WebSVN - NaviCtrl - Diff - Rev 311 and 314


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

Subversion Repositories NaviCtrl

(root)/tags/V2.06d/main.h @ 546 - Rev 311 → 314