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/***************************************************************************
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 *   Copyright (C) 2009 by Manuel Schrape                                  *
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 *   manuel.schrape@gmx.de                                                 *
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 *                                                                         *
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 *   This program is free software; you can redistribute it and/or modify  *
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 *   it under the terms of the GNU General Public License as published by  *
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 *   the Free Software Foundation; either version 2 of the License.        *
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 *                                                                         *
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 *   This program is distributed in the hope that it will be useful,       *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
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 *   GNU General Public License for more details.                          *
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 *                                                                         *
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 *   You should have received a copy of the GNU General Public License     *
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 *   along with this program; if not, write to the                         *
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 *   Free Software Foundation, Inc.,                                       *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
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 ***************************************************************************/
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#ifndef MK_DATATYPES_H
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#define MK_DATATYPES_H
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#include <stdint.h>
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#ifdef _BETA_
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    static const int MK_VERSION_SETTINGS = 80; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben
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#else
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    static const int MK_VERSION_SETTINGS = 80; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben
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#endif
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static const int MK_VERSION_NAVI     =  2; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben
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static const int MK_VERSION_MIXER    =  1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben
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static const int MK_MAX_MOTOR        =  16; // Maximale Anzahl der Motoren im Mixer
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// Version des Seriellen Protokoll
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static const int VERSION_SERIAL_MAJOR = 10;
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static const int VERSION_SERIAL_MINOR = 0;
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// Basis-Addressen der verschiedenen Hardware
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static const int ADDRESS_ALL    = 0;
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static const int ADDRESS_FC     = 1;
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static const int ADDRESS_NC     = 2;
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static const int ADDRESS_MK3MAG = 3;
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#define FLAG_MOTOR_RUN  1
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#define FLAG_FLY        2
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#define FLAG_CALIBRATE  4
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#define FLAG_START      8
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#define FLAG_NOTLANDUNG 16
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#define FLAG_LOWBAT     32
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#define CFG_HOEHENREGELUNG       0x01
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#define CFG_HOEHEN_SCHALTER      0x02
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#define CFG_HEADING_HOLD         0x04
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#define CFG_KOMPASS_AKTIV        0x08
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#define CFG_KOMPASS_FIX          0x10
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#define CFG_GPS_AKTIV            0x20
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#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
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#define CFG_DREHRATEN_BEGRENZER  0x80
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#define CFG_LOOP_OBEN            0x01
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#define CFG_LOOP_UNTEN           0x02
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#define CFG_LOOP_LINKS           0x04
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#define CFG_LOOP_RECHTS          0x08
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#define CFG_MOTOR_BLINK          0x10
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#define CFG_MOTOR_OFF_LED1       0x20
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#define CFG_MOTOR_OFF_LED2       0x40
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#define CFG_RES4                 0x80
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#define CFG2_HEIGHT_LIMIT        0x01
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#define CFG2_VARIO_BEEP          0x02
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#define CFG_SENSITIVE_RC         0x04
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struct s_MK_Settings
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{
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    // Die ersten beiden Bytes nicht an den MK senden.
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   unsigned char Index;
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   unsigned char Version;
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   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char GlobalConfig;           // 0x01=H�henregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char Hoehe_MinGas;           // Wert : 0-100
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   unsigned char Luftdruck_D;            // Wert : 0-250
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   unsigned char MaxHoehe;               // Wert : 0-32
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   unsigned char Hoehe_P;                // Wert : 0-32
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   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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   unsigned char Hoehe_HoverBand;        // Wert : 0-250
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   unsigned char Hoehe_GPS_Z;            // Wert : 0-250
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   unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
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   unsigned char Stick_P;                // Wert : 1-6
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   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Gier_P;                 // Wert : 1-20
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   unsigned char Gas_Min;                // Wert : 0-32
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   unsigned char Gas_Max;                // Wert : 33-250
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   unsigned char GyroAccFaktor;          // Wert : 1-64
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   unsigned char KompassWirkung;         // Wert : 0-32
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   unsigned char Gyro_P;                 // Wert : 10-250
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   unsigned char Gyro_I;                 // Wert : 0-250
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   unsigned char Gyro_D;                 // Wert : 0-250
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   unsigned char Gyro_Gier_P;            // Wert : 10-250
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   unsigned char Gyro_Gier_I;            // Wert : 0-250
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   unsigned char UnterspannungsWarnung;  // Wert : 0-250
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   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Emp�ngsverlust
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   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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   unsigned char UfoAusrichtung;         // X oder + Formation
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   unsigned char I_Faktor;               // Wert : 0-250
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   unsigned char UserParam1;             // Wert : 0-250
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   unsigned char UserParam2;             // Wert : 0-250
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   unsigned char UserParam3;             // Wert : 0-250
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   unsigned char UserParam4;             // Wert : 0-250
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   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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//--- Seit V0.75
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   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoRollComp;          // Wert : 0-250
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   unsigned char ServoRollMin;           // Wert : 0-250
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   unsigned char ServoRollMax;           // Wert : 0-250
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//---
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   unsigned char ServoNickRefresh;       //
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   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas w�hrend Looping
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   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle f�r Stickausschlag
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   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese f�r Stickausschlag
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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   unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180�-Punkt
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   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180�-Punkt
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   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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   unsigned char Driftkomp;
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   unsigned char DynamicStability;
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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//---Output ---------------------------------------------
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   unsigned char J16Bitmask;             // for the J16 Output
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   unsigned char J16Timing;              // for the J16 Output
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   unsigned char J17Bitmask;             // for the J17 Output
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   unsigned char J17Timing;              // for the J17 Output
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// seit version V0.75c
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   unsigned char WARN_J16_Bitmask;       // for the J16 Output
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   unsigned char WARN_J17_Bitmask;       // for the J17 Output
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//---NaviCtrl---------------------------------------------
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   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
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   unsigned char NaviGpsGain;
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   unsigned char NaviGpsP;
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   unsigned char NaviGpsI;
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   unsigned char NaviGpsD;
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   unsigned char NaviGpsPLimit;
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   unsigned char NaviGpsILimit;
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   unsigned char NaviGpsDLimit;
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   unsigned char NaviGpsACC;
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   unsigned char NaviGpsMinSat;
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   unsigned char NaviStickThreshold;
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   unsigned char NaviWindCorrection;
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   unsigned char NaviSpeedCompensation;
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   unsigned char NaviOperatingRadius;
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   unsigned char NaviAngleLimitation;
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   unsigned char NaviPH_LoginTime;
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//---Ext.Ctrl---------------------------------------------
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   unsigned char ExternalControl;        // for serial Control
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//------------------------------------------------
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   unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char ExtraConfig;        // bitcodiert
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   char Name[12];
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 };
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struct s_MK_Mixer
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{
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    char Revision;
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    char Name[12];
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    signed char Motor[16][4];
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};
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///////////////
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// Navi-Ctrl //
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///////////////
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#define INVALID 0x00
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#define NEWDATA 0x01
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#define PROCESSED       0x02
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#define NC_FLAG_FREE            0x01
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#define NC_FLAG_PH              0x02
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#define NC_FLAG_CH              0x04
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#define NC_FLAG_RANGE_LIMIT     0x08
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_8               0x80
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typedef struct
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{
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    int32_t Longitude;      // in 1E-7 deg
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    int32_t Latitude;       // in 1E-7 deg
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    int32_t Altitude;       // in mm
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    uint8_t Status;         // validity of data
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} __attribute__((packed)) GPS_Pos_t;
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typedef struct
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{
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    uint16_t Distance;      // distance to target in dm
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    int16_t Bearing;        // course to target in deg
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}  __attribute__((packed)) GPS_PosDev_t;
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typedef struct
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{
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    uint8_t      Version;               // version of the data structure
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    GPS_Pos_t    CurrentPosition;               // see ubx.h for details
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    GPS_Pos_t    TargetPosition;
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    GPS_PosDev_t TargetPositionDeviation;
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    GPS_Pos_t    HomePosition;
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    GPS_PosDev_t HomePositionDeviation;
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    uint8_t      WaypointIndex;         // index of current waypoints running from 0 to WaypointNumber-1
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    uint8_t      WaypointNumber;                // number of stored waypoints
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    uint8_t      SatsInUse;             // number of satellites used for position solution
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    int16_t      Altimeter;             // hight according to air pressure
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    int16_t      Variometer;            // climb(+) and sink(-) rate
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    uint16_t     FlyingTime;            // in seconds
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    uint8_t      UBat;                  // Battery Voltage in 0.1 Volts
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    uint16_t     GroundSpeed;           // speed over ground in cm/s (2D)
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    int16_t      Heading;               // current flight direction in ° as angle to north
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    int16_t      CompassHeading;                // current compass value in °
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    int8_t       AngleNick;             // current Nick angle in 1°
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    int8_t       AngleRoll;             // current Rick angle in 1°
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    uint8_t      RC_Quality;            // RC_Quality
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    uint8_t      MKFlags;               // Flags from FC
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    uint8_t      NCFlags;               // Flags from NC
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    uint8_t      Errorcode;             // 0 --> okay
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    uint8_t      OperatingRadius;               // current operation radius around the Home Position in m
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    int16_t      TopSpeed;              // velocity in vertical direction in cm/s
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    uint8_t      TargetHoldTime;                // time in s to stay at the given target, counts down to 0 if target has been reached
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    uint8_t      RC_RSSI;               // Receiver signal strength (since version 2 added)
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    int16_t      SetpointAltitude;                      // setpoint for altitude
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    uint8_t      Gas;                                           // for future use
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} __attribute__((packed)) s_MK_NaviData;
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242
typedef struct
243
{
244
    GPS_Pos_t Position;          // the gps position of the waypoint, see ubx.h for details
245
    int16_t   Heading;           // orientation, future implementation
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    uint8_t   ToleranceRadius;   // in meters, if the MK is within that range around the target, then the next target is triggered
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    uint8_t   HoldTime;          // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered
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    uint8_t   Event_Flag;        // future emplementation
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    uint8_t   reserve[12];       // reserve
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} __attribute__((packed)) s_MK_WayPoint;
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#endif // MK_DATATYPES_H