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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 0 |
17 | #define VERSION_PATCH 1 |
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 |