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1 | #ifndef _MAIN_H |
1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
2 | #define _MAIN_H |
3 | 3 | ||
4 | #define VERSION_MAJOR 0 |
4 | #define VERSION_MAJOR 0 |
5 | #define VERSION_MINOR 18 |
5 | #define VERSION_MINOR 19 |
6 | #define VERSION_PATCH 2 |
6 | #define VERSION_PATCH 0 |
7 | 7 | ||
8 | #define VERSION_SERIAL_MAJOR 11 |
8 | #define VERSION_SERIAL_MAJOR 11 |
9 | #define VERSION_SERIAL_MINOR 0 |
9 | #define VERSION_SERIAL_MINOR 0 |
10 | 10 | ||
11 | #define FC_SPI_COMPATIBLE 12 |
11 | #define FC_SPI_COMPATIBLE 12 |
12 | #define MK3MAG_I2C_COMPATIBLE 3 |
12 | #define MK3MAG_I2C_COMPATIBLE 3 |
13 | 13 | ||
14 | // FC FLAGS |
14 | // FC FLAGS |
15 | #define FCFLAG_MOTOR_RUN 0x01 |
15 | #define FCFLAG_MOTOR_RUN 0x01 |
16 | #define FCFLAG_FLY 0x02 |
16 | #define FCFLAG_FLY 0x02 |
17 | #define FCFLAG_CALIBRATE 0x04 |
17 | #define FCFLAG_CALIBRATE 0x04 |
18 | #define FCFLAG_START 0x08 |
18 | #define FCFLAG_START 0x08 |
19 | #define FCFLAG_EMERGENCY_LANDING 0x10 |
19 | #define FCFLAG_EMERGENCY_LANDING 0x10 |
20 | #define FCFLAG_LOWBAT 0x20 |
20 | #define FCFLAG_LOWBAT 0x20 |
21 | #define FCFLAG_SPI_RX_ERR 0x40 |
21 | #define FCFLAG_SPI_RX_ERR 0x40 |
22 | #define FCFLAG_RESERVE1 0x80 |
22 | #define FCFLAG_RESERVE1 0x80 |
23 | 23 | ||
24 | // NC Errors |
24 | // NC Errors |
25 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
25 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
26 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
26 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
27 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
27 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
28 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
28 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
29 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
29 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
30 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
30 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
31 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
31 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
32 | 32 | ||
33 | 33 | ||
34 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
34 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
35 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
35 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
36 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
36 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
37 | 37 | ||
38 | 38 | ||
39 | extern u16 BeepTime; |
39 | extern u16 BeepTime; |
40 | extern u8 NCFlags; |
40 | extern u8 NCFlags; |
41 | extern u8 ClearFCFlags; |
41 | extern u8 ClearFCFlags; |
42 | void Interrupt_Init(void); |
42 | void Interrupt_Init(void); |
43 | extern s16 GeoMagDec; |
43 | extern s16 GeoMagDec; |
44 | 44 | ||
45 | 45 | ||
46 | typedef struct |
46 | typedef struct |
47 | { |
47 | { |
48 | u8 ActiveSetting; |
48 | u8 ActiveSetting; |
49 | u8 User1; |
49 | u8 User1; |
50 | u8 User2; |
50 | u8 User2; |
51 | u8 User3; |
51 | u8 User3; |
52 | u8 User4; |
52 | u8 User4; |
53 | u8 User5; |
53 | u8 User5; |
54 | u8 User6; |
54 | u8 User6; |
55 | u8 User7; |
55 | u8 User7; |
56 | u8 User8; |
56 | u8 User8; |
57 | u8 NaviGpsModeControl; |
57 | u8 NaviGpsModeControl; |
58 | u8 NaviGpsGain; |
58 | u8 NaviGpsGain; |
59 | u8 NaviGpsP; |
59 | u8 NaviGpsP; |
60 | u8 NaviGpsI; |
60 | u8 NaviGpsI; |
61 | u8 NaviGpsD; |
61 | u8 NaviGpsD; |
62 | u8 NaviGpsPLimit; |
62 | u8 NaviGpsPLimit; |
63 | u8 NaviGpsILimit; |
63 | u8 NaviGpsILimit; |
64 | u8 NaviGpsDLimit; |
64 | u8 NaviGpsDLimit; |
65 | u8 NaviGpsACC; |
65 | u8 NaviGpsACC; |
66 | u8 NaviGpsMinSat; |
66 | u8 NaviGpsMinSat; |
67 | u8 NaviStickThreshold; |
67 | u8 NaviStickThreshold; |
68 | u8 NaviOperatingRadius; |
68 | u8 NaviOperatingRadius; |
69 | u8 NaviWindCorrection; |
69 | u8 NaviWindCorrection; |
70 | u8 NaviSpeedCompensation; |
70 | u8 NaviSpeedCompensation; |
71 | u8 LowVoltageWarning; |
71 | u8 LowVoltageWarning; |
72 | u8 NaviAngleLimitation; |
72 | u8 NaviAngleLimitation; |
73 | u8 NaviPH_LoginTime; |
73 | u8 NaviPH_LoginTime; |
74 | } __attribute__((packed)) Param_t; |
74 | } __attribute__((packed)) Param_t; |
75 | 75 | ||
76 | typedef struct |
76 | typedef struct |
77 | { |
77 | { |
78 | s8 StickNick; |
78 | s8 StickNick; |
79 | s8 StickRoll; |
79 | s8 StickRoll; |
80 | s8 StickYaw; |
80 | s8 StickYaw; |
81 | s8 StickGas; |
81 | s8 StickGas; |
82 | u8 Poti[8]; |
82 | u8 Poti[8]; |
83 | u8 Poti5; |
83 | u8 Poti5; |
84 | u8 Poti6; |
84 | u8 Poti6; |
85 | u8 Poti7; |
85 | u8 Poti7; |
86 | u8 Poti8; |
86 | u8 Poti8; |
87 | u8 RC_Quality; |
87 | u8 RC_Quality; |
88 | u8 RC_RSSI; |
88 | u8 RC_RSSI; |
89 | u8 BAT_Voltage; |
89 | u8 BAT_Voltage; |
90 | u16 BAT_Current; |
90 | u16 BAT_Current; |
91 | u16 BAT_UsedCapacity; |
91 | u16 BAT_UsedCapacity; |
92 | u8 Flags; |
92 | u8 Flags; |
93 | } __attribute__((packed)) FC_t; |
93 | } __attribute__((packed)) FC_t; |
94 | 94 | ||
95 | extern Param_t Parameter; |
95 | extern Param_t Parameter; |
96 | extern volatile FC_t FC; |
96 | extern volatile FC_t FC; |
97 | extern s8 ErrorMSG[25]; |
97 | extern s8 ErrorMSG[25]; |
98 | extern u32 ErrorCode; |
98 | extern u32 ErrorCode; |
99 | extern u8 StopNavigation; |
99 | extern u8 StopNavigation; |
100 | #endif // _MAIN_H |
100 | #endif // _MAIN_H |
101 | 101 |