Rev 487 | Rev 504 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 487 | Rev 489 | ||
---|---|---|---|
Line 68... | Line 68... | ||
68 | extern u32 ToFC_AltitudeRate; |
68 | extern u32 ToFC_AltitudeRate; |
69 | extern s32 ToFC_AltitudeSetpoint; |
69 | extern s32 ToFC_AltitudeSetpoint; |
70 | extern u8 NC_GPS_ModeCharacter; |
70 | extern u8 NC_GPS_ModeCharacter; |
71 | extern u8 FC_is_Calibrated; |
71 | extern u8 FC_is_Calibrated; |
72 | extern u8 FCCalibActive; |
72 | extern u8 FCCalibActive; |
73 | extern u8 SpeakHoTT; |
73 | extern u8 SpeakHoTT; |
74 | extern u8 NC_Wait_for_LED; |
74 | extern u8 NC_Wait_for_LED; |
75 | extern s16 GyroCompassCorrected; |
75 | extern s16 GyroCompassCorrected; |
Line 76... | Line -... | ||
76 | - | ||
77 | /*extern u8 MotorCurrent[12]; |
- | |
78 | extern u8 MotorTemperature[12]; |
- | |
79 | extern u8 MotorState[12]; |
- | |
80 | extern u8 MotorMaxPwm[12]; |
76 | |
81 | */ |
77 | |
82 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
78 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
83 | extern u32 FC_I2C_ErrorConter; |
79 | extern u32 FC_I2C_ErrorConter; |
84 | extern u8 FromFC_VarioCharacter; |
80 | extern u8 FromFC_VarioCharacter; |
85 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
81 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
Line 112... | Line 108... | ||
112 | 108 | ||
113 | //NC_To_FC_Flags |
109 | //NC_To_FC_Flags |
114 | #define NC_TO_FC_FLYING_RANGE 0x01 |
110 | #define NC_TO_FC_FLYING_RANGE 0x01 |
115 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
111 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
116 | #define NC_TO_FC_AUTOSTART 0x04 |
112 | #define NC_TO_FC_AUTOSTART 0x04 |
Line 117... | Line 113... | ||
117 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
113 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
118 | 114 | ||
119 | #define SPI_NCCMD_OSD_DATA 100 |
115 | #define SPI_NCCMD_OSD_DATA 100 |
120 | #define SPI_NCCMD_GPS_POS 101 |
116 | #define SPI_NCCMD_GPS_POS 101 |
Line 136... | Line 132... | ||
136 | { |
132 | { |
137 | u8 Command; |
133 | u8 Command; |
138 | GPS_Stick_t GPSStick; |
134 | GPS_Stick_t GPSStick; |
139 | s16 MagVecX; |
135 | s16 MagVecX; |
140 | s16 CompassHeading; |
136 | s16 CompassHeading; |
141 | s16 AccErrorN; |
137 | s16 AccErrorN; |
142 | s16 AccErrorR; |
138 | s16 AccErrorR; |
143 | s16 MagVecY; |
139 | s16 MagVecY; |
144 | s16 MagVecZ; |
140 | s16 MagVecZ; |
145 | u16 BeepTime; |
141 | u16 BeepTime; |
146 | union |
142 | union |
147 | { |
143 | { |
148 | u8 Byte[12]; |
144 | u8 Byte[12]; |
149 | s8 sByte[12]; |
145 | s8 sByte[12]; |
Line 164... | Line 160... | ||
164 | u8 State; |
160 | u8 State; |
165 | } __attribute__((packed)) Motor_t; |
161 | } __attribute__((packed)) Motor_t; |
Line 166... | Line 162... | ||
166 | 162 | ||
Line 167... | Line -... | ||
167 | extern Motor_t Motor[12]; |
- | |
168 | - | ||
169 | 163 | extern Motor_t Motor[12]; |
|
170 | //Motor_Version[12] |
164 | |
171 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
165 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
172 | #define MOTOR_STATE_FAST_MODE 0x02 |
166 | #define MOTOR_STATE_FAST_MODE 0x02 |
- | 167 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
|
Line 173... | Line 168... | ||
173 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
168 | extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
174 | extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
169 | |
175 | 170 | ||
Line 185... | Line 180... | ||
185 | 180 | ||
186 | extern FromFlightCtrl_t FromFlightCtrl; |
181 | extern FromFlightCtrl_t FromFlightCtrl; |
187 | extern ToFlightCtrl_t ToFlightCtrl; |
182 | extern ToFlightCtrl_t ToFlightCtrl; |
188 | extern volatile u32 SPI0_Timeout; |
183 | extern volatile u32 SPI0_Timeout; |
189 | extern SPI_Version_t FC_Version; |
184 | extern SPI_Version_t FC_Version; |
190 | extern u8 GPS_Aid_StickMultiplikator; |
185 | extern u8 GPS_Aid_StickMultiplikator; |
191 | extern u8 CompassCalState; |
- | |
Line 192... | Line 186... | ||
192 | extern u8 FromFC_LowVoltageHomeActive; |
186 | extern u8 CompassCalState; |
193 | 187 | ||
194 | void SPI0_Init(void); |
188 | void SPI0_Init(void); |
- | 189 | void SPI0_GetFlightCtrlVersion(void); |
|
Line 195... | Line 190... | ||
195 | void SPI0_GetFlightCtrlVersion(void); |
190 | void SPI0_UpdateBuffer(void); |