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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   14
#define VERSION_PATCH   1
// 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     1
#ifndef FOLLOW_ME
#define FC_SPI_COMPATIBLE               81      //   <------------------
#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

#define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80)
#define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10)

// .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


// 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

//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

// 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 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


#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

#endif // _MAIN_H