WebSVN - NaviCtrl - Diff - Rev 578 and 581


#ifndef _MAIN_H
#define _MAIN_H
 
 
//#define FOLLOW_ME
 
#ifdef FOLLOW_ME
extern u8 TransmitAlsoToFC;
#endif
 
//-----------------------
//#define DEBUG 0
//-----------------------
 
#define VERSION_MAJOR   2
#define VERSION_MINOR   9
#define VERSION_PATCH   0
// 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
// 15 = P
// 16 = Q
// 17 = R
// 18 = S
 
#ifndef FOLLOW_ME
#define FC_SPI_COMPATIBLE               71      //   <------------------
#else
#define FC_SPI_COMPATIBLE               0xFF
#endif
 
#define MK3MAG_I2C_COMPATIBLE   3
 
// FC.StatusFlags
#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.StatusFlags2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
#define FC_STATUS2_OUT1_ACTIVE                  0x08
#define FC_STATUS2_OUT2_ACTIVE                  0x10
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
 
// FC.StatusFlags3 
#define FC_STATUS3_REDUNDANCE               0x01
#define FC_STATUS3_BOAT                         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
 
//Parameter.GlobalConfig3
#define CFG3_NO_SDCARD_NO_START                 0x01
//#define CFG3_DPH_MAX_RADIUS                   0x02
#define CFG3_VARIO_FAILSAFE                     0x04
#define CFG3_MOTOR_SWITCH_MODE                  0x08
#define CFG3_NO_GPSFIX_NO_START                 0x10
 
// Parameter.GlobalConfig
#define FC_CFG_HOEHENREGELUNG           0x01
#define FC_CFG_HOEHEN_SCHALTER          0x02
#define FC_CFG_HEADING_HOLD             0x04
#define FC_CFG_KOMPASS_AKTIV            0x08
#define FC_CFG_KOMPASS_FIX              0x10
#define FC_CFG_GPS_AKTIV                0x20
#define FC_CFG_ACHSENKOPPLUNG_AKTIV     0x40
#define FC_CFG_DREHRATEN_BEGRENZER      0x80
 
//Parameter.ExtraConfig
#define CFG2_HEIGHT_LIMIT                       0x01
#define CFG2_VARIO_BEEP                         0x02
#define CFG_SENSITIVE_RC                        0x04
#define CFG_3_3V_REFERENCE                      0x08
#define CFG_NO_RCOFF_BEEPING                    0x10
#define CFG_GPS_AID                             0x20
#define CFG_TEACHABLE_CAREFREE                  0x40
#define CFG_IGNORE_MAG_ERR_AT_STARTUP   0x80
 
#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;}
 
 
#define Poti1  FC.Poti[0]
#define Poti2  FC.Poti[1]
#define Poti3  FC.Poti[2]
#define Poti4  FC.Poti[3]
#define Poti5  FC.Poti[4]
#define Poti6  FC.Poti[5]
#define Poti7  FC.Poti[6]
#define Poti8  FC.Poti[7]
 
extern u16 BeepTime;
extern u8  NCFlags;
extern u8 ClearFCStatusFlags;
void Interrupt_Init(void);
extern s16 GeoMagDec;
extern u8 NewWPL_Name;
 
#define VERSION_SERIAL_MAJOR    11 // do not change!
 
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 NaviMaxFlyingRange; // in 10m
        u8 NaviWindCorrection;
        u8 NaviAccCompensation;
        u8 NaviSpeedCompensation;
        u8 LowVoltageWarning;
        u8 NaviAngleLimitation;
        u8 NaviPH_LoginTime;
        u8 OrientationAngle; // where is front - in 15°
        u8 CamOrientation;       // direction of the camera in 15°
        u8 GlobalConfig;
        u8 ExtraConfig;
        u8 ComingHomeAltitude;
        u8 GlobalConfig3;
        u8 AutoPhotoDistance; // Distance between Photo releases (Position)
        u8 FromFC_LandingSpeed;
        u8 FromFC_LowVoltageHomeActive;
        u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes)
        u8 SingleWpSpeed;
        u8 DescendRange; // in 10m
        u8 MaximumAltitude; // in m
        u8 Driftkomp;
} __attribute__((packed)) Param_t;
 
typedef struct
{
        s8 StickNick;
        s8 StickRoll;
        s8 StickYaw;
        s8 StickGas;
        u8 Poti[8];
        u8 RC_Quality;
        u8 RC_RSSI;
        u8 BAT_Voltage;
        u16 BAT_Current;
        u16 BAT_UsedCapacity;
        u8 StatusFlags;
        u8 Error[5];
        u8 StatusFlags2;
        u8 FromFC_SpeakHoTT;
        s16 FromFC_CompassOffset;
        u8 FromFC_DisableDeclination;
        u8 StatusFlags3;
        s16 Altimeter;
        u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation
        u16 AdNeutralNick;
        u16 AdNeutralRoll;
        u16 AdNeutralYaw;
} __attribute__((packed)) FC_t; // from FC
 
extern Param_t Parameter;
extern volatile FC_t FC;
extern s8 ErrorMSG[25];
extern u8 ErrorCode;
extern u8 StopNavigation;
extern u8 ErrorGpsFixLost;
extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint;
extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero
extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero
extern volatile u32 PollingTimeout;
extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsProcessedIn5Sec, FreqNewGpsDataIn5Sec;
 
extern u16 SD_SettingWaitLED;
extern u16 SD_PosAccuracy;
extern u16 SD_ComingHomeSpeed;
extern u16 SD_DPH_Speed;
extern u32 MaxWP_Radius_in_m;
extern u8 SpeakWaypointRached;  // Speak once as soon as the Points are active
extern u8 SpeakNextWaypoint;    // Speak once when reached
extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started
 
 
#define CHECK_ONLY     0
#define GET_LICENSE    1
#define COPY_SD_TO_EE  2
extern u8 CheckLicense(u8);
 
#endif // _MAIN_H
 

Rev 578	Rev 581
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 2	15	#define VERSION_MAJOR 2
16	#define VERSION_MINOR 8	16	#define VERSION_MINOR 9
17	#define VERSION_PATCH 0	17	#define VERSION_PATCH 0
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	33	// 15 = P
34	// 16 = Q	34	// 16 = Q
35	// 17 = R	35	// 17 = R
36	// 18 = S	36	// 18 = S
37		37
38	#ifndef FOLLOW_ME	38	#ifndef FOLLOW_ME
39	#define FC_SPI_COMPATIBLE 71 // <------------------	39	#define FC_SPI_COMPATIBLE 71 // <------------------
40	#else	40	#else
41	#define FC_SPI_COMPATIBLE 0xFF	41	#define FC_SPI_COMPATIBLE 0xFF
42	#endif	42	#endif
43		43
44	#define MK3MAG_I2C_COMPATIBLE 3	44	#define MK3MAG_I2C_COMPATIBLE 3
45		45
46	// FC.StatusFlags	46	// FC.StatusFlags
47	#define FC_STATUS_MOTOR_RUN 0x01	47	#define FC_STATUS_MOTOR_RUN 0x01
48	#define FC_STATUS_FLY 0x02	48	#define FC_STATUS_FLY 0x02
49	#define FC_STATUS_CALIBRATE 0x04	49	#define FC_STATUS_CALIBRATE 0x04
50	#define FC_STATUS_START 0x08	50	#define FC_STATUS_START 0x08
51	#define FC_STATUS_EMERGENCY_LANDING 0x10	51	#define FC_STATUS_EMERGENCY_LANDING 0x10
52	#define FC_STATUS_LOWBAT 0x20	52	#define FC_STATUS_LOWBAT 0x20
53	#define FC_STATUS_VARIO_TRIM_UP 0x40	53	#define FC_STATUS_VARIO_TRIM_UP 0x40
54	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	54	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
55		55
56	// FC.StatusFlags2	56	// FC.StatusFlags2
57	#define FC_STATUS2_CAREFREE 0x01	57	#define FC_STATUS2_CAREFREE 0x01
58	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	58	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
59	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	59	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
60	#define FC_STATUS2_OUT1_ACTIVE 0x08	60	#define FC_STATUS2_OUT1_ACTIVE 0x08
61	#define FC_STATUS2_OUT2_ACTIVE 0x10	61	#define FC_STATUS2_OUT2_ACTIVE 0x10
62	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground	62	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
63		63
64	// FC.StatusFlags3	64	// FC.StatusFlags3
65	#define FC_STATUS3_REDUNDANCE 0x01	65	#define FC_STATUS3_REDUNDANCE 0x01
66	#define FC_STATUS3_BOAT 0x02	66	#define FC_STATUS3_BOAT 0x02
67		67
68	// FC ERRORS FLAGS	68	// FC ERRORS FLAGS
69	#define FC_ERROR0_GYRO_NICK 0x01	69	#define FC_ERROR0_GYRO_NICK 0x01
70	#define FC_ERROR0_GYRO_ROLL 0x02	70	#define FC_ERROR0_GYRO_ROLL 0x02
71	#define FC_ERROR0_GYRO_YAW 0x04	71	#define FC_ERROR0_GYRO_YAW 0x04
72	#define FC_ERROR0_ACC_NICK 0x08	72	#define FC_ERROR0_ACC_NICK 0x08
73	#define FC_ERROR0_ACC_ROLL 0x10	73	#define FC_ERROR0_ACC_ROLL 0x10
74	#define FC_ERROR0_ACC_TOP 0x20	74	#define FC_ERROR0_ACC_TOP 0x20
75	#define FC_ERROR0_PRESSURE 0x40	75	#define FC_ERROR0_PRESSURE 0x40
76	#define FC_ERROR0_CAREFREE 0x80	76	#define FC_ERROR0_CAREFREE 0x80
77		77
78	#define FC_ERROR1_I2C 0x01	78	#define FC_ERROR1_I2C 0x01
79	#define FC_ERROR1_BL_MISSING 0x02	79	#define FC_ERROR1_BL_MISSING 0x02
80	#define FC_ERROR1_SPI_RX 0x04	80	#define FC_ERROR1_SPI_RX 0x04
81	#define FC_ERROR1_PPM 0x08	81	#define FC_ERROR1_PPM 0x08
82	#define FC_ERROR1_MIXER 0x10	82	#define FC_ERROR1_MIXER 0x10
83	#define FC_ERROR1_RES1 0x20	83	#define FC_ERROR1_RES1 0x20
84	#define FC_ERROR1_RES2 0x40	84	#define FC_ERROR1_RES2 0x40
85	#define FC_ERROR1_RES3 0x80	85	#define FC_ERROR1_RES3 0x80
86		86
87	// NC Errors	87	// NC Errors
88	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	88	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
89	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	89	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
90	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	90	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
91	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	91	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
92	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	92	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
93	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	93	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
94	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	94	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
95	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	95	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
96		96
97	//Parameter.GlobalConfig3	97	//Parameter.GlobalConfig3
98	#define CFG3_NO_SDCARD_NO_START 0x01	98	#define CFG3_NO_SDCARD_NO_START 0x01
99	//#define CFG3_DPH_MAX_RADIUS 0x02	99	//#define CFG3_DPH_MAX_RADIUS 0x02
100	#define CFG3_VARIO_FAILSAFE 0x04	100	#define CFG3_VARIO_FAILSAFE 0x04
101	#define CFG3_MOTOR_SWITCH_MODE 0x08	101	#define CFG3_MOTOR_SWITCH_MODE 0x08
102	#define CFG3_NO_GPSFIX_NO_START 0x10	102	#define CFG3_NO_GPSFIX_NO_START 0x10
103		103
104	// Parameter.GlobalConfig	104	// Parameter.GlobalConfig
105	#define FC_CFG_HOEHENREGELUNG 0x01	105	#define FC_CFG_HOEHENREGELUNG 0x01
106	#define FC_CFG_HOEHEN_SCHALTER 0x02	106	#define FC_CFG_HOEHEN_SCHALTER 0x02
107	#define FC_CFG_HEADING_HOLD 0x04	107	#define FC_CFG_HEADING_HOLD 0x04
108	#define FC_CFG_KOMPASS_AKTIV 0x08	108	#define FC_CFG_KOMPASS_AKTIV 0x08
109	#define FC_CFG_KOMPASS_FIX 0x10	109	#define FC_CFG_KOMPASS_FIX 0x10
110	#define FC_CFG_GPS_AKTIV 0x20	110	#define FC_CFG_GPS_AKTIV 0x20
111	#define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40	111	#define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40
112	#define FC_CFG_DREHRATEN_BEGRENZER 0x80	112	#define FC_CFG_DREHRATEN_BEGRENZER 0x80
113		113
114	//Parameter.ExtraConfig	114	//Parameter.ExtraConfig
115	#define CFG2_HEIGHT_LIMIT 0x01	115	#define CFG2_HEIGHT_LIMIT 0x01
116	#define CFG2_VARIO_BEEP 0x02	116	#define CFG2_VARIO_BEEP 0x02
117	#define CFG_SENSITIVE_RC 0x04	117	#define CFG_SENSITIVE_RC 0x04
118	#define CFG_3_3V_REFERENCE 0x08	118	#define CFG_3_3V_REFERENCE 0x08
119	#define CFG_NO_RCOFF_BEEPING 0x10	119	#define CFG_NO_RCOFF_BEEPING 0x10
120	#define CFG_GPS_AID 0x20	120	#define CFG_GPS_AID 0x20
121	#define CFG_TEACHABLE_CAREFREE 0x40	121	#define CFG_TEACHABLE_CAREFREE 0x40
122	#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80	122	#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80
123		123
124	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	124	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
125	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	125	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
126	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	126	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
127		127
128		128
129	#define Poti1 FC.Poti[0]	129	#define Poti1 FC.Poti[0]
130	#define Poti2 FC.Poti[1]	130	#define Poti2 FC.Poti[1]
131	#define Poti3 FC.Poti[2]	131	#define Poti3 FC.Poti[2]
132	#define Poti4 FC.Poti[3]	132	#define Poti4 FC.Poti[3]
133	#define Poti5 FC.Poti[4]	133	#define Poti5 FC.Poti[4]
134	#define Poti6 FC.Poti[5]	134	#define Poti6 FC.Poti[5]
135	#define Poti7 FC.Poti[6]	135	#define Poti7 FC.Poti[6]
136	#define Poti8 FC.Poti[7]	136	#define Poti8 FC.Poti[7]
137		137
138	extern u16 BeepTime;	138	extern u16 BeepTime;
139	extern u8 NCFlags;	139	extern u8 NCFlags;
140	extern u8 ClearFCStatusFlags;	140	extern u8 ClearFCStatusFlags;
141	void Interrupt_Init(void);	141	void Interrupt_Init(void);
142	extern s16 GeoMagDec;	142	extern s16 GeoMagDec;
143	extern u8 NewWPL_Name;	143	extern u8 NewWPL_Name;
144		144
145	#define VERSION_SERIAL_MAJOR 11 // do not change!	145	#define VERSION_SERIAL_MAJOR 11 // do not change!
146		146
147	typedef struct	147	typedef struct
148	{	148	{
149	u8 ActiveSetting;	149	u8 ActiveSetting;
150	u8 User1;	150	u8 User1;
151	u8 User2;	151	u8 User2;
152	u8 User3;	152	u8 User3;
153	u8 User4;	153	u8 User4;
154	u8 User5;	154	u8 User5;
155	u8 User6;	155	u8 User6;
156	u8 User7;	156	u8 User7;
157	u8 User8;	157	u8 User8;
158	u8 NaviGpsModeControl;	158	u8 NaviGpsModeControl;
159	u8 NaviGpsGain;	159	u8 NaviGpsGain;
160	u8 NaviGpsP;	160	u8 NaviGpsP;
161	u8 NaviGpsI;	161	u8 NaviGpsI;
162	u8 NaviGpsD;	162	u8 NaviGpsD;
163	u8 NaviGpsPLimit;	163	u8 NaviGpsPLimit;
164	u8 NaviGpsILimit;	164	u8 NaviGpsILimit;
165	u8 NaviGpsDLimit;	165	u8 NaviGpsDLimit;
166	u8 NaviGpsACC;	166	u8 NaviGpsACC;
167	u8 NaviGpsMinSat;	167	u8 NaviGpsMinSat;
168	u8 NaviStickThreshold;	168	u8 NaviStickThreshold;
169	u8 NaviMaxFlyingRange; // in 10m	169	u8 NaviMaxFlyingRange; // in 10m
170	u8 NaviWindCorrection;	170	u8 NaviWindCorrection;
171	u8 NaviAccCompensation;	171	u8 NaviAccCompensation;
172	u8 NaviSpeedCompensation;	172	u8 NaviSpeedCompensation;
173	u8 LowVoltageWarning;	173	u8 LowVoltageWarning;
174	u8 NaviAngleLimitation;	174	u8 NaviAngleLimitation;
175	u8 NaviPH_LoginTime;	175	u8 NaviPH_LoginTime;
176	u8 OrientationAngle; // where is front - in 15°	176	u8 OrientationAngle; // where is front - in 15°
177	u8 CamOrientation; // direction of the camera in 15°	177	u8 CamOrientation; // direction of the camera in 15°
178	u8 GlobalConfig;	178	u8 GlobalConfig;
179	u8 ExtraConfig;	179	u8 ExtraConfig;
180	u8 ComingHomeAltitude;	180	u8 ComingHomeAltitude;
181	u8 GlobalConfig3;	181	u8 GlobalConfig3;
182	u8 AutoPhotoDistance; // Distance between Photo releases (Position)	182	u8 AutoPhotoDistance; // Distance between Photo releases (Position)
183	u8 FromFC_LandingSpeed;	183	u8 FromFC_LandingSpeed;
184	u8 FromFC_LowVoltageHomeActive;	184	u8 FromFC_LowVoltageHomeActive;
185	u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes)	185	u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes)
186	u8 SingleWpSpeed;	186	u8 SingleWpSpeed;
187	u8 DescendRange; // in 10m	187	u8 DescendRange; // in 10m
188	u8 MaximumAltitude; // in m	188	u8 MaximumAltitude; // in m
189	u8 Driftkomp;	189	u8 Driftkomp;
190	} __attribute__((packed)) Param_t;	190	} __attribute__((packed)) Param_t;
191		191
192	typedef struct	192	typedef struct
193	{	193	{
194	s8 StickNick;	194	s8 StickNick;
195	s8 StickRoll;	195	s8 StickRoll;
196	s8 StickYaw;	196	s8 StickYaw;
197	s8 StickGas;	197	s8 StickGas;
198	u8 Poti[8];	198	u8 Poti[8];
199	u8 RC_Quality;	199	u8 RC_Quality;
200	u8 RC_RSSI;	200	u8 RC_RSSI;
201	u8 BAT_Voltage;	201	u8 BAT_Voltage;
202	u16 BAT_Current;	202	u16 BAT_Current;
203	u16 BAT_UsedCapacity;	203	u16 BAT_UsedCapacity;
204	u8 StatusFlags;	204	u8 StatusFlags;
205	u8 Error[5];	205	u8 Error[5];
206	u8 StatusFlags2;	206	u8 StatusFlags2;
207	u8 FromFC_SpeakHoTT;	207	u8 FromFC_SpeakHoTT;
208	s16 FromFC_CompassOffset;	208	s16 FromFC_CompassOffset;
209	u8 FromFC_DisableDeclination;	209	u8 FromFC_DisableDeclination;
210	u8 StatusFlags3;	210	u8 StatusFlags3;
211	s16 Altimeter;	211	s16 Altimeter;
212	u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation	212	u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation
213	u16 AdNeutralNick;	213	u16 AdNeutralNick;
214	u16 AdNeutralRoll;	214	u16 AdNeutralRoll;
215	u16 AdNeutralYaw;	215	u16 AdNeutralYaw;
216	} __attribute__((packed)) FC_t; // from FC	216	} __attribute__((packed)) FC_t; // from FC
217		217
218	extern Param_t Parameter;	218	extern Param_t Parameter;
219	extern volatile FC_t FC;	219	extern volatile FC_t FC;
220	extern s8 ErrorMSG[25];	220	extern s8 ErrorMSG[25];
221	extern u8 ErrorCode;	221	extern u8 ErrorCode;
222	extern u8 StopNavigation;	222	extern u8 StopNavigation;
223	extern u8 ErrorGpsFixLost;	223	extern u8 ErrorGpsFixLost;
224	extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint;	224	extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint;
225	extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero	225	extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero
226	extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero	226	extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero
227	extern volatile u32 PollingTimeout;	227	extern volatile u32 PollingTimeout;
228	extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsProcessedIn5Sec, FreqNewGpsDataIn5Sec;	228	extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsProcessedIn5Sec, FreqNewGpsDataIn5Sec;
229		229
230	extern u16 SD_SettingWaitLED;	230	extern u16 SD_SettingWaitLED;
231	extern u16 SD_PosAccuracy;	231	extern u16 SD_PosAccuracy;
232	extern u16 SD_ComingHomeSpeed;	232	extern u16 SD_ComingHomeSpeed;
233	extern u16 SD_DPH_Speed;	233	extern u16 SD_DPH_Speed;
234	extern u32 MaxWP_Radius_in_m;	234	extern u32 MaxWP_Radius_in_m;
235	extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active	235	extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active
236	extern u8 SpeakNextWaypoint; // Speak once when reached	236	extern u8 SpeakNextWaypoint; // Speak once when reached
237	extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started	237	extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started
238		238
239		239
240	#define CHECK_ONLY 0	240	#define CHECK_ONLY 0
241	#define GET_LICENSE 1	241	#define GET_LICENSE 1
242	#define COPY_SD_TO_EE 2	242	#define COPY_SD_TO_EE 2
243	extern u8 CheckLicense(u8);	243	extern u8 CheckLicense(u8);
244		244
245	#endif // _MAIN_H	245	#endif // _MAIN_H
246		246

Subversion Repositories NaviCtrl

(root)/tags/V2.10b/main.h @ 660 - Rev 578 → 581