WebSVN - NaviCtrl - Diff - Rev 368 and 378


#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   28
#define VERSION_PATCH   5
// 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
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#ifndef FOLLOW_ME
#define FC_SPI_COMPATIBLE               31
#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
 
// 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
 
// 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;
 
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 NaviAccCompensation;
        u8 NaviSpeedCompensation;
        u8 LowVoltageWarning;
        u8 NaviAngleLimitation;
        u8 NaviPH_LoginTime;
        u8 OrientationAngle;
        u8 GlobalConfig;
        u8 ExtraConfig;
        u8 ComingHomeAltitude;
        u8 GlobalConfig3;
} __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;
} __attribute__((packed)) FC_t;
 
 
extern Param_t Parameter;
extern volatile FC_t FC;
extern s8 ErrorMSG[25];
extern u8 ErrorCode;
extern u8 StopNavigation;
extern u8 ErrorGpsFixLost;
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;
 
#endif // _MAIN_H
 

Rev 368	Rev 378
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 28	16	#define VERSION_MINOR 28
17	#define VERSION_PATCH 5	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	#define VERSION_SERIAL_MAJOR 11	38	#define VERSION_SERIAL_MAJOR 11
39	#define VERSION_SERIAL_MINOR 0	39	#define VERSION_SERIAL_MINOR 0
40		40
41	#ifndef FOLLOW_ME	41	#ifndef FOLLOW_ME
42	#define FC_SPI_COMPATIBLE 31	42	#define FC_SPI_COMPATIBLE 31
43	#else	43	#else
44	#define FC_SPI_COMPATIBLE 0xFF	44	#define FC_SPI_COMPATIBLE 0xFF
45	#endif	45	#endif
46		46
47	#define MK3MAG_I2C_COMPATIBLE 3	47	#define MK3MAG_I2C_COMPATIBLE 3
48		48
49	// FC.StatusFlags	49	// FC.StatusFlags
50	#define FC_STATUS_MOTOR_RUN 0x01	50	#define FC_STATUS_MOTOR_RUN 0x01
51	#define FC_STATUS_FLY 0x02	51	#define FC_STATUS_FLY 0x02
52	#define FC_STATUS_CALIBRATE 0x04	52	#define FC_STATUS_CALIBRATE 0x04
53	#define FC_STATUS_START 0x08	53	#define FC_STATUS_START 0x08
54	#define FC_STATUS_EMERGENCY_LANDING 0x10	54	#define FC_STATUS_EMERGENCY_LANDING 0x10
55	#define FC_STATUS_LOWBAT 0x20	55	#define FC_STATUS_LOWBAT 0x20
56	#define FC_STATUS_VARIO_TRIM_UP 0x40	56	#define FC_STATUS_VARIO_TRIM_UP 0x40
57	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	57	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
58		58
59	// FC.StatusFlags2	59	// FC.StatusFlags2
60	#define FC_STATUS2_CAREFREE 0x01	60	#define FC_STATUS2_CAREFREE 0x01
61	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	61	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
62	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	62	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
63	#define FC_STATUS2_OUT1_ACTIVE 0x08	63	#define FC_STATUS2_OUT1_ACTIVE 0x08
64	#define FC_STATUS2_OUT2_ACTIVE 0x10	64	#define FC_STATUS2_OUT2_ACTIVE 0x10
65		65
66	// FC ERRORS FLAGS	66	// FC ERRORS FLAGS
67	#define FC_ERROR0_GYRO_NICK 0x01	67	#define FC_ERROR0_GYRO_NICK 0x01
68	#define FC_ERROR0_GYRO_ROLL 0x02	68	#define FC_ERROR0_GYRO_ROLL 0x02
69	#define FC_ERROR0_GYRO_YAW 0x04	69	#define FC_ERROR0_GYRO_YAW 0x04
70	#define FC_ERROR0_ACC_NICK 0x08	70	#define FC_ERROR0_ACC_NICK 0x08
71	#define FC_ERROR0_ACC_ROLL 0x10	71	#define FC_ERROR0_ACC_ROLL 0x10
72	#define FC_ERROR0_ACC_TOP 0x20	72	#define FC_ERROR0_ACC_TOP 0x20
73	#define FC_ERROR0_PRESSURE 0x40	73	#define FC_ERROR0_PRESSURE 0x40
74	#define FC_ERROR0_CAREFREE 0x80	74	#define FC_ERROR0_CAREFREE 0x80
75		75
76	#define FC_ERROR1_I2C 0x01	76	#define FC_ERROR1_I2C 0x01
77	#define FC_ERROR1_BL_MISSING 0x02	77	#define FC_ERROR1_BL_MISSING 0x02
78	#define FC_ERROR1_SPI_RX 0x04	78	#define FC_ERROR1_SPI_RX 0x04
79	#define FC_ERROR1_PPM 0x08	79	#define FC_ERROR1_PPM 0x08
80	#define FC_ERROR1_MIXER 0x10	80	#define FC_ERROR1_MIXER 0x10
81	#define FC_ERROR1_RES1 0x20	81	#define FC_ERROR1_RES1 0x20
82	#define FC_ERROR1_RES2 0x40	82	#define FC_ERROR1_RES2 0x40
83	#define FC_ERROR1_RES3 0x80	83	#define FC_ERROR1_RES3 0x80
84		84
85	// NC Errors	85	// NC Errors
86	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	86	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
87	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	87	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
88	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	88	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
89	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	89	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
90	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	90	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
91	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	91	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
92	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	92	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
93	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	93	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
94		94
95	//Parameter.GlobalConfig3	95	//Parameter.GlobalConfig3
96	#define CFG3_NO_SDCARD_NO_START 0x01	96	#define CFG3_NO_SDCARD_NO_START 0x01
97	#define CFG3_DPH_MAX_RADIUS 0x02	97	#define CFG3_DPH_MAX_RADIUS 0x02
98	#define CFG3_VARIO_FAILSAFE 0x04	98	#define CFG3_VARIO_FAILSAFE 0x04
99		99
100	// Parameter.GlobalConfig	100	// Parameter.GlobalConfig
101	#define FC_CFG_HOEHENREGELUNG 0x01	101	#define FC_CFG_HOEHENREGELUNG 0x01
102	#define FC_CFG_HOEHEN_SCHALTER 0x02	102	#define FC_CFG_HOEHEN_SCHALTER 0x02
103	#define FC_CFG_HEADING_HOLD 0x04	103	#define FC_CFG_HEADING_HOLD 0x04
104	#define FC_CFG_KOMPASS_AKTIV 0x08	104	#define FC_CFG_KOMPASS_AKTIV 0x08
105	#define FC_CFG_KOMPASS_FIX 0x10	105	#define FC_CFG_KOMPASS_FIX 0x10
106	#define FC_CFG_GPS_AKTIV 0x20	106	#define FC_CFG_GPS_AKTIV 0x20
107	#define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40	107	#define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40
108	#define FC_CFG_DREHRATEN_BEGRENZER 0x80	108	#define FC_CFG_DREHRATEN_BEGRENZER 0x80
109		109
110	//Parameter.ExtraConfig	110	//Parameter.ExtraConfig
111	#define CFG2_HEIGHT_LIMIT 0x01	111	#define CFG2_HEIGHT_LIMIT 0x01
112	#define CFG2_VARIO_BEEP 0x02	112	#define CFG2_VARIO_BEEP 0x02
113	#define CFG_SENSITIVE_RC 0x04	113	#define CFG_SENSITIVE_RC 0x04
114	#define CFG_3_3V_REFERENCE 0x08	114	#define CFG_3_3V_REFERENCE 0x08
115	#define CFG_NO_RCOFF_BEEPING 0x10	115	#define CFG_NO_RCOFF_BEEPING 0x10
116	#define CFG_GPS_AID 0x20	116	#define CFG_GPS_AID 0x20
117	#define CFG_TEACHABLE_CAREFREE 0x40	117	#define CFG_TEACHABLE_CAREFREE 0x40
118	#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80	118	#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80
119		119
120	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	120	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
121	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	121	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
122	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	122	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
123		123
124		124
125	#define Poti1 FC.Poti[0]	125	#define Poti1 FC.Poti[0]
126	#define Poti2 FC.Poti[1]	126	#define Poti2 FC.Poti[1]
127	#define Poti3 FC.Poti[2]	127	#define Poti3 FC.Poti[2]
128	#define Poti4 FC.Poti[3]	128	#define Poti4 FC.Poti[3]
129	#define Poti5 FC.Poti[4]	129	#define Poti5 FC.Poti[4]
130	#define Poti6 FC.Poti[5]	130	#define Poti6 FC.Poti[5]
131	#define Poti7 FC.Poti[6]	131	#define Poti7 FC.Poti[6]
132	#define Poti8 FC.Poti[7]	132	#define Poti8 FC.Poti[7]
133		133
134	extern u16 BeepTime;	134	extern u16 BeepTime;
135	extern u8 NCFlags;	135	extern u8 NCFlags;
136	extern u8 ClearFCStatusFlags;	136	extern u8 ClearFCStatusFlags;
137	void Interrupt_Init(void);	137	void Interrupt_Init(void);
138	extern s16 GeoMagDec;	138	extern s16 GeoMagDec;
139		139
140	typedef struct	140	typedef struct
141	{	141	{
142	u8 ActiveSetting;	142	u8 ActiveSetting;
143	u8 User1;	143	u8 User1;
144	u8 User2;	144	u8 User2;
145	u8 User3;	145	u8 User3;
146	u8 User4;	146	u8 User4;
147	u8 User5;	147	u8 User5;
148	u8 User6;	148	u8 User6;
149	u8 User7;	149	u8 User7;
150	u8 User8;	150	u8 User8;
151	u8 NaviGpsModeControl;	151	u8 NaviGpsModeControl;
152	u8 NaviGpsGain;	152	u8 NaviGpsGain;
153	u8 NaviGpsP;	153	u8 NaviGpsP;
154	u8 NaviGpsI;	154	u8 NaviGpsI;
155	u8 NaviGpsD;	155	u8 NaviGpsD;
156	u8 NaviGpsPLimit;	156	u8 NaviGpsPLimit;
157	u8 NaviGpsILimit;	157	u8 NaviGpsILimit;
158	u8 NaviGpsDLimit;	158	u8 NaviGpsDLimit;
159	u8 NaviGpsACC;	159	u8 NaviGpsACC;
160	u8 NaviGpsMinSat;	160	u8 NaviGpsMinSat;
161	u8 NaviStickThreshold;	161	u8 NaviStickThreshold;
162	u8 NaviOperatingRadius;	162	u8 NaviOperatingRadius;
163	u8 NaviWindCorrection;	163	u8 NaviWindCorrection;
164	u8 NaviAccCompensation;	164	u8 NaviAccCompensation;
165	u8 NaviSpeedCompensation;	165	u8 NaviSpeedCompensation;
166	u8 LowVoltageWarning;	166	u8 LowVoltageWarning;
167	u8 NaviAngleLimitation;	167	u8 NaviAngleLimitation;
168	u8 NaviPH_LoginTime;	168	u8 NaviPH_LoginTime;
169	u8 OrientationAngle;	169	u8 OrientationAngle;
170	u8 GlobalConfig;	170	u8 GlobalConfig;
171	u8 ExtraConfig;	171	u8 ExtraConfig;
172	u8 ComingHomeAltitude;	172	u8 ComingHomeAltitude;
173	u8 GlobalConfig3;	173	u8 GlobalConfig3;
174	} __attribute__((packed)) Param_t;	174	} __attribute__((packed)) Param_t;
175		175
176	typedef struct	176	typedef struct
177	{	177	{
178	s8 StickNick;	178	s8 StickNick;
179	s8 StickRoll;	179	s8 StickRoll;
180	s8 StickYaw;	180	s8 StickYaw;
181	s8 StickGas;	181	s8 StickGas;
182	u8 Poti[8];	182	u8 Poti[8];
183	u8 RC_Quality;	183	u8 RC_Quality;
184	u8 RC_RSSI;	184	u8 RC_RSSI;
185	u8 BAT_Voltage;	185	u8 BAT_Voltage;
186	u16 BAT_Current;	186	u16 BAT_Current;
187	u16 BAT_UsedCapacity;	187	u16 BAT_UsedCapacity;
188	u8 StatusFlags;	188	u8 StatusFlags;
189	u8 Error[5];	189	u8 Error[5];
190	u8 StatusFlags2;	190	u8 StatusFlags2;
191	} __attribute__((packed)) FC_t;	191	} __attribute__((packed)) FC_t;
192		192
193		193
194	extern Param_t Parameter;	194	extern Param_t Parameter;
195	extern volatile FC_t FC;	195	extern volatile FC_t FC;
196	extern s8 ErrorMSG[25];	196	extern s8 ErrorMSG[25];
197	extern u8 ErrorCode;	197	extern u8 ErrorCode;
198	extern u8 StopNavigation;	198	extern u8 StopNavigation;
199	extern u8 ErrorGpsFixLost;	199	extern u8 ErrorGpsFixLost;
200	extern volatile u32 MainWatchDog; // stop Navigation if this goes to zero	200	extern volatile u32 SPIWatchDog; // stop Navigation if this goes to zero
201	extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero	201	extern volatile u32 SD_WatchDog; // stop Logging if this goes to zero
-		202	extern volatile u32 PollingTimeout;
202		203
203	#endif // _MAIN_H	204	#endif // _MAIN_H
204		205

Subversion Repositories NaviCtrl

(root)/tags/V2.20g/main.h @ 876 - Rev 368 → 378