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103 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
103 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
104 | extern u16 FlugMinutenGesamt; |
104 | extern u16 FlugMinutenGesamt; |
105 | extern u32 LoggingGasFilter, LoggingGasCnt; |
105 | extern u32 LoggingGasFilter, LoggingGasCnt; |
106 | extern u8 HoverGas; |
106 | extern u8 HoverGas; |
107 | extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll; |
107 | extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll; |
- | 108 | extern u8 RequestConfigFromFC; |
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Line 108... | Line 109... | ||
108 | 109 | ||
109 | typedef struct |
110 | typedef struct |
110 | { |
111 | { |
111 | u8 Command; |
112 | u8 Command; |
Line 207... | Line 208... | ||
207 | u8 Patch; |
208 | u8 Patch; |
208 | u8 Compatible; |
209 | u8 Compatible; |
209 | u8 Hardware; |
210 | u8 Hardware; |
210 | } __attribute__((packed)) SPI_Version_t; |
211 | } __attribute__((packed)) SPI_Version_t; |
Line -... | Line 212... | ||
- | 212 | ||
211 | 213 | ||
212 | extern FromFlightCtrl_t FromFlightCtrl; |
214 | extern FromFlightCtrl_t FromFlightCtrl; |
213 | extern ToFlightCtrl_t ToFlightCtrl; |
215 | extern ToFlightCtrl_t ToFlightCtrl; |
214 | extern volatile u32 SPI0_Timeout; |
216 | extern volatile u32 SPI0_Timeout; |
215 | extern SPI_Version_t FC_Version; |
217 | extern SPI_Version_t FC_Version; |
Line 221... | Line 223... | ||
221 | void SPI0_Init(void); |
223 | void SPI0_Init(void); |
222 | void SPI0_GetFlightCtrlVersion(void); |
224 | void SPI0_GetFlightCtrlVersion(void); |
223 | void SPI0_UpdateBuffer(void); |
225 | void SPI0_UpdateBuffer(void); |
224 | u16 BL3_Current(u8 who); // in 0.1A |
226 | u16 BL3_Current(u8 who); // in 0.1A |
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- | 227 | ||
- | 228 | typedef struct |
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- | 229 | { |
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- | 230 | unsigned char Revision; |
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- | 231 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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- | 232 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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- | 233 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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- | 234 | unsigned char Luftdruck_D; // Wert : 0-250 |
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- | 235 | unsigned char HoeheChannel; // Wert : 0-32 |
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- | 236 | unsigned char Hoehe_P; // Wert : 0-32 |
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- | 237 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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- | 238 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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- | 239 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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- | 240 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
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- | 241 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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- | 242 | unsigned char Stick_P; // Wert : 1-6 |
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- | 243 | unsigned char Stick_D; // Wert : 0-64 |
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- | 244 | unsigned char StickGier_P; // Wert : 1-20 |
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- | 245 | unsigned char Gas_Min; // Wert : 0-32 |
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- | 246 | unsigned char Gas_Max; // Wert : 33-250 |
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- | 247 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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- | 248 | unsigned char KompassWirkung; // Wert : 0-32 |
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- | 249 | unsigned char Gyro_P; // Wert : 10-250 |
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- | 250 | unsigned char Gyro_I; // Wert : 0-250 |
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- | 251 | unsigned char Gyro_D; // Wert : 0-250 |
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- | 252 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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- | 253 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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- | 254 | unsigned char Gyro_Stability; // Wert : 0-16 |
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- | 255 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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- | 256 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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- | 257 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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- | 258 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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- | 259 | unsigned char I_Faktor; // Wert : 0-250 |
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- | 260 | unsigned char UserParam1; // Wert : 0-250 |
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- | 261 | unsigned char UserParam2; // Wert : 0-250 |
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- | 262 | unsigned char UserParam3; // Wert : 0-250 |
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- | 263 | unsigned char UserParam4; // Wert : 0-250 |
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- | 264 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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- | 265 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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- | 266 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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- | 267 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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- | 268 | //--- Seit V0.75 |
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- | 269 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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- | 270 | unsigned char ServoRollComp; // Wert : 0-250 |
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- | 271 | unsigned char ServoRollMin; // Wert : 0-250 |
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- | 272 | unsigned char ServoRollMax; // Wert : 0-250 |
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- | 273 | //--- |
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- | 274 | unsigned char ServoNickRefresh; // Speed of the Servo |
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- | 275 | unsigned char ServoManualControlSpeed;// |
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- | 276 | unsigned char CamOrientation; // |
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- | 277 | unsigned char Servo3; // Value or mapping of the Servo Output |
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- | 278 | unsigned char Servo4; // Value or mapping of the Servo Output |
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- | 279 | unsigned char Servo5; // Value or mapping of the Servo Output |
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- | 280 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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- | 281 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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- | 282 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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- | 283 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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- | 284 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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- | 285 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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- | 286 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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- | 287 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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- | 288 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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- | 289 | unsigned char Driftkomp; |
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- | 290 | unsigned char DynamicStability; |
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- | 291 | unsigned char UserParam5; // Wert : 0-250 |
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- | 292 | unsigned char UserParam6; // Wert : 0-250 |
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- | 293 | unsigned char UserParam7; // Wert : 0-250 |
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- | 294 | unsigned char UserParam8; // Wert : 0-250 |
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- | 295 | //---Output --------------------------------------------- |
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- | 296 | unsigned char J16Bitmask; // for the J16 Output |
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- | 297 | unsigned char J16Timing; // for the J16 Output |
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- | 298 | unsigned char J17Bitmask; // for the J17 Output |
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- | 299 | unsigned char J17Timing; // for the J17 Output |
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- | 300 | // seit version V0.75c |
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- | 301 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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- | 302 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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- | 303 | //---NaviCtrl--------------------------------------------- |
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- | 304 | unsigned char AutoPhotoDistance; // Auto Photo |
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- | 305 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
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- | 306 | unsigned char NaviGpsGain; |
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- | 307 | unsigned char NaviGpsP; |
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- | 308 | unsigned char NaviGpsI; |
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- | 309 | unsigned char NaviGpsD; |
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- | 310 | unsigned char NaviGpsPLimit; |
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- | 311 | unsigned char NaviGpsILimit; |
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- | 312 | unsigned char NaviGpsDLimit; |
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- | 313 | unsigned char NaviGpsA; |
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- | 314 | unsigned char NaviGpsMinSat; |
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- | 315 | unsigned char NaviStickThreshold; |
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- | 316 | unsigned char NaviWindCorrection; |
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- | 317 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
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- | 318 | unsigned char NaviMaxFlyingRange; // in 10m |
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- | 319 | unsigned char NaviAngleLimitation; |
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- | 320 | unsigned char NaviPH_LoginTime; |
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- | 321 | unsigned char NaviDescendRange; |
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- | 322 | //---Ext.Ctrl--------------------------------------------- |
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- | 323 | unsigned char ExternalControl; // for serial Control |
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- | 324 | //---CareFree--------------------------------------------- |
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- | 325 | unsigned char OrientationAngle; // Where is the front-direction? |
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- | 326 | unsigned char CareFreeChannel; // switch for CareFree |
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- | 327 | unsigned char MotorSafetySwitch; |
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- | 328 | unsigned char MotorSmooth; |
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- | 329 | unsigned char ComingHomeAltitude; |
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- | 330 | unsigned char FailSafeTime; |
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- | 331 | unsigned char MaxAltitude; |
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- | 332 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
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- | 333 | unsigned char ServoFilterNick; |
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- | 334 | unsigned char ServoFilterRoll; |
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- | 335 | unsigned char Servo3OnValue; |
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- | 336 | unsigned char Servo3OffValue; |
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- | 337 | unsigned char Servo4OnValue; |
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- | 338 | unsigned char Servo4OffValue; |
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- | 339 | unsigned char ServoFS_Pos[5]; |
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- | 340 | unsigned char StartLandChannel; |
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- | 341 | unsigned char LandingSpeed; |
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- | 342 | unsigned char CompassOffset; |
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- | 343 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
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- | 344 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
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- | 345 | unsigned char AutoPhotoAtitudes; |
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- | 346 | unsigned char SingleWpSpeed; |
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- | 347 | unsigned char LandingPulse; |
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- | 348 | unsigned char SingleWpControlChannel; |
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- | 349 | unsigned char MenuKeyChannel; |
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- | 350 | //------------------------------------------------ |
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- | 351 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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- | 352 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
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- | 353 | unsigned char ExtraConfig; // bitcodiert |
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- | 354 | unsigned char GlobalConfig3; // bitcodiert |
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- | 355 | char Name[12]; |
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- | 356 | unsigned char crc; // must be the last byte! |
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- | 357 | } __attribute__((packed)) paramset_t; // 150 bytes |
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- | 358 | ||
- | 359 | extern paramset_t EE_Parameter; |
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225 | 360 |