WebSVN - NaviCtrl - Diff - Rev 291 and 294


#ifndef _MAIN_H
#define _MAIN_H
 
//-----------------------
//#define DEBUG 0
//-----------------------
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   23
#define VERSION_PATCH   12
// 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
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               19
#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 291	Rev 294
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 23	9	#define VERSION_MINOR 23
10	#define VERSION_PATCH 11	10	#define VERSION_PATCH 12
11	// 0 = A	11	// 0 = A
12	// 1 = B	12	// 1 = B
13	// 2 = C	13	// 2 = C
14	// 3 = D	14	// 3 = D
15	// 4 = E	15	// 4 = E
16	// 5 = F	16	// 5 = F
17	// 6 = G	17	// 6 = G
18	// 7 = H	18	// 7 = H
19	// 8 = I	19	// 8 = I
20	// 9 = J	20	// 9 = J
21	// 10 = k	21	// 10 = k
22	// 11 = L	22	// 11 = L
-		23	// 12 = M
23		24
24	#define VERSION_SERIAL_MAJOR 11	25	#define VERSION_SERIAL_MAJOR 11
25	#define VERSION_SERIAL_MINOR 0	26	#define VERSION_SERIAL_MINOR 0
26		27
27	#define FC_SPI_COMPATIBLE 19	28	#define FC_SPI_COMPATIBLE 19
28	#define MK3MAG_I2C_COMPATIBLE 3	29	#define MK3MAG_I2C_COMPATIBLE 3
29		30
30	// FC STATUS FLAGS	31	// FC STATUS FLAGS
31	#define FC_STATUS_MOTOR_RUN 0x01	32	#define FC_STATUS_MOTOR_RUN 0x01
32	#define FC_STATUS_FLY 0x02	33	#define FC_STATUS_FLY 0x02
33	#define FC_STATUS_CALIBRATE 0x04	34	#define FC_STATUS_CALIBRATE 0x04
34	#define FC_STATUS_START 0x08	35	#define FC_STATUS_START 0x08
35	#define FC_STATUS_EMERGENCY_LANDING 0x10	36	#define FC_STATUS_EMERGENCY_LANDING 0x10
36	#define FC_STATUS_LOWBAT 0x20	37	#define FC_STATUS_LOWBAT 0x20
37	#define FC_STATUS_VARIO_TRIM_UP 0x40	38	#define FC_STATUS_VARIO_TRIM_UP 0x40
38	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	39	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
-		40
-		41	// FC STATUS FLAGS2
-		42	#define FC_STATUS2_CAREFREE 0x01
-		43	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
-		44
39		45
40	// FC ERRORS FLAGS	46	// FC ERRORS FLAGS
41	#define FC_ERROR0_GYRO_NICK 0x01	47	#define FC_ERROR0_GYRO_NICK 0x01
42	#define FC_ERROR0_GYRO_ROLL 0x02	48	#define FC_ERROR0_GYRO_ROLL 0x02
43	#define FC_ERROR0_GYRO_YAW 0x04	49	#define FC_ERROR0_GYRO_YAW 0x04
44	#define FC_ERROR0_ACC_NICK 0x08	50	#define FC_ERROR0_ACC_NICK 0x08
45	#define FC_ERROR0_ACC_ROLL 0x10	51	#define FC_ERROR0_ACC_ROLL 0x10
46	#define FC_ERROR0_ACC_TOP 0x20	52	#define FC_ERROR0_ACC_TOP 0x20
47	#define FC_ERROR0_PRESSURE 0x40	53	#define FC_ERROR0_PRESSURE 0x40
48	#define FC_ERROR0_CAREFREE 0x80	54	#define FC_ERROR0_CAREFREE 0x80
49		55
50	#define FC_ERROR1_I2C 0x01	56	#define FC_ERROR1_I2C 0x01
51	#define FC_ERROR1_BL_MISSING 0x02	57	#define FC_ERROR1_BL_MISSING 0x02
52	#define FC_ERROR1_SPI_RX 0x04	58	#define FC_ERROR1_SPI_RX 0x04
53	#define FC_ERROR1_PPM 0x08	59	#define FC_ERROR1_PPM 0x08
54	#define FC_ERROR1_MIXER 0x10	60	#define FC_ERROR1_MIXER 0x10
55	#define FC_ERROR1_RES1 0x20	61	#define FC_ERROR1_RES1 0x20
56	#define FC_ERROR1_RES2 0x40	62	#define FC_ERROR1_RES2 0x40
57	#define FC_ERROR1_RES3 0x80	63	#define FC_ERROR1_RES3 0x80
58		64
59	// NC Errors	65	// NC Errors
60	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	66	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
61	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	67	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
62	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	68	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
63	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	69	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
64	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	70	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
65	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	71	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
66	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	72	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
67	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	73	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
68		74
69		75
70	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	76	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
71	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	77	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
72	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	78	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
73		79
74	extern u16 BeepTime;	80	extern u16 BeepTime;
75	extern u8 NCFlags;	81	extern u8 NCFlags;
76	extern u8 ClearFCStatusFlags;	82	extern u8 ClearFCStatusFlags;
77	void Interrupt_Init(void);	83	void Interrupt_Init(void);
78	extern s16 GeoMagDec;	84	extern s16 GeoMagDec;
79		85
80		86
81	typedef struct	87	typedef struct
82	{	88	{
83	u8 ActiveSetting;	89	u8 ActiveSetting;
84	u8 User1;	90	u8 User1;
85	u8 User2;	91	u8 User2;
86	u8 User3;	92	u8 User3;
87	u8 User4;	93	u8 User4;
88	u8 User5;	94	u8 User5;
89	u8 User6;	95	u8 User6;
90	u8 User7;	96	u8 User7;
91	u8 User8;	97	u8 User8;
92	u8 NaviGpsModeControl;	98	u8 NaviGpsModeControl;
93	u8 NaviGpsGain;	99	u8 NaviGpsGain;
94	u8 NaviGpsP;	100	u8 NaviGpsP;
95	u8 NaviGpsI;	101	u8 NaviGpsI;
96	u8 NaviGpsD;	102	u8 NaviGpsD;
97	u8 NaviGpsPLimit;	103	u8 NaviGpsPLimit;
98	u8 NaviGpsILimit;	104	u8 NaviGpsILimit;
99	u8 NaviGpsDLimit;	105	u8 NaviGpsDLimit;
100	u8 NaviGpsACC;	106	u8 NaviGpsACC;
101	u8 NaviGpsMinSat;	107	u8 NaviGpsMinSat;
102	u8 NaviStickThreshold;	108	u8 NaviStickThreshold;
103	u8 NaviOperatingRadius;	109	u8 NaviOperatingRadius;
104	u8 NaviWindCorrection;	110	u8 NaviWindCorrection;
105	u8 NaviSpeedCompensation;	111	u8 NaviSpeedCompensation;
106	u8 LowVoltageWarning;	112	u8 LowVoltageWarning;
107	u8 NaviAngleLimitation;	113	u8 NaviAngleLimitation;
108	u8 NaviPH_LoginTime;	114	u8 NaviPH_LoginTime;
109	} __attribute__((packed)) Param_t;	115	} __attribute__((packed)) Param_t;
110		116
111	typedef struct	117	typedef struct
112	{	118	{
113	s8 StickNick;	119	s8 StickNick;
114	s8 StickRoll;	120	s8 StickRoll;
115	s8 StickYaw;	121	s8 StickYaw;
116	s8 StickGas;	122	s8 StickGas;
117	u8 Poti[8];	123	u8 Poti[8];
118	u8 Poti5;	124	u8 Poti5;
119	u8 Poti6;	125	u8 Poti6;
120	u8 Poti7;	126	u8 Poti7;
121	u8 Poti8;	127	u8 Poti8;
122	u8 RC_Quality;	128	u8 RC_Quality;
123	u8 RC_RSSI;	129	u8 RC_RSSI;
124	u8 BAT_Voltage;	130	u8 BAT_Voltage;
125	u16 BAT_Current;	131	u16 BAT_Current;
126	u16 BAT_UsedCapacity;	132	u16 BAT_UsedCapacity;
127	u8 StatusFlags;	133	u8 StatusFlags;
128	u8 Error[5];	134	u8 Error[5];
-		135	u8 StatusFlags2;
129	} __attribute__((packed)) FC_t;	136	} __attribute__((packed)) FC_t;
130		137
131		138
132	extern Param_t Parameter;	139	extern Param_t Parameter;
133	extern volatile FC_t FC;	140	extern volatile FC_t FC;
134	extern s8 ErrorMSG[25];	141	extern s8 ErrorMSG[25];
135	extern u8 ErrorCode;	142	extern u8 ErrorCode;
136	extern u8 StopNavigation;	143	extern u8 StopNavigation;
137	#endif // _MAIN_H	144	#endif // _MAIN_H
138		145

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(root)/tags/V2.04a/main.h @ 811 - Rev 291 → 294