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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 | |
4 | |||
41 | ingob | 5 | #define VERSION_MAJOR 0 |
190 | killagreg | 6 | #define VERSION_MINOR 18 |
7 | #define VERSION_PATCH 0 |
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1 | ingob | 8 | |
193 | killagreg | 9 | #define VERSION_SERIAL_MAJOR 11 |
10 | #define VERSION_SERIAL_MINOR 0 |
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73 | killagreg | 11 | |
190 | killagreg | 12 | #define FC_SPI_COMPATIBLE 11 |
137 | killagreg | 13 | #define MK3MAG_I2C_COMPATIBLE 3 |
1 | ingob | 14 | |
146 | killagreg | 15 | // FC FLAGS |
78 | holgerb | 16 | #define MKFLAG_MOTOR_RUN 0x01 |
17 | #define MKFLAG_FLY 0x02 |
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18 | #define MKFLAG_CALIBRATE 0x04 |
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19 | #define MKFLAG_START 0x08 |
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20 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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21 | #define MKFLAG_RESERVE1 0x20 |
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22 | #define MKFLAG_RESERVE2 0x40 |
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23 | #define MKFLAG_RESERVE3 0x80 |
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24 | |||
146 | killagreg | 25 | // NC Errors |
26 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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27 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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28 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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29 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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30 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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31 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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32 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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49 | ingob | 33 | |
190 | killagreg | 34 | |
35 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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36 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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37 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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38 | |||
39 | |||
41 | ingob | 40 | extern u16 BeepTime; |
92 | killagreg | 41 | extern u8 NCFlags; |
41 | ingob | 42 | extern u8 ClearMKFlags; |
43 | void Interrupt_Init(void); |
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153 | killagreg | 44 | extern s16 GeoMagDec; |
1 | ingob | 45 | |
138 | holgerb | 46 | |
41 | ingob | 47 | typedef struct |
48 | { |
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49 | u8 ActiveSetting; |
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50 | u8 User1; |
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51 | u8 User2; |
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52 | u8 User3; |
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53 | u8 User4; |
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54 | u8 User5; |
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55 | u8 User6; |
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56 | u8 User7; |
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57 | u8 User8; |
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58 | u8 NaviGpsModeControl; |
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59 | u8 NaviGpsGain; |
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60 | u8 NaviGpsP; |
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61 | u8 NaviGpsI; |
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62 | u8 NaviGpsD; |
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56 | holgerb | 63 | u8 NaviGpsPLimit; |
64 | u8 NaviGpsILimit; |
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65 | u8 NaviGpsDLimit; |
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41 | ingob | 66 | u8 NaviGpsACC; |
67 | u8 NaviGpsMinSat; |
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68 | u8 NaviStickThreshold; |
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69 | u8 NaviOperatingRadius; |
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70 | u8 NaviWindCorrection; |
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71 | u8 NaviSpeedCompensation; |
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72 | u8 LowVoltageWarning; |
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73 | u8 NaviAngleLimitation; |
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56 | holgerb | 74 | u8 NaviPH_LoginTime; |
41 | ingob | 75 | } __attribute__((packed)) Param_t; |
1 | ingob | 76 | |
41 | ingob | 77 | typedef struct |
78 | { |
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79 | s8 StickNick; |
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80 | s8 StickRoll; |
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81 | s8 StickYaw; |
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82 | s8 StickGas; |
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190 | killagreg | 83 | u8 Poti[8]; |
41 | ingob | 84 | u8 RC_Quality; |
125 | killagreg | 85 | u8 RC_RSSI; |
41 | ingob | 86 | u8 UBat; |
87 | u8 MKFlags; |
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88 | } __attribute__((packed)) FC_t; |
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1 | ingob | 89 | |
27 | holgerb | 90 | |
41 | ingob | 91 | extern Param_t Parameter; |
78 | holgerb | 92 | extern volatile FC_t FC; |
41 | ingob | 93 | extern s8 ErrorMSG[25]; |
146 | killagreg | 94 | extern u32 ErrorCode; |
41 | ingob | 95 | extern u8 StopNavigation; |
96 | #endif // _MAIN_H |