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| #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 |