WebSVN - NaviCtrl - Diff - Rev 317 and 318


#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   25
#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
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#ifndef FOLLOW_ME
#define FC_SPI_COMPATIBLE               19
#else
#define FC_SPI_COMPATIBLE               0xFF
#endif
 
#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 317	Rev 318
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 24	16	#define VERSION_MINOR 25
17	#define VERSION_PATCH 5	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		33
34	#define VERSION_SERIAL_MAJOR 11	34	#define VERSION_SERIAL_MAJOR 11
35	#define VERSION_SERIAL_MINOR 0	35	#define VERSION_SERIAL_MINOR 0
36		36
37	#ifndef FOLLOW_ME	37	#ifndef FOLLOW_ME
38	#define FC_SPI_COMPATIBLE 19	38	#define FC_SPI_COMPATIBLE 19
39	#else	39	#else
40	#define FC_SPI_COMPATIBLE 0xFF	40	#define FC_SPI_COMPATIBLE 0xFF
41	#endif	41	#endif
42		42
43	#define MK3MAG_I2C_COMPATIBLE 3	43	#define MK3MAG_I2C_COMPATIBLE 3
44		44
45	// FC STATUS FLAGS	45	// FC STATUS FLAGS
46	#define FC_STATUS_MOTOR_RUN 0x01	46	#define FC_STATUS_MOTOR_RUN 0x01
47	#define FC_STATUS_FLY 0x02	47	#define FC_STATUS_FLY 0x02
48	#define FC_STATUS_CALIBRATE 0x04	48	#define FC_STATUS_CALIBRATE 0x04
49	#define FC_STATUS_START 0x08	49	#define FC_STATUS_START 0x08
50	#define FC_STATUS_EMERGENCY_LANDING 0x10	50	#define FC_STATUS_EMERGENCY_LANDING 0x10
51	#define FC_STATUS_LOWBAT 0x20	51	#define FC_STATUS_LOWBAT 0x20
52	#define FC_STATUS_VARIO_TRIM_UP 0x40	52	#define FC_STATUS_VARIO_TRIM_UP 0x40
53	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	53	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
54		54
55	// FC STATUS FLAGS2	55	// FC STATUS FLAGS2
56	#define FC_STATUS2_CAREFREE 0x01	56	#define FC_STATUS2_CAREFREE 0x01
57	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	57	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
58		58
59		59
60	// FC ERRORS FLAGS	60	// FC ERRORS FLAGS
61	#define FC_ERROR0_GYRO_NICK 0x01	61	#define FC_ERROR0_GYRO_NICK 0x01
62	#define FC_ERROR0_GYRO_ROLL 0x02	62	#define FC_ERROR0_GYRO_ROLL 0x02
63	#define FC_ERROR0_GYRO_YAW 0x04	63	#define FC_ERROR0_GYRO_YAW 0x04
64	#define FC_ERROR0_ACC_NICK 0x08	64	#define FC_ERROR0_ACC_NICK 0x08
65	#define FC_ERROR0_ACC_ROLL 0x10	65	#define FC_ERROR0_ACC_ROLL 0x10
66	#define FC_ERROR0_ACC_TOP 0x20	66	#define FC_ERROR0_ACC_TOP 0x20
67	#define FC_ERROR0_PRESSURE 0x40	67	#define FC_ERROR0_PRESSURE 0x40
68	#define FC_ERROR0_CAREFREE 0x80	68	#define FC_ERROR0_CAREFREE 0x80
69		69
70	#define FC_ERROR1_I2C 0x01	70	#define FC_ERROR1_I2C 0x01
71	#define FC_ERROR1_BL_MISSING 0x02	71	#define FC_ERROR1_BL_MISSING 0x02
72	#define FC_ERROR1_SPI_RX 0x04	72	#define FC_ERROR1_SPI_RX 0x04
73	#define FC_ERROR1_PPM 0x08	73	#define FC_ERROR1_PPM 0x08
74	#define FC_ERROR1_MIXER 0x10	74	#define FC_ERROR1_MIXER 0x10
75	#define FC_ERROR1_RES1 0x20	75	#define FC_ERROR1_RES1 0x20
76	#define FC_ERROR1_RES2 0x40	76	#define FC_ERROR1_RES2 0x40
77	#define FC_ERROR1_RES3 0x80	77	#define FC_ERROR1_RES3 0x80
78		78
79	// NC Errors	79	// NC Errors
80	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	80	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
81	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	81	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
82	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	82	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
83	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	83	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
84	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	84	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
85	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	85	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
86	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	86	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
87	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	87	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
88		88
89		89
90	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	90	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
91	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	91	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
92	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	92	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
93		93
94	extern u16 BeepTime;	94	extern u16 BeepTime;
95	extern u8 NCFlags;	95	extern u8 NCFlags;
96	extern u8 ClearFCStatusFlags;	96	extern u8 ClearFCStatusFlags;
97	void Interrupt_Init(void);	97	void Interrupt_Init(void);
98	extern s16 GeoMagDec;	98	extern s16 GeoMagDec;
99		99
100		100
101	typedef struct	101	typedef struct
102	{	102	{
103	u8 ActiveSetting;	103	u8 ActiveSetting;
104	u8 User1;	104	u8 User1;
105	u8 User2;	105	u8 User2;
106	u8 User3;	106	u8 User3;
107	u8 User4;	107	u8 User4;
108	u8 User5;	108	u8 User5;
109	u8 User6;	109	u8 User6;
110	u8 User7;	110	u8 User7;
111	u8 User8;	111	u8 User8;
112	u8 NaviGpsModeControl;	112	u8 NaviGpsModeControl;
113	u8 NaviGpsGain;	113	u8 NaviGpsGain;
114	u8 NaviGpsP;	114	u8 NaviGpsP;
115	u8 NaviGpsI;	115	u8 NaviGpsI;
116	u8 NaviGpsD;	116	u8 NaviGpsD;
117	u8 NaviGpsPLimit;	117	u8 NaviGpsPLimit;
118	u8 NaviGpsILimit;	118	u8 NaviGpsILimit;
119	u8 NaviGpsDLimit;	119	u8 NaviGpsDLimit;
120	u8 NaviGpsACC;	120	u8 NaviGpsACC;
121	u8 NaviGpsMinSat;	121	u8 NaviGpsMinSat;
122	u8 NaviStickThreshold;	122	u8 NaviStickThreshold;
123	u8 NaviOperatingRadius;	123	u8 NaviOperatingRadius;
124	u8 NaviWindCorrection;	124	u8 NaviWindCorrection;
125	u8 NaviSpeedCompensation;	125	u8 NaviSpeedCompensation;
126	u8 LowVoltageWarning;	126	u8 LowVoltageWarning;
127	u8 NaviAngleLimitation;	127	u8 NaviAngleLimitation;
128	u8 NaviPH_LoginTime;	128	u8 NaviPH_LoginTime;
129	} __attribute__((packed)) Param_t;	129	} __attribute__((packed)) Param_t;
130		130
131	typedef struct	131	typedef struct
132	{	132	{
133	s8 StickNick;	133	s8 StickNick;
134	s8 StickRoll;	134	s8 StickRoll;
135	s8 StickYaw;	135	s8 StickYaw;
136	s8 StickGas;	136	s8 StickGas;
137	u8 Poti[8];	137	u8 Poti[8];
138	u8 Poti5;	138	u8 Poti5;
139	u8 Poti6;	139	u8 Poti6;
140	u8 Poti7;	140	u8 Poti7;
141	u8 Poti8;	141	u8 Poti8;
142	u8 RC_Quality;	142	u8 RC_Quality;
143	u8 RC_RSSI;	143	u8 RC_RSSI;
144	u8 BAT_Voltage;	144	u8 BAT_Voltage;
145	u16 BAT_Current;	145	u16 BAT_Current;
146	u16 BAT_UsedCapacity;	146	u16 BAT_UsedCapacity;
147	u8 StatusFlags;	147	u8 StatusFlags;
148	u8 Error[5];	148	u8 Error[5];
149	u8 StatusFlags2;	149	u8 StatusFlags2;
150	} __attribute__((packed)) FC_t;	150	} __attribute__((packed)) FC_t;
151		151
152		152
153	extern Param_t Parameter;	153	extern Param_t Parameter;
154	extern volatile FC_t FC;	154	extern volatile FC_t FC;
155	extern s8 ErrorMSG[25];	155	extern s8 ErrorMSG[25];
156	extern u8 ErrorCode;	156	extern u8 ErrorCode;
157	extern u8 StopNavigation;	157	extern u8 StopNavigation;
158	#endif // _MAIN_H	158	#endif // _MAIN_H
159		159

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(root)/tags/V2.12a/main.h @ 913 - Rev 317 → 318