WebSVN - NaviCtrl - Diff - Rev 186 and 190


#ifndef _MAIN_H
#define _MAIN_H
 
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   18
#define VERSION_PATCH   0
 
#define VERSION_SERIAL_MAJOR    10
#define VERSION_SERIAL_MINOR    1
 
#define FC_SPI_COMPATIBLE       11
#define MK3MAG_I2C_COMPATIBLE   3
 
// FC FLAGS
#define MKFLAG_MOTOR_RUN                                0x01
#define MKFLAG_FLY                                      0x02
#define MKFLAG_CALIBRATE                                0x04
#define MKFLAG_START                                    0x08
#define MKFLAG_EMERGENCY_LANDING        0x10
#define MKFLAG_RESERVE1                         0x20
#define MKFLAG_RESERVE2                         0x40
#define MKFLAG_RESERVE3                         0x80
 
// 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 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;}
 
 
extern u16 BeepTime;
extern u8  NCFlags;
extern u8 ClearMKFlags;
void Interrupt_Init(void);
extern s16 GeoMagDec;
 
 
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 NaviOperatingRadius;
        u8 NaviWindCorrection;
        u8 NaviSpeedCompensation;
        u8 LowVoltageWarning;
        u8 NaviAngleLimitation;
        u8 NaviPH_LoginTime;
} __attribute__((packed)) Param_t;
 
typedef struct
{
        s8 StickNick;
        s8 StickRoll;
        s8 StickYaw;
        s8 StickGas;
 
 
 
        u8 Poti[8];
        u8 RC_Quality;
        u8 RC_RSSI;
        u8 UBat;
        u8 MKFlags;
} __attribute__((packed)) FC_t;
 
 
extern Param_t Parameter;
extern volatile FC_t FC;
extern s8 ErrorMSG[25];
extern u32 ErrorCode;
extern u8 StopNavigation;
#endif // _MAIN_H
 

Rev 186	Rev 190
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 17	6	#define VERSION_MINOR 18
7	#define VERSION_PATCH 4	7	#define VERSION_PATCH 0
8		8
9	#define VERSION_SERIAL_MAJOR 10	9	#define VERSION_SERIAL_MAJOR 10
10	#define VERSION_SERIAL_MINOR 1	10	#define VERSION_SERIAL_MINOR 1
11		11
12	#define FC_SPI_COMPATIBLE 10	12	#define FC_SPI_COMPATIBLE 11
13	#define MK3MAG_I2C_COMPATIBLE 3	13	#define MK3MAG_I2C_COMPATIBLE 3
14		14
15	// FC FLAGS	15	// FC FLAGS
16	#define MKFLAG_MOTOR_RUN 0x01	16	#define MKFLAG_MOTOR_RUN 0x01
17	#define MKFLAG_FLY 0x02	17	#define MKFLAG_FLY 0x02
18	#define MKFLAG_CALIBRATE 0x04	18	#define MKFLAG_CALIBRATE 0x04
19	#define MKFLAG_START 0x08	19	#define MKFLAG_START 0x08
20	#define MKFLAG_EMERGENCY_LANDING 0x10	20	#define MKFLAG_EMERGENCY_LANDING 0x10
21	#define MKFLAG_RESERVE1 0x20	21	#define MKFLAG_RESERVE1 0x20
22	#define MKFLAG_RESERVE2 0x40	22	#define MKFLAG_RESERVE2 0x40
23	#define MKFLAG_RESERVE3 0x80	23	#define MKFLAG_RESERVE3 0x80
24		24
25	// NC Errors	25	// NC Errors
26	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	26	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
27	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	27	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
28	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	28	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
29	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	29	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
30	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	30	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
31	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	31	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
32	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	32	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
-		33
-		34
-		35	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
-		36	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
-		37	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
-		38
33		39
34	extern u16 BeepTime;	40	extern u16 BeepTime;
35	extern u8 NCFlags;	41	extern u8 NCFlags;
36	extern u8 ClearMKFlags;	42	extern u8 ClearMKFlags;
37	void Interrupt_Init(void);	43	void Interrupt_Init(void);
38	extern s16 GeoMagDec;	44	extern s16 GeoMagDec;
39		45
40		46
41	typedef struct	47	typedef struct
42	{	48	{
43	u8 ActiveSetting;	49	u8 ActiveSetting;
44	u8 User1;	50	u8 User1;
45	u8 User2;	51	u8 User2;
46	u8 User3;	52	u8 User3;
47	u8 User4;	53	u8 User4;
48	u8 User5;	54	u8 User5;
49	u8 User6;	55	u8 User6;
50	u8 User7;	56	u8 User7;
51	u8 User8;	57	u8 User8;
52	u8 NaviGpsModeControl;	58	u8 NaviGpsModeControl;
53	u8 NaviGpsGain;	59	u8 NaviGpsGain;
54	u8 NaviGpsP;	60	u8 NaviGpsP;
55	u8 NaviGpsI;	61	u8 NaviGpsI;
56	u8 NaviGpsD;	62	u8 NaviGpsD;
57	u8 NaviGpsPLimit;	63	u8 NaviGpsPLimit;
58	u8 NaviGpsILimit;	64	u8 NaviGpsILimit;
59	u8 NaviGpsDLimit;	65	u8 NaviGpsDLimit;
60	u8 NaviGpsACC;	66	u8 NaviGpsACC;
61	u8 NaviGpsMinSat;	67	u8 NaviGpsMinSat;
62	u8 NaviStickThreshold;	68	u8 NaviStickThreshold;
63	u8 NaviOperatingRadius;	69	u8 NaviOperatingRadius;
64	u8 NaviWindCorrection;	70	u8 NaviWindCorrection;
65	u8 NaviSpeedCompensation;	71	u8 NaviSpeedCompensation;
66	u8 LowVoltageWarning;	72	u8 LowVoltageWarning;
67	u8 NaviAngleLimitation;	73	u8 NaviAngleLimitation;
68	u8 NaviPH_LoginTime;	74	u8 NaviPH_LoginTime;
69	} __attribute__((packed)) Param_t;	75	} __attribute__((packed)) Param_t;
70		76
71	typedef struct	77	typedef struct
72	{	78	{
73	s8 StickNick;	79	s8 StickNick;
74	s8 StickRoll;	80	s8 StickRoll;
75	s8 StickYaw;	81	s8 StickYaw;
76	s8 StickGas;	82	s8 StickGas;
77	u8 Poti1;	-
78	u8 Poti2;	-
79	u8 Poti3;	-
80	u8 Poti4;	83	u8 Poti[8];
81	u8 RC_Quality;	84	u8 RC_Quality;
82	u8 RC_RSSI;	85	u8 RC_RSSI;
83	u8 UBat;	86	u8 UBat;
84	u8 MKFlags;	87	u8 MKFlags;
85	} __attribute__((packed)) FC_t;	88	} __attribute__((packed)) FC_t;
86		89
87		90
88	extern Param_t Parameter;	91	extern Param_t Parameter;
89	extern volatile FC_t FC;	92	extern volatile FC_t FC;
90	extern s8 ErrorMSG[25];	93	extern s8 ErrorMSG[25];
91	extern u32 ErrorCode;	94	extern u32 ErrorCode;
92	extern u8 StopNavigation;	95	extern u8 StopNavigation;
93	#endif // _MAIN_H	96	#endif // _MAIN_H
94		97

Subversion Repositories NaviCtrl

(root)/tags/V0.20c/main.h @ 649 - Rev 186 → 190