| 0,0 → 1,206 |
|---|
| #ifndef _MAIN_H |
| #define _MAIN_H |
| |
| |
| //#define FOLLOW_ME |
| |
| #ifdef FOLLOW_ME |
| extern u8 TransmitAlsoToFC; |
| #endif |
| |
| //----------------------- |
| //#define DEBUG 0 |
| //----------------------- |
| |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 28 |
| #define VERSION_PATCH 14 |
| // 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 VERSION_SERIAL_MAJOR 11 |
| #define VERSION_SERIAL_MINOR 0 |
| |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 51 |
| #else |
| #define FC_SPI_COMPATIBLE 0xFF |
| #endif |
| |
| #define MK3MAG_I2C_COMPATIBLE 3 |
| |
| // 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 |
| |
| // FC ERRORS FLAGS |
| #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 |
| |
| #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_RES1 0x20 |
| #define FC_ERROR1_RES2 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 |
| |
| //Parameter.GlobalConfig3 |
| #define CFG3_NO_SDCARD_NO_START 0x01 |
| #define CFG3_DPH_MAX_RADIUS 0x02 |
| #define CFG3_VARIO_FAILSAFE 0x04 |
| #define CFG3_MOTOR_SWITCH_MODE 0x08 |
| #define CFG3_NO_GPSFIX_NO_START 0x10 |
| |
| // 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 FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
| |
| //Parameter.ExtraConfig |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 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 |
| |
| #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 u16 BeepTime; |
| extern u8 NCFlags; |
| extern u8 ClearFCStatusFlags; |
| 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 NaviAccCompensation; |
| u8 NaviSpeedCompensation; |
| u8 LowVoltageWarning; |
| u8 NaviAngleLimitation; |
| u8 NaviPH_LoginTime; |
| u8 OrientationAngle; |
| u8 GlobalConfig; |
| u8 ExtraConfig; |
| u8 ComingHomeAltitude; |
| u8 GlobalConfig3; |
| } __attribute__((packed)) Param_t; |
| |
| typedef struct |
| { |
| s8 StickNick; |
| s8 StickRoll; |
| s8 StickYaw; |
| s8 StickGas; |
| u8 Poti[8]; |
| u8 RC_Quality; |
| u8 RC_RSSI; |
| u8 BAT_Voltage; |
| u16 BAT_Current; |
| u16 BAT_UsedCapacity; |
| u8 StatusFlags; |
| u8 Error[5]; |
| u8 StatusFlags2; |
| } __attribute__((packed)) FC_t; |
| |
| |
| extern Param_t Parameter; |
| extern volatile FC_t FC; |
| extern s8 ErrorMSG[25]; |
| extern u8 ErrorCode; |
| extern u8 StopNavigation; |
| extern u8 ErrorGpsFixLost; |
| 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; |
| |
| #endif // _MAIN_H |