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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 | |
314 | killagreg | 4 | |
5 | //#define FOLLOW_ME |
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6 | |||
7 | #ifdef FOLLOW_ME |
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8 | extern u8 TransmitAlsoToFC; |
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9 | #endif |
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10 | |||
250 | ingob | 11 | //----------------------- |
256 | killagreg | 12 | //#define DEBUG 0 |
250 | ingob | 13 | //----------------------- |
14 | |||
41 | ingob | 15 | #define VERSION_MAJOR 0 |
302 | holgerb | 16 | #define VERSION_MINOR 24 |
311 | killagreg | 17 | #define VERSION_PATCH 4 |
283 | holgerb | 18 | // 0 = A |
19 | // 1 = B |
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20 | // 2 = C |
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21 | // 3 = D |
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22 | // 4 = E |
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23 | // 5 = F |
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24 | // 6 = G |
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25 | // 7 = H |
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26 | // 8 = I |
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287 | holgerb | 27 | // 9 = J |
290 | holgerb | 28 | // 10 = k |
291 | holgerb | 29 | // 11 = L |
294 | holgerb | 30 | // 12 = M |
298 | holgerb | 31 | // 13 = N |
32 | // 14 = o |
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1 | ingob | 33 | |
193 | killagreg | 34 | #define VERSION_SERIAL_MAJOR 11 |
35 | #define VERSION_SERIAL_MINOR 0 |
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73 | killagreg | 36 | |
285 | holgerb | 37 | #define FC_SPI_COMPATIBLE 19 |
229 | holgerb | 38 | #define MK3MAG_I2C_COMPATIBLE 3 |
241 | killagreg | 39 | |
311 | killagreg | 40 | // FC STATUS FLAGS |
255 | killagreg | 41 | #define FC_STATUS_MOTOR_RUN 0x01 |
42 | #define FC_STATUS_FLY 0x02 |
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43 | #define FC_STATUS_CALIBRATE 0x04 |
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44 | #define FC_STATUS_START 0x08 |
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45 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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46 | #define FC_STATUS_LOWBAT 0x20 |
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279 | holgerb | 47 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
48 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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78 | holgerb | 49 | |
294 | holgerb | 50 | // FC STATUS FLAGS2 |
51 | #define FC_STATUS2_CAREFREE 0x01 |
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52 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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53 | |||
54 | |||
255 | killagreg | 55 | // FC ERRORS FLAGS |
56 | #define FC_ERROR0_GYRO_NICK 0x01 |
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57 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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58 | #define FC_ERROR0_GYRO_YAW 0x04 |
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59 | #define FC_ERROR0_ACC_NICK 0x08 |
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60 | #define FC_ERROR0_ACC_ROLL 0x10 |
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61 | #define FC_ERROR0_ACC_TOP 0x20 |
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62 | #define FC_ERROR0_PRESSURE 0x40 |
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63 | #define FC_ERROR0_CAREFREE 0x80 |
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64 | |||
65 | #define FC_ERROR1_I2C 0x01 |
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66 | #define FC_ERROR1_BL_MISSING 0x02 |
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67 | #define FC_ERROR1_SPI_RX 0x04 |
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68 | #define FC_ERROR1_PPM 0x08 |
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69 | #define FC_ERROR1_MIXER 0x10 |
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70 | #define FC_ERROR1_RES1 0x20 |
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71 | #define FC_ERROR1_RES2 0x40 |
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72 | #define FC_ERROR1_RES3 0x80 |
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73 | |||
146 | killagreg | 74 | // NC Errors |
75 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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76 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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77 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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78 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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79 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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80 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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81 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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264 | killagreg | 82 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
49 | ingob | 83 | |
190 | killagreg | 84 | |
85 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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86 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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87 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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88 | |||
41 | ingob | 89 | extern u16 BeepTime; |
92 | killagreg | 90 | extern u8 NCFlags; |
255 | killagreg | 91 | extern u8 ClearFCStatusFlags; |
41 | ingob | 92 | void Interrupt_Init(void); |
153 | killagreg | 93 | extern s16 GeoMagDec; |
1 | ingob | 94 | |
138 | holgerb | 95 | |
41 | ingob | 96 | typedef struct |
97 | { |
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98 | u8 ActiveSetting; |
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99 | u8 User1; |
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100 | u8 User2; |
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101 | u8 User3; |
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102 | u8 User4; |
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103 | u8 User5; |
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104 | u8 User6; |
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105 | u8 User7; |
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106 | u8 User8; |
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107 | u8 NaviGpsModeControl; |
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108 | u8 NaviGpsGain; |
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109 | u8 NaviGpsP; |
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110 | u8 NaviGpsI; |
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111 | u8 NaviGpsD; |
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56 | holgerb | 112 | u8 NaviGpsPLimit; |
113 | u8 NaviGpsILimit; |
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114 | u8 NaviGpsDLimit; |
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41 | ingob | 115 | u8 NaviGpsACC; |
116 | u8 NaviGpsMinSat; |
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117 | u8 NaviStickThreshold; |
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118 | u8 NaviOperatingRadius; |
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119 | u8 NaviWindCorrection; |
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120 | u8 NaviSpeedCompensation; |
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121 | u8 LowVoltageWarning; |
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122 | u8 NaviAngleLimitation; |
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56 | holgerb | 123 | u8 NaviPH_LoginTime; |
41 | ingob | 124 | } __attribute__((packed)) Param_t; |
1 | ingob | 125 | |
41 | ingob | 126 | typedef struct |
127 | { |
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128 | s8 StickNick; |
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129 | s8 StickRoll; |
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130 | s8 StickYaw; |
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131 | s8 StickGas; |
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190 | killagreg | 132 | u8 Poti[8]; |
207 | holgerb | 133 | u8 Poti5; |
134 | u8 Poti6; |
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135 | u8 Poti7; |
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136 | u8 Poti8; |
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41 | ingob | 137 | u8 RC_Quality; |
125 | killagreg | 138 | u8 RC_RSSI; |
206 | killagreg | 139 | u8 BAT_Voltage; |
140 | u16 BAT_Current; |
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141 | u16 BAT_UsedCapacity; |
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255 | killagreg | 142 | u8 StatusFlags; |
143 | u8 Error[5]; |
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294 | holgerb | 144 | u8 StatusFlags2; |
41 | ingob | 145 | } __attribute__((packed)) FC_t; |
1 | ingob | 146 | |
242 | killagreg | 147 | |
41 | ingob | 148 | extern Param_t Parameter; |
78 | holgerb | 149 | extern volatile FC_t FC; |
41 | ingob | 150 | extern s8 ErrorMSG[25]; |
241 | killagreg | 151 | extern u8 ErrorCode; |
41 | ingob | 152 | extern u8 StopNavigation; |
153 | #endif // _MAIN_H |