| 0,0 → 1,100 |
|---|
| #ifndef _MAIN_H |
| #define _MAIN_H |
| |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 20 |
| #define VERSION_PATCH 2 |
| |
| #define VERSION_SERIAL_MAJOR 11 |
| #define VERSION_SERIAL_MINOR 0 |
| |
| #define FC_SPI_COMPATIBLE 14 |
| #define MK3MAG_I2C_COMPATIBLE 3 |
| |
| // FC FLAGS |
| #define FCFLAG_MOTOR_RUN 0x01 |
| #define FCFLAG_FLY 0x02 |
| #define FCFLAG_CALIBRATE 0x04 |
| #define FCFLAG_START 0x08 |
| #define FCFLAG_EMERGENCY_LANDING 0x10 |
| #define FCFLAG_LOWBAT 0x20 |
| #define FCFLAG_SPI_RX_ERR 0x40 |
| #define FCFLAG_RESERVE1 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 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;} |
| |
| extern u8 BoardRelease; |
| extern u16 BeepTime; |
| extern u8 NCFlags; |
| extern u8 ClearFCFlags; |
| void Interrupt_Init(void); |
| extern s16 GeoMagDec; |
| |
| |
| 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 NaviOperatingRadius; |
| u8 NaviWindCorrection; |
| u8 NaviSpeedCompensation; |
| u8 LowVoltageWarning; |
| u8 NaviAngleLimitation; |
| u8 NaviPH_LoginTime; |
| } __attribute__((packed)) Param_t; |
| |
| typedef struct |
| { |
| s8 StickNick; |
| s8 StickRoll; |
| s8 StickYaw; |
| s8 StickGas; |
| u8 Poti[8]; |
| u8 Poti5; |
| u8 Poti6; |
| u8 Poti7; |
| u8 Poti8; |
| u8 RC_Quality; |
| u8 RC_RSSI; |
| u8 BAT_Voltage; |
| u16 BAT_Current; |
| u16 BAT_UsedCapacity; |
| u8 Flags; |
| } __attribute__((packed)) FC_t; |
| |
| extern Param_t Parameter; |
| extern volatile FC_t FC; |
| extern s8 ErrorMSG[25]; |
| extern u8 ErrorCode; |
| extern u8 StopNavigation; |
| #endif // _MAIN_H |