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41 | ingob | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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1 | ingob | 3 | |
314 | killagreg | 4 | |
317 | holgerb | 5 | #define FOLLOW_ME |
314 | killagreg | 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 |
317 | holgerb | 17 | #define VERSION_PATCH 5 |
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 | |
317 | holgerb | 37 | #ifndef FOLLOW_ME |
285 | holgerb | 38 | #define FC_SPI_COMPATIBLE 19 |
317 | holgerb | 39 | #else |
316 | killagreg | 40 | #define FC_SPI_COMPATIBLE 0xFF |
41 | #endif |
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42 | |||
229 | holgerb | 43 | #define MK3MAG_I2C_COMPATIBLE 3 |
241 | killagreg | 44 | |
311 | killagreg | 45 | // FC STATUS FLAGS |
255 | killagreg | 46 | #define FC_STATUS_MOTOR_RUN 0x01 |
47 | #define FC_STATUS_FLY 0x02 |
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48 | #define FC_STATUS_CALIBRATE 0x04 |
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49 | #define FC_STATUS_START 0x08 |
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50 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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51 | #define FC_STATUS_LOWBAT 0x20 |
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279 | holgerb | 52 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
53 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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78 | holgerb | 54 | |
294 | holgerb | 55 | // FC STATUS FLAGS2 |
56 | #define FC_STATUS2_CAREFREE 0x01 |
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57 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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58 | |||
59 | |||
255 | killagreg | 60 | // FC ERRORS FLAGS |
61 | #define FC_ERROR0_GYRO_NICK 0x01 |
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62 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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63 | #define FC_ERROR0_GYRO_YAW 0x04 |
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64 | #define FC_ERROR0_ACC_NICK 0x08 |
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65 | #define FC_ERROR0_ACC_ROLL 0x10 |
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66 | #define FC_ERROR0_ACC_TOP 0x20 |
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67 | #define FC_ERROR0_PRESSURE 0x40 |
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68 | #define FC_ERROR0_CAREFREE 0x80 |
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69 | |||
70 | #define FC_ERROR1_I2C 0x01 |
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71 | #define FC_ERROR1_BL_MISSING 0x02 |
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72 | #define FC_ERROR1_SPI_RX 0x04 |
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73 | #define FC_ERROR1_PPM 0x08 |
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74 | #define FC_ERROR1_MIXER 0x10 |
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75 | #define FC_ERROR1_RES1 0x20 |
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76 | #define FC_ERROR1_RES2 0x40 |
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77 | #define FC_ERROR1_RES3 0x80 |
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78 | |||
146 | killagreg | 79 | // NC Errors |
80 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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81 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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82 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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83 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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84 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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85 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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86 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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264 | killagreg | 87 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
49 | ingob | 88 | |
190 | killagreg | 89 | |
90 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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91 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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92 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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93 | |||
41 | ingob | 94 | extern u16 BeepTime; |
92 | killagreg | 95 | extern u8 NCFlags; |
255 | killagreg | 96 | extern u8 ClearFCStatusFlags; |
41 | ingob | 97 | void Interrupt_Init(void); |
153 | killagreg | 98 | extern s16 GeoMagDec; |
1 | ingob | 99 | |
138 | holgerb | 100 | |
41 | ingob | 101 | typedef struct |
102 | { |
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103 | u8 ActiveSetting; |
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104 | u8 User1; |
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105 | u8 User2; |
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106 | u8 User3; |
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107 | u8 User4; |
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108 | u8 User5; |
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109 | u8 User6; |
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110 | u8 User7; |
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111 | u8 User8; |
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112 | u8 NaviGpsModeControl; |
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113 | u8 NaviGpsGain; |
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114 | u8 NaviGpsP; |
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115 | u8 NaviGpsI; |
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116 | u8 NaviGpsD; |
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56 | holgerb | 117 | u8 NaviGpsPLimit; |
118 | u8 NaviGpsILimit; |
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119 | u8 NaviGpsDLimit; |
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41 | ingob | 120 | u8 NaviGpsACC; |
121 | u8 NaviGpsMinSat; |
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122 | u8 NaviStickThreshold; |
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123 | u8 NaviOperatingRadius; |
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124 | u8 NaviWindCorrection; |
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125 | u8 NaviSpeedCompensation; |
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126 | u8 LowVoltageWarning; |
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127 | u8 NaviAngleLimitation; |
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56 | holgerb | 128 | u8 NaviPH_LoginTime; |
41 | ingob | 129 | } __attribute__((packed)) Param_t; |
1 | ingob | 130 | |
41 | ingob | 131 | typedef struct |
132 | { |
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133 | s8 StickNick; |
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134 | s8 StickRoll; |
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135 | s8 StickYaw; |
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136 | s8 StickGas; |
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190 | killagreg | 137 | u8 Poti[8]; |
207 | holgerb | 138 | u8 Poti5; |
139 | u8 Poti6; |
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140 | u8 Poti7; |
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141 | u8 Poti8; |
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41 | ingob | 142 | u8 RC_Quality; |
125 | killagreg | 143 | u8 RC_RSSI; |
206 | killagreg | 144 | u8 BAT_Voltage; |
145 | u16 BAT_Current; |
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146 | u16 BAT_UsedCapacity; |
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255 | killagreg | 147 | u8 StatusFlags; |
148 | u8 Error[5]; |
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294 | holgerb | 149 | u8 StatusFlags2; |
41 | ingob | 150 | } __attribute__((packed)) FC_t; |
1 | ingob | 151 | |
242 | killagreg | 152 | |
41 | ingob | 153 | extern Param_t Parameter; |
78 | holgerb | 154 | extern volatile FC_t FC; |
41 | ingob | 155 | extern s8 ErrorMSG[25]; |
241 | killagreg | 156 | extern u8 ErrorCode; |
41 | ingob | 157 | extern u8 StopNavigation; |
158 | #endif // _MAIN_H |