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