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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 FOLLOW_ME |
5 | //#define FOLLOW_ME |
| 6 | 6 | ||
| 7 | #ifdef FOLLOW_ME |
7 | #ifdef FOLLOW_ME |
| 8 | extern u8 TransmitAlsoToFC; |
8 | extern u8 TransmitAlsoToFC; |
| 9 | #endif |
9 | #endif |
| 10 | 10 | ||
| 11 | //----------------------- |
11 | //----------------------- |
| 12 | //#define DEBUG 0 |
12 | //#define DEBUG 0 |
| 13 | //----------------------- |
13 | //----------------------- |
| 14 | 14 | ||
| 15 | #define VERSION_MAJOR 0 |
15 | #define VERSION_MAJOR 0 |
| 16 | #define VERSION_MINOR 25 |
16 | #define VERSION_MINOR 25 |
| 17 | #define VERSION_PATCH 12 |
17 | #define VERSION_PATCH 16 |
| 18 | // 0 = A |
18 | // 0 = A |
| 19 | // 1 = B |
19 | // 1 = B |
| 20 | // 2 = C |
20 | // 2 = C |
| 21 | // 3 = D |
21 | // 3 = D |
| 22 | // 4 = E |
22 | // 4 = E |
| 23 | // 5 = F |
23 | // 5 = F |
| 24 | // 6 = G |
24 | // 6 = G |
| 25 | // 7 = H |
25 | // 7 = H |
| 26 | // 8 = I |
26 | // 8 = I |
| 27 | // 9 = J |
27 | // 9 = J |
| 28 | // 10 = k |
28 | // 10 = k |
| 29 | // 11 = L |
29 | // 11 = L |
| 30 | // 12 = M |
30 | // 12 = M |
| 31 | // 13 = N |
31 | // 13 = N |
| 32 | // 14 = o |
32 | // 14 = O |
| - | 33 | // 15 = P |
|
| - | 34 | // 16 = Q |
|
| - | 35 | // 17 = R |
|
| 33 | 36 | ||
| 34 | #define VERSION_SERIAL_MAJOR 11 |
37 | #define VERSION_SERIAL_MAJOR 11 |
| 35 | #define VERSION_SERIAL_MINOR 0 |
38 | #define VERSION_SERIAL_MINOR 0 |
| 36 | 39 | ||
| 37 | #ifndef FOLLOW_ME |
40 | #ifndef FOLLOW_ME |
| 38 | #define FC_SPI_COMPATIBLE 25 |
41 | #define FC_SPI_COMPATIBLE 26 |
| 39 | #else |
42 | #else |
| 40 | #define FC_SPI_COMPATIBLE 0xFF |
43 | #define FC_SPI_COMPATIBLE 0xFF |
| 41 | #endif |
44 | #endif |
| 42 | 45 | ||
| 43 | #define MK3MAG_I2C_COMPATIBLE 3 |
46 | #define MK3MAG_I2C_COMPATIBLE 3 |
| 44 | 47 | ||
| 45 | // FC.StatusFlags |
48 | // FC.StatusFlags |
| 46 | #define FC_STATUS_MOTOR_RUN 0x01 |
49 | #define FC_STATUS_MOTOR_RUN 0x01 |
| 47 | #define FC_STATUS_FLY 0x02 |
50 | #define FC_STATUS_FLY 0x02 |
| 48 | #define FC_STATUS_CALIBRATE 0x04 |
51 | #define FC_STATUS_CALIBRATE 0x04 |
| 49 | #define FC_STATUS_START 0x08 |
52 | #define FC_STATUS_START 0x08 |
| 50 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
53 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| 51 | #define FC_STATUS_LOWBAT 0x20 |
54 | #define FC_STATUS_LOWBAT 0x20 |
| 52 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
55 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| 53 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
56 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| 54 | 57 | ||
| 55 | // FC.StatusFlags2 |
58 | // FC.StatusFlags2 |
| 56 | #define FC_STATUS2_CAREFREE 0x01 |
59 | #define FC_STATUS2_CAREFREE 0x01 |
| 57 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
60 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| 58 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
61 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| 59 | 62 | ||
| 60 | 63 | ||
| 61 | // FC ERRORS FLAGS |
64 | // FC ERRORS FLAGS |
| 62 | #define FC_ERROR0_GYRO_NICK 0x01 |
65 | #define FC_ERROR0_GYRO_NICK 0x01 |
| 63 | #define FC_ERROR0_GYRO_ROLL 0x02 |
66 | #define FC_ERROR0_GYRO_ROLL 0x02 |
| 64 | #define FC_ERROR0_GYRO_YAW 0x04 |
67 | #define FC_ERROR0_GYRO_YAW 0x04 |
| 65 | #define FC_ERROR0_ACC_NICK 0x08 |
68 | #define FC_ERROR0_ACC_NICK 0x08 |
| 66 | #define FC_ERROR0_ACC_ROLL 0x10 |
69 | #define FC_ERROR0_ACC_ROLL 0x10 |
| 67 | #define FC_ERROR0_ACC_TOP 0x20 |
70 | #define FC_ERROR0_ACC_TOP 0x20 |
| 68 | #define FC_ERROR0_PRESSURE 0x40 |
71 | #define FC_ERROR0_PRESSURE 0x40 |
| 69 | #define FC_ERROR0_CAREFREE 0x80 |
72 | #define FC_ERROR0_CAREFREE 0x80 |
| 70 | 73 | ||
| 71 | #define FC_ERROR1_I2C 0x01 |
74 | #define FC_ERROR1_I2C 0x01 |
| 72 | #define FC_ERROR1_BL_MISSING 0x02 |
75 | #define FC_ERROR1_BL_MISSING 0x02 |
| 73 | #define FC_ERROR1_SPI_RX 0x04 |
76 | #define FC_ERROR1_SPI_RX 0x04 |
| 74 | #define FC_ERROR1_PPM 0x08 |
77 | #define FC_ERROR1_PPM 0x08 |
| 75 | #define FC_ERROR1_MIXER 0x10 |
78 | #define FC_ERROR1_MIXER 0x10 |
| 76 | #define FC_ERROR1_RES1 0x20 |
79 | #define FC_ERROR1_RES1 0x20 |
| 77 | #define FC_ERROR1_RES2 0x40 |
80 | #define FC_ERROR1_RES2 0x40 |
| 78 | #define FC_ERROR1_RES3 0x80 |
81 | #define FC_ERROR1_RES3 0x80 |
| 79 | 82 | ||
| 80 | // NC Errors |
83 | // NC Errors |
| 81 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
84 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
| 82 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
85 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
| 83 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
86 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
| 84 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
87 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
| 85 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
88 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
| 86 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
89 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
| 87 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
90 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
| 88 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
91 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
| 89 | 92 | ||
| 90 | // Parameter.GlobalConfig |
93 | // Parameter.GlobalConfig |
| 91 | #define FC_CFG_HOEHENREGELUNG 0x01 |
94 | #define FC_CFG_HOEHENREGELUNG 0x01 |
| 92 | #define FC_CFG_HOEHEN_SCHALTER 0x02 |
95 | #define FC_CFG_HOEHEN_SCHALTER 0x02 |
| 93 | #define FC_CFG_HEADING_HOLD 0x04 |
96 | #define FC_CFG_HEADING_HOLD 0x04 |
| 94 | #define FC_CFG_KOMPASS_AKTIV 0x08 |
97 | #define FC_CFG_KOMPASS_AKTIV 0x08 |
| 95 | #define FC_CFG_KOMPASS_FIX 0x10 |
98 | #define FC_CFG_KOMPASS_FIX 0x10 |
| 96 | #define FC_CFG_GPS_AKTIV 0x20 |
99 | #define FC_CFG_GPS_AKTIV 0x20 |
| 97 | #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
100 | #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| 98 | #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
101 | #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
| 99 | 102 | ||
| 100 | //Parameter.ExtraConfig |
103 | //Parameter.ExtraConfig |
| 101 | #define CFG2_HEIGHT_LIMIT 0x01 |
104 | #define CFG2_HEIGHT_LIMIT 0x01 |
| 102 | #define CFG2_VARIO_BEEP 0x02 |
105 | #define CFG2_VARIO_BEEP 0x02 |
| 103 | #define CFG_SENSITIVE_RC 0x04 |
106 | #define CFG_SENSITIVE_RC 0x04 |
| 104 | #define CFG_3_3V_REFERENCE 0x08 |
107 | #define CFG_3_3V_REFERENCE 0x08 |
| 105 | #define CFG_NO_RCOFF_BEEPING 0x10 |
108 | #define CFG_NO_RCOFF_BEEPING 0x10 |
| 106 | #define CFG_GPS_AID 0x20 |
109 | #define CFG_GPS_AID 0x20 |
| 107 | #define CFG_TEACHABLE_CAREFREE 0x40 |
110 | #define CFG_TEACHABLE_CAREFREE 0x40 |
| 108 | #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
111 | #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
| 109 | 112 | ||
| 110 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
113 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 111 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
114 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| 112 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
115 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| 113 | 116 | ||
| 114 | 117 | ||
| 115 | #define Poti1 FC.Poti[0] |
118 | #define Poti1 FC.Poti[0] |
| 116 | #define Poti2 FC.Poti[1] |
119 | #define Poti2 FC.Poti[1] |
| 117 | #define Poti3 FC.Poti[2] |
120 | #define Poti3 FC.Poti[2] |
| 118 | #define Poti4 FC.Poti[3] |
121 | #define Poti4 FC.Poti[3] |
| 119 | #define Poti5 FC.Poti[4] |
122 | #define Poti5 FC.Poti[4] |
| 120 | #define Poti6 FC.Poti[5] |
123 | #define Poti6 FC.Poti[5] |
| 121 | #define Poti7 FC.Poti[6] |
124 | #define Poti7 FC.Poti[6] |
| 122 | #define Poti8 FC.Poti[7] |
125 | #define Poti8 FC.Poti[7] |
| 123 | 126 | ||
| 124 | extern u16 BeepTime; |
127 | extern u16 BeepTime; |
| 125 | extern u8 NCFlags; |
128 | extern u8 NCFlags; |
| 126 | extern u8 ClearFCStatusFlags; |
129 | extern u8 ClearFCStatusFlags; |
| 127 | void Interrupt_Init(void); |
130 | void Interrupt_Init(void); |
| 128 | extern s16 GeoMagDec; |
131 | extern s16 GeoMagDec; |
| 129 | 132 | ||
| 130 | typedef struct |
133 | typedef struct |
| 131 | { |
134 | { |
| 132 | u8 ActiveSetting; |
135 | u8 ActiveSetting; |
| 133 | u8 User1; |
136 | u8 User1; |
| 134 | u8 User2; |
137 | u8 User2; |
| 135 | u8 User3; |
138 | u8 User3; |
| 136 | u8 User4; |
139 | u8 User4; |
| 137 | u8 User5; |
140 | u8 User5; |
| 138 | u8 User6; |
141 | u8 User6; |
| 139 | u8 User7; |
142 | u8 User7; |
| 140 | u8 User8; |
143 | u8 User8; |
| 141 | u8 NaviGpsModeControl; |
144 | u8 NaviGpsModeControl; |
| 142 | u8 NaviGpsGain; |
145 | u8 NaviGpsGain; |
| 143 | u8 NaviGpsP; |
146 | u8 NaviGpsP; |
| 144 | u8 NaviGpsI; |
147 | u8 NaviGpsI; |
| 145 | u8 NaviGpsD; |
148 | u8 NaviGpsD; |
| 146 | u8 NaviGpsPLimit; |
149 | u8 NaviGpsPLimit; |
| 147 | u8 NaviGpsILimit; |
150 | u8 NaviGpsILimit; |
| 148 | u8 NaviGpsDLimit; |
151 | u8 NaviGpsDLimit; |
| 149 | u8 NaviGpsACC; |
152 | u8 NaviGpsACC; |
| 150 | u8 NaviGpsMinSat; |
153 | u8 NaviGpsMinSat; |
| 151 | u8 NaviStickThreshold; |
154 | u8 NaviStickThreshold; |
| 152 | u8 NaviOperatingRadius; |
155 | u8 NaviOperatingRadius; |
| 153 | u8 NaviWindCorrection; |
156 | u8 NaviWindCorrection; |
| 154 | u8 NaviAccCompensation; |
157 | u8 NaviAccCompensation; |
| 155 | u8 NaviSpeedCompensation; |
158 | u8 NaviSpeedCompensation; |
| 156 | u8 LowVoltageWarning; |
159 | u8 LowVoltageWarning; |
| 157 | u8 NaviAngleLimitation; |
160 | u8 NaviAngleLimitation; |
| 158 | u8 NaviPH_LoginTime; |
161 | u8 NaviPH_LoginTime; |
| 159 | u8 OrientationAngle; |
162 | u8 OrientationAngle; |
| 160 | u8 GlobalConfig; |
163 | u8 GlobalConfig; |
| 161 | u8 ExtraConfig; |
164 | u8 ExtraConfig; |
| 162 | u8 ComingHomeAltitude; |
165 | u8 ComingHomeAltitude; |
| 163 | } __attribute__((packed)) Param_t; |
166 | } __attribute__((packed)) Param_t; |
| 164 | 167 | ||
| 165 | typedef struct |
168 | typedef struct |
| 166 | { |
169 | { |
| 167 | s8 StickNick; |
170 | s8 StickNick; |
| 168 | s8 StickRoll; |
171 | s8 StickRoll; |
| 169 | s8 StickYaw; |
172 | s8 StickYaw; |
| 170 | s8 StickGas; |
173 | s8 StickGas; |
| 171 | u8 Poti[8]; |
174 | u8 Poti[8]; |
| 172 | u8 RC_Quality; |
175 | u8 RC_Quality; |
| 173 | u8 RC_RSSI; |
176 | u8 RC_RSSI; |
| 174 | u8 BAT_Voltage; |
177 | u8 BAT_Voltage; |
| 175 | u16 BAT_Current; |
178 | u16 BAT_Current; |
| 176 | u16 BAT_UsedCapacity; |
179 | u16 BAT_UsedCapacity; |
| 177 | u8 StatusFlags; |
180 | u8 StatusFlags; |
| 178 | u8 Error[5]; |
181 | u8 Error[5]; |
| 179 | u8 StatusFlags2; |
182 | u8 StatusFlags2; |
| 180 | } __attribute__((packed)) FC_t; |
183 | } __attribute__((packed)) FC_t; |
| 181 | 184 | ||
| 182 | 185 | ||
| 183 | extern Param_t Parameter; |
186 | extern Param_t Parameter; |
| 184 | extern volatile FC_t FC; |
187 | extern volatile FC_t FC; |
| 185 | extern s8 ErrorMSG[25]; |
188 | extern s8 ErrorMSG[25]; |
| 186 | extern u8 ErrorCode; |
189 | extern u8 ErrorCode; |
| 187 | extern u8 StopNavigation; |
190 | extern u8 StopNavigation; |
| 188 | extern u8 ErrorGpsFixLost; |
191 | extern u8 ErrorGpsFixLost; |
| 189 | #endif // _MAIN_H |
192 | #endif // _MAIN_H |
| 190 | 193 | ||