WebSVN - NaviCtrl - Diff - Rev 250 and 254


#ifndef _MAIN_H
#define _MAIN_H
 
//-----------------------
//#define DEBUG 1
//-----------------------
 
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   21
#define VERSION_PATCH   0
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               14
#define MK3MAG_I2C_COMPATIBLE   3
 
// FC FLAGS
// tbd: Trennen in Error Flags und Status Flags!!!
// aufnehmen. 
#define FCFLAG_MOTOR_RUN                                0x01
#define FCFLAG_FLY                                      0x02
#define FCFLAG_CALIBRATE                                0x04
#define FCFLAG_START                                    0x08
#define FCFLAG_EMERGENCY_LANDING        0x10
#define FCFLAG_LOWBAT                           0x20
#define FCFLAG_SPI_RX_ERR                       0x40
#define FCFLAG_I2CERR                           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 ClearFCFlags;
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 Flags;
} __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 250	Rev 254
1	#ifndef _MAIN_H	1	#ifndef _MAIN_H
2	#define _MAIN_H	2	#define _MAIN_H
3		3
4	//-----------------------	4	//-----------------------
5	//#define DEBUG 1	5	//#define DEBUG 1
6	//-----------------------	6	//-----------------------
7		-
8		7
9	#define VERSION_MAJOR 0	8	#define VERSION_MAJOR 0
10	#define VERSION_MINOR 21	9	#define VERSION_MINOR 21
11	#define VERSION_PATCH 0	10	#define VERSION_PATCH 0
12		11
13	#define VERSION_SERIAL_MAJOR 11	12	#define VERSION_SERIAL_MAJOR 11
14	#define VERSION_SERIAL_MINOR 0	13	#define VERSION_SERIAL_MINOR 0
15		14
16	#define FC_SPI_COMPATIBLE 14	15	#define FC_SPI_COMPATIBLE 14
17	#define MK3MAG_I2C_COMPATIBLE 3	16	#define MK3MAG_I2C_COMPATIBLE 3
18		17
19	// FC FLAGS	18	// FC FLAGS
-		19	// tbd: Trennen in Error Flags und Status Flags!!!
-		20	// aufnehmen.
20	#define FCFLAG_MOTOR_RUN 0x01	21	#define FCFLAG_MOTOR_RUN 0x01
21	#define FCFLAG_FLY 0x02	22	#define FCFLAG_FLY 0x02
22	#define FCFLAG_CALIBRATE 0x04	23	#define FCFLAG_CALIBRATE 0x04
23	#define FCFLAG_START 0x08	24	#define FCFLAG_START 0x08
24	#define FCFLAG_EMERGENCY_LANDING 0x10	25	#define FCFLAG_EMERGENCY_LANDING 0x10
25	#define FCFLAG_LOWBAT 0x20	26	#define FCFLAG_LOWBAT 0x20
26	#define FCFLAG_SPI_RX_ERR 0x40	27	#define FCFLAG_SPI_RX_ERR 0x40
27	#define FCFLAG_RESERVE1 0x80	28	#define FCFLAG_I2CERR 0x80
28		29
29	// NC Errors	30	// NC Errors
30	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	31	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
31	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	32	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
32	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	33	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
33	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	34	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
34	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	35	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
35	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	36	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
36	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	37	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
37		38
38		39
39	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	40	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
40	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	41	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
41	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	42	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
42		43
43	extern u8 BoardRelease;	44	extern u8 BoardRelease;
44	extern u16 BeepTime;	45	extern u16 BeepTime;
45	extern u8 NCFlags;	46	extern u8 NCFlags;
46	extern u8 ClearFCFlags;	47	extern u8 ClearFCFlags;
47	void Interrupt_Init(void);	48	void Interrupt_Init(void);
48	extern s16 GeoMagDec;	49	extern s16 GeoMagDec;
49		50
50		51
51	typedef struct	52	typedef struct
52	{	53	{
53	u8 ActiveSetting;	54	u8 ActiveSetting;
54	u8 User1;	55	u8 User1;
55	u8 User2;	56	u8 User2;
56	u8 User3;	57	u8 User3;
57	u8 User4;	58	u8 User4;
58	u8 User5;	59	u8 User5;
59	u8 User6;	60	u8 User6;
60	u8 User7;	61	u8 User7;
61	u8 User8;	62	u8 User8;
62	u8 NaviGpsModeControl;	63	u8 NaviGpsModeControl;
63	u8 NaviGpsGain;	64	u8 NaviGpsGain;
64	u8 NaviGpsP;	65	u8 NaviGpsP;
65	u8 NaviGpsI;	66	u8 NaviGpsI;
66	u8 NaviGpsD;	67	u8 NaviGpsD;
67	u8 NaviGpsPLimit;	68	u8 NaviGpsPLimit;
68	u8 NaviGpsILimit;	69	u8 NaviGpsILimit;
69	u8 NaviGpsDLimit;	70	u8 NaviGpsDLimit;
70	u8 NaviGpsACC;	71	u8 NaviGpsACC;
71	u8 NaviGpsMinSat;	72	u8 NaviGpsMinSat;
72	u8 NaviStickThreshold;	73	u8 NaviStickThreshold;
73	u8 NaviOperatingRadius;	74	u8 NaviOperatingRadius;
74	u8 NaviWindCorrection;	75	u8 NaviWindCorrection;
75	u8 NaviSpeedCompensation;	76	u8 NaviSpeedCompensation;
76	u8 LowVoltageWarning;	77	u8 LowVoltageWarning;
77	u8 NaviAngleLimitation;	78	u8 NaviAngleLimitation;
78	u8 NaviPH_LoginTime;	79	u8 NaviPH_LoginTime;
79	} __attribute__((packed)) Param_t;	80	} __attribute__((packed)) Param_t;
80		81
81	typedef struct	82	typedef struct
82	{	83	{
83	s8 StickNick;	84	s8 StickNick;
84	s8 StickRoll;	85	s8 StickRoll;
85	s8 StickYaw;	86	s8 StickYaw;
86	s8 StickGas;	87	s8 StickGas;
87	u8 Poti[8];	88	u8 Poti[8];
88	u8 Poti5;	89	u8 Poti5;
89	u8 Poti6;	90	u8 Poti6;
90	u8 Poti7;	91	u8 Poti7;
91	u8 Poti8;	92	u8 Poti8;
92	u8 RC_Quality;	93	u8 RC_Quality;
93	u8 RC_RSSI;	94	u8 RC_RSSI;
94	u8 BAT_Voltage;	95	u8 BAT_Voltage;
95	u16 BAT_Current;	96	u16 BAT_Current;
96	u16 BAT_UsedCapacity;	97	u16 BAT_UsedCapacity;
97	u8 Flags;	98	u8 Flags;
98	} __attribute__((packed)) FC_t;	99	} __attribute__((packed)) FC_t;
99		100
100		101
101	extern Param_t Parameter;	102	extern Param_t Parameter;
102	extern volatile FC_t FC;	103	extern volatile FC_t FC;
103	extern s8 ErrorMSG[25];	104	extern s8 ErrorMSG[25];
104	extern u8 ErrorCode;	105	extern u8 ErrorCode;
105	extern u8 StopNavigation;	106	extern u8 StopNavigation;
106	#endif // _MAIN_H	107	#endif // _MAIN_H
107		108

Subversion Repositories NaviCtrl

(root)/tags/V0.30g/main.h @ 745 - Rev 250 → 254