Subversion Repositories Projects

/***************************************************************************

 *   Copyright (C) 2009 by Manuel Schrape                                  *

 *   manuel.schrape@gmx.de                                                 *

 *                                                                         *

 *   This program is free software; you can redistribute it and/or modify  *

 *   it under the terms of the GNU General Public License as published by  *

 *   the Free Software Foundation; either version 2 of the License.        *

 *                                                                         *

 *   This program is distributed in the hope that it will be useful,       *

 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *

 *   GNU General Public License for more details.                          *

 *                                                                         *

 *   You should have received a copy of the GNU General Public License     *

 *   along with this program; if not, write to the                         *

 *   Free Software Foundation, Inc.,                                       *

 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *

 ***************************************************************************/

#ifndef MK_DATATYPES_H

#define MK_DATATYPES_H

#include <stdint.h>

#ifdef _BETA_

    static const int MK_VERSION_SETTINGS = 82; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben

#else

    static const int MK_VERSION_SETTINGS = 82; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben

#endif

static const int MK_VERSION_NAVI     =  3; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben

static const int MK_VERSION_MIXER    =  1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben

static const int MK_MAX_MOTOR        =  16; // Maximale Anzahl der Motoren im Mixer

// Version des Seriellen Protokoll

static const int VERSION_SERIAL_MAJOR = 11;

static const int VERSION_SERIAL_MINOR = 0;

// Basis-Addressen der verschiedenen Hardware

static const int ADDRESS_ALL    = 0;

static const int ADDRESS_FC     = 1;

static const int ADDRESS_NC     = 2;

static const int ADDRESS_MK3MAG = 3;

#define FLAG_MOTOR_RUN  1

#define FLAG_FLY        2

#define FLAG_CALIBRATE  4

#define FLAG_START      8

#define FLAG_NOTLANDUNG 16

#define FLAG_LOWBAT     32

#define CFG_HOEHENREGELUNG       0x01

#define CFG_HOEHEN_SCHALTER      0x02

#define CFG_HEADING_HOLD         0x04

#define CFG_KOMPASS_AKTIV        0x08

#define CFG_KOMPASS_FIX          0x10

#define CFG_GPS_AKTIV            0x20

#define CFG_ACHSENKOPPLUNG_AKTIV 0x40

#define CFG_DREHRATEN_BEGRENZER  0x80

#define CFG_LOOP_OBEN            0x01

#define CFG_LOOP_UNTEN           0x02

#define CFG_LOOP_LINKS           0x04

#define CFG_LOOP_RECHTS          0x08

#define CFG_MOTOR_BLINK          0x10

#define CFG_MOTOR_OFF_LED1       0x20

#define CFG_MOTOR_OFF_LED2       0x40

#define CFG_RES4                 0x80

#define CFG2_HEIGHT_LIMIT        0x01

#define CFG2_VARIO_BEEP          0x02

#define CFG_SENSITIVE_RC         0x04

struct s_MK_Debug

{

 unsigned char Digital[2];

 int16_t Analog[32];    // Debugwerte

};

struct s_MK_DebugLabels

{

    int Position;

    QString Text;

};

typedef int s_MK_PPM_Data[26];

struct s_MK_Settings

{

    // Die ersten beiden Bytes nicht an den MK senden.

   unsigned char Index;

   unsigned char Version;

   unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

   unsigned char GlobalConfig;           // 0x01=H�henregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

   unsigned char Hoehe_MinGas;           // Wert : 0-100

   unsigned char Luftdruck_D;            // Wert : 0-250

   unsigned char MaxHoehe;               // Wert : 0-32

   unsigned char Hoehe_P;                // Wert : 0-32

   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

   unsigned char Hoehe_HoverBand;        // Wert : 0-250

   unsigned char Hoehe_GPS_Z;            // Wert : 0-250

   unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250

   unsigned char Stick_P;                // Wert : 1-6

   unsigned char Stick_D;                // Wert : 0-64

   unsigned char Gier_P;                 // Wert : 1-20

   unsigned char Gas_Min;                // Wert : 0-32

   unsigned char Gas_Max;                // Wert : 33-250

   unsigned char GyroAccFaktor;          // Wert : 1-64

   unsigned char KompassWirkung;         // Wert : 0-32

   unsigned char Gyro_P;                 // Wert : 10-250

   unsigned char Gyro_I;                 // Wert : 0-250

   unsigned char Gyro_D;                 // Wert : 0-250

   unsigned char Gyro_Gier_P;                 // Wert : 10-250

   unsigned char Gyro_Gier_I;                 // Wert : 0-250

   unsigned char UnterspannungsWarnung;  // Wert : 0-250

   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Emp�ngsverlust

   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

   unsigned char Receiver;                       // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D

   unsigned char I_Faktor;               // Wert : 0-250

   unsigned char UserParam1;             // Wert : 0-250

   unsigned char UserParam2;             // Wert : 0-250

   unsigned char UserParam3;             // Wert : 0-250

   unsigned char UserParam4;             // Wert : 0-250

   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

//--- Seit V0.75

   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos

   unsigned char ServoRollComp;          // Wert : 0-250

   unsigned char ServoRollMin;           // Wert : 0-250

   unsigned char ServoRollMax;           // Wert : 0-250

//---

   unsigned char ServoNickRefresh;       // Speed of the Servo

   unsigned char Servo3;                         // Value or mapping of the Servo Output

   unsigned char Servo4;                         // Value or mapping of the Servo Output

   unsigned char Servo5;                         // Value or mapping of the Servo Output

   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas w�hrend Looping

   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle f�r Stickausschlag

   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese f�r Stickausschlag

   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

   unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180�-Punkt

   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180�-Punkt

   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

   unsigned char Driftkomp;

   unsigned char DynamicStability;

   unsigned char UserParam5;             // Wert : 0-250

   unsigned char UserParam6;             // Wert : 0-250

   unsigned char UserParam7;             // Wert : 0-250

   unsigned char UserParam8;             // Wert : 0-250

//---Output ---------------------------------------------

   unsigned char J16Bitmask;             // for the J16 Output

   unsigned char J16Timing;              // for the J16 Output

   unsigned char J17Bitmask;             // for the J17 Output

   unsigned char J17Timing;              // for the J17 Output

// seit version V0.75c

   unsigned char WARN_J16_Bitmask;       // for the J16 Output

   unsigned char WARN_J17_Bitmask;       // for the J17 Output

//---NaviCtrl---------------------------------------------

   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard

   unsigned char NaviGpsGain;

   unsigned char NaviGpsP;

   unsigned char NaviGpsI;

   unsigned char NaviGpsD;

   unsigned char NaviGpsPLimit;

   unsigned char NaviGpsILimit;

   unsigned char NaviGpsDLimit;

   unsigned char NaviGpsACC;

   unsigned char NaviGpsMinSat;

   unsigned char NaviStickThreshold;

   unsigned char NaviWindCorrection;

   unsigned char NaviSpeedCompensation;

   unsigned char NaviOperatingRadius;

   unsigned char NaviAngleLimitation;

   unsigned char NaviPH_LoginTime;

//---Ext.Ctrl---------------------------------------------

   unsigned char ExternalControl;        // for serial Control

//------------------------------------------------

   unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

   unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen

   unsigned char ExtraConfig;        // bitcodiert

   char Name[12];

 };

struct s_MK_Mixer

{

    char Revision;

    char Name[12];

    signed char Motor[16][4];

};

///////////////

// Navi-Ctrl //

///////////////

#define INVALID 0x00

#define NEWDATA 0x01

#define PROCESSED       0x02

#define NC_FLAG_FREE            0x01

#define NC_FLAG_PH              0x02

#define NC_FLAG_CH              0x04

#define NC_FLAG_RANGE_LIMIT     0x08

#define NC_FLAG_NOSERIALLINK    0x10

#define NC_FLAG_TARGET_REACHED  0x20

#define NC_FLAG_MANUAL_CONTROL  0x40

#define NC_FLAG_8               0x80

typedef struct

{

    int32_t Longitude;      // in 1E-7 deg

    int32_t Latitude;       // in 1E-7 deg

    int32_t Altitude;       // in mm

    uint8_t Status;         // validity of data

} __attribute__((packed)) GPS_Pos_t;

typedef struct

{

    uint16_t Distance;      // distance to target in dm

    int16_t Bearing;        // course to target in deg

}  __attribute__((packed)) GPS_PosDev_t;

typedef struct

{

    uint8_t      Version;               // version of the data structure

    GPS_Pos_t    CurrentPosition;               // see ubx.h for details

    GPS_Pos_t    TargetPosition;

    GPS_PosDev_t TargetPositionDeviation;

    GPS_Pos_t    HomePosition;

    GPS_PosDev_t HomePositionDeviation;

    uint8_t      WaypointIndex;         // index of current waypoints running from 0 to WaypointNumber-1

    uint8_t      WaypointNumber;                // number of stored waypoints

    uint8_t      SatsInUse;             // number of satellites used for position solution

    int16_t      Altimeter;             // hight according to air pressure

    int16_t      Variometer;            // climb(+) and sink(-) rate

    uint16_t     FlyingTime;            // in seconds

    uint8_t      UBat;                  // Battery Voltage in 0.1 Volts

    uint16_t     GroundSpeed;           // speed over ground in cm/s (2D)

    int16_t      Heading;               // current flight direction in ° as angle to north

    int16_t      CompassHeading;                // current compass value in °

    int8_t       AngleNick;             // current Nick angle in 1°

    int8_t       AngleRoll;             // current Rick angle in 1°

    uint8_t      RC_Quality;            // RC_Quality

    uint8_t      MKFlags;               // Flags from FC

    uint8_t      NCFlags;               // Flags from NC

    uint8_t      Errorcode;             // 0 --> okay

    uint8_t      OperatingRadius;               // current operation radius around the Home Position in m

    int16_t      TopSpeed;              // velocity in vertical direction in cm/s

    uint8_t      TargetHoldTime;                // time in s to stay at the given target, counts down to 0 if target has been reached

    uint8_t      RC_RSSI;               // Receiver signal strength (since version 2 added)

    int16_t      SetpointAltitude;                      // setpoint for altitude

    uint8_t      Gas;                                           // for future use

    uint16_t     Current;                                       // actual current in 0.1A steps

    uint16_t     UsedCapacity;                          // used capacity in mAh

} __attribute__((packed)) s_MK_NaviData;

typedef struct

{

    GPS_Pos_t Position;          // the gps position of the waypoint, see ubx.h for details

    int16_t   Heading;           // orientation, future implementation

    uint8_t   ToleranceRadius;   // in meters, if the MK is within that range around the target, then the next target is triggered

    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

    uint8_t   Event_Flag;        // future emplementation

    uint8_t   reserve[12];       // reserve

} __attribute__((packed)) s_MK_WayPoint;

#endif // MK_DATATYPES_H