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