WebSVN - NaviCtrl - Diff - Rev 228 and 229


#ifndef _MAIN_H
#define _MAIN_H
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   19
#define VERSION_PATCH   4
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               13
#define MK3MAG_I2C_COMPATIBLE   3
                                                                 
// FC FLAGS
#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_RESERVE1                         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 u32 ErrorCode;
extern u8 StopNavigation;
#endif // _MAIN_H
 

Rev 228	Rev 229
1	#ifndef _MAIN_H	1	#ifndef _MAIN_H
2	#define _MAIN_H	2	#define _MAIN_H
3		3
4	#define VERSION_MAJOR 0	4	#define VERSION_MAJOR 0
5	#define VERSION_MINOR 19	5	#define VERSION_MINOR 19
6	#define VERSION_PATCH 3	6	#define VERSION_PATCH 4
7		7
8	#define VERSION_SERIAL_MAJOR 11	8	#define VERSION_SERIAL_MAJOR 11
9	#define VERSION_SERIAL_MINOR 0	9	#define VERSION_SERIAL_MINOR 0
10		10
11	#define FC_SPI_COMPATIBLE 13	11	#define FC_SPI_COMPATIBLE 13
12	#define MK3MAG_I2C_COMPATIBLE 4	12	#define MK3MAG_I2C_COMPATIBLE 3
13		13
14	// FC FLAGS	14	// FC FLAGS
15	#define FCFLAG_MOTOR_RUN 0x01	15	#define FCFLAG_MOTOR_RUN 0x01
16	#define FCFLAG_FLY 0x02	16	#define FCFLAG_FLY 0x02
17	#define FCFLAG_CALIBRATE 0x04	17	#define FCFLAG_CALIBRATE 0x04
18	#define FCFLAG_START 0x08	18	#define FCFLAG_START 0x08
19	#define FCFLAG_EMERGENCY_LANDING 0x10	19	#define FCFLAG_EMERGENCY_LANDING 0x10
20	#define FCFLAG_LOWBAT 0x20	20	#define FCFLAG_LOWBAT 0x20
21	#define FCFLAG_SPI_RX_ERR 0x40	21	#define FCFLAG_SPI_RX_ERR 0x40
22	#define FCFLAG_RESERVE1 0x80	22	#define FCFLAG_RESERVE1 0x80
23		23
24	// NC Errors	24	// NC Errors
25	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	25	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
26	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	26	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
27	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	27	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
28	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	28	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
29	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	29	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
30	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	30	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
31	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	31	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
32		32
33		33
34	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	34	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
35	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	35	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
36	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	36	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
37		37
38	extern u8 BoardRelease;	38	extern u8 BoardRelease;
39	extern u16 BeepTime;	39	extern u16 BeepTime;
40	extern u8 NCFlags;	40	extern u8 NCFlags;
41	extern u8 ClearFCFlags;	41	extern u8 ClearFCFlags;
42	void Interrupt_Init(void);	42	void Interrupt_Init(void);
43	extern s16 GeoMagDec;	43	extern s16 GeoMagDec;
44		44
45		45
46	typedef struct	46	typedef struct
47	{	47	{
48	u8 ActiveSetting;	48	u8 ActiveSetting;
49	u8 User1;	49	u8 User1;
50	u8 User2;	50	u8 User2;
51	u8 User3;	51	u8 User3;
52	u8 User4;	52	u8 User4;
53	u8 User5;	53	u8 User5;
54	u8 User6;	54	u8 User6;
55	u8 User7;	55	u8 User7;
56	u8 User8;	56	u8 User8;
57	u8 NaviGpsModeControl;	57	u8 NaviGpsModeControl;
58	u8 NaviGpsGain;	58	u8 NaviGpsGain;
59	u8 NaviGpsP;	59	u8 NaviGpsP;
60	u8 NaviGpsI;	60	u8 NaviGpsI;
61	u8 NaviGpsD;	61	u8 NaviGpsD;
62	u8 NaviGpsPLimit;	62	u8 NaviGpsPLimit;
63	u8 NaviGpsILimit;	63	u8 NaviGpsILimit;
64	u8 NaviGpsDLimit;	64	u8 NaviGpsDLimit;
65	u8 NaviGpsACC;	65	u8 NaviGpsACC;
66	u8 NaviGpsMinSat;	66	u8 NaviGpsMinSat;
67	u8 NaviStickThreshold;	67	u8 NaviStickThreshold;
68	u8 NaviOperatingRadius;	68	u8 NaviOperatingRadius;
69	u8 NaviWindCorrection;	69	u8 NaviWindCorrection;
70	u8 NaviSpeedCompensation;	70	u8 NaviSpeedCompensation;
71	u8 LowVoltageWarning;	71	u8 LowVoltageWarning;
72	u8 NaviAngleLimitation;	72	u8 NaviAngleLimitation;
73	u8 NaviPH_LoginTime;	73	u8 NaviPH_LoginTime;
74	} __attribute__((packed)) Param_t;	74	} __attribute__((packed)) Param_t;
75		75
76	typedef struct	76	typedef struct
77	{	77	{
78	s8 StickNick;	78	s8 StickNick;
79	s8 StickRoll;	79	s8 StickRoll;
80	s8 StickYaw;	80	s8 StickYaw;
81	s8 StickGas;	81	s8 StickGas;
82	u8 Poti[8];	82	u8 Poti[8];
83	u8 Poti5;	83	u8 Poti5;
84	u8 Poti6;	84	u8 Poti6;
85	u8 Poti7;	85	u8 Poti7;
86	u8 Poti8;	86	u8 Poti8;
87	u8 RC_Quality;	87	u8 RC_Quality;
88	u8 RC_RSSI;	88	u8 RC_RSSI;
89	u8 BAT_Voltage;	89	u8 BAT_Voltage;
90	u16 BAT_Current;	90	u16 BAT_Current;
91	u16 BAT_UsedCapacity;	91	u16 BAT_UsedCapacity;
92	u8 Flags;	92	u8 Flags;
93	} __attribute__((packed)) FC_t;	93	} __attribute__((packed)) FC_t;
94		94
95	extern Param_t Parameter;	95	extern Param_t Parameter;
96	extern volatile FC_t FC;	96	extern volatile FC_t FC;
97	extern s8 ErrorMSG[25];	97	extern s8 ErrorMSG[25];
98	extern u32 ErrorCode;	98	extern u32 ErrorCode;
99	extern u8 StopNavigation;	99	extern u8 StopNavigation;
100	#endif // _MAIN_H	100	#endif // _MAIN_H
101		101

Subversion Repositories NaviCtrl

(root)/tags/V2.10b/main.h @ 632 - Rev 228 → 229