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