diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
new file mode 100755
index 0000000000..ddfbf40840
--- /dev/null
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -0,0 +1,302 @@
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+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
+
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
+
+#ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+#ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
+#ap.CFLAGS += -DMAX11040_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MAX11040
+#ap.srcs += max11040.c $(SRC_ARCH)/max11040_hw.c
+
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
+
+ap.srcs += bomb.c
+
+ap.srcs += snav.c
+
+# distance sensor
+ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+ap.srcs += adc_generic.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
+
+
+
+
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
new file mode 100755
index 0000000000..0b57114834
--- /dev/null
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -0,0 +1,251 @@
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+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+# MAX11040 adc
+ap.CFLAGS += -DMAX11040_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MAX11040
+ap.srcs += max11040.c $(SRC_ARCH)/max11040_hw.c
+
+ap.srcs += snav.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
+
+
+
+
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
new file mode 100644
index 0000000000..dac950f0de
--- /dev/null
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -0,0 +1,258 @@
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+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += $(SRC_ARCH)/trig_ext_hw.c
+ap.CFLAGS += -DTRIG_EXT_PULSE_TYPE=TRIG_EXT_EDGE_FALLING -DTRIGGER_EXT
+
+ap.CFLAGS += -DGPS_TIMESTAMP
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+
+
diff --git a/sw/airborne/arm7/sys_time_hw.c b/sw/airborne/arm7/sys_time_hw.c
index c83d2eeaa8..fbf978c8c3 100644
--- a/sw/airborne/arm7/sys_time_hw.c
+++ b/sw/airborne/arm7/sys_time_hw.c
@@ -50,6 +50,9 @@ uint32_t sys_time_chrono; /* T0TC ticks */
#define AMI601_IT 0x00
#endif
+#ifdef TRIGGER_EXT
+#include "trig_ext.h"
+#endif
#define TIMER0_IT_MASK (ACTUATORS_IT |\
PPM_IT |\
@@ -85,6 +88,14 @@ void TIMER0_ISR ( void ) {
T0IR = PPM_IT;
}
#endif
+#ifdef TRIGGER_EXT
+#define TRIGGER_IT PPM_CRI
+ if (T0IR&TRIGGER_IT) {
+ TRIG_ISR();
+ T0IR = TRIGGER_IT;
+LED_TOGGLE(3);
+ }
+#endif
#if defined USE_RADIO_CONTROL && defined RADIO_CONTROL_TYPE_PPM
if (T0IR&RADIO_CONTROL_PPM_IT) {
RADIO_CONTROL_PPM_ISR();
diff --git a/sw/airborne/arm7/sys_time_hw.h b/sw/airborne/arm7/sys_time_hw.h
index c448485815..14853079e7 100644
--- a/sw/airborne/arm7/sys_time_hw.h
+++ b/sw/airborne/arm7/sys_time_hw.h
@@ -125,6 +125,7 @@ static inline void sys_time_init( void ) {
#define SIGNED_SYS_TICS_OF_USEC(us) SIGNED_SYS_TICS_OF_SEC((us) * 1e-6)
#define SEC_OF_SYS_TICS(st) (st / PCLK * T0_PCLK_DIV)
+#define MSEC_OF_SYS_TICS(st) (st / (PCLK/1000) * T0_PCLK_DIV)
#define GET_CUR_TIME_FLOAT() ((float)cpu_time_sec + SEC_OF_SYS_TICS((float)cpu_time_ticks))
diff --git a/sw/airborne/arm7/trig_ext_hw.c b/sw/airborne/arm7/trig_ext_hw.c
new file mode 100644
index 0000000000..7d79ec9d87
--- /dev/null
+++ b/sw/airborne/arm7/trig_ext_hw.c
@@ -0,0 +1,12 @@
+//#include "trig_ext.h"
+#include "std.h"
+#include "sys_time.h"
+
+
+
+
+uint32_t trigger_t0;
+uint32_t delta_t0;
+volatile bool_t trig_ext_valid;
+
+
diff --git a/sw/airborne/arm7/trig_ext_hw.h b/sw/airborne/arm7/trig_ext_hw.h
new file mode 100644
index 0000000000..3f2b428a33
--- /dev/null
+++ b/sw/airborne/arm7/trig_ext_hw.h
@@ -0,0 +1,41 @@
+#ifndef TRIG_EXT_HW_H
+#define TRIG_EXT_HW_H
+
+
+/**
+ * falling/rising edge
+ */
+#define TRIG_EXT_EDGE_RISING 1
+#define TRIG_EXT_EDGE_FALLING 0
+
+
+
+#include "LPC21xx.h"
+#include BOARD_CONFIG
+
+
+static inline void trig_ext_init ( void ) {
+ /* select pin for capture */
+ PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
+ /* enable capture 0.2 on falling or rising edge + trigger interrupt */
+#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_RISING
+ T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
+#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_FALLING
+ T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
+#else
+#error "trig_ext_hw.h: Unknown PULSE_TYPE"
+#endif
+ trig_ext_valid = FALSE;
+}
+
+#define TRIG_ISR() { \
+ static uint32_t last; \
+ trigger_t0 = PPM_CR; \
+ delta_t0 = trigger_t0 - last; \
+ last = trigger_t0; \
+ trig_ext_valid = TRUE; \
+}
+
+
+#endif /* TRIG_EXT_HW_H */
+
diff --git a/sw/airborne/gps_ubx.c b/sw/airborne/gps_ubx.c
index b724c2e38f..5343f4492a 100644
--- a/sw/airborne/gps_ubx.c
+++ b/sw/airborne/gps_ubx.c
@@ -38,6 +38,11 @@
#include "nav.h"
#include "latlong.h"
+#ifdef GPS_TIMESTAMP
+#include "sys_time.h"
+#define MSEC_PER_WEEK (1000*60*60*24*7)
+#endif
+
#define UbxInitCheksum() { send_ck_a = send_ck_b = 0; }
#define UpdateChecksum(c) { send_ck_a += c; send_ck_b += send_ck_a; }
#define UbxTrailer() { GpsUartSend1(send_ck_a); GpsUartSend1(send_ck_b); GpsUartSendMessage(); }
@@ -64,6 +69,11 @@
uint16_t gps_week;
uint32_t gps_itow;
+#ifdef GPS_TIMESTAMP
+uint32_t gps_t0;
+uint32_t gps_t0_itow;
+uint32_t gps_t0_frac;
+#endif
int32_t gps_alt;
uint16_t gps_gspeed;
int16_t gps_climb;
@@ -248,6 +258,13 @@ void parse_gps_msg( void ) {
gps_pos_available = TRUE; /* The 3 UBX messages are sent in one rafale */
} else if (ubx_id == UBX_NAV_SOL_ID) {
+#ifdef GPS_TIMESTAMP
+ /* get hardware clock ticks */
+ gps_t0 = T0TC;
+ /* set receive time */
+ gps_t0_itow = UBX_NAV_SOL_ITOW(ubx_msg_buf);
+ gps_t0_frac = UBX_NAV_SOL_Frac(ubx_msg_buf);
+#endif
gps_mode = UBX_NAV_SOL_GPSfix(ubx_msg_buf);
gps_PDOP = UBX_NAV_SOL_PDOP(ubx_msg_buf);
gps_Pacc = UBX_NAV_SOL_Pacc(ubx_msg_buf);
@@ -339,3 +356,31 @@ void parse_ubx( uint8_t c ) {
ubx_status = UNINIT;
return;
}
+
+#ifdef GPS_TIMESTAMP
+
+#ifndef PCLK
+#error unknown PCLK frequency
+#endif
+
+uint32_t itow_from_ticks(uint32_t clock_ticks)
+{
+ uint32_t clock_delta;
+ uint32_t time_delta;
+ uint32_t itow_now;
+
+ if (clock_ticks < gps_t0) {
+ clock_delta = (0xFFFFFFFF - clock_ticks) + gps_t0 + 1;
+ } else {
+ clock_delta = clock_ticks - gps_t0;
+ }
+
+ time_delta = MSEC_OF_SYS_TICS(clock_delta);
+
+ itow_now = gps_t0_itow + time_delta;
+ if (itow_now > MSEC_PER_WEEK) itow_now %= MSEC_PER_WEEK;
+
+ return itow_now;
+}
+#endif
+
diff --git a/sw/airborne/gps_ubx.h b/sw/airborne/gps_ubx.h
index a388831ab2..15b17004e8 100644
--- a/sw/airborne/gps_ubx.h
+++ b/sw/airborne/gps_ubx.h
@@ -93,4 +93,8 @@ extern void ubxsend_cfg_rst(uint16_t, uint8_t);
ubxsend_cfg_rst(gps_reset, CFG_RST_Reset_Controlled); \
}
+#ifdef GPS_TIMESTAMP
+uint32_t itow_from_ticks(uint32_t clock_ticks);
+#endif
+
#endif /* UBX_H */
diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index d5c2f4714b..1188f9025f 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -138,6 +138,10 @@
#include "baro_ets.h"
#endif // USE_BARO_ETS
+#ifdef TRIGGER_EXT
+#include "trig_ext.h"
+#endif // TRIGGER_EXT
+
/*code added by Haiyang Chao for using Xsens IMU for fixed wing UAV 20080804*/
#ifdef UGEAR
#include "osam_imu_ugear.h"
@@ -842,6 +846,10 @@ void init_ap( void ) {
LightInit();
#endif
+#ifdef TRIGGER_EXT
+ trig_ext_init();
+#endif
+
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
@@ -991,6 +999,23 @@ void event_task_ap( void ) {
}
#endif
+#ifdef TRIGGER_EXT
+ if (trig_ext_valid == TRUE) {
+ uint8_t turb_id = 0;
+ uint32_t sync_itow, cycle_time;
+
+ sync_itow = itow_from_ticks(trigger_t0);
+ cycle_time = MSEC_OF_SYS_TICS(delta_t0);
+
+ DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel,
+ &turb_id,
+ &turb_id,
+ &sync_itow,
+ &cycle_time );
+ trig_ext_valid = FALSE;
+ }
+#endif
+
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
diff --git a/sw/airborne/trig_ext.h b/sw/airborne/trig_ext.h
new file mode 100644
index 0000000000..006c1878ae
--- /dev/null
+++ b/sw/airborne/trig_ext.h
@@ -0,0 +1,38 @@
+/* $Id: ppm.h 4281 2009-10-19 18:32:12Z mmm $
+ *
+ * (c) 2005 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef TRIG_EXT_H
+#define TRIG_EXT_H
+
+#if defined TRIGGER_EXT
+
+#include "std.h"
+extern uint32_t trigger_t0;
+extern uint32_t delta_t0;
+extern volatile bool_t trig_ext_valid;
+
+#include "trig_ext_hw.h"
+
+#endif /* TRIGGER_EXT */
+
+#endif