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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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1 | ingob | 3 | |
250 | ingob | 4 | //----------------------- |
5 | //#define DEBUG 1 |
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6 | //----------------------- |
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7 | |||
8 | |||
41 | ingob | 9 | #define VERSION_MAJOR 0 |
241 | killagreg | 10 | #define VERSION_MINOR 21 |
11 | #define VERSION_PATCH 0 |
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1 | ingob | 12 | |
193 | killagreg | 13 | #define VERSION_SERIAL_MAJOR 11 |
14 | #define VERSION_SERIAL_MINOR 0 |
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73 | killagreg | 15 | |
231 | holgerb | 16 | #define FC_SPI_COMPATIBLE 14 |
229 | holgerb | 17 | #define MK3MAG_I2C_COMPATIBLE 3 |
241 | killagreg | 18 | |
146 | killagreg | 19 | // FC FLAGS |
199 | killagreg | 20 | #define FCFLAG_MOTOR_RUN 0x01 |
21 | #define FCFLAG_FLY 0x02 |
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22 | #define FCFLAG_CALIBRATE 0x04 |
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23 | #define FCFLAG_START 0x08 |
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24 | #define FCFLAG_EMERGENCY_LANDING 0x10 |
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25 | #define FCFLAG_LOWBAT 0x20 |
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26 | #define FCFLAG_SPI_RX_ERR 0x40 |
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27 | #define FCFLAG_RESERVE1 0x80 |
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78 | holgerb | 28 | |
146 | killagreg | 29 | // NC Errors |
30 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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31 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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32 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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33 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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34 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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35 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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36 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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49 | ingob | 37 | |
190 | killagreg | 38 | |
39 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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40 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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41 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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42 | |||
218 | killagreg | 43 | extern u8 BoardRelease; |
41 | ingob | 44 | extern u16 BeepTime; |
92 | killagreg | 45 | extern u8 NCFlags; |
199 | killagreg | 46 | extern u8 ClearFCFlags; |
41 | ingob | 47 | void Interrupt_Init(void); |
153 | killagreg | 48 | extern s16 GeoMagDec; |
1 | ingob | 49 | |
138 | holgerb | 50 | |
41 | ingob | 51 | typedef struct |
52 | { |
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53 | u8 ActiveSetting; |
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54 | u8 User1; |
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55 | u8 User2; |
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56 | u8 User3; |
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57 | u8 User4; |
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58 | u8 User5; |
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59 | u8 User6; |
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60 | u8 User7; |
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61 | u8 User8; |
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62 | u8 NaviGpsModeControl; |
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63 | u8 NaviGpsGain; |
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64 | u8 NaviGpsP; |
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65 | u8 NaviGpsI; |
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66 | u8 NaviGpsD; |
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56 | holgerb | 67 | u8 NaviGpsPLimit; |
68 | u8 NaviGpsILimit; |
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69 | u8 NaviGpsDLimit; |
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41 | ingob | 70 | u8 NaviGpsACC; |
71 | u8 NaviGpsMinSat; |
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72 | u8 NaviStickThreshold; |
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73 | u8 NaviOperatingRadius; |
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74 | u8 NaviWindCorrection; |
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75 | u8 NaviSpeedCompensation; |
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76 | u8 LowVoltageWarning; |
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77 | u8 NaviAngleLimitation; |
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56 | holgerb | 78 | u8 NaviPH_LoginTime; |
41 | ingob | 79 | } __attribute__((packed)) Param_t; |
1 | ingob | 80 | |
41 | ingob | 81 | typedef struct |
82 | { |
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83 | s8 StickNick; |
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84 | s8 StickRoll; |
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85 | s8 StickYaw; |
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86 | s8 StickGas; |
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190 | killagreg | 87 | u8 Poti[8]; |
207 | holgerb | 88 | u8 Poti5; |
89 | u8 Poti6; |
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90 | u8 Poti7; |
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91 | u8 Poti8; |
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41 | ingob | 92 | u8 RC_Quality; |
125 | killagreg | 93 | u8 RC_RSSI; |
206 | killagreg | 94 | u8 BAT_Voltage; |
95 | u16 BAT_Current; |
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96 | u16 BAT_UsedCapacity; |
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199 | killagreg | 97 | u8 Flags; |
41 | ingob | 98 | } __attribute__((packed)) FC_t; |
1 | ingob | 99 | |
242 | killagreg | 100 | |
41 | ingob | 101 | extern Param_t Parameter; |
78 | holgerb | 102 | extern volatile FC_t FC; |
41 | ingob | 103 | extern s8 ErrorMSG[25]; |
241 | killagreg | 104 | extern u8 ErrorCode; |
41 | ingob | 105 | extern u8 StopNavigation; |
106 | #endif // _MAIN_H |