WebSVN - NaviCtrl - Diff - Rev 314 and 316


#ifndef _MAIN_H
#define _MAIN_H
 
 
//#define FOLLOW_ME
 
#ifdef FOLLOW_ME
extern u8 TransmitAlsoToFC;
#endif
 
//-----------------------
//#define DEBUG 0
//-----------------------
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   24
#define VERSION_PATCH   4
// 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
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               19
#ifdef FOLLOW_ME
#define FC_SPI_COMPATIBLE               0xFF
#endif
 
#define MK3MAG_I2C_COMPATIBLE   3
 
// FC STATUS FLAGS
#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
 
// FC STATUS FLAGS2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
 
 
// FC ERRORS FLAGS
#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
 
#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_RES1                  0x20
#define FC_ERROR1_RES2                  0x40
#define FC_ERROR1_RES3                  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 NCERR_FLAG_EEPROM_NOT_FOUND                     0x00000080
 
 
#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 ClearFCStatusFlags;
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 Poti5;
        u8 Poti6;
        u8 Poti7;
        u8 Poti8;
        u8 RC_Quality;
        u8 RC_RSSI;
        u8 BAT_Voltage;
        u16 BAT_Current;
        u16 BAT_UsedCapacity;
        u8 StatusFlags;
        u8 Error[5];
        u8 StatusFlags2;
} __attribute__((packed)) FC_t;
 
 
extern Param_t Parameter;
extern volatile FC_t FC;
extern s8 ErrorMSG[25];
extern u8 ErrorCode;
extern u8 StopNavigation;
#endif // _MAIN_H
 

Rev 314	Rev 316
1	#ifndef _MAIN_H	1	#ifndef _MAIN_H
2	#define _MAIN_H	2	#define _MAIN_H
3		3
4		4
5	//#define FOLLOW_ME	5	//#define FOLLOW_ME
6		6
7	#ifdef FOLLOW_ME	7	#ifdef FOLLOW_ME
8	extern u8 TransmitAlsoToFC;	8	extern u8 TransmitAlsoToFC;
9	#endif	9	#endif
10		10
11	//-----------------------	11	//-----------------------
12	//#define DEBUG 0	12	//#define DEBUG 0
13	//-----------------------	13	//-----------------------
14		14
15	#define VERSION_MAJOR 0	15	#define VERSION_MAJOR 0
16	#define VERSION_MINOR 24	16	#define VERSION_MINOR 24
17	#define VERSION_PATCH 4	17	#define VERSION_PATCH 4
18	// 0 = A	18	// 0 = A
19	// 1 = B	19	// 1 = B
20	// 2 = C	20	// 2 = C
21	// 3 = D	21	// 3 = D
22	// 4 = E	22	// 4 = E
23	// 5 = F	23	// 5 = F
24	// 6 = G	24	// 6 = G
25	// 7 = H	25	// 7 = H
26	// 8 = I	26	// 8 = I
27	// 9 = J	27	// 9 = J
28	// 10 = k	28	// 10 = k
29	// 11 = L	29	// 11 = L
30	// 12 = M	30	// 12 = M
31	// 13 = N	31	// 13 = N
32	// 14 = o	32	// 14 = o
33		33
34	#define VERSION_SERIAL_MAJOR 11	34	#define VERSION_SERIAL_MAJOR 11
35	#define VERSION_SERIAL_MINOR 0	35	#define VERSION_SERIAL_MINOR 0
36		36
37	#define FC_SPI_COMPATIBLE 19	37	#define FC_SPI_COMPATIBLE 19
-		38	#ifdef FOLLOW_ME
-		39	#define FC_SPI_COMPATIBLE 0xFF
-		40	#endif
-		41
38	#define MK3MAG_I2C_COMPATIBLE 3	42	#define MK3MAG_I2C_COMPATIBLE 3
39		43
40	// FC STATUS FLAGS	44	// FC STATUS FLAGS
41	#define FC_STATUS_MOTOR_RUN 0x01	45	#define FC_STATUS_MOTOR_RUN 0x01
42	#define FC_STATUS_FLY 0x02	46	#define FC_STATUS_FLY 0x02
43	#define FC_STATUS_CALIBRATE 0x04	47	#define FC_STATUS_CALIBRATE 0x04
44	#define FC_STATUS_START 0x08	48	#define FC_STATUS_START 0x08
45	#define FC_STATUS_EMERGENCY_LANDING 0x10	49	#define FC_STATUS_EMERGENCY_LANDING 0x10
46	#define FC_STATUS_LOWBAT 0x20	50	#define FC_STATUS_LOWBAT 0x20
47	#define FC_STATUS_VARIO_TRIM_UP 0x40	51	#define FC_STATUS_VARIO_TRIM_UP 0x40
48	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	52	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
49		53
50	// FC STATUS FLAGS2	54	// FC STATUS FLAGS2
51	#define FC_STATUS2_CAREFREE 0x01	55	#define FC_STATUS2_CAREFREE 0x01
52	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	56	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
53		57
54		58
55	// FC ERRORS FLAGS	59	// FC ERRORS FLAGS
56	#define FC_ERROR0_GYRO_NICK 0x01	60	#define FC_ERROR0_GYRO_NICK 0x01
57	#define FC_ERROR0_GYRO_ROLL 0x02	61	#define FC_ERROR0_GYRO_ROLL 0x02
58	#define FC_ERROR0_GYRO_YAW 0x04	62	#define FC_ERROR0_GYRO_YAW 0x04
59	#define FC_ERROR0_ACC_NICK 0x08	63	#define FC_ERROR0_ACC_NICK 0x08
60	#define FC_ERROR0_ACC_ROLL 0x10	64	#define FC_ERROR0_ACC_ROLL 0x10
61	#define FC_ERROR0_ACC_TOP 0x20	65	#define FC_ERROR0_ACC_TOP 0x20
62	#define FC_ERROR0_PRESSURE 0x40	66	#define FC_ERROR0_PRESSURE 0x40
63	#define FC_ERROR0_CAREFREE 0x80	67	#define FC_ERROR0_CAREFREE 0x80
64		68
65	#define FC_ERROR1_I2C 0x01	69	#define FC_ERROR1_I2C 0x01
66	#define FC_ERROR1_BL_MISSING 0x02	70	#define FC_ERROR1_BL_MISSING 0x02
67	#define FC_ERROR1_SPI_RX 0x04	71	#define FC_ERROR1_SPI_RX 0x04
68	#define FC_ERROR1_PPM 0x08	72	#define FC_ERROR1_PPM 0x08
69	#define FC_ERROR1_MIXER 0x10	73	#define FC_ERROR1_MIXER 0x10
70	#define FC_ERROR1_RES1 0x20	74	#define FC_ERROR1_RES1 0x20
71	#define FC_ERROR1_RES2 0x40	75	#define FC_ERROR1_RES2 0x40
72	#define FC_ERROR1_RES3 0x80	76	#define FC_ERROR1_RES3 0x80
73		77
74	// NC Errors	78	// NC Errors
75	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	79	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
76	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	80	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
77	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	81	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
78	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	82	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
79	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	83	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
80	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	84	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
81	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	85	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
82	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	86	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
83		87
84		88
85	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	89	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
86	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	90	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
87	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	91	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
88		92
89	extern u16 BeepTime;	93	extern u16 BeepTime;
90	extern u8 NCFlags;	94	extern u8 NCFlags;
91	extern u8 ClearFCStatusFlags;	95	extern u8 ClearFCStatusFlags;
92	void Interrupt_Init(void);	96	void Interrupt_Init(void);
93	extern s16 GeoMagDec;	97	extern s16 GeoMagDec;
94		98
95		99
96	typedef struct	100	typedef struct
97	{	101	{
98	u8 ActiveSetting;	102	u8 ActiveSetting;
99	u8 User1;	103	u8 User1;
100	u8 User2;	104	u8 User2;
101	u8 User3;	105	u8 User3;
102	u8 User4;	106	u8 User4;
103	u8 User5;	107	u8 User5;
104	u8 User6;	108	u8 User6;
105	u8 User7;	109	u8 User7;
106	u8 User8;	110	u8 User8;
107	u8 NaviGpsModeControl;	111	u8 NaviGpsModeControl;
108	u8 NaviGpsGain;	112	u8 NaviGpsGain;
109	u8 NaviGpsP;	113	u8 NaviGpsP;
110	u8 NaviGpsI;	114	u8 NaviGpsI;
111	u8 NaviGpsD;	115	u8 NaviGpsD;
112	u8 NaviGpsPLimit;	116	u8 NaviGpsPLimit;
113	u8 NaviGpsILimit;	117	u8 NaviGpsILimit;
114	u8 NaviGpsDLimit;	118	u8 NaviGpsDLimit;
115	u8 NaviGpsACC;	119	u8 NaviGpsACC;
116	u8 NaviGpsMinSat;	120	u8 NaviGpsMinSat;
117	u8 NaviStickThreshold;	121	u8 NaviStickThreshold;
118	u8 NaviOperatingRadius;	122	u8 NaviOperatingRadius;
119	u8 NaviWindCorrection;	123	u8 NaviWindCorrection;
120	u8 NaviSpeedCompensation;	124	u8 NaviSpeedCompensation;
121	u8 LowVoltageWarning;	125	u8 LowVoltageWarning;
122	u8 NaviAngleLimitation;	126	u8 NaviAngleLimitation;
123	u8 NaviPH_LoginTime;	127	u8 NaviPH_LoginTime;
124	} __attribute__((packed)) Param_t;	128	} __attribute__((packed)) Param_t;
125		129
126	typedef struct	130	typedef struct
127	{	131	{
128	s8 StickNick;	132	s8 StickNick;
129	s8 StickRoll;	133	s8 StickRoll;
130	s8 StickYaw;	134	s8 StickYaw;
131	s8 StickGas;	135	s8 StickGas;
132	u8 Poti[8];	136	u8 Poti[8];
133	u8 Poti5;	137	u8 Poti5;
134	u8 Poti6;	138	u8 Poti6;
135	u8 Poti7;	139	u8 Poti7;
136	u8 Poti8;	140	u8 Poti8;
137	u8 RC_Quality;	141	u8 RC_Quality;
138	u8 RC_RSSI;	142	u8 RC_RSSI;
139	u8 BAT_Voltage;	143	u8 BAT_Voltage;
140	u16 BAT_Current;	144	u16 BAT_Current;
141	u16 BAT_UsedCapacity;	145	u16 BAT_UsedCapacity;
142	u8 StatusFlags;	146	u8 StatusFlags;
143	u8 Error[5];	147	u8 Error[5];
144	u8 StatusFlags2;	148	u8 StatusFlags2;
145	} __attribute__((packed)) FC_t;	149	} __attribute__((packed)) FC_t;
146		150
147		151
148	extern Param_t Parameter;	152	extern Param_t Parameter;
149	extern volatile FC_t FC;	153	extern volatile FC_t FC;
150	extern s8 ErrorMSG[25];	154	extern s8 ErrorMSG[25];
151	extern u8 ErrorCode;	155	extern u8 ErrorCode;
152	extern u8 StopNavigation;	156	extern u8 StopNavigation;
153	#endif // _MAIN_H	157	#endif // _MAIN_H
154		158

Subversion Repositories NaviCtrl

(root)/tags/V0.26e/main.h @ 572 - Rev 314 → 316