WebSVN - NaviCtrl - Diff - Rev 259 and 260


#ifndef _MAIN_H
#define _MAIN_H
 
//-----------------------
//#define DEBUG 0
//-----------------------
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   22
#define VERSION_PATCH   0
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               16
#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_RES1                                  0x40
#define FC_STATUS_RES2                                  0x80
 
// 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 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 u8 BoardRelease;
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];
} __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 259	Rev 260
1	#ifndef _MAIN_H	1	#ifndef _MAIN_H
2	#define _MAIN_H	2	#define _MAIN_H
3		3
4	//-----------------------	4	//-----------------------
5	//#define DEBUG 0	5	//#define DEBUG 0
6	//-----------------------	6	//-----------------------
7		7
8	#define VERSION_MAJOR 0	8	#define VERSION_MAJOR 0
9	#define VERSION_MINOR 21	9	#define VERSION_MINOR 22
10	#define VERSION_PATCH 1	10	#define VERSION_PATCH 0
11		11
12	#define VERSION_SERIAL_MAJOR 11	12	#define VERSION_SERIAL_MAJOR 11
13	#define VERSION_SERIAL_MINOR 0	13	#define VERSION_SERIAL_MINOR 0
14		14
15	#define FC_SPI_COMPATIBLE 16	15	#define FC_SPI_COMPATIBLE 16
16	#define MK3MAG_I2C_COMPATIBLE 3	16	#define MK3MAG_I2C_COMPATIBLE 3
17		17
18	// FC STATUS FLAGS	18	// FC STATUS FLAGS
19	#define FC_STATUS_MOTOR_RUN 0x01	19	#define FC_STATUS_MOTOR_RUN 0x01
20	#define FC_STATUS_FLY 0x02	20	#define FC_STATUS_FLY 0x02
21	#define FC_STATUS_CALIBRATE 0x04	21	#define FC_STATUS_CALIBRATE 0x04
22	#define FC_STATUS_START 0x08	22	#define FC_STATUS_START 0x08
23	#define FC_STATUS_EMERGENCY_LANDING 0x10	23	#define FC_STATUS_EMERGENCY_LANDING 0x10
24	#define FC_STATUS_LOWBAT 0x20	24	#define FC_STATUS_LOWBAT 0x20
25	#define FC_STATUS_RES1 0x40	25	#define FC_STATUS_RES1 0x40
26	#define FC_STATUS_RES2 0x80	26	#define FC_STATUS_RES2 0x80
27		27
28	// FC ERRORS FLAGS	28	// FC ERRORS FLAGS
29	#define FC_ERROR0_GYRO_NICK 0x01	29	#define FC_ERROR0_GYRO_NICK 0x01
30	#define FC_ERROR0_GYRO_ROLL 0x02	30	#define FC_ERROR0_GYRO_ROLL 0x02
31	#define FC_ERROR0_GYRO_YAW 0x04	31	#define FC_ERROR0_GYRO_YAW 0x04
32	#define FC_ERROR0_ACC_NICK 0x08	32	#define FC_ERROR0_ACC_NICK 0x08
33	#define FC_ERROR0_ACC_ROLL 0x10	33	#define FC_ERROR0_ACC_ROLL 0x10
34	#define FC_ERROR0_ACC_TOP 0x20	34	#define FC_ERROR0_ACC_TOP 0x20
35	#define FC_ERROR0_PRESSURE 0x40	35	#define FC_ERROR0_PRESSURE 0x40
36	#define FC_ERROR0_CAREFREE 0x80	36	#define FC_ERROR0_CAREFREE 0x80
37		37
38	#define FC_ERROR1_I2C 0x01	38	#define FC_ERROR1_I2C 0x01
39	#define FC_ERROR1_BL_MISSING 0x02	39	#define FC_ERROR1_BL_MISSING 0x02
40	#define FC_ERROR1_SPI_RX 0x04	40	#define FC_ERROR1_SPI_RX 0x04
41	#define FC_ERROR1_PPM 0x08	41	#define FC_ERROR1_PPM 0x08
42	#define FC_ERROR1_MIXER 0x10	42	#define FC_ERROR1_MIXER 0x10
43	#define FC_ERROR1_RES1 0x20	43	#define FC_ERROR1_RES1 0x20
44	#define FC_ERROR1_RES2 0x40	44	#define FC_ERROR1_RES2 0x40
45	#define FC_ERROR1_RES3 0x80	45	#define FC_ERROR1_RES3 0x80
46		46
47	// NC Errors	47	// NC Errors
48	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	48	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
49	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	49	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
50	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	50	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
51	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	51	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
52	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	52	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
53	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	53	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
54	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	54	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
55		55
56		56
57	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	57	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
58	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	58	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
59	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	59	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
60		60
61	extern u8 BoardRelease;	61	extern u8 BoardRelease;
62	extern u16 BeepTime;	62	extern u16 BeepTime;
63	extern u8 NCFlags;	63	extern u8 NCFlags;
64	extern u8 ClearFCStatusFlags;	64	extern u8 ClearFCStatusFlags;
65	void Interrupt_Init(void);	65	void Interrupt_Init(void);
66	extern s16 GeoMagDec;	66	extern s16 GeoMagDec;
67		67
68		68
69	typedef struct	69	typedef struct
70	{	70	{
71	u8 ActiveSetting;	71	u8 ActiveSetting;
72	u8 User1;	72	u8 User1;
73	u8 User2;	73	u8 User2;
74	u8 User3;	74	u8 User3;
75	u8 User4;	75	u8 User4;
76	u8 User5;	76	u8 User5;
77	u8 User6;	77	u8 User6;
78	u8 User7;	78	u8 User7;
79	u8 User8;	79	u8 User8;
80	u8 NaviGpsModeControl;	80	u8 NaviGpsModeControl;
81	u8 NaviGpsGain;	81	u8 NaviGpsGain;
82	u8 NaviGpsP;	82	u8 NaviGpsP;
83	u8 NaviGpsI;	83	u8 NaviGpsI;
84	u8 NaviGpsD;	84	u8 NaviGpsD;
85	u8 NaviGpsPLimit;	85	u8 NaviGpsPLimit;
86	u8 NaviGpsILimit;	86	u8 NaviGpsILimit;
87	u8 NaviGpsDLimit;	87	u8 NaviGpsDLimit;
88	u8 NaviGpsACC;	88	u8 NaviGpsACC;
89	u8 NaviGpsMinSat;	89	u8 NaviGpsMinSat;
90	u8 NaviStickThreshold;	90	u8 NaviStickThreshold;
91	u8 NaviOperatingRadius;	91	u8 NaviOperatingRadius;
92	u8 NaviWindCorrection;	92	u8 NaviWindCorrection;
93	u8 NaviSpeedCompensation;	93	u8 NaviSpeedCompensation;
94	u8 LowVoltageWarning;	94	u8 LowVoltageWarning;
95	u8 NaviAngleLimitation;	95	u8 NaviAngleLimitation;
96	u8 NaviPH_LoginTime;	96	u8 NaviPH_LoginTime;
97	} __attribute__((packed)) Param_t;	97	} __attribute__((packed)) Param_t;
98		98
99	typedef struct	99	typedef struct
100	{	100	{
101	s8 StickNick;	101	s8 StickNick;
102	s8 StickRoll;	102	s8 StickRoll;
103	s8 StickYaw;	103	s8 StickYaw;
104	s8 StickGas;	104	s8 StickGas;
105	u8 Poti[8];	105	u8 Poti[8];
106	u8 Poti5;	106	u8 Poti5;
107	u8 Poti6;	107	u8 Poti6;
108	u8 Poti7;	108	u8 Poti7;
109	u8 Poti8;	109	u8 Poti8;
110	u8 RC_Quality;	110	u8 RC_Quality;
111	u8 RC_RSSI;	111	u8 RC_RSSI;
112	u8 BAT_Voltage;	112	u8 BAT_Voltage;
113	u16 BAT_Current;	113	u16 BAT_Current;
114	u16 BAT_UsedCapacity;	114	u16 BAT_UsedCapacity;
115	u8 StatusFlags;	115	u8 StatusFlags;
116	u8 Error[5];	116	u8 Error[5];
117	} __attribute__((packed)) FC_t;	117	} __attribute__((packed)) FC_t;
118		118
119		119
120	extern Param_t Parameter;	120	extern Param_t Parameter;
121	extern volatile FC_t FC;	121	extern volatile FC_t FC;
122	extern s8 ErrorMSG[25];	122	extern s8 ErrorMSG[25];
123	extern u8 ErrorCode;	123	extern u8 ErrorCode;
124	extern u8 StopNavigation;	124	extern u8 StopNavigation;
125	#endif // _MAIN_H	125	#endif // _MAIN_H
126		126

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(root)/tags/V0.26e/main.h @ 635 - Rev 259 → 260