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41 | ingob | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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1 | ingob | 3 | |
250 | ingob | 4 | //----------------------- |
256 | killagreg | 5 | //#define DEBUG 0 |
250 | ingob | 6 | //----------------------- |
7 | |||
41 | ingob | 8 | #define VERSION_MAJOR 0 |
265 | holgerb | 9 | #define VERSION_MINOR 23 |
290 | holgerb | 10 | #define VERSION_PATCH 10 |
283 | holgerb | 11 | // 0 = A |
12 | // 1 = B |
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13 | // 2 = C |
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14 | // 3 = D |
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15 | // 4 = E |
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16 | // 5 = F |
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17 | // 6 = G |
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18 | // 7 = H |
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19 | // 8 = I |
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287 | holgerb | 20 | // 9 = J |
290 | holgerb | 21 | // 10 = k |
1 | ingob | 22 | |
193 | killagreg | 23 | #define VERSION_SERIAL_MAJOR 11 |
24 | #define VERSION_SERIAL_MINOR 0 |
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73 | killagreg | 25 | |
285 | holgerb | 26 | #define FC_SPI_COMPATIBLE 19 |
229 | holgerb | 27 | #define MK3MAG_I2C_COMPATIBLE 3 |
241 | killagreg | 28 | |
255 | killagreg | 29 | // FC STATUS FLAGS |
30 | #define FC_STATUS_MOTOR_RUN 0x01 |
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31 | #define FC_STATUS_FLY 0x02 |
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32 | #define FC_STATUS_CALIBRATE 0x04 |
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33 | #define FC_STATUS_START 0x08 |
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34 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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35 | #define FC_STATUS_LOWBAT 0x20 |
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279 | holgerb | 36 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
37 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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78 | holgerb | 38 | |
255 | killagreg | 39 | // FC ERRORS FLAGS |
40 | #define FC_ERROR0_GYRO_NICK 0x01 |
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41 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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42 | #define FC_ERROR0_GYRO_YAW 0x04 |
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43 | #define FC_ERROR0_ACC_NICK 0x08 |
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44 | #define FC_ERROR0_ACC_ROLL 0x10 |
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45 | #define FC_ERROR0_ACC_TOP 0x20 |
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46 | #define FC_ERROR0_PRESSURE 0x40 |
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47 | #define FC_ERROR0_CAREFREE 0x80 |
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48 | |||
49 | #define FC_ERROR1_I2C 0x01 |
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50 | #define FC_ERROR1_BL_MISSING 0x02 |
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51 | #define FC_ERROR1_SPI_RX 0x04 |
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52 | #define FC_ERROR1_PPM 0x08 |
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53 | #define FC_ERROR1_MIXER 0x10 |
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54 | #define FC_ERROR1_RES1 0x20 |
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55 | #define FC_ERROR1_RES2 0x40 |
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56 | #define FC_ERROR1_RES3 0x80 |
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57 | |||
146 | killagreg | 58 | // NC Errors |
59 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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60 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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61 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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62 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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63 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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64 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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65 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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264 | killagreg | 66 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
49 | ingob | 67 | |
190 | killagreg | 68 | |
69 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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70 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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71 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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72 | |||
41 | ingob | 73 | extern u16 BeepTime; |
92 | killagreg | 74 | extern u8 NCFlags; |
255 | killagreg | 75 | extern u8 ClearFCStatusFlags; |
41 | ingob | 76 | void Interrupt_Init(void); |
153 | killagreg | 77 | extern s16 GeoMagDec; |
1 | ingob | 78 | |
138 | holgerb | 79 | |
41 | ingob | 80 | typedef struct |
81 | { |
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82 | u8 ActiveSetting; |
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83 | u8 User1; |
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84 | u8 User2; |
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85 | u8 User3; |
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86 | u8 User4; |
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87 | u8 User5; |
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88 | u8 User6; |
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89 | u8 User7; |
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90 | u8 User8; |
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91 | u8 NaviGpsModeControl; |
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92 | u8 NaviGpsGain; |
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93 | u8 NaviGpsP; |
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94 | u8 NaviGpsI; |
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95 | u8 NaviGpsD; |
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56 | holgerb | 96 | u8 NaviGpsPLimit; |
97 | u8 NaviGpsILimit; |
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98 | u8 NaviGpsDLimit; |
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41 | ingob | 99 | u8 NaviGpsACC; |
100 | u8 NaviGpsMinSat; |
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101 | u8 NaviStickThreshold; |
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102 | u8 NaviOperatingRadius; |
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103 | u8 NaviWindCorrection; |
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104 | u8 NaviSpeedCompensation; |
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105 | u8 LowVoltageWarning; |
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106 | u8 NaviAngleLimitation; |
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56 | holgerb | 107 | u8 NaviPH_LoginTime; |
41 | ingob | 108 | } __attribute__((packed)) Param_t; |
1 | ingob | 109 | |
41 | ingob | 110 | typedef struct |
111 | { |
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112 | s8 StickNick; |
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113 | s8 StickRoll; |
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114 | s8 StickYaw; |
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115 | s8 StickGas; |
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190 | killagreg | 116 | u8 Poti[8]; |
207 | holgerb | 117 | u8 Poti5; |
118 | u8 Poti6; |
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119 | u8 Poti7; |
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120 | u8 Poti8; |
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41 | ingob | 121 | u8 RC_Quality; |
125 | killagreg | 122 | u8 RC_RSSI; |
206 | killagreg | 123 | u8 BAT_Voltage; |
124 | u16 BAT_Current; |
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125 | u16 BAT_UsedCapacity; |
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255 | killagreg | 126 | u8 StatusFlags; |
127 | u8 Error[5]; |
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41 | ingob | 128 | } __attribute__((packed)) FC_t; |
1 | ingob | 129 | |
242 | killagreg | 130 | |
41 | ingob | 131 | extern Param_t Parameter; |
78 | holgerb | 132 | extern volatile FC_t FC; |
41 | ingob | 133 | extern s8 ErrorMSG[25]; |
241 | killagreg | 134 | extern u8 ErrorCode; |
41 | ingob | 135 | extern u8 StopNavigation; |
136 | #endif // _MAIN_H |