Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
||
1 | ingob | 3 | |
250 | ingob | 4 | //----------------------- |
256 | killagreg | 5 | //#define DEBUG 0 |
250 | ingob | 6 | //----------------------- |
7 | |||
41 | ingob | 8 | #define VERSION_MAJOR 0 |
260 | holgerb | 9 | #define VERSION_MINOR 22 |
10 | #define VERSION_PATCH 0 |
||
1 | ingob | 11 | |
193 | killagreg | 12 | #define VERSION_SERIAL_MAJOR 11 |
13 | #define VERSION_SERIAL_MINOR 0 |
||
73 | killagreg | 14 | |
259 | holgerb | 15 | #define FC_SPI_COMPATIBLE 16 |
229 | holgerb | 16 | #define MK3MAG_I2C_COMPATIBLE 3 |
241 | killagreg | 17 | |
255 | killagreg | 18 | // FC STATUS FLAGS |
19 | #define FC_STATUS_MOTOR_RUN 0x01 |
||
20 | #define FC_STATUS_FLY 0x02 |
||
21 | #define FC_STATUS_CALIBRATE 0x04 |
||
22 | #define FC_STATUS_START 0x08 |
||
23 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
||
24 | #define FC_STATUS_LOWBAT 0x20 |
||
25 | #define FC_STATUS_RES1 0x40 |
||
26 | #define FC_STATUS_RES2 0x80 |
||
78 | holgerb | 27 | |
255 | killagreg | 28 | // FC ERRORS FLAGS |
29 | #define FC_ERROR0_GYRO_NICK 0x01 |
||
30 | #define FC_ERROR0_GYRO_ROLL 0x02 |
||
31 | #define FC_ERROR0_GYRO_YAW 0x04 |
||
32 | #define FC_ERROR0_ACC_NICK 0x08 |
||
33 | #define FC_ERROR0_ACC_ROLL 0x10 |
||
34 | #define FC_ERROR0_ACC_TOP 0x20 |
||
35 | #define FC_ERROR0_PRESSURE 0x40 |
||
36 | #define FC_ERROR0_CAREFREE 0x80 |
||
37 | |||
38 | #define FC_ERROR1_I2C 0x01 |
||
39 | #define FC_ERROR1_BL_MISSING 0x02 |
||
40 | #define FC_ERROR1_SPI_RX 0x04 |
||
41 | #define FC_ERROR1_PPM 0x08 |
||
42 | #define FC_ERROR1_MIXER 0x10 |
||
43 | #define FC_ERROR1_RES1 0x20 |
||
44 | #define FC_ERROR1_RES2 0x40 |
||
45 | #define FC_ERROR1_RES3 0x80 |
||
46 | |||
146 | killagreg | 47 | // NC Errors |
48 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
||
49 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
||
50 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
||
51 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
||
52 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
||
53 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
||
54 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
||
49 | ingob | 55 | |
190 | killagreg | 56 | |
57 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
||
58 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
||
59 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
||
60 | |||
218 | killagreg | 61 | extern u8 BoardRelease; |
41 | ingob | 62 | extern u16 BeepTime; |
92 | killagreg | 63 | extern u8 NCFlags; |
255 | killagreg | 64 | extern u8 ClearFCStatusFlags; |
41 | ingob | 65 | void Interrupt_Init(void); |
153 | killagreg | 66 | extern s16 GeoMagDec; |
1 | ingob | 67 | |
138 | holgerb | 68 | |
41 | ingob | 69 | typedef struct |
70 | { |
||
71 | u8 ActiveSetting; |
||
72 | u8 User1; |
||
73 | u8 User2; |
||
74 | u8 User3; |
||
75 | u8 User4; |
||
76 | u8 User5; |
||
77 | u8 User6; |
||
78 | u8 User7; |
||
79 | u8 User8; |
||
80 | u8 NaviGpsModeControl; |
||
81 | u8 NaviGpsGain; |
||
82 | u8 NaviGpsP; |
||
83 | u8 NaviGpsI; |
||
84 | u8 NaviGpsD; |
||
56 | holgerb | 85 | u8 NaviGpsPLimit; |
86 | u8 NaviGpsILimit; |
||
87 | u8 NaviGpsDLimit; |
||
41 | ingob | 88 | u8 NaviGpsACC; |
89 | u8 NaviGpsMinSat; |
||
90 | u8 NaviStickThreshold; |
||
91 | u8 NaviOperatingRadius; |
||
92 | u8 NaviWindCorrection; |
||
93 | u8 NaviSpeedCompensation; |
||
94 | u8 LowVoltageWarning; |
||
95 | u8 NaviAngleLimitation; |
||
56 | holgerb | 96 | u8 NaviPH_LoginTime; |
41 | ingob | 97 | } __attribute__((packed)) Param_t; |
1 | ingob | 98 | |
41 | ingob | 99 | typedef struct |
100 | { |
||
101 | s8 StickNick; |
||
102 | s8 StickRoll; |
||
103 | s8 StickYaw; |
||
104 | s8 StickGas; |
||
190 | killagreg | 105 | u8 Poti[8]; |
207 | holgerb | 106 | u8 Poti5; |
107 | u8 Poti6; |
||
108 | u8 Poti7; |
||
109 | u8 Poti8; |
||
41 | ingob | 110 | u8 RC_Quality; |
125 | killagreg | 111 | u8 RC_RSSI; |
206 | killagreg | 112 | u8 BAT_Voltage; |
113 | u16 BAT_Current; |
||
114 | u16 BAT_UsedCapacity; |
||
255 | killagreg | 115 | u8 StatusFlags; |
116 | u8 Error[5]; |
||
41 | ingob | 117 | } __attribute__((packed)) FC_t; |
1 | ingob | 118 | |
242 | killagreg | 119 | |
41 | ingob | 120 | extern Param_t Parameter; |
78 | holgerb | 121 | extern volatile FC_t FC; |
41 | ingob | 122 | extern s8 ErrorMSG[25]; |
241 | killagreg | 123 | extern u8 ErrorCode; |
41 | ingob | 124 | extern u8 StopNavigation; |
125 | #endif // _MAIN_H |