0,0 → 1,409 |
#ifndef _MAIN_H |
#define _MAIN_H |
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//#define FOLLOW_ME |
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#ifdef FOLLOW_ME |
extern u8 TransmitAlsoToFC; |
#endif |
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//----------------------- |
//#define DEBUG 0 |
//----------------------- |
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#define VERSION_MAJOR 2 |
#define VERSION_MINOR 18 |
#define VERSION_PATCH 0 |
// 0 = A |
// 1 = B |
// 2 = C |
// 3 = D |
// 4 = E |
// 5 = F |
// 6 = G |
// 7 = H |
// 8 = I |
// 9 = J |
// 10 = k |
// 11 = L |
// 12 = M |
// 13 = N |
// 14 = O |
// 15 = P |
// 16 = Q |
// 17 = R |
// 18 = S |
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#define CAN_SLAVE_COMPATIBLE 2 |
#ifndef FOLLOW_ME |
#define FC_SPI_COMPATIBLE 85 // <------------------ |
#else |
#define FC_SPI_COMPATIBLE 0xFF |
#endif |
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#define MK3MAG_I2C_COMPATIBLE 3 |
#define MAX_MOTORS 16 // since 2.10 (3.2014) |
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// FC.StatusFlags |
#define FC_STATUS_MOTOR_RUN 0x01 |
#define FC_STATUS_FLY 0x02 |
#define FC_STATUS_CALIBRATE 0x04 |
#define FC_STATUS_START 0x08 |
#define FC_STATUS_EMERGENCY_LANDING 0x10 |
#define FC_STATUS_LOWBAT 0x20 |
#define FC_STATUS_VARIO_TRIM_UP 0x40 |
#define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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// FC.StatusFlags2 |
#define FC_STATUS2_CAREFREE 0x01 |
#define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
#define FC_STATUS2_OUT1_ACTIVE 0x08 |
#define FC_STATUS2_OUT2_ACTIVE 0x10 |
#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
#define FC_STATUS2_AUTO_STARTING 0x40 |
#define FC_STATUS2_AUTO_LANDING 0x80 |
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// FC.StatusFlags3 |
#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
#define FC_STATUS3_BOAT 0x02 |
#define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
#define FC_STATUS3_REDUNDANCE_TEST 0x08 |
#define FC_STATUS3_NOT_CALIBRATED 0x10 |
#define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
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// xxx.OSDStatusFlags (multiple data sets) -> this is the definition in the OSD data structure |
#define OSD_FLAG_CAREFREE 0x01 |
#define OSD_FLAG_ALTITUDE_CONTROL 0x02 |
#define OSD_FLAG_CALIBRATE 0x04 |
#define OSD_FLAG_OUT1_ACTIVE 0x08 |
#define OSD_FLAG_OUT2_ACTIVE 0x10 |
#define OSD_FLAG_LOWBAT 0x20 |
#define OSD_FLAG_VARIO_TRIM_UP 0x40 |
#define OSD_FLAG_VARIO_TRIM_DOWN 0x80 |
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// NaviData_Flags.OSDStatusFlags2 (Index:11) -> this is the definition in the OSD data structure |
#define OSD2_FLAG_MOTOR_RUN 0x01 |
#define OSD2_FLAG_FLY 0x02 |
#define OSD2_FLAG_RC_FAILSAVE_ACTIVE 0x04 |
#define OSD2_FLAG_START 0x08 |
#define OSD2_FLAG_EMERGENCY_LANDING 0x10 |
#define OSD2_FLAG_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
#define OSD2_FLAG_AUTO_STARTING 0x40 |
#define OSD2_FLAG_AUTO_LANDING 0x80 |
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// NaviData_Home.OSDStatusFlags3 (Index:13 Home-Position) -> use only for flags that change slowly |
#define OSD_FIX_NONE 0 |
#define OSD_FIX_2D 1 |
#define OSD_FIX_3D 2 |
#define OSD_FIX_DGPS 3 |
#define OSD_FIX_RTK_FLOAT 4 |
#define OSD_FIX_RTK_FIX 5 |
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#define OSD3_FLAG_FIXBIT0 0x01 |
#define OSD3_FLAG_FIXBIT1 0x02 |
#define OSD3_FLAG_FIXBIT2 0x04 |
#define OSD3_FLAG_HOTSHOE 0x08 |
#define OSD3_FLAG_BOAT_MODE 0x10 |
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// the OSD-Flags are built from the FC status flags. They are combined into new bytes to increse the efficiency in the data protocol |
#define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
#define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
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// NC calculates |
//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
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//calculate Back: |
//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
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// .NCFlags |
#define NC_FLAG_FREE 0x01 |
#define NC_FLAG_PH 0x02 |
#define NC_FLAG_CH 0x04 |
#define NC_FLAG_RANGE_LIMIT 0x08 |
#define NC_FLAG_NOSERIALLINK 0x10 |
#define NC_FLAG_TARGET_REACHED 0x20 |
#define NC_FLAG_MANUAL_CONTROL 0x40 |
#define NC_FLAG_GPS_OK 0x80 |
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//IO1_Function |
#define IO1FUNC_PARACHUTE 9 |
#define IO1FUNC_ERROR_PARACHUTE 255 |
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// NC calculates |
//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
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//calculate Back: |
//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
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// FC.Error[0] |
#define FC_ERROR0_GYRO_NICK 0x01 |
#define FC_ERROR0_GYRO_ROLL 0x02 |
#define FC_ERROR0_GYRO_YAW 0x04 |
#define FC_ERROR0_ACC_NICK 0x08 |
#define FC_ERROR0_ACC_ROLL 0x10 |
#define FC_ERROR0_ACC_TOP 0x20 |
#define FC_ERROR0_PRESSURE 0x40 |
#define FC_ERROR0_CAREFREE 0x80 |
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// FC.Error[1] |
#define FC_ERROR1_I2C 0x01 |
#define FC_ERROR1_BL_MISSING 0x02 |
#define FC_ERROR1_SPI_RX 0x04 |
#define FC_ERROR1_PPM 0x08 |
#define FC_ERROR1_MIXER 0x10 |
#define FC_ERROR1_RC_VOLTAGE 0x20 |
#define FC_ERROR1_ACC_NOT_CAL 0x40 |
#define FC_ERROR1_RES3 0x80 |
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// NC Errors |
#define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
#define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
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//NC_To_FC_Flags |
#define NC_TO_FC_FLYING_RANGE 0x01 |
#define NC_TO_FC_EMERGENCY_LANDING 0x02 |
#define NC_TO_FC_AUTOSTART 0x04 |
#define NC_TO_FC_FAILSAFE_LANDING 0x08 // activates Servos |
#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active |
#define NC_TO_FC_SWITCHOFF_IF_LANDED 0x20 // switch off if MK is on the ground and doesn't further sink |
#define NC_TO_FC_OUTSIDE_FLYZONE 0x40 // for the Beep-Signal |
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//Parameter.GlobalConfig3 |
#define CFG3_NO_SDCARD_NO_START 0x01 |
#define CFG3_RISE_FIRST_WAYPOINT 0x02 |
#define CFG3_VARIO_FAILSAFE 0x04 |
#define CFG3_MOTOR_SWITCH_MODE 0x08 |
#define CFG3_NO_GPSFIX_NO_START 0x10 |
#define CFG3_USE_NC_FOR_OUT1 0x20 |
#define CFG3_SPEAK_ALL 0x40 |
#define CFG3_SERVO_NICK_COMP_OFF 0x80 |
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// Parameter.GlobalConfig |
#define FC_CFG_HOEHENREGELUNG 0x01 |
#define FC_CFG_HOEHEN_SCHALTER 0x02 |
#define FC_CFG_HEADING_HOLD 0x04 |
#define FC_CFG_KOMPASS_AKTIV 0x08 |
#define FC_CFG_KOMPASS_FIX 0x10 |
#define FC_CFG_GPS_AKTIV 0x20 |
#define CFG_LAND_OUTSIDE_FLYZONE 0x40 |
#define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
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//Parameter.ExtraConfig |
#define CFG2_HEIGHT_LIMIT 0x01 |
#define CFG2_VARIO_BEEP 0x02 |
#define CFG_FLYZONE_REQUIRED 0x04 |
#define CFG_3_3V_REFERENCE 0x08 |
#define CFG_NO_RCOFF_BEEPING 0x10 |
#define CFG_GPS_AID 0x20 |
#define CFG_TEACHABLE_CAREFREE 0x40 |
#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
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// Parameter.HomeYawMode |
#define NO_CHANGE 0 |
#define FRONT_TO_HOME 1 |
#define REAR_TO_HOME 2 |
#define LIKE_AT_START 3 |
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// Parameter.ReceiverType defines for the receiver selection |
#define RECEIVER_PPM 0 |
#define RECEIVER_SPEKTRUM 1 |
#define RECEIVER_SPEKTRUM_HI_RES 2 |
#define RECEIVER_SPEKTRUM_LOW_RES 3 |
#define RECEIVER_JETI 4 |
#define RECEIVER_ACT_DSL 5 |
#define RECEIVER_HOTT 6 |
#define RECEIVER_SBUS 7 |
#define RECEIVER_USER 8 |
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#define RECEIVER_UNKNOWN 0xFF |
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#define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
#define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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#define Poti1 FC.Poti[0] |
#define Poti2 FC.Poti[1] |
#define Poti3 FC.Poti[2] |
#define Poti4 FC.Poti[3] |
#define Poti5 FC.Poti[4] |
#define Poti6 FC.Poti[5] |
#define Poti7 FC.Poti[6] |
#define Poti8 FC.Poti[7] |
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extern s16 LuftdruckTemperaturKompensation, LuftdruckTemperaturOffset; |
extern u16 BeepTime; |
extern u8 NCFlags; |
extern u8 ClearFCStatusFlags; |
void Interrupt_Init(void); |
extern s16 GeoMagDec; |
extern u8 NewWPL_Name; |
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#define NOTHING 0 |
#define MASTER 1 |
#define SLAVE 2 |
extern u8 IamMaster; |
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#define VERSION_SERIAL_MAJOR 11 // do not change! |
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typedef struct |
{ |
u8 ActiveSetting; |
u8 User1; |
u8 User2; |
u8 User3; |
u8 User4; |
u8 User5; |
u8 User6; |
u8 User7; |
u8 User8; |
u8 NaviGpsModeControl; |
u8 NaviGpsGain; |
u8 NaviGpsP; |
u8 NaviGpsI; |
u8 NaviGpsD; |
u8 NaviGpsPLimit; |
u8 NaviGpsILimit; |
u8 NaviGpsDLimit; |
u8 NaviGpsACC; |
u8 NaviGpsMinSat; |
u8 NaviStickThreshold; |
u8 NaviMaxFlyingRange; // in 10m |
u8 NaviWindCorrection; |
u8 NaviAccCompensation; |
u8 NaviSpeedCompensation; |
u8 LowVoltageWarning; |
u8 NaviAngleLimitation; |
u8 NaviPH_LoginTime; |
u8 OrientationAngle; // where is front - in 15° |
u8 CamOrientation; // direction of the camera in 15° |
u8 GlobalConfig; |
u8 ExtraConfig; |
u8 ComingHomeAltitude; |
u8 GlobalConfig3; |
u8 AutoPhotoDistance; // Distance between Photo releases (Position) |
u8 FromFC_LandingSpeed; |
u8 FromFC_LowVoltageHomeActive; |
u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes) |
u8 SingleWpSpeed; |
u8 DescendRange; // in 10m |
u8 MaximumAltitude; // in m |
u8 Driftkomp; |
u8 ReceiverType; |
u8 HomeYawMode; |
u8 Speak100m; |
u8 AutoWpEventValue; |
u8 FailSafeTime; |
} __attribute__((packed)) Param_t; |
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typedef struct |
{ |
s8 StickNick; |
s8 StickRoll; |
s8 StickYaw; |
s8 StickGas; |
u8 Poti[8]; |
u8 RC_Quality; |
u8 RC_RSSI; |
u16 BAT_Voltage; |
u16 BAT_Current; |
u16 BAT_UsedCapacity; |
u8 StatusFlags; |
u8 Error[5]; |
u8 StatusFlags2; |
u8 FromFC_SpeakHoTT; |
s16 FromFC_CompassOffset; |
u8 FromFC_DisableDeclination; |
u8 StatusFlags3; |
s16 Altimeter_5cm; // devide by 20 to get meters & multiply with 5 to get cm |
u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation |
u16 AdNeutralNick; |
u16 AdNeutralRoll; |
u16 AdNeutralYaw; |
u16 BoatNeutralNick; |
u16 BoatNeutralRoll; |
u16 BoatNeutralYaw; |
u8 AutoPhotoDistance; |
} __attribute__((packed)) FC_t; // from FC |
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typedef struct |
{ |
u8 ErrorCode; |
u8 StatusFlags; |
u8 StatusFlags2; |
u8 StatusFlags3; |
u8 NC_To_FC_Flags; |
u8 MagnetField; // in % |
s16 GyroCompassCorrected; |
} __attribute__((packed)) Partner_t; // from FC |
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extern Partner_t Partner; |
extern Param_t Parameter; |
extern volatile FC_t FC; |
extern s8 ErrorMSG[25]; |
extern s8 PartnerErrorMSG[25]; |
extern u8 ErrorCode,PartnerErrorCode; |
extern u8 StopNavigation; |
extern u8 ErrorGpsFixLost; |
extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint; |
extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero |
extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero |
extern volatile u32 PollingTimeout; |
extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsNavProcessed, FreqNewGpsData; |
extern u32 TimeSinceMotorStart; |
extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
extern u16 SD_SettingWaitLED; |
extern u16 SD_PosAccuracy; |
extern u16 SD_ComingHomeSpeed; |
extern u16 SD_DPH_Speed; |
extern u32 MaxWP_Radius_in_m; |
extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active |
extern u8 SpeakNextWaypoint; // Speak once when reached |
extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started |
extern s16 GyroCompassCorrected; |
extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
extern s16 CompassSetpoint; |
extern u8 AmountOfMotors; |
extern s16 SimulatedDirection; // simulated compass direction |
extern u16 ToFC_Parachute_Off; // forced Switch off via IO1 |
extern u8 IO1_Function; |
extern u8 BaroCalState; |
extern u8 ErrorOutSideOperationArea; // I am outside the operation polygon area |
extern u8 ShowCalibrationErrorMessage; |
#define OEM_NAME_LENGHT 16 |
extern u8 OEM_String[OEM_NAME_LENGHT+1]; |
extern u8 TryAgain_UBX_Setup; |
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#define CHECK_ONLY 0 |
#define GET_LICENSE 1 |
#define COPY_SD_TO_EE 2 |
extern u8 CheckLicense(u8); |
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// Portpin inputs |
#define PIN6_0 (GPIO6->DR[0x3FC] & 0x01) |
#define PIN6_1 (GPIO6->DR[0x3FC] & 0x02) |
#define PIN6_2 (GPIO6->DR[0x3FC] & 0x04) |
#define PIN6_3 (GPIO6->DR[0x3FC] & 0x08) |
#define PIN6_4 (GPIO6->DR[0x3FC] & 0x10) |
#define PIN6_5 (GPIO6->DR[0x3FC] & 0x20) |
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#define TRIGGER_PP_INTERN PIN6_0 |
#define TRIGGER_PP_EXTERN PIN6_3 |
#define BLITZ_CONNECTED PIN6_4 |
#define IO1_INPUT PIN6_5 |
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#endif // _MAIN_H |