Subversion Repositories NaviCtrl

#ifndef _MAIN_H

#define _MAIN_H

//#define FOLLOW_ME

#ifdef FOLLOW_ME

extern u8 TransmitAlsoToFC;

#endif

//-----------------------

//#define DEBUG 0

//-----------------------

#define VERSION_MAJOR   2

#define VERSION_MINOR   18

#define VERSION_PATCH   0

// 0 = A

// 1 = B

// 2 = C

// 3 = D

// 4 = E

// 5 = F

// 6 = G

// 7 = H

// 8 = I

// 9 = J

// 10 = k

// 11 = L

// 12 = M

// 13 = N

// 14 = O

// 15 = P

// 16 = Q

// 17 = R

// 18 = S

#define CAN_SLAVE_COMPATIBLE     2

#ifndef FOLLOW_ME

#define FC_SPI_COMPATIBLE               85      //   <------------------

#else

#define FC_SPI_COMPATIBLE               0xFF

#endif

#define MK3MAG_I2C_COMPATIBLE   3

#define MAX_MOTORS 16     // since 2.10 (3.2014)

// FC.StatusFlags

#define FC_STATUS_MOTOR_RUN                             0x01

#define FC_STATUS_FLY                                   0x02

#define FC_STATUS_CALIBRATE                             0x04

#define FC_STATUS_START                                 0x08

#define FC_STATUS_EMERGENCY_LANDING             0x10

#define FC_STATUS_LOWBAT                                0x20

#define FC_STATUS_VARIO_TRIM_UP                 0x40

#define FC_STATUS_VARIO_TRIM_DOWN               0x80

// FC.StatusFlags2

#define FC_STATUS2_CAREFREE                 0x01

#define FC_STATUS2_ALTITUDE_CONTROL         0x02

#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04

#define FC_STATUS2_OUT1_ACTIVE                  0x08

#define FC_STATUS2_OUT2_ACTIVE                  0x10

#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground

#define FC_STATUS2_AUTO_STARTING                0x40

#define FC_STATUS2_AUTO_LANDING                 0x80

// FC.StatusFlags3 

#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01

#define FC_STATUS3_BOAT                         0x02

#define FC_STATUS3_REDUNDANCE_ERROR                     0x04

#define FC_STATUS3_REDUNDANCE_TEST                      0x08

#define FC_STATUS3_NOT_CALIBRATED                       0x10

#define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20

// xxx.OSDStatusFlags   (multiple data sets)    -> this is the definition in the OSD data structure 

#define OSD_FLAG_CAREFREE                       0x01

#define OSD_FLAG_ALTITUDE_CONTROL               0x02

#define OSD_FLAG_CALIBRATE                              0x04

#define OSD_FLAG_OUT1_ACTIVE                            0x08

#define OSD_FLAG_OUT2_ACTIVE                            0x10

#define OSD_FLAG_LOWBAT                                 0x20

#define OSD_FLAG_VARIO_TRIM_UP                  0x40

#define OSD_FLAG_VARIO_TRIM_DOWN                0x80

// NaviData_Flags.OSDStatusFlags2 (Index:11)    -> this is the definition in the OSD data structure 

#define OSD2_FLAG_MOTOR_RUN                             0x01

#define OSD2_FLAG_FLY                                   0x02

#define OSD2_FLAG_RC_FAILSAVE_ACTIVE        0x04

#define OSD2_FLAG_START                                 0x08

#define OSD2_FLAG_EMERGENCY_LANDING             0x10

#define OSD2_FLAG_WAIT_FOR_TAKEOFF              0x20   // Motor Running, but still on the ground

#define OSD2_FLAG_AUTO_STARTING                 0x40

#define OSD2_FLAG_AUTO_LANDING                  0x80

// NaviData_Home.OSDStatusFlags3 (Index:13 Home-Position) -> use only for flags that change slowly 

#define OSD_FIX_NONE                                                    0

#define OSD_FIX_2D                                                              1

#define OSD_FIX_3D                                                              2

#define OSD_FIX_DGPS                                                    3

#define OSD_FIX_RTK_FLOAT                                               4

#define OSD_FIX_RTK_FIX                                                 5

#define OSD3_FLAG_FIXBIT0                                       0x01

#define OSD3_FLAG_FIXBIT1                                       0x02

#define OSD3_FLAG_FIXBIT2                                       0x04

#define OSD3_FLAG_HOTSHOE                                       0x08

#define OSD3_FLAG_BOAT_MODE                                     0x10

// the OSD-Flags are built from the FC status flags. They are combined into new bytes to increse the efficiency in the data protocol

#define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80)

#define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10)

// NC calculates

//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);

//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2);

//calculate Back:

//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1);

//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2);

// .NCFlags

#define NC_FLAG_FREE                    0x01

#define NC_FLAG_PH                              0x02

#define NC_FLAG_CH                              0x04

#define NC_FLAG_RANGE_LIMIT             0x08

#define NC_FLAG_NOSERIALLINK    0x10

#define NC_FLAG_TARGET_REACHED  0x20

#define NC_FLAG_MANUAL_CONTROL  0x40

#define NC_FLAG_GPS_OK                  0x80

//IO1_Function

#define IO1FUNC_PARACHUTE                       9

#define IO1FUNC_ERROR_PARACHUTE         255

// NC calculates

//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);

//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2);

//calculate Back:

//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1);

//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2);

// FC.Error[0]

#define FC_ERROR0_GYRO_NICK     0x01

#define FC_ERROR0_GYRO_ROLL     0x02

#define FC_ERROR0_GYRO_YAW              0x04

#define FC_ERROR0_ACC_NICK              0x08

#define FC_ERROR0_ACC_ROLL              0x10

#define FC_ERROR0_ACC_TOP               0x20

#define FC_ERROR0_PRESSURE              0x40

#define FC_ERROR0_CAREFREE              0x80

// FC.Error[1]

#define FC_ERROR1_I2C                   0x01

#define FC_ERROR1_BL_MISSING    0x02

#define FC_ERROR1_SPI_RX                0x04

#define FC_ERROR1_PPM                   0x08

#define FC_ERROR1_MIXER                 0x10

#define FC_ERROR1_RC_VOLTAGE    0x20

#define FC_ERROR1_ACC_NOT_CAL   0x40

#define FC_ERROR1_RES3                  0x80

// NC Errors

#define NCERR_FLAG_FC_COMPATIBLE                        0x00000001

#define NCERR_FLAG_MK3MAG_COMPATIBLE            0x00000002

#define NCERR_FLAG_FC_COMMUNICATION                     0x00000004

#define NCERR_FLAG_MK3MAG_COMMUNICATION         0x00000008

#define NCERR_FLAG_MKGPS_COMMUNICATION          0x00000010

#define NCERR_FLAG_BAD_COMPASS_HEADING          0x00000020

#define NCERR_FLAG_RC_SIGNAL_LOST                       0x00000040

#define NCERR_FLAG_EEPROM_NOT_FOUND                     0x00000080

//NC_To_FC_Flags

#define NC_TO_FC_FLYING_RANGE                           0x01

#define NC_TO_FC_EMERGENCY_LANDING                      0x02

#define NC_TO_FC_AUTOSTART                                      0x04

#define NC_TO_FC_FAILSAFE_LANDING                       0x08 // activates Servos

#define NC_TO_FC_SIMULATION_ACTIVE                      0x10 // don't start motors if simulation ist active

#define NC_TO_FC_SWITCHOFF_IF_LANDED            0x20 // switch off if MK is on the ground and doesn't further sink

#define NC_TO_FC_OUTSIDE_FLYZONE                        0x40 // for the Beep-Signal

//Parameter.GlobalConfig3

#define CFG3_NO_SDCARD_NO_START                 0x01

#define CFG3_RISE_FIRST_WAYPOINT                0x02

#define CFG3_VARIO_FAILSAFE                     0x04

#define CFG3_MOTOR_SWITCH_MODE                  0x08

#define CFG3_NO_GPSFIX_NO_START                 0x10

#define CFG3_USE_NC_FOR_OUT1                    0x20

#define CFG3_SPEAK_ALL                          0x40

#define CFG3_SERVO_NICK_COMP_OFF                0x80

// Parameter.GlobalConfig 

#define FC_CFG_HOEHENREGELUNG           0x01

#define FC_CFG_HOEHEN_SCHALTER          0x02

#define FC_CFG_HEADING_HOLD             0x04

#define FC_CFG_KOMPASS_AKTIV            0x08

#define FC_CFG_KOMPASS_FIX              0x10

#define FC_CFG_GPS_AKTIV                0x20

#define CFG_LAND_OUTSIDE_FLYZONE                0x40

#define FC_CFG_DREHRATEN_BEGRENZER      0x80

//Parameter.ExtraConfig

#define CFG2_HEIGHT_LIMIT                       0x01

#define CFG2_VARIO_BEEP                         0x02

#define CFG_FLYZONE_REQUIRED                    0x04

#define CFG_3_3V_REFERENCE                      0x08

#define CFG_NO_RCOFF_BEEPING                    0x10

#define CFG_GPS_AID                             0x20

#define CFG_TEACHABLE_CAREFREE                  0x40

#define CFG_IGNORE_MAG_ERR_AT_STARTUP   0x80

// Parameter.HomeYawMode

#define NO_CHANGE               0

#define FRONT_TO_HOME   1

#define REAR_TO_HOME    2

#define LIKE_AT_START   3

// Parameter.ReceiverType defines for the receiver selection

#define RECEIVER_PPM                            0

#define RECEIVER_SPEKTRUM                       1

#define RECEIVER_SPEKTRUM_HI_RES        2

#define RECEIVER_SPEKTRUM_LOW_RES       3

#define RECEIVER_JETI                           4

#define RECEIVER_ACT_DSL                        5

#define RECEIVER_HOTT                           6

#define RECEIVER_SBUS                           7

#define RECEIVER_USER                           8

#define RECEIVER_UNKNOWN                        0xFF

#define LIMIT_MIN(value, min) {if(value <= min) value = min;}

#define LIMIT_MAX(value, max) {if(value >= max) value = max;}

#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}

#define Poti1  FC.Poti[0]

#define Poti2  FC.Poti[1]

#define Poti3  FC.Poti[2]

#define Poti4  FC.Poti[3]

#define Poti5  FC.Poti[4]

#define Poti6  FC.Poti[5]

#define Poti7  FC.Poti[6]

#define Poti8  FC.Poti[7]

extern s16 LuftdruckTemperaturKompensation, LuftdruckTemperaturOffset;

extern u16 BeepTime;

extern u8  NCFlags;

extern u8 ClearFCStatusFlags;

void Interrupt_Init(void);

extern s16 GeoMagDec;

extern u8 NewWPL_Name;

#define NOTHING                 0

#define MASTER                  1

#define SLAVE                   2

extern u8 IamMaster;

#define VERSION_SERIAL_MAJOR    11 // do not change!

typedef struct

{

        u8 ActiveSetting;

        u8 User1;

        u8 User2;

        u8 User3;

        u8 User4;

        u8 User5;

        u8 User6;

        u8 User7;

        u8 User8;

        u8 NaviGpsModeControl;

        u8 NaviGpsGain;

        u8 NaviGpsP;

        u8 NaviGpsI;

        u8 NaviGpsD;

        u8 NaviGpsPLimit;

        u8 NaviGpsILimit;

        u8 NaviGpsDLimit;

        u8 NaviGpsACC;

        u8 NaviGpsMinSat;

        u8 NaviStickThreshold;

        u8 NaviMaxFlyingRange; // in 10m

        u8 NaviWindCorrection;

        u8 NaviAccCompensation;

        u8 NaviSpeedCompensation;

        u8 LowVoltageWarning;

        u8 NaviAngleLimitation;

        u8 NaviPH_LoginTime;

        u8 OrientationAngle; // where is front - in 15°

        u8 CamOrientation;       // direction of the camera in 15°

        u8 GlobalConfig;

        u8 ExtraConfig;

        u8 ComingHomeAltitude;

        u8 GlobalConfig3;

        u8 AutoPhotoDistance; // Distance between Photo releases (Position)

        u8 FromFC_LandingSpeed;

        u8 FromFC_LowVoltageHomeActive;

        u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes)

        u8 SingleWpSpeed;

        u8 DescendRange; // in 10m

        u8 MaximumAltitude; // in m

        u8 Driftkomp;

        u8 ReceiverType;

        u8 HomeYawMode;

        u8 Speak100m;

        u8 AutoWpEventValue;

        u8 FailSafeTime;

} __attribute__((packed)) Param_t;

typedef struct

{

        s8 StickNick;

        s8 StickRoll;

        s8 StickYaw;

        s8 StickGas;

        u8 Poti[8];

        u8 RC_Quality;

        u8 RC_RSSI;

        u16 BAT_Voltage;

        u16 BAT_Current;

        u16 BAT_UsedCapacity;

        u8 StatusFlags;

        u8 Error[5];

        u8 StatusFlags2;

        u8 FromFC_SpeakHoTT;

        s16 FromFC_CompassOffset;

        u8 FromFC_DisableDeclination;

        u8 StatusFlags3;

        s16 Altimeter_5cm;  // devide by 20 to get meters & multiply with 5 to get cm

        u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation

        u16 AdNeutralNick;

        u16 AdNeutralRoll;

        u16 AdNeutralYaw;

        u16 BoatNeutralNick;

        u16 BoatNeutralRoll;

        u16 BoatNeutralYaw;

        u8 AutoPhotoDistance;

} __attribute__((packed)) FC_t; // from FC

typedef struct

{

        u8 ErrorCode;

        u8 StatusFlags;

        u8 StatusFlags2;

        u8 StatusFlags3;

        u8 NC_To_FC_Flags;

        u8 MagnetField;                                         // in %

        s16 GyroCompassCorrected;

} __attribute__((packed)) Partner_t;    // from FC

extern Partner_t Partner;

extern Param_t Parameter;

extern volatile FC_t FC;

extern s8 ErrorMSG[25];

extern s8 PartnerErrorMSG[25];

extern u8 ErrorCode,PartnerErrorCode;

extern u8 StopNavigation;

extern u8 ErrorGpsFixLost;

extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint;

extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero

extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero

extern volatile u32 PollingTimeout;

extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsNavProcessed, FreqNewGpsData;

extern u32 TimeSinceMotorStart;

extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;

extern u16 SD_SettingWaitLED;

extern u16 SD_PosAccuracy;

extern u16 SD_ComingHomeSpeed;

extern u16 SD_DPH_Speed;

extern u32 MaxWP_Radius_in_m;

extern u8 SpeakWaypointRached;  // Speak once as soon as the Points are active

extern u8 SpeakNextWaypoint;    // Speak once when reached

extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started

extern s16 GyroCompassCorrected;

extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination

extern s16 CompassSetpoint;

extern u8 AmountOfMotors;

extern s16 SimulatedDirection;          // simulated compass direction

extern u16 ToFC_Parachute_Off;          // forced Switch off via IO1

extern u8 IO1_Function;

extern u8 BaroCalState;

extern u8 ErrorOutSideOperationArea; // I am outside the operation polygon area

extern u8 ShowCalibrationErrorMessage;

#define OEM_NAME_LENGHT 16

extern u8 OEM_String[OEM_NAME_LENGHT+1];

extern u8 TryAgain_UBX_Setup;

#define CHECK_ONLY     0

#define GET_LICENSE    1

#define COPY_SD_TO_EE  2

extern u8 CheckLicense(u8);

// Portpin inputs

#define PIN6_0 (GPIO6->DR[0x3FC] & 0x01)

#define PIN6_1 (GPIO6->DR[0x3FC] & 0x02)

#define PIN6_2 (GPIO6->DR[0x3FC] & 0x04)

#define PIN6_3 (GPIO6->DR[0x3FC] & 0x08)

#define PIN6_4 (GPIO6->DR[0x3FC] & 0x10)

#define PIN6_5 (GPIO6->DR[0x3FC] & 0x20)

#define TRIGGER_PP_INTERN PIN6_0

#define TRIGGER_PP_EXTERN PIN6_3

#define BLITZ_CONNECTED   PIN6_4

#define IO1_INPUT                 PIN6_5

#endif // _MAIN_H