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synced serial protocol to multiwii-dev 20120622

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changed booleans to bitfield struct to match with 0622
no other functional changes, and not all enhancements (like boxlight) from 0622 are implemented yet
NOT flight tested, use at your own risk.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@172 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-30 13:20:53 +00:00
parent 2fd5645dce
commit 9c2204c179
11 changed files with 5584 additions and 5472 deletions
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53
src/mw.h
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@ -94,9 +94,15 @@ typedef enum GimbalFlags {
#define BOXPASSTHRU 8
#define BOXHEADFREE 9
#define BOXBEEPERON 10
/* we want maximum illumination */
#define BOXLEDMAX 11
/* enable landing lights at any altitude */
#define BOXLLIGHTS 12
/* acquire heading for HEADFREE mode */
#define BOXHEADADJ 13
#define CHECKBOXITEMS 11
#define PIDITEMS 10
#define CHECKBOXITEMS 14
#define min(a, b) ((a) < (b) ? (a) : (b))
#define max(a, b) ((a) > (b) ? (a) : (b))
@ -191,6 +197,24 @@ typedef struct config_t {
uint32_t serial_baudrate;
} config_t;
typedef struct flags_t {
uint8_t OK_TO_ARM :1;
uint8_t ARMED :1;
uint8_t I2C_INIT_DONE :1; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
uint8_t ACC_CALIBRATED :1;
uint8_t ACC_MODE :1;
uint8_t MAG_MODE :1;
uint8_t BARO_MODE :1;
uint8_t GPS_HOME_MODE :1;
uint8_t GPS_HOLD_MODE :1;
uint8_t HEADFREE_MODE :1;
uint8_t PASSTHRU_MODE :1;
uint8_t GPS_FIX :1;
uint8_t GPS_FIX_HOME :1;
uint8_t SMALL_ANGLES_25 :1;
uint8_t CALIBRATE_MAG :1;
} flags_t;
extern int16_t gyroZero[3];
extern int16_t gyroData[3];
extern int16_t angle[2];
@ -199,16 +223,13 @@ extern int16_t rcCommand[4];
extern uint8_t rcOptions[CHECKBOXITEMS];
extern int16_t failsafeCnt;
extern int16_t debug1, debug2, debug3, debug4;
extern uint8_t armed;
extern int16_t debug[4];
extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
extern uint16_t acc_1G;
extern uint32_t currentTime;
extern uint32_t previousTime;
extern uint16_t cycleTime;
extern uint8_t calibratedACC;
extern uint16_t calibratingA;
extern uint8_t calibratingM;
extern uint16_t calibratingG;
extern int16_t heading;
extern int16_t annex650_overrun_count;
@ -219,24 +240,21 @@ extern int32_t EstAlt;
extern int32_t AltHold;
extern int16_t errorAltitudeI;
extern int16_t BaroPID;
extern uint8_t headFreeMode;
extern int16_t headFreeModeHold;
extern uint8_t passThruMode;
extern int8_t smallAngle25;
extern int16_t zVelocity;
extern int16_t heading, magHold;
extern int16_t motor[8];
extern int16_t servo[8];
extern int16_t rcData[8];
extern uint8_t accMode;
extern uint8_t magMode;
extern uint8_t baroMode;
extern uint8_t GPSModeHome;
extern uint8_t GPSModeHold;
extern uint8_t vbat;
extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
extern uint8_t toggleBeep;
// GPS stuff
extern int32_t GPS_coord[2];
extern int32_t GPS_home[2];
extern int32_t GPS_hold[2];
extern uint8_t GPS_fix , GPS_fix_home;
extern uint8_t GPS_numSat;
extern uint16_t GPS_distanceToHome,GPS_distanceToHold; // distance to home or hold point in meters
extern int16_t GPS_directionToHome,GPS_directionToHold; // direction to home or hol point in degrees
@ -246,14 +264,11 @@ extern int16_t GPS_angle[2]; // it's the angles
extern uint16_t GPS_ground_course; // degrees*10
extern uint8_t GPS_Present; // Checksum from Gps serial
extern uint8_t GPS_Enable;
extern int16_t nav[2];
extern int16_t nav[2];
extern int8_t nav_mode; // Navigation mode
extern uint8_t vbat;
extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
extern uint8_t toggleBeep;
extern config_t cfg;
extern flags_t f;
extern sensor_t acc;
extern sensor_t gyro;