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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 2 |
15 | #define VERSION_MAJOR 2 |
| 16 | #define VERSION_MINOR 9 |
16 | #define VERSION_MINOR 9 |
| 17 | #define VERSION_PATCH 7 |
17 | #define VERSION_PATCH 8 |
| 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 75 // <------------------ |
39 | #define FC_SPI_COMPATIBLE 75 // <------------------ |
| 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 | #define MAX_MOTORS 16 // since 2.10 (3.2014) |
45 | #define MAX_MOTORS 16 // since 2.10 (3.2014) |
| 46 | 46 | ||
| 47 | // FC.StatusFlags |
47 | // FC.StatusFlags |
| 48 | #define FC_STATUS_MOTOR_RUN 0x01 |
48 | #define FC_STATUS_MOTOR_RUN 0x01 |
| 49 | #define FC_STATUS_FLY 0x02 |
49 | #define FC_STATUS_FLY 0x02 |
| 50 | #define FC_STATUS_CALIBRATE 0x04 |
50 | #define FC_STATUS_CALIBRATE 0x04 |
| 51 | #define FC_STATUS_START 0x08 |
51 | #define FC_STATUS_START 0x08 |
| 52 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
52 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| 53 | #define FC_STATUS_LOWBAT 0x20 |
53 | #define FC_STATUS_LOWBAT 0x20 |
| 54 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
54 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| 55 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
55 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| 56 | 56 | ||
| 57 | // FC.StatusFlags2 |
57 | // FC.StatusFlags2 |
| 58 | #define FC_STATUS2_CAREFREE 0x01 |
58 | #define FC_STATUS2_CAREFREE 0x01 |
| 59 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
59 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| 60 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
60 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| 61 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
61 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
| 62 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
62 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
| 63 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
63 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
| 64 | 64 | ||
| 65 | // FC.StatusFlags3 |
65 | // FC.StatusFlags3 |
| 66 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
66 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
| 67 | #define FC_STATUS3_BOAT 0x02 |
67 | #define FC_STATUS3_BOAT 0x02 |
| 68 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
68 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
| 69 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
69 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
| 70 | 70 | ||
| 71 | #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
71 | #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
| 72 | #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
72 | #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
| 73 | 73 | ||
| 74 | // .NCFlags |
74 | // .NCFlags |
| 75 | #define NC_FLAG_FREE 0x01 |
75 | #define NC_FLAG_FREE 0x01 |
| 76 | #define NC_FLAG_PH 0x02 |
76 | #define NC_FLAG_PH 0x02 |
| 77 | #define NC_FLAG_CH 0x04 |
77 | #define NC_FLAG_CH 0x04 |
| 78 | #define NC_FLAG_RANGE_LIMIT 0x08 |
78 | #define NC_FLAG_RANGE_LIMIT 0x08 |
| 79 | #define NC_FLAG_NOSERIALLINK 0x10 |
79 | #define NC_FLAG_NOSERIALLINK 0x10 |
| 80 | #define NC_FLAG_TARGET_REACHED 0x20 |
80 | #define NC_FLAG_TARGET_REACHED 0x20 |
| 81 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
81 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
| 82 | #define NC_FLAG_GPS_OK 0x80 |
82 | #define NC_FLAG_GPS_OK 0x80 |
| 83 | 83 | ||
| 84 | 84 | ||
| 85 | // NC calculates |
85 | // NC calculates |
| 86 | //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
86 | //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
| 87 | //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
87 | //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
| 88 | 88 | ||
| 89 | //calculate Back: |
89 | //calculate Back: |
| 90 | //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
90 | //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
| 91 | //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
91 | //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
| 92 | 92 | ||
| 93 | // FC ERRORS FLAGS |
93 | // FC ERRORS FLAGS |
| 94 | #define FC_ERROR0_GYRO_NICK 0x01 |
94 | #define FC_ERROR0_GYRO_NICK 0x01 |
| 95 | #define FC_ERROR0_GYRO_ROLL 0x02 |
95 | #define FC_ERROR0_GYRO_ROLL 0x02 |
| 96 | #define FC_ERROR0_GYRO_YAW 0x04 |
96 | #define FC_ERROR0_GYRO_YAW 0x04 |
| 97 | #define FC_ERROR0_ACC_NICK 0x08 |
97 | #define FC_ERROR0_ACC_NICK 0x08 |
| 98 | #define FC_ERROR0_ACC_ROLL 0x10 |
98 | #define FC_ERROR0_ACC_ROLL 0x10 |
| 99 | #define FC_ERROR0_ACC_TOP 0x20 |
99 | #define FC_ERROR0_ACC_TOP 0x20 |
| 100 | #define FC_ERROR0_PRESSURE 0x40 |
100 | #define FC_ERROR0_PRESSURE 0x40 |
| 101 | #define FC_ERROR0_CAREFREE 0x80 |
101 | #define FC_ERROR0_CAREFREE 0x80 |
| 102 | 102 | ||
| 103 | #define FC_ERROR1_I2C 0x01 |
103 | #define FC_ERROR1_I2C 0x01 |
| 104 | #define FC_ERROR1_BL_MISSING 0x02 |
104 | #define FC_ERROR1_BL_MISSING 0x02 |
| 105 | #define FC_ERROR1_SPI_RX 0x04 |
105 | #define FC_ERROR1_SPI_RX 0x04 |
| 106 | #define FC_ERROR1_PPM 0x08 |
106 | #define FC_ERROR1_PPM 0x08 |
| 107 | #define FC_ERROR1_MIXER 0x10 |
107 | #define FC_ERROR1_MIXER 0x10 |
| 108 | #define FC_ERROR1_RES1 0x20 |
108 | #define FC_ERROR1_RES1 0x20 |
| 109 | #define FC_ERROR1_RES2 0x40 |
109 | #define FC_ERROR1_RES2 0x40 |
| 110 | #define FC_ERROR1_RES3 0x80 |
110 | #define FC_ERROR1_RES3 0x80 |
| 111 | 111 | ||
| 112 | // NC Errors |
112 | // NC Errors |
| 113 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
113 | #define NCERR_FLAG_FC_COMPATIBLE 0x00000001 |
| 114 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
114 | #define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002 |
| 115 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
115 | #define NCERR_FLAG_FC_COMMUNICATION 0x00000004 |
| 116 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
116 | #define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008 |
| 117 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
117 | #define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010 |
| 118 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
118 | #define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020 |
| 119 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
119 | #define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040 |
| 120 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
120 | #define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080 |
| 121 | 121 | ||
| 122 | //Parameter.GlobalConfig3 |
122 | //Parameter.GlobalConfig3 |
| 123 | #define CFG3_NO_SDCARD_NO_START 0x01 |
123 | #define CFG3_NO_SDCARD_NO_START 0x01 |
| 124 | //#define CFG3_DPH_MAX_RADIUS 0x02 |
124 | //#define CFG3_DPH_MAX_RADIUS 0x02 |
| 125 | #define CFG3_VARIO_FAILSAFE 0x04 |
125 | #define CFG3_VARIO_FAILSAFE 0x04 |
| 126 | #define CFG3_MOTOR_SWITCH_MODE 0x08 |
126 | #define CFG3_MOTOR_SWITCH_MODE 0x08 |
| 127 | #define CFG3_NO_GPSFIX_NO_START 0x10 |
127 | #define CFG3_NO_GPSFIX_NO_START 0x10 |
| 128 | 128 | ||
| 129 | // Parameter.GlobalConfig |
129 | // Parameter.GlobalConfig |
| 130 | #define FC_CFG_HOEHENREGELUNG 0x01 |
130 | #define FC_CFG_HOEHENREGELUNG 0x01 |
| 131 | #define FC_CFG_HOEHEN_SCHALTER 0x02 |
131 | #define FC_CFG_HOEHEN_SCHALTER 0x02 |
| 132 | #define FC_CFG_HEADING_HOLD 0x04 |
132 | #define FC_CFG_HEADING_HOLD 0x04 |
| 133 | #define FC_CFG_KOMPASS_AKTIV 0x08 |
133 | #define FC_CFG_KOMPASS_AKTIV 0x08 |
| 134 | #define FC_CFG_KOMPASS_FIX 0x10 |
134 | #define FC_CFG_KOMPASS_FIX 0x10 |
| 135 | #define FC_CFG_GPS_AKTIV 0x20 |
135 | #define FC_CFG_GPS_AKTIV 0x20 |
| 136 | #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
136 | #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| 137 | #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
137 | #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
| 138 | 138 | ||
| 139 | //Parameter.ExtraConfig |
139 | //Parameter.ExtraConfig |
| 140 | #define CFG2_HEIGHT_LIMIT 0x01 |
140 | #define CFG2_HEIGHT_LIMIT 0x01 |
| 141 | #define CFG2_VARIO_BEEP 0x02 |
141 | #define CFG2_VARIO_BEEP 0x02 |
| 142 | #define CFG_SENSITIVE_RC 0x04 |
142 | #define CFG_SENSITIVE_RC 0x04 |
| 143 | #define CFG_3_3V_REFERENCE 0x08 |
143 | #define CFG_3_3V_REFERENCE 0x08 |
| 144 | #define CFG_NO_RCOFF_BEEPING 0x10 |
144 | #define CFG_NO_RCOFF_BEEPING 0x10 |
| 145 | #define CFG_GPS_AID 0x20 |
145 | #define CFG_GPS_AID 0x20 |
| 146 | #define CFG_TEACHABLE_CAREFREE 0x40 |
146 | #define CFG_TEACHABLE_CAREFREE 0x40 |
| 147 | #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
147 | #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
| 148 | 148 | ||
| 149 | // Parameter.HomeYawMode |
149 | // Parameter.HomeYawMode |
| 150 | #define NO_CHANGE 0 |
150 | #define NO_CHANGE 0 |
| 151 | #define FRONT_TO_HOME 1 |
151 | #define FRONT_TO_HOME 1 |
| 152 | #define REAR_TO_HOME 2 |
152 | #define REAR_TO_HOME 2 |
| 153 | #define LIKE_AT_START 3 |
153 | #define LIKE_AT_START 3 |
| 154 | 154 | ||
| 155 | // Parameter.ReceiverType defines for the receiver selection |
155 | // Parameter.ReceiverType defines for the receiver selection |
| 156 | #define RECEIVER_PPM 0 |
156 | #define RECEIVER_PPM 0 |
| 157 | #define RECEIVER_SPEKTRUM 1 |
157 | #define RECEIVER_SPEKTRUM 1 |
| 158 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
158 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
| 159 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
159 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
| 160 | #define RECEIVER_JETI 4 |
160 | #define RECEIVER_JETI 4 |
| 161 | #define RECEIVER_ACT_DSL 5 |
161 | #define RECEIVER_ACT_DSL 5 |
| 162 | #define RECEIVER_HOTT 6 |
162 | #define RECEIVER_HOTT 6 |
| 163 | #define RECEIVER_SBUS 7 |
163 | #define RECEIVER_SBUS 7 |
| 164 | #define RECEIVER_USER 8 |
164 | #define RECEIVER_USER 8 |
| 165 | 165 | ||
| 166 | #define RECEIVER_UNKNOWN 0xFF |
166 | #define RECEIVER_UNKNOWN 0xFF |
| 167 | 167 | ||
| 168 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
168 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 169 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
169 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| 170 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
170 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| 171 | 171 | ||
| 172 | 172 | ||
| 173 | #define Poti1 FC.Poti[0] |
173 | #define Poti1 FC.Poti[0] |
| 174 | #define Poti2 FC.Poti[1] |
174 | #define Poti2 FC.Poti[1] |
| 175 | #define Poti3 FC.Poti[2] |
175 | #define Poti3 FC.Poti[2] |
| 176 | #define Poti4 FC.Poti[3] |
176 | #define Poti4 FC.Poti[3] |
| 177 | #define Poti5 FC.Poti[4] |
177 | #define Poti5 FC.Poti[4] |
| 178 | #define Poti6 FC.Poti[5] |
178 | #define Poti6 FC.Poti[5] |
| 179 | #define Poti7 FC.Poti[6] |
179 | #define Poti7 FC.Poti[6] |
| 180 | #define Poti8 FC.Poti[7] |
180 | #define Poti8 FC.Poti[7] |
| 181 | 181 | ||
| 182 | extern u16 BeepTime; |
182 | extern u16 BeepTime; |
| 183 | extern u8 NCFlags; |
183 | extern u8 NCFlags; |
| 184 | extern u8 ClearFCStatusFlags; |
184 | extern u8 ClearFCStatusFlags; |
| 185 | void Interrupt_Init(void); |
185 | void Interrupt_Init(void); |
| 186 | extern s16 GeoMagDec; |
186 | extern s16 GeoMagDec; |
| 187 | extern u8 NewWPL_Name; |
187 | extern u8 NewWPL_Name; |
| 188 | 188 | ||
| 189 | #define VERSION_SERIAL_MAJOR 11 // do not change! |
189 | #define VERSION_SERIAL_MAJOR 11 // do not change! |
| 190 | 190 | ||
| 191 | typedef struct |
191 | typedef struct |
| 192 | { |
192 | { |
| 193 | u8 ActiveSetting; |
193 | u8 ActiveSetting; |
| 194 | u8 User1; |
194 | u8 User1; |
| 195 | u8 User2; |
195 | u8 User2; |
| 196 | u8 User3; |
196 | u8 User3; |
| 197 | u8 User4; |
197 | u8 User4; |
| 198 | u8 User5; |
198 | u8 User5; |
| 199 | u8 User6; |
199 | u8 User6; |
| 200 | u8 User7; |
200 | u8 User7; |
| 201 | u8 User8; |
201 | u8 User8; |
| 202 | u8 NaviGpsModeControl; |
202 | u8 NaviGpsModeControl; |
| 203 | u8 NaviGpsGain; |
203 | u8 NaviGpsGain; |
| 204 | u8 NaviGpsP; |
204 | u8 NaviGpsP; |
| 205 | u8 NaviGpsI; |
205 | u8 NaviGpsI; |
| 206 | u8 NaviGpsD; |
206 | u8 NaviGpsD; |
| 207 | u8 NaviGpsPLimit; |
207 | u8 NaviGpsPLimit; |
| 208 | u8 NaviGpsILimit; |
208 | u8 NaviGpsILimit; |
| 209 | u8 NaviGpsDLimit; |
209 | u8 NaviGpsDLimit; |
| 210 | u8 NaviGpsACC; |
210 | u8 NaviGpsACC; |
| 211 | u8 NaviGpsMinSat; |
211 | u8 NaviGpsMinSat; |
| 212 | u8 NaviStickThreshold; |
212 | u8 NaviStickThreshold; |
| 213 | u8 NaviMaxFlyingRange; // in 10m |
213 | u8 NaviMaxFlyingRange; // in 10m |
| 214 | u8 NaviWindCorrection; |
214 | u8 NaviWindCorrection; |
| 215 | u8 NaviAccCompensation; |
215 | u8 NaviAccCompensation; |
| 216 | u8 NaviSpeedCompensation; |
216 | u8 NaviSpeedCompensation; |
| 217 | u8 LowVoltageWarning; |
217 | u8 LowVoltageWarning; |
| 218 | u8 NaviAngleLimitation; |
218 | u8 NaviAngleLimitation; |
| 219 | u8 NaviPH_LoginTime; |
219 | u8 NaviPH_LoginTime; |
| 220 | u8 OrientationAngle; // where is front - in 15° |
220 | u8 OrientationAngle; // where is front - in 15° |
| 221 | u8 CamOrientation; // direction of the camera in 15° |
221 | u8 CamOrientation; // direction of the camera in 15° |
| 222 | u8 GlobalConfig; |
222 | u8 GlobalConfig; |
| 223 | u8 ExtraConfig; |
223 | u8 ExtraConfig; |
| 224 | u8 ComingHomeAltitude; |
224 | u8 ComingHomeAltitude; |
| 225 | u8 GlobalConfig3; |
225 | u8 GlobalConfig3; |
| 226 | u8 AutoPhotoDistance; // Distance between Photo releases (Position) |
226 | u8 AutoPhotoDistance; // Distance between Photo releases (Position) |
| 227 | u8 FromFC_LandingSpeed; |
227 | u8 FromFC_LandingSpeed; |
| 228 | u8 FromFC_LowVoltageHomeActive; |
228 | u8 FromFC_LowVoltageHomeActive; |
| 229 | u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes) |
229 | u8 AutoPhotoAltitudes; // Distance between Photo releases (Altitudes) |
| 230 | u8 SingleWpSpeed; |
230 | u8 SingleWpSpeed; |
| 231 | u8 DescendRange; // in 10m |
231 | u8 DescendRange; // in 10m |
| 232 | u8 MaximumAltitude; // in m |
232 | u8 MaximumAltitude; // in m |
| 233 | u8 Driftkomp; |
233 | u8 Driftkomp; |
| 234 | u8 ReceiverType; |
234 | u8 ReceiverType; |
| 235 | u8 HomeYawMode; |
235 | u8 HomeYawMode; |
| 236 | u16 Speak100m; |
236 | u8 Speak100m; |
| - | 237 | u8 AutoWpEventValue; |
|
| 237 | } __attribute__((packed)) Param_t; |
238 | } __attribute__((packed)) Param_t; |
| 238 | 239 | ||
| 239 | typedef struct |
240 | typedef struct |
| 240 | { |
241 | { |
| 241 | s8 StickNick; |
242 | s8 StickNick; |
| 242 | s8 StickRoll; |
243 | s8 StickRoll; |
| 243 | s8 StickYaw; |
244 | s8 StickYaw; |
| 244 | s8 StickGas; |
245 | s8 StickGas; |
| 245 | u8 Poti[8]; |
246 | u8 Poti[8]; |
| 246 | u8 RC_Quality; |
247 | u8 RC_Quality; |
| 247 | u8 RC_RSSI; |
248 | u8 RC_RSSI; |
| 248 | u16 BAT_Voltage; |
249 | u16 BAT_Voltage; |
| 249 | u16 BAT_Current; |
250 | u16 BAT_Current; |
| 250 | u16 BAT_UsedCapacity; |
251 | u16 BAT_UsedCapacity; |
| 251 | u8 StatusFlags; |
252 | u8 StatusFlags; |
| 252 | u8 Error[5]; |
253 | u8 Error[5]; |
| 253 | u8 StatusFlags2; |
254 | u8 StatusFlags2; |
| 254 | u8 FromFC_SpeakHoTT; |
255 | u8 FromFC_SpeakHoTT; |
| 255 | s16 FromFC_CompassOffset; |
256 | s16 FromFC_CompassOffset; |
| 256 | u8 FromFC_DisableDeclination; |
257 | u8 FromFC_DisableDeclination; |
| 257 | u8 StatusFlags3; |
258 | u8 StatusFlags3; |
| 258 | s16 Altimeter; |
259 | s16 Altimeter; |
| 259 | u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation |
260 | u8 RealStatusFlags; // this is a copy of the status flags -> but not effected by the simulation |
| 260 | u16 AdNeutralNick; |
261 | u16 AdNeutralNick; |
| 261 | u16 AdNeutralRoll; |
262 | u16 AdNeutralRoll; |
| 262 | u16 AdNeutralYaw; |
263 | u16 AdNeutralYaw; |
| 263 | u16 BoatNeutralNick; |
264 | u16 BoatNeutralNick; |
| 264 | u16 BoatNeutralRoll; |
265 | u16 BoatNeutralRoll; |
| 265 | u16 BoatNeutralYaw; |
266 | u16 BoatNeutralYaw; |
| 266 | u8 AutoPhotoDistance; |
267 | u8 AutoPhotoDistance; |
| 267 | } __attribute__((packed)) FC_t; // from FC |
268 | } __attribute__((packed)) FC_t; // from FC |
| 268 | 269 | ||
| 269 | extern Param_t Parameter; |
270 | extern Param_t Parameter; |
| 270 | extern volatile FC_t FC; |
271 | extern volatile FC_t FC; |
| 271 | extern s8 ErrorMSG[25]; |
272 | extern s8 ErrorMSG[25]; |
| 272 | extern u8 ErrorCode; |
273 | extern u8 ErrorCode; |
| 273 | extern u8 StopNavigation; |
274 | extern u8 StopNavigation; |
| 274 | extern u8 ErrorGpsFixLost; |
275 | extern u8 ErrorGpsFixLost; |
| 275 | extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint; |
276 | extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint; |
| 276 | extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero |
277 | extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero |
| 277 | extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero |
278 | extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero |
| 278 | extern volatile u32 PollingTimeout; |
279 | extern volatile u32 PollingTimeout; |
| 279 | extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsProcessedIn5Sec, FreqNewGpsDataIn5Sec; |
280 | extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsProcessedIn5Sec, FreqNewGpsDataIn5Sec; |
| 280 | 281 | ||
| 281 | extern u16 SD_SettingWaitLED; |
282 | extern u16 SD_SettingWaitLED; |
| 282 | extern u16 SD_PosAccuracy; |
283 | extern u16 SD_PosAccuracy; |
| 283 | extern u16 SD_ComingHomeSpeed; |
284 | extern u16 SD_ComingHomeSpeed; |
| 284 | extern u16 SD_DPH_Speed; |
285 | extern u16 SD_DPH_Speed; |
| 285 | extern u32 MaxWP_Radius_in_m; |
286 | extern u32 MaxWP_Radius_in_m; |
| 286 | extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active |
287 | extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active |
| 287 | extern u8 SpeakNextWaypoint; // Speak once when reached |
288 | extern u8 SpeakNextWaypoint; // Speak once when reached |
| 288 | extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started |
289 | extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started |
| 289 | 290 | ||
| 290 | 291 | ||
| 291 | #define CHECK_ONLY 0 |
292 | #define CHECK_ONLY 0 |
| 292 | #define GET_LICENSE 1 |
293 | #define GET_LICENSE 1 |
| 293 | #define COPY_SD_TO_EE 2 |
294 | #define COPY_SD_TO_EE 2 |
| 294 | extern u8 CheckLicense(u8); |
295 | extern u8 CheckLicense(u8); |
| 295 | 296 | ||
| 296 | #endif // _MAIN_H |
297 | #endif // _MAIN_H |
| 297 | 298 | ||