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| 1 | #ifndef _MAIN_H |
1 | #ifndef _MAIN_H |
| 2 | #define _MAIN_H |
2 | #define _MAIN_H |
| 3 | 3 | ||
| 4 | 4 | ||
| 5 | #define VERSION_MAJOR 0 |
5 | #define VERSION_MAJOR 0 |
| 6 | #define VERSION_MINOR 14 |
6 | #define VERSION_MINOR 14 |
| 7 | #define VERSION_PATCH 2 |
7 | #define VERSION_PATCH 4 |
| 8 | 8 | ||
| 9 | #define VERSION_SERIAL_MAJOR 10 |
9 | #define VERSION_SERIAL_MAJOR 10 |
| 10 | #define VERSION_SERIAL_MINOR 0 |
10 | #define VERSION_SERIAL_MINOR 0 |
| 11 | 11 | ||
| 12 | #define FC_SPI_COMPATIBLE 5 |
12 | #define FC_SPI_COMPATIBLE 5 |
| 13 | #define MK3MAG_I2C_COMPATIBLE 2 |
13 | #define MK3MAG_I2C_COMPATIBLE 2 |
| - | 14 | ||
| - | 15 | ||
| - | 16 | #define MKFLAG_MOTOR_RUN 0x01 |
|
| - | 17 | #define MKFLAG_FLY 0x02 |
|
| - | 18 | #define MKFLAG_CALIBRATE 0x04 |
|
| - | 19 | #define MKFLAG_START 0x08 |
|
| - | 20 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
|
| - | 21 | #define MKFLAG_RESERVE1 0x20 |
|
| - | 22 | #define MKFLAG_RESERVE2 0x40 |
|
| - | 23 | #define MKFLAG_RESERVE3 0x80 |
|
| 14 | 24 | ||
| 15 | // sends data on uart0 (without MK-OSD the MKGPS is connect there) |
25 | // sends data on uart0 (without MK-OSD the MKGPS is connect there) |
| 16 | //#define SEND_MKOSD_DATA |
26 | //#define SEND_MKOSD_DATA |
| 17 | 27 | ||
| 18 | extern u32 TimerCompassUpdate; |
28 | extern u32 TimerCompassUpdate; |
| 19 | extern u16 BeepTime; |
29 | extern u16 BeepTime; |
| 20 | extern u8 ClearMKFlags; |
30 | extern u8 ClearMKFlags; |
| 21 | void Interrupt_Init(void); |
31 | void Interrupt_Init(void); |
| 22 | 32 | ||
| 23 | typedef struct |
33 | typedef struct |
| 24 | { |
34 | { |
| 25 | u8 ActiveSetting; |
35 | u8 ActiveSetting; |
| 26 | u8 User1; |
36 | u8 User1; |
| 27 | u8 User2; |
37 | u8 User2; |
| 28 | u8 User3; |
38 | u8 User3; |
| 29 | u8 User4; |
39 | u8 User4; |
| 30 | u8 User5; |
40 | u8 User5; |
| 31 | u8 User6; |
41 | u8 User6; |
| 32 | u8 User7; |
42 | u8 User7; |
| 33 | u8 User8; |
43 | u8 User8; |
| 34 | u8 NaviGpsModeControl; |
44 | u8 NaviGpsModeControl; |
| 35 | u8 NaviGpsGain; |
45 | u8 NaviGpsGain; |
| 36 | u8 NaviGpsP; |
46 | u8 NaviGpsP; |
| 37 | u8 NaviGpsI; |
47 | u8 NaviGpsI; |
| 38 | u8 NaviGpsD; |
48 | u8 NaviGpsD; |
| 39 | u8 NaviGpsPLimit; |
49 | u8 NaviGpsPLimit; |
| 40 | u8 NaviGpsILimit; |
50 | u8 NaviGpsILimit; |
| 41 | u8 NaviGpsDLimit; |
51 | u8 NaviGpsDLimit; |
| 42 | u8 NaviGpsACC; |
52 | u8 NaviGpsACC; |
| 43 | u8 NaviGpsMinSat; |
53 | u8 NaviGpsMinSat; |
| 44 | u8 NaviStickThreshold; |
54 | u8 NaviStickThreshold; |
| 45 | u8 NaviOperatingRadius; |
55 | u8 NaviOperatingRadius; |
| 46 | u8 NaviWindCorrection; |
56 | u8 NaviWindCorrection; |
| 47 | u8 NaviSpeedCompensation; |
57 | u8 NaviSpeedCompensation; |
| 48 | u8 LowVoltageWarning; |
58 | u8 LowVoltageWarning; |
| 49 | u8 NaviAngleLimitation; |
59 | u8 NaviAngleLimitation; |
| 50 | u8 NaviPH_LoginTime; |
60 | u8 NaviPH_LoginTime; |
| 51 | } __attribute__((packed)) Param_t; |
61 | } __attribute__((packed)) Param_t; |
| 52 | 62 | ||
| 53 | typedef struct |
63 | typedef struct |
| 54 | { |
64 | { |
| 55 | s8 StickNick; |
65 | s8 StickNick; |
| 56 | s8 StickRoll; |
66 | s8 StickRoll; |
| 57 | s8 StickYaw; |
67 | s8 StickYaw; |
| 58 | s8 StickGas; |
68 | s8 StickGas; |
| 59 | u8 Poti1; |
69 | u8 Poti1; |
| 60 | u8 Poti2; |
70 | u8 Poti2; |
| 61 | u8 Poti3; |
71 | u8 Poti3; |
| 62 | u8 Poti4; |
72 | u8 Poti4; |
| 63 | u8 RC_Quality; |
73 | u8 RC_Quality; |
| 64 | u8 UBat; |
74 | u8 UBat; |
| 65 | // MK_Flags |
75 | // MK_Flags |
| 66 | #define MKFLAG_MOTOR_RUN 0x01 |
- | |
| 67 | #define MKFLAG_FLY 0x02 |
- | |
| 68 | #define MKFLAG_CALIBRATE 0x04 |
- | |
| 69 | #define MKFLAG_START 0x08 |
- | |
| 70 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
- | |
| 71 | #define MKFLAG_RESERVE1 0x20 |
- | |
| 72 | #define MKFLAG_RESERVE2 0x40 |
- | |
| 73 | #define MKFLAG_RESERVE3 0x80 |
- | |
| 74 | u8 MKFlags; |
76 | u8 MKFlags; |
| 75 | } __attribute__((packed)) FC_t; |
77 | } __attribute__((packed)) FC_t; |
| 76 | 78 | ||
| 77 | 79 | ||
| 78 | extern Param_t Parameter; |
80 | extern Param_t Parameter; |
| 79 | extern FC_t FC; |
81 | extern volatile FC_t FC; |
| 80 | extern s8 ErrorMSG[25]; |
82 | extern s8 ErrorMSG[25]; |
| 81 | extern u32 ErrorCode; |
83 | extern u32 ErrorCode; |
| 82 | extern u8 StopNavigation; |
84 | extern u8 StopNavigation; |
| 83 | #endif // _MAIN_H |
85 | #endif // _MAIN_H |
| 84 | 86 | ||