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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 | |
318 | 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 | //----------------------- |
434 | holgerb | 12 | //#define DEBUG 0 |
250 | ingob | 13 | //----------------------- |
14 | |||
458 | holgerb | 15 | #define VERSION_MAJOR 2 |
764 | holgerb | 16 | #define VERSION_MINOR 15 |
766 | holgerb | 17 | #define VERSION_PATCH 3 |
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 |
338 | holgerb | 32 | // 14 = O |
33 | // 15 = P |
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34 | // 16 = Q |
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35 | // 17 = R |
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339 | holgerb | 36 | // 18 = S |
1 | ingob | 37 | |
766 | holgerb | 38 | #define CAN_SLAVE_COMPATIBLE 2 |
317 | holgerb | 39 | #ifndef FOLLOW_ME |
764 | holgerb | 40 | #define FC_SPI_COMPATIBLE 83 // <------------------ |
317 | holgerb | 41 | #else |
316 | killagreg | 42 | #define FC_SPI_COMPATIBLE 0xFF |
43 | #endif |
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44 | |||
229 | holgerb | 45 | #define MK3MAG_I2C_COMPATIBLE 3 |
607 | holgerb | 46 | #define MAX_MOTORS 16 // since 2.10 (3.2014) |
241 | killagreg | 47 | |
320 | holgerb | 48 | // FC.StatusFlags |
255 | killagreg | 49 | #define FC_STATUS_MOTOR_RUN 0x01 |
50 | #define FC_STATUS_FLY 0x02 |
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51 | #define FC_STATUS_CALIBRATE 0x04 |
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52 | #define FC_STATUS_START 0x08 |
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53 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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54 | #define FC_STATUS_LOWBAT 0x20 |
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279 | holgerb | 55 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
56 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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78 | holgerb | 57 | |
320 | holgerb | 58 | // FC.StatusFlags2 |
294 | holgerb | 59 | #define FC_STATUS2_CAREFREE 0x01 |
60 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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322 | holgerb | 61 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
360 | holgerb | 62 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
63 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
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447 | holgerb | 64 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
699 | holgerb | 65 | #define FC_STATUS2_AUTO_STARTING 0x40 |
66 | #define FC_STATUS2_AUTO_LANDING 0x80 |
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294 | holgerb | 67 | |
573 | holgerb | 68 | // FC.StatusFlags3 |
616 | holgerb | 69 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
573 | holgerb | 70 | #define FC_STATUS3_BOAT 0x02 |
616 | holgerb | 71 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
72 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
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699 | holgerb | 73 | #define FC_STATUS3_NOT_CALIBRATED 0x10 |
74 | #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
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573 | holgerb | 75 | |
595 | holgerb | 76 | #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
77 | #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
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78 | |||
79 | // .NCFlags |
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80 | #define NC_FLAG_FREE 0x01 |
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81 | #define NC_FLAG_PH 0x02 |
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82 | #define NC_FLAG_CH 0x04 |
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83 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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84 | #define NC_FLAG_NOSERIALLINK 0x10 |
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85 | #define NC_FLAG_TARGET_REACHED 0x20 |
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86 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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87 | #define NC_FLAG_GPS_OK 0x80 |
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88 | |||
764 | holgerb | 89 | //IO1_Function |
90 | #define IO1FUNC_PARACHUTE 9 |
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91 | #define IO1FUNC_ERROR_PARACHUTE 255 |
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595 | holgerb | 92 | |
93 | // NC calculates |
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94 | //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
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95 | //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
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96 | |||
97 | //calculate Back: |
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98 | //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
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99 | //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
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100 | |||
707 | holgerb | 101 | // FC.Error[0] |
255 | killagreg | 102 | #define FC_ERROR0_GYRO_NICK 0x01 |
103 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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104 | #define FC_ERROR0_GYRO_YAW 0x04 |
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105 | #define FC_ERROR0_ACC_NICK 0x08 |
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106 | #define FC_ERROR0_ACC_ROLL 0x10 |
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107 | #define FC_ERROR0_ACC_TOP 0x20 |
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108 | #define FC_ERROR0_PRESSURE 0x40 |
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109 | #define FC_ERROR0_CAREFREE 0x80 |
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110 | |||
707 | holgerb | 111 | // FC.Error[1] |
255 | killagreg | 112 | #define FC_ERROR1_I2C 0x01 |
113 | #define FC_ERROR1_BL_MISSING 0x02 |
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114 | #define FC_ERROR1_SPI_RX 0x04 |
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115 | #define FC_ERROR1_PPM 0x08 |
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116 | #define FC_ERROR1_MIXER 0x10 |
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707 | holgerb | 117 | #define FC_ERROR1_RC_VOLTAGE 0x20 |
118 | #define FC_ERROR1_ACC_NOT_CAL 0x40 |
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255 | killagreg | 119 | #define FC_ERROR1_RES3 0x80 |
120 | |||
146 | killagreg | 121 | // NC Errors |
122 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
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123 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
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124 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
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125 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
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126 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
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127 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
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128 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
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264 | killagreg | 129 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
49 | ingob | 130 | |
625 | holgerb | 131 | //NC_To_FC_Flags |
132 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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133 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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134 | #define NC_TO_FC_AUTOSTART 0x04 |
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135 | #define NC_TO_FC_FAILSAFE_LANDING 0x08 // activates Servos |
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136 | #define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active |
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137 | |||
350 | holgerb | 138 | //Parameter.GlobalConfig3 |
139 | #define CFG3_NO_SDCARD_NO_START 0x01 |
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764 | holgerb | 140 | #define CFG3_RISE_FIRST_WAYPOINT 0x02 |
350 | holgerb | 141 | #define CFG3_VARIO_FAILSAFE 0x04 |
398 | holgerb | 142 | #define CFG3_MOTOR_SWITCH_MODE 0x08 |
143 | #define CFG3_NO_GPSFIX_NO_START 0x10 |
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764 | holgerb | 144 | #define CFG3_USE_NC_FOR_OUT1 0x20 |
145 | #define CFG3_SPEAK_ALL 0x40 |
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146 | #define CFG3_SERVO_NICK_COMP_OFF 0x80 |
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350 | holgerb | 147 | |
320 | holgerb | 148 | // Parameter.GlobalConfig |
331 | holgerb | 149 | #define FC_CFG_HOEHENREGELUNG 0x01 |
150 | #define FC_CFG_HOEHEN_SCHALTER 0x02 |
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151 | #define FC_CFG_HEADING_HOLD 0x04 |
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152 | #define FC_CFG_KOMPASS_AKTIV 0x08 |
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153 | #define FC_CFG_KOMPASS_FIX 0x10 |
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154 | #define FC_CFG_GPS_AKTIV 0x20 |
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155 | #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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156 | #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
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190 | killagreg | 157 | |
489 | killagreg | 158 | //Parameter.ExtraConfig |
331 | holgerb | 159 | #define CFG2_HEIGHT_LIMIT 0x01 |
160 | #define CFG2_VARIO_BEEP 0x02 |
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161 | #define CFG_SENSITIVE_RC 0x04 |
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162 | #define CFG_3_3V_REFERENCE 0x08 |
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163 | #define CFG_NO_RCOFF_BEEPING 0x10 |
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164 | #define CFG_GPS_AID 0x20 |
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165 | #define CFG_TEACHABLE_CAREFREE 0x40 |
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166 | #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
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320 | holgerb | 167 | |
588 | holgerb | 168 | // Parameter.HomeYawMode |
169 | #define NO_CHANGE 0 |
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170 | #define FRONT_TO_HOME 1 |
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171 | #define REAR_TO_HOME 2 |
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172 | #define LIKE_AT_START 3 |
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173 | |||
587 | holgerb | 174 | // Parameter.ReceiverType defines for the receiver selection |
175 | #define RECEIVER_PPM 0 |
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176 | #define RECEIVER_SPEKTRUM 1 |
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177 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
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178 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
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179 | #define RECEIVER_JETI 4 |
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180 | #define RECEIVER_ACT_DSL 5 |
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181 | #define RECEIVER_HOTT 6 |
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182 | #define RECEIVER_SBUS 7 |
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183 | #define RECEIVER_USER 8 |
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184 | |||
185 | #define RECEIVER_UNKNOWN 0xFF |
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186 | |||
190 | killagreg | 187 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
188 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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189 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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190 | |||
327 | holgerb | 191 | |
192 | #define Poti1 FC.Poti[0] |
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193 | #define Poti2 FC.Poti[1] |
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194 | #define Poti3 FC.Poti[2] |
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195 | #define Poti4 FC.Poti[3] |
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196 | #define Poti5 FC.Poti[4] |
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197 | #define Poti6 FC.Poti[5] |
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198 | #define Poti7 FC.Poti[6] |
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199 | #define Poti8 FC.Poti[7] |
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200 | |||
41 | ingob | 201 | extern u16 BeepTime; |
92 | killagreg | 202 | extern u8 NCFlags; |
255 | killagreg | 203 | extern u8 ClearFCStatusFlags; |
41 | ingob | 204 | void Interrupt_Init(void); |
153 | killagreg | 205 | extern s16 GeoMagDec; |
504 | holgerb | 206 | extern u8 NewWPL_Name; |
1 | ingob | 207 | |
699 | holgerb | 208 | #define NOTHING 0 |
209 | #define MASTER 1 |
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210 | #define SLAVE 2 |
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211 | extern u8 IamMaster; |
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212 | |||
505 | holgerb | 213 | #define VERSION_SERIAL_MAJOR 11 // do not change! |
214 | |||
41 | ingob | 215 | typedef struct |
216 | { |
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217 | u8 ActiveSetting; |
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218 | u8 User1; |
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219 | u8 User2; |
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220 | u8 User3; |
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221 | u8 User4; |
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222 | u8 User5; |
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223 | u8 User6; |
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224 | u8 User7; |
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225 | u8 User8; |
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226 | u8 NaviGpsModeControl; |
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227 | u8 NaviGpsGain; |
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228 | u8 NaviGpsP; |
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229 | u8 NaviGpsI; |
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230 | u8 NaviGpsD; |
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56 | holgerb | 231 | u8 NaviGpsPLimit; |
232 | u8 NaviGpsILimit; |
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233 | u8 NaviGpsDLimit; |
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41 | ingob | 234 | u8 NaviGpsACC; |
235 | u8 NaviGpsMinSat; |
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236 | u8 NaviStickThreshold; |
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532 | holgerb | 237 | u8 NaviMaxFlyingRange; // in 10m |
41 | ingob | 238 | u8 NaviWindCorrection; |
327 | holgerb | 239 | u8 NaviAccCompensation; |
41 | ingob | 240 | u8 NaviSpeedCompensation; |
241 | u8 LowVoltageWarning; |
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242 | u8 NaviAngleLimitation; |
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56 | holgerb | 243 | u8 NaviPH_LoginTime; |
544 | holgerb | 244 | u8 OrientationAngle; // where is front - in 15° |
245 | u8 CamOrientation; // direction of the camera in 15° |
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320 | holgerb | 246 | u8 GlobalConfig; |
247 | u8 ExtraConfig; |
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321 | holgerb | 248 | u8 ComingHomeAltitude; |
350 | holgerb | 249 | u8 GlobalConfig3; |
516 | holgerb | 250 | u8 AutoPhotoDistance; // Distance between Photo releases (Position) |
489 | killagreg | 251 | u8 FromFC_LandingSpeed; |
252 | u8 FromFC_LowVoltageHomeActive; |
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516 | holgerb | 253 | u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes) |
519 | holgerb | 254 | u8 SingleWpSpeed; |
532 | holgerb | 255 | u8 DescendRange; // in 10m |
256 | u8 MaximumAltitude; // in m |
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573 | holgerb | 257 | u8 Driftkomp; |
587 | holgerb | 258 | u8 ReceiverType; |
588 | holgerb | 259 | u8 HomeYawMode; |
624 | holgerb | 260 | u8 Speak100m; |
261 | u8 AutoWpEventValue; |
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646 | holgerb | 262 | u8 FailSafeTime; |
41 | ingob | 263 | } __attribute__((packed)) Param_t; |
1 | ingob | 264 | |
41 | ingob | 265 | typedef struct |
266 | { |
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267 | s8 StickNick; |
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268 | s8 StickRoll; |
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269 | s8 StickYaw; |
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270 | s8 StickGas; |
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190 | killagreg | 271 | u8 Poti[8]; |
41 | ingob | 272 | u8 RC_Quality; |
125 | killagreg | 273 | u8 RC_RSSI; |
595 | holgerb | 274 | u16 BAT_Voltage; |
206 | killagreg | 275 | u16 BAT_Current; |
276 | u16 BAT_UsedCapacity; |
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255 | killagreg | 277 | u8 StatusFlags; |
278 | u8 Error[5]; |
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294 | holgerb | 279 | u8 StatusFlags2; |
436 | holgerb | 280 | u8 FromFC_SpeakHoTT; |
489 | killagreg | 281 | s16 FromFC_CompassOffset; |
282 | u8 FromFC_DisableDeclination; |
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573 | holgerb | 283 | u8 StatusFlags3; |
739 | holgerb | 284 | s16 Altimeter_5cm; // devide by 20 to get meters & multiply with 5 to get cm |
573 | holgerb | 285 | u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation |
286 | u16 AdNeutralNick; |
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287 | u16 AdNeutralRoll; |
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288 | u16 AdNeutralYaw; |
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587 | holgerb | 289 | u16 BoatNeutralNick; |
290 | u16 BoatNeutralRoll; |
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291 | u16 BoatNeutralYaw; |
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607 | holgerb | 292 | u8 AutoPhotoDistance; |
489 | killagreg | 293 | } __attribute__((packed)) FC_t; // from FC |
1 | ingob | 294 | |
699 | holgerb | 295 | typedef struct |
296 | { |
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297 | u8 ErrorCode; |
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298 | u8 StatusFlags; |
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299 | u8 StatusFlags2; |
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300 | u8 StatusFlags3; |
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301 | u8 NC_To_FC_Flags; |
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302 | u8 MagnetField; // in % |
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303 | s16 GyroCompassCorrected; |
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304 | } __attribute__((packed)) Partner_t; // from FC |
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305 | |||
306 | extern Partner_t Partner; |
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41 | ingob | 307 | extern Param_t Parameter; |
78 | holgerb | 308 | extern volatile FC_t FC; |
41 | ingob | 309 | extern s8 ErrorMSG[25]; |
699 | holgerb | 310 | extern s8 PartnerErrorMSG[25]; |
311 | extern u8 ErrorCode,PartnerErrorCode; |
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41 | ingob | 312 | extern u8 StopNavigation; |
328 | holgerb | 313 | extern u8 ErrorGpsFixLost; |
513 | killagreg | 314 | extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint; |
378 | holgerb | 315 | extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero |
362 | holgerb | 316 | extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero |
378 | holgerb | 317 | extern volatile u32 PollingTimeout; |
663 | holgerb | 318 | extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsNavProcessed, FreqNewGpsData; |
319 | extern u32 TimeSinceMotorStart; |
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699 | holgerb | 320 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
514 | holgerb | 321 | extern u16 SD_SettingWaitLED; |
322 | extern u16 SD_PosAccuracy; |
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323 | extern u16 SD_ComingHomeSpeed; |
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324 | extern u16 SD_DPH_Speed; |
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532 | holgerb | 325 | extern u32 MaxWP_Radius_in_m; |
519 | holgerb | 326 | extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active |
549 | holgerb | 327 | extern u8 SpeakNextWaypoint; // Speak once when reached |
328 | extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started |
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699 | holgerb | 329 | extern s16 GyroCompassCorrected; |
330 | extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
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331 | extern s16 CompassSetpoint; |
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332 | extern u8 AmountOfMotors; |
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764 | holgerb | 333 | extern s16 SimulatedDirection; // simulated compass direction |
334 | extern u16 ToFC_Parachute_Off; // forced Switch off via IO1 |
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335 | extern u8 IO1_Function; |
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336 | #define OEM_NAME_LENGHT 16 |
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337 | extern u8 OEM_String[OEM_NAME_LENGHT+1]; |
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514 | holgerb | 338 | |
529 | holgerb | 339 | #define CHECK_ONLY 0 |
340 | #define GET_LICENSE 1 |
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341 | #define COPY_SD_TO_EE 2 |
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342 | extern u8 CheckLicense(u8); |
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343 | |||
681 | holgerb | 344 | // Portpin inputs |
707 | holgerb | 345 | #define PIN6_0 (GPIO6->DR[0x3FC] & 0x01) |
346 | #define PIN6_1 (GPIO6->DR[0x3FC] & 0x02) |
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347 | #define PIN6_2 (GPIO6->DR[0x3FC] & 0x04) |
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681 | holgerb | 348 | #define PIN6_3 (GPIO6->DR[0x3FC] & 0x08) |
349 | #define PIN6_4 (GPIO6->DR[0x3FC] & 0x10) |
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350 | #define PIN6_5 (GPIO6->DR[0x3FC] & 0x20) |
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351 | |||
707 | holgerb | 352 | #define TRIGGER_PP_INTERN PIN6_0 |
353 | #define TRIGGER_PP_EXTERN PIN6_3 |
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354 | #define BLITZ_CONNECTED PIN6_4 |
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764 | holgerb | 355 | #define IO1_INPUT PIN6_5 |
681 | holgerb | 356 | |
41 | ingob | 357 | #endif // _MAIN_H |