define SPI_NCCMD_HOTT_INFO             106
#define SPI_MISC                                107
#define SPI_SERIAL_CH                   108
 
#define HOTT_VARIO_PACKET_ID            0x89
#define HOTT_GPS_PACKET_ID                      0x8A
#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E
#define HOTT_GENERAL_PACKET_ID          0x8D
#define JETI_GPS_PACKET_ID1                     0x01
#define JETI_GPS_PACKET_ID2                     0x02
#define HOTT_WPL_NAME                           0x03
 
typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 CompassHeading;
        s16 AccErrorN;
        s16 AccErrorR;
        union
        {
                u8    Byte[20];
                s8    sByte[20];
                u16       Int[10];
                s16   sInt[10];
                u32   Long[5];
                s32   sLong[5];
                float Float[5];
        } __attribute__((packed)) Param;
        u8 Chksum;
 } __attribute__((packed)) ToFlightCtrl_t;
 
typedef struct
{
        unsigned char Sync1,Sync2;
        unsigned char WhoAmI;
        unsigned char Data[200];
        unsigned char Chksum;
}__attribute__((packed)) str_HugeBlockFromFC;
extern str_HugeBlockFromFC HugeBlockFromFC;
 
typedef struct
{
        unsigned char Sync1,Sync2;
        unsigned char WhoAmI;
        unsigned char Data[200];
        unsigned char Chksum;
}__attribute__((packed)) str_HugeBlockToFC;
extern str_HugeBlockToFC HugeBlockToFC;
 
typedef struct
{
 u8 Current;
 u8 Temperature;
 u8 MaxPWM;
 u8 State;
 u8 NotReadyCnt;
} __attribute__((packed)) Motor_t;
 
extern Motor_t Motor[MAX_MOTORS];
 
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
#define MOTOR_STATE_FAST_MODE           0x02
#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt
 
 
typedef struct
{
   u8 Major;
   u8 Minor;
   u8 Patch;
   u8 Compatible;
   u8 Hardware;
} __attribute__((packed)) SPI_Version_t;
 
 
extern FromFlightCtrl_t   FromFlightCtrl;
extern ToFlightCtrl_t     ToFlightCtrl;
extern volatile u32 SPI0_Timeout;
extern SPI_Version_t FC_Version;
extern s16 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
extern u8 Out1TriggerUpdateNewData;
extern u8 LowVoltageLandingActive;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A
 
typedef struct
{
        unsigned char Revision;
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
        unsigned char Hoehe_MinGas;           // Wert : 0-100
        unsigned char Luftdruck_D;            // Wert : 0-250
        unsigned char HoeheChannel;           // Wert : 0-32
        unsigned char Hoehe_P;                // Wert : 0-32
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
        unsigned char Stick_P;                // Wert : 1-6
        unsigned char Stick_D;                // Wert : 0-64
        unsigned char StickGier_P;            // Wert : 1-20
        unsigned char Gas_Min;                // Wert : 0-32
        unsigned char Gas_Max;                // Wert : 33-250
        unsigned char GyroAccFaktor;          // Wert : 1-64
        unsigned char KompassWirkung;         // Wert : 0-32
        unsigned char Gyro_P;                 // Wert : 10-250
        unsigned char Gyro_I;                 // Wert : 0-250
        unsigned char Gyro_D;                 // Wert : 0-250
        unsigned char Gyro_Gier_P;            // Wert : 10-250
        unsigned char Gyro_Gier_I;            // Wert : 0-250
        unsigned char Gyro_Stability;         // Wert : 0-16
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
        unsigned char I_Faktor;               // Wert : 0-250
        unsigned char UserParam1;             // Wert : 0-250
        unsigned char UserParam2;             // Wert : 0-250
        unsigned char UserParam3;             // Wert : 0-250
        unsigned char UserParam4;             // Wert : 0-250
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
        //--- Seit V0.75
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
        unsigned char ServoRollComp;          // Wert : 0-250
        unsigned char ServoRollMin;           // Wert : 0-250
        unsigned char ServoRollMax;           // Wert : 0-250
        //---
        unsigned char ServoNickRefresh;       // Speed of the Servo
    unsigned char ServoManualControlSpeed;//
    unsigned char CamOrientation;         //
        unsigned char Servo3;                    // Value or mapping of the Servo Output
        unsigned char Servo4;                            // Value or mapping of the Servo Output
        unsigned char Servo5;                            // Value or mapping of the Servo Output
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
        unsigned char Driftkomp;
        unsigned char DynamicStability;
        unsigned char UserParam5;             // Wert : 0-250
        unsigned char UserParam6;             // Wert : 0-250
        unsigned char UserParam7;             // Wert : 0-250
        unsigned char UserParam8;             // Wert : 0-250
        //---Output ---------------------------------------------
        unsigned char J16Bitmask;             // for the J16 Output
        unsigned char J16Timing;              // for the J16 Output
        unsigned char J17Bitmask;             // for the J17 Output
        unsigned char J17Timing;              // for the J17 Output
        // seit version V0.75c
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
        //---NaviCtrl---------------------------------------------
        unsigned char AutoPhotoDistance;      // Auto Photo
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
        unsigned char NaviGpsGain;
        unsigned char NaviGpsP;
        unsigned char NaviGpsI;
        unsigned char NaviGpsD;
        unsigned char NaviGpsPLimit;
        unsigned char NaviGpsILimit;
        unsigned char NaviGpsDLimit;
        unsigned char NaviGpsA;
        unsigned char NaviGpsMinSat;
        unsigned char NaviStickThreshold;
        unsigned char NaviWindCorrection;
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
        unsigned char NaviMaxFlyingRange;     // in 10m
        unsigned char NaviAngleLimitation;
        unsigned char NaviPH_LoginTime;
        unsigned char NaviDescendRange;
        //---Ext.Ctrl---------------------------------------------
        unsigned char ExternalControl;         // for serial Control
        //---CareFree---------------------------------------------
        unsigned char OrientationAngle;        // Where is the front-direction?
        unsigned char CareFreeChannel;     // switch for CareFree
    unsigned char MotorSafetySwitch;
    unsigned char MotorSmooth;
    unsigned char ComingHomeAltitude;
    unsigned char FailSafeTime;
    unsigned char MaxAltitude;
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
        unsigned char ServoFilterNick;  
        unsigned char ServoFilterRoll;  
    unsigned char Servo3OnValue;
    unsigned char Servo3OffValue;
    unsigned char Servo4OnValue;
    unsigned char Servo4OffValue;
        unsigned char ServoFS_Pos[5];
        unsigned char StartLandChannel;  
        unsigned char LandingSpeed;  
        unsigned char CompassOffset;        
        unsigned char AutoLandingVoltage;   // in 0,1V  0 -> disabled
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
        unsigned char AutoPhotoAtitudes;
        unsigned char SingleWpSpeed;
        unsigned char LandingPulse;
        unsigned char SingleWpControlChannel;
        unsigned char MenuKeyChannel;
    unsigned char CamCtrlModeChannel;
    unsigned char CamCtrlZoomChannel;  
        unsigned char reserved[32];
        //------------------------------------------------
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
        unsigned char ExtraConfig;        // bitcodiert
        unsigned char GlobalConfig3;      // bitcodiert
        char Name[12];
        unsigned char crc;                                // must be the last byte!
} __attribute__((packed)) paramset_t; // must be 179 bytes 
 
extern paramset_t EE_Parameter;
 
#endif //_SPI_SLAVE_H
 

Rev 734	Rev 738
1	#ifndef _SPI_SLAVE_H	1	#ifndef _SPI_SLAVE_H
2	#define _SPI_SLAVE_H	2	#define _SPI_SLAVE_H
3		3
4	#include "fifo.h"	4	#include "fifo.h"
5	#include "gps.h"	5	#include "gps.h"
6	#include "main.h"	6	#include "main.h"
7		7
8	#define SPEAK_ERR_CALIBARTION 1	8	#define SPEAK_ERR_CALIBARTION 1
9	#define SPEAK_ERR_RECEICER 2	9	#define SPEAK_ERR_RECEICER 2
10	#define SPEAK_ERR_DATABUS 3	10	#define SPEAK_ERR_DATABUS 3
11	#define SPEAK_ERR_NAVI 4	11	#define SPEAK_ERR_NAVI 4
12	#define SPEAK_ERROR 5	12	#define SPEAK_ERROR 5
13	#define SPEAK_ERR_COMPASS 6	13	#define SPEAK_ERR_COMPASS 6
14	#define SPEAK_ERR_SENSOR 7	14	#define SPEAK_ERR_SENSOR 7
15	#define SPEAK_ERR_GPS 8	15	#define SPEAK_ERR_GPS 8
16	#define SPEAK_ERR_MOTOR 9	16	#define SPEAK_ERR_MOTOR 9
17	#define SPEAK_MAX_TEMPERAT 10	17	#define SPEAK_MAX_TEMPERAT 10
18	#define SPEAK_ALTI_REACHED 11	18	#define SPEAK_ALTI_REACHED 11
19	#define SPEAK_WP_REACHED 12	19	#define SPEAK_WP_REACHED 12
20	#define SPEAK_NEXT_WP 13	20	#define SPEAK_NEXT_WP 13
21	#define SPEAK_LANDING 14	21	#define SPEAK_LANDING 14
22	#define SPEAK_GPS_FIX 15	22	#define SPEAK_GPS_FIX 15
23	#define SPEAK_UNDERVOLTAGE 16	23	#define SPEAK_UNDERVOLTAGE 16
24	#define SPEAK_GPS_HOLD 17	24	#define SPEAK_GPS_HOLD 17
25	#define SPEAK_GPS_HOME 18	25	#define SPEAK_GPS_HOME 18
26	#define SPEAK_GPS_OFF 19	26	#define SPEAK_GPS_OFF 19
27	#define SPEAK_BEEP 20	27	#define SPEAK_BEEP 20
28	#define SPEAK_MIKROKOPTER 21	28	#define SPEAK_MIKROKOPTER 21
29	#define SPEAK_CAPACITY 22	29	#define SPEAK_CAPACITY 22
30	#define SPEAK_CF_OFF 23	30	#define SPEAK_CF_OFF 23
31	#define SPEAK_CALIBRATE 24	31	#define SPEAK_CALIBRATE 24
32	#define SPEAK_MAX_RANGE 25	32	#define SPEAK_MAX_RANGE 25
33	#define SPEAK_MAX_ALTITUD 26	33	#define SPEAK_MAX_ALTITUD 26
34		34
35	#define SPEAK_20M 37 // ?	35	#define SPEAK_20M 37 // ?
36	#define SPEAK_MK_OFF 38	36	#define SPEAK_MK_OFF 38
37	#define SPEAK_ALTITUDE_ON 39	37	#define SPEAK_ALTITUDE_ON 39
38	#define SPEAK_ALTITUDE_OFF 40	38	#define SPEAK_ALTITUDE_OFF 40
39	#define SPEAK_100M 41 // ?	39	#define SPEAK_100M 41 // ?
40	#define SPEAK_CONNECTED 42	40	#define SPEAK_CONNECTED 42
41	#define SPEAK_CF_ON 46	41	#define SPEAK_CF_ON 46
42	#define SPEAK_SINKING 47 // ?	42	#define SPEAK_SINKING 47 // ?
43	#define SPEAK_RISING 48	43	#define SPEAK_RISING 48
44	#define SPEAK_HOLDING 49 // ?	44	#define SPEAK_HOLDING 49 // ?
45	#define SPEAK_GPS_ON 50 // ?	45	#define SPEAK_GPS_ON 50 // ?
46	#define SPEAK_FOLLWING 51 // ?	46	#define SPEAK_FOLLWING 51 // ?
47	#define SPEAK_STARTING 52	47	#define SPEAK_STARTING 52
48		48
49		49
50	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	50	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
51		51
52	#define SPI_FCCMD_USER 10	52	#define SPI_FCCMD_USER 10
53	#define SPI_FCCMD_STICK 11	53	#define SPI_FCCMD_STICK 11
54	#define SPI_FCCMD_MISC 12	54	#define SPI_FCCMD_MISC 12
55	#define SPI_FCCMD_PARAMETER1 13	55	#define SPI_FCCMD_PARAMETER1 13
56	#define SPI_FCCMD_VERSION 14	56	#define SPI_FCCMD_VERSION 14
57	#define SPI_FCCMD_SLOW3 15	57	#define SPI_FCCMD_SLOW3 15
58	#define SPI_FCCMD_BL_ACCU 16	58	#define SPI_FCCMD_BL_ACCU 16
59	#define SPI_FCCMD_PARAMETER2 17	59	#define SPI_FCCMD_PARAMETER2 17
60	#define SPI_FCCMD_NEUTRAL 18	60	#define SPI_FCCMD_NEUTRAL 18
61	#define SPI_FCCMD_SLOW 19 // kommt nicht vor	61	#define SPI_FCCMD_SLOW 19 // kommt nicht vor
62	#define SPI_FCCMD_SLOW2 20	62	#define SPI_FCCMD_SLOW2 20
63	#define SPI_FCCMD_STICK2 21	63	#define SPI_FCCMD_STICK2 21
64		64
65	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }	65	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
66	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }	66	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
67		67
68	// devides only the Poti-value	68	// devides only the Poti-value
69	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }	69	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
70	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }	70	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }
71		71
72	extern s32 Kalman_K;	72	extern s32 Kalman_K;
73	extern s32 Kalman_Kompass ;	73	extern s32 Kalman_Kompass ;
74	extern s32 Kalman_MaxDrift;	74	extern s32 Kalman_MaxDrift;
75	extern s32 Kalman_MaxFusion;	75	extern s32 Kalman_MaxFusion;
76	extern s32 ToFcGpsZ;	76	extern s32 ToFcGpsZ;
77	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	77	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
78	extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;	78	extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;
79	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;	79	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
80	extern u32 ToFC_AltitudeRate;	80	extern u32 ToFC_AltitudeRate;
81	extern s32 ToFC_AltitudeSetpoint;	81	extern s32 ToFC_AltitudeSetpoint_dm;
82	extern u8 NC_GPS_ModeCharacter;	82	extern u8 NC_GPS_ModeCharacter;
83	extern u8 FC_is_Calibrated;	83	extern u8 FC_is_Calibrated;
84	extern u8 FCCalibActive;	84	extern u8 FCCalibActive;
85	extern u8 SpeakHoTT;	85	extern u8 SpeakHoTT;
86	extern u8 NC_Wait_for_LED;	86	extern u8 NC_Wait_for_LED;
87		87
88	#define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved	88	#define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
89	extern s8 PPM_In[MAX_RC_IN];	89	extern s8 PPM_In[MAX_RC_IN];
90		90
91	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	91	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
92	extern u8 Logging_BL_MinOfMaxPWM;	92	extern u8 Logging_BL_MinOfMaxPWM;
93	extern u8 ErrorCheck_BL_MinOfMaxPWM;	93	extern u8 ErrorCheck_BL_MinOfMaxPWM;
94	extern u32 FC_I2C_ErrorConter;	94	extern u32 FC_I2C_ErrorConter;
95	extern u8 FromFC_VarioCharacter;	95	extern u8 FromFC_VarioCharacter;
96	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	96	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
97	extern s16 POI_KameraNick;	97	extern s16 POI_KameraNick;
98	extern u16 FlugMinutenGesamt;	98	extern u16 FlugMinutenGesamt;
99	extern u32 LoggingGasFilter, LoggingGasCnt;	99	extern u32 LoggingGasFilter, LoggingGasCnt;
100	extern u8 HoverGas;	100	extern u8 HoverGas;
101	extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;	101	extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;
102	extern u8 RequestConfigFromFC;	102	extern u8 RequestConfigFromFC;
103	extern u8 CamCtrlCharacter;	103	extern u8 CamCtrlCharacter;
104		104
105	typedef struct	105	typedef struct
106	{	106	{
107	u8 Command;	107	u8 Command;
108	s16 AngleNick; // NickAngle in 0.1 deg	108	s16 AngleNick; // NickAngle in 0.1 deg
109	s16 AngleRoll; // RollAngle in 0.1 deg	109	s16 AngleRoll; // RollAngle in 0.1 deg
110	s16 GyroHeading; // Heading in 0.1 deg	110	s16 GyroHeading; // Heading in 0.1 deg
111	s16 GyroYaw;	111	s16 GyroYaw;
112	u16 FCStatus;	112	u16 FCStatus;
113	union	113	union
114	{	114	{
115	u8 Byte[20];	115	u8 Byte[20];
116	s8 sByte[20];	116	s8 sByte[20];
117	u16 Int[10];	117	u16 Int[10];
118	s16 sInt[10];	118	s16 sInt[10];
119	u32 Long[5];	119	u32 Long[5];
120	s32 sLong[5];	120	s32 sLong[5];
121	float Float[5];	121	float Float[5];
122	} __attribute__((packed)) Param;	122	} __attribute__((packed)) Param;
123	u8 Chksum;	123	u8 Chksum;
124	} __attribute__((packed)) FromFlightCtrl_t;	124	} __attribute__((packed)) FromFlightCtrl_t;
125		125
126	#define SPI_NCCMD_OSD_DATA 100	126	#define SPI_NCCMD_OSD_DATA 100
127	#define SPI_NCCMD_GPS_POS 101	127	#define SPI_NCCMD_GPS_POS 101
128	#define SPI_NCCMD_GPS_TARGET 102	128	#define SPI_NCCMD_GPS_TARGET 102
129	#define SPI_NCCMD_KALMAN 103	129	#define SPI_NCCMD_KALMAN 103
130	#define SPI_NCCMD_VERSION 104	130	#define SPI_NCCMD_VERSION 104
131	#define SPI_NCCMD_GPSINFO 105	131	#define SPI_NCCMD_GPSINFO 105
132	#define SPI_NCCMD_HOTT_INFO 106	132	#define SPI_NCCMD_HOTT_INFO 106
133	#define SPI_MISC 107	133	#define SPI_MISC 107
134	#define SPI_SERIAL_CH 108	134	#define SPI_SERIAL_CH 108
135		135
136	#define HOTT_VARIO_PACKET_ID 0x89	136	#define HOTT_VARIO_PACKET_ID 0x89
137	#define HOTT_GPS_PACKET_ID 0x8A	137	#define HOTT_GPS_PACKET_ID 0x8A
138	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	138	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
139	#define HOTT_GENERAL_PACKET_ID 0x8D	139	#define HOTT_GENERAL_PACKET_ID 0x8D
140	#define JETI_GPS_PACKET_ID1 0x01	140	#define JETI_GPS_PACKET_ID1 0x01
141	#define JETI_GPS_PACKET_ID2 0x02	141	#define JETI_GPS_PACKET_ID2 0x02
142	#define HOTT_WPL_NAME 0x03	142	#define HOTT_WPL_NAME 0x03
143		143
144	typedef struct	144	typedef struct
145	{	145	{
146	u8 Command;	146	u8 Command;
147	GPS_Stick_t GPSStick;	147	GPS_Stick_t GPSStick;
148	s16 CompassHeading;	148	s16 CompassHeading;
149	s16 AccErrorN;	149	s16 AccErrorN;
150	s16 AccErrorR;	150	s16 AccErrorR;
151	union	151	union
152	{	152	{
153	u8 Byte[20];	153	u8 Byte[20];
154	s8 sByte[20];	154	s8 sByte[20];
155	u16 Int[10];	155	u16 Int[10];
156	s16 sInt[10];	156	s16 sInt[10];
157	u32 Long[5];	157	u32 Long[5];
158	s32 sLong[5];	158	s32 sLong[5];
159	float Float[5];	159	float Float[5];
160	} __attribute__((packed)) Param;	160	} __attribute__((packed)) Param;
161	u8 Chksum;	161	u8 Chksum;
162	} __attribute__((packed)) ToFlightCtrl_t;	162	} __attribute__((packed)) ToFlightCtrl_t;
163		163
164	typedef struct	164	typedef struct
165	{	165	{
166	unsigned char Sync1,Sync2;	166	unsigned char Sync1,Sync2;
167	unsigned char WhoAmI;	167	unsigned char WhoAmI;
168	unsigned char Data[200];	168	unsigned char Data[200];
169	unsigned char Chksum;	169	unsigned char Chksum;
170	}__attribute__((packed)) str_HugeBlockFromFC;	170	}__attribute__((packed)) str_HugeBlockFromFC;
171	extern str_HugeBlockFromFC HugeBlockFromFC;	171	extern str_HugeBlockFromFC HugeBlockFromFC;
172		172
173	typedef struct	173	typedef struct
174	{	174	{
175	unsigned char Sync1,Sync2;	175	unsigned char Sync1,Sync2;
176	unsigned char WhoAmI;	176	unsigned char WhoAmI;
177	unsigned char Data[200];	177	unsigned char Data[200];
178	unsigned char Chksum;	178	unsigned char Chksum;
179	}__attribute__((packed)) str_HugeBlockToFC;	179	}__attribute__((packed)) str_HugeBlockToFC;
180	extern str_HugeBlockToFC HugeBlockToFC;	180	extern str_HugeBlockToFC HugeBlockToFC;
181		181
182	typedef struct	182	typedef struct
183	{	183	{
184	u8 Current;	184	u8 Current;
185	u8 Temperature;	185	u8 Temperature;
186	u8 MaxPWM;	186	u8 MaxPWM;
187	u8 State;	187	u8 State;
188	u8 NotReadyCnt;	188	u8 NotReadyCnt;
189	} __attribute__((packed)) Motor_t;	189	} __attribute__((packed)) Motor_t;
190		190
191	extern Motor_t Motor[MAX_MOTORS];	191	extern Motor_t Motor[MAX_MOTORS];
192		192
193	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	193	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
194	#define MOTOR_STATE_FAST_MODE 0x02	194	#define MOTOR_STATE_FAST_MODE 0x02
195	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	195	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
196	extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt	196	extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt
197		197
198		198
199	typedef struct	199	typedef struct
200	{	200	{
201	u8 Major;	201	u8 Major;
202	u8 Minor;	202	u8 Minor;
203	u8 Patch;	203	u8 Patch;
204	u8 Compatible;	204	u8 Compatible;
205	u8 Hardware;	205	u8 Hardware;
206	} __attribute__((packed)) SPI_Version_t;	206	} __attribute__((packed)) SPI_Version_t;
207		207
208		208
209	extern FromFlightCtrl_t FromFlightCtrl;	209	extern FromFlightCtrl_t FromFlightCtrl;
210	extern ToFlightCtrl_t ToFlightCtrl;	210	extern ToFlightCtrl_t ToFlightCtrl;
211	extern volatile u32 SPI0_Timeout;	211	extern volatile u32 SPI0_Timeout;
212	extern SPI_Version_t FC_Version;	212	extern SPI_Version_t FC_Version;
213	extern s16 GPS_Aid_StickMultiplikator;	213	extern s16 GPS_Aid_StickMultiplikator;
214	extern u8 CompassCalState;	214	extern u8 CompassCalState;
215	extern u8 Out1TriggerUpdateNewData;	215	extern u8 Out1TriggerUpdateNewData;
216	extern u8 LowVoltageLandingActive;	216	extern u8 LowVoltageLandingActive;
217		217
218	void SPI0_Init(void);	218	void SPI0_Init(void);
219	void SPI0_GetFlightCtrlVersion(void);	219	void SPI0_GetFlightCtrlVersion(void);
220	void SPI0_UpdateBuffer(void);	220	void SPI0_UpdateBuffer(void);
221	u16 BL3_Current(u8 who); // in 0.1A	221	u16 BL3_Current(u8 who); // in 0.1A
222		222
223	typedef struct	223	typedef struct
224	{	224	{
225	unsigned char Revision;	225	unsigned char Revision;
226	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	226	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
227	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	227	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
228	unsigned char Hoehe_MinGas; // Wert : 0-100	228	unsigned char Hoehe_MinGas; // Wert : 0-100
229	unsigned char Luftdruck_D; // Wert : 0-250	229	unsigned char Luftdruck_D; // Wert : 0-250
230	unsigned char HoeheChannel; // Wert : 0-32	230	unsigned char HoeheChannel; // Wert : 0-32
231	unsigned char Hoehe_P; // Wert : 0-32	231	unsigned char Hoehe_P; // Wert : 0-32
232	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	232	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
233	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	233	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
234	unsigned char Hoehe_HoverBand; // Wert : 0-250	234	unsigned char Hoehe_HoverBand; // Wert : 0-250
235	unsigned char Hoehe_TiltCompensation; // Wert : 0-250	235	unsigned char Hoehe_TiltCompensation; // Wert : 0-250
236	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250	236	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
237	unsigned char Stick_P; // Wert : 1-6	237	unsigned char Stick_P; // Wert : 1-6
238	unsigned char Stick_D; // Wert : 0-64	238	unsigned char Stick_D; // Wert : 0-64
239	unsigned char StickGier_P; // Wert : 1-20	239	unsigned char StickGier_P; // Wert : 1-20
240	unsigned char Gas_Min; // Wert : 0-32	240	unsigned char Gas_Min; // Wert : 0-32
241	unsigned char Gas_Max; // Wert : 33-250	241	unsigned char Gas_Max; // Wert : 33-250
242	unsigned char GyroAccFaktor; // Wert : 1-64	242	unsigned char GyroAccFaktor; // Wert : 1-64
243	unsigned char KompassWirkung; // Wert : 0-32	243	unsigned char KompassWirkung; // Wert : 0-32
244	unsigned char Gyro_P; // Wert : 10-250	244	unsigned char Gyro_P; // Wert : 10-250
245	unsigned char Gyro_I; // Wert : 0-250	245	unsigned char Gyro_I; // Wert : 0-250
246	unsigned char Gyro_D; // Wert : 0-250	246	unsigned char Gyro_D; // Wert : 0-250
247	unsigned char Gyro_Gier_P; // Wert : 10-250	247	unsigned char Gyro_Gier_P; // Wert : 10-250
248	unsigned char Gyro_Gier_I; // Wert : 0-250	248	unsigned char Gyro_Gier_I; // Wert : 0-250
249	unsigned char Gyro_Stability; // Wert : 0-16	249	unsigned char Gyro_Stability; // Wert : 0-16
250	unsigned char UnterspannungsWarnung; // Wert : 0-250	250	unsigned char UnterspannungsWarnung; // Wert : 0-250
251	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	251	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
252	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	252	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
253	unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D	253	unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
254	unsigned char I_Faktor; // Wert : 0-250	254	unsigned char I_Faktor; // Wert : 0-250
255	unsigned char UserParam1; // Wert : 0-250	255	unsigned char UserParam1; // Wert : 0-250
256	unsigned char UserParam2; // Wert : 0-250	256	unsigned char UserParam2; // Wert : 0-250
257	unsigned char UserParam3; // Wert : 0-250	257	unsigned char UserParam3; // Wert : 0-250
258	unsigned char UserParam4; // Wert : 0-250	258	unsigned char UserParam4; // Wert : 0-250
259	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	259	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
260	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	260	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
261	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	261	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
262	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	262	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
263	//--- Seit V0.75	263	//--- Seit V0.75
264	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos	264	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
265	unsigned char ServoRollComp; // Wert : 0-250	265	unsigned char ServoRollComp; // Wert : 0-250
266	unsigned char ServoRollMin; // Wert : 0-250	266	unsigned char ServoRollMin; // Wert : 0-250
267	unsigned char ServoRollMax; // Wert : 0-250	267	unsigned char ServoRollMax; // Wert : 0-250
268	//---	268	//---
269	unsigned char ServoNickRefresh; // Speed of the Servo	269	unsigned char ServoNickRefresh; // Speed of the Servo
270	unsigned char ServoManualControlSpeed;//	270	unsigned char ServoManualControlSpeed;//
271	unsigned char CamOrientation; //	271	unsigned char CamOrientation; //
272	unsigned char Servo3; // Value or mapping of the Servo Output	272	unsigned char Servo3; // Value or mapping of the Servo Output
273	unsigned char Servo4; // Value or mapping of the Servo Output	273	unsigned char Servo4; // Value or mapping of the Servo Output
274	unsigned char Servo5; // Value or mapping of the Servo Output	274	unsigned char Servo5; // Value or mapping of the Servo Output
275	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	275	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
276	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	276	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
277	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	277	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
278	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	278	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
279	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	279	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
280	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	280	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
281	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	281	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
282	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	282	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
283	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	283	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
284	unsigned char Driftkomp;	284	unsigned char Driftkomp;
285	unsigned char DynamicStability;	285	unsigned char DynamicStability;
286	unsigned char UserParam5; // Wert : 0-250	286	unsigned char UserParam5; // Wert : 0-250
287	unsigned char UserParam6; // Wert : 0-250	287	unsigned char UserParam6; // Wert : 0-250
288	unsigned char UserParam7; // Wert : 0-250	288	unsigned char UserParam7; // Wert : 0-250
289	unsigned char UserParam8; // Wert : 0-250	289	unsigned char UserParam8; // Wert : 0-250
290	//---Output ---------------------------------------------	290	//---Output ---------------------------------------------
291	unsigned char J16Bitmask; // for the J16 Output	291	unsigned char J16Bitmask; // for the J16 Output
292	unsigned char J16Timing; // for the J16 Output	292	unsigned char J16Timing; // for the J16 Output
293	unsigned char J17Bitmask; // for the J17 Output	293	unsigned char J17Bitmask; // for the J17 Output
294	unsigned char J17Timing; // for the J17 Output	294	unsigned char J17Timing; // for the J17 Output
295	// seit version V0.75c	295	// seit version V0.75c
296	unsigned char WARN_J16_Bitmask; // for the J16 Output	296	unsigned char WARN_J16_Bitmask; // for the J16 Output
297	unsigned char WARN_J17_Bitmask; // for the J17 Output	297	unsigned char WARN_J17_Bitmask; // for the J17 Output
298	//---NaviCtrl---------------------------------------------	298	//---NaviCtrl---------------------------------------------
299	unsigned char AutoPhotoDistance; // Auto Photo	299	unsigned char AutoPhotoDistance; // Auto Photo
300	unsigned char NaviGpsModeChannel; // Parameters for the Naviboard	300	unsigned char NaviGpsModeChannel; // Parameters for the Naviboard
301	unsigned char NaviGpsGain;	301	unsigned char NaviGpsGain;
302	unsigned char NaviGpsP;	302	unsigned char NaviGpsP;
303	unsigned char NaviGpsI;	303	unsigned char NaviGpsI;
304	unsigned char NaviGpsD;	304	unsigned char NaviGpsD;
305	unsigned char NaviGpsPLimit;	305	unsigned char NaviGpsPLimit;
306	unsigned char NaviGpsILimit;	306	unsigned char NaviGpsILimit;
307	unsigned char NaviGpsDLimit;	307	unsigned char NaviGpsDLimit;
308	unsigned char NaviGpsA;	308	unsigned char NaviGpsA;
309	unsigned char NaviGpsMinSat;	309	unsigned char NaviGpsMinSat;
310	unsigned char NaviStickThreshold;	310	unsigned char NaviStickThreshold;
311	unsigned char NaviWindCorrection;	311	unsigned char NaviWindCorrection;
312	unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation	312	unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation
313	unsigned char NaviMaxFlyingRange; // in 10m	313	unsigned char NaviMaxFlyingRange; // in 10m
314	unsigned char NaviAngleLimitation;	314	unsigned char NaviAngleLimitation;
315	unsigned char NaviPH_LoginTime;	315	unsigned char NaviPH_LoginTime;
316	unsigned char NaviDescendRange;	316	unsigned char NaviDescendRange;
317	//---Ext.Ctrl---------------------------------------------	317	//---Ext.Ctrl---------------------------------------------
318	unsigned char ExternalControl; // for serial Control	318	unsigned char ExternalControl; // for serial Control
319	//---CareFree---------------------------------------------	319	//---CareFree---------------------------------------------
320	unsigned char OrientationAngle; // Where is the front-direction?	320	unsigned char OrientationAngle; // Where is the front-direction?
321	unsigned char CareFreeChannel; // switch for CareFree	321	unsigned char CareFreeChannel; // switch for CareFree
322	unsigned char MotorSafetySwitch;	322	unsigned char MotorSafetySwitch;
323	unsigned char MotorSmooth;	323	unsigned char MotorSmooth;
324	unsigned char ComingHomeAltitude;	324	unsigned char ComingHomeAltitude;
325	unsigned char FailSafeTime;	325	unsigned char FailSafeTime;
326	unsigned char MaxAltitude;	326	unsigned char MaxAltitude;
327	unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost"	327	unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost"
328	unsigned char ServoFilterNick;	328	unsigned char ServoFilterNick;
329	unsigned char ServoFilterRoll;	329	unsigned char ServoFilterRoll;
330	unsigned char Servo3OnValue;	330	unsigned char Servo3OnValue;
331	unsigned char Servo3OffValue;	331	unsigned char Servo3OffValue;
332	unsigned char Servo4OnValue;	332	unsigned char Servo4OnValue;
333	unsigned char Servo4OffValue;	333	unsigned char Servo4OffValue;
334	unsigned char ServoFS_Pos[5];	334	unsigned char ServoFS_Pos[5];
335	unsigned char StartLandChannel;	335	unsigned char StartLandChannel;
336	unsigned char LandingSpeed;	336	unsigned char LandingSpeed;
337	unsigned char CompassOffset;	337	unsigned char CompassOffset;
338	unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled	338	unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled
339	unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled	339	unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled
340	unsigned char AutoPhotoAtitudes;	340	unsigned char AutoPhotoAtitudes;
341	unsigned char SingleWpSpeed;	341	unsigned char SingleWpSpeed;
342	unsigned char LandingPulse;	342	unsigned char LandingPulse;
343	unsigned char SingleWpControlChannel;	343	unsigned char SingleWpControlChannel;
344	unsigned char MenuKeyChannel;	344	unsigned char MenuKeyChannel;
345	unsigned char CamCtrlModeChannel;	345	unsigned char CamCtrlModeChannel;
346	unsigned char CamCtrlZoomChannel;	346	unsigned char CamCtrlZoomChannel;
347	unsigned char reserved[32];	347	unsigned char reserved[32];
348	//------------------------------------------------	348	//------------------------------------------------
349	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	349	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
350	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen	350	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
351	unsigned char ExtraConfig; // bitcodiert	351	unsigned char ExtraConfig; // bitcodiert
352	unsigned char GlobalConfig3; // bitcodiert	352	unsigned char GlobalConfig3; // bitcodiert
353	char Name[12];	353	char Name[12];
354	unsigned char crc; // must be the last byte!	354	unsigned char crc; // must be the last byte!
355	} __attribute__((packed)) paramset_t; // must be 179 bytes	355	} __attribute__((packed)) paramset_t; // must be 179 bytes
356		356
357	extern paramset_t EE_Parameter;	357	extern paramset_t EE_Parameter;
358		358
359	#endif //_SPI_SLAVE_H	359	#endif //_SPI_SLAVE_H
360		360

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(root)/tags/V2.14e/spi_slave.h @ 753 - Rev 734 → 738