WebSVN - Projects - Path Comparison - /C-OSD/trunk Rev 2568 and /C-OSD/trunk Rev 2569

Ignore whitespace Rev 2568 → Rev 2569

 /C-OSD/trunk/CHANGE.LOG
 ,6 → 18,9
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
  ****************************************************************************/
+20161212-0845
+        *adapted structs to reflect FC/NC software V2.16a
 20160302-0700
         *adapted structs to reflect FC/NC software V2.14a

 /C-OSD/trunk/README.TXT
 ,7 → 33,7
 Instructions:
         Connect the "To FC" port from EPi-OSD to the Debug port of the NaviCtrl.
-        You will need at least NaviCtrl 2.14a soft to fully enjoy the software.
+        You will need at least NaviCtrl 2.16a soft to fully enjoy the software.
         S1 enters a menu where you can cycle through using S2 and toggle/accept choice with S1

 /C-OSD/trunk/default/dist.bat
 ,7 → 20,7
 ::  ****************************************************************************/
 set OSDBUILDDATE=%DATE:~-4,4%%DATE:~-7,2%%DATE:~0,2%-%TIME:~0,2%%TIME:~3,2%
-set OSDBUILDDATE=20160302-0700
+set OSDBUILDDATE=20161212-0845
 echo "Building: %OSDBUILDDATE%"
 :: date /T

 /C-OSD/trunk/default/flash-usbasp.bat
 ,7 → 20,7
 ::  ****************************************************************************/
 :: set FIRMWAREFILE to current version
-set FIRMWAREFILE=C-OSD-20160302-0700-pal.hex
+set FIRMWAREFILE=C-OSD-20161212-0845-pal.hex
 :: Read fuses as test
 avrdude -c usbasp -p m162 -n -v

 /C-OSD/trunk/mk-data-structs.h
 ,7 → 85,7
 /*
  * NaviCtrl OSD Structs
  * portions taken and adapted from
- * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h
+ * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h
  */
 typedef struct {
     u16 Distance; // distance to target in dm
 ,38 → 94,42
 #define NAVIDATA_VERSION 5
-typedef struct {
-        u8 Version;                                             // version of the data structure
-        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
-        GPS_Pos_t TargetPosition;
-        GPS_PosDev_t TargetPositionDeviation;
-        GPS_Pos_t HomePosition;
-        GPS_PosDev_t HomePositionDeviation;
-        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
-        u8  WaypointNumber;                             // number of stored waypoints
-        u8  SatsInUse;                                  // number of satellites used for position solution
-        s16 Altimeter_5cm;                              // hight according to air pressure
-        s16 Variometer;                                 // climb(+) and sink(-) rate
-        u16 FlyingTime;                                 // in seconds
-        u8  UBat;                                               // Battery Voltage in 0.1 Volts
-        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
-        s16 Heading;                                    // current flight direction in ° as angle to north
-        s16     CompassHeading;                         // current compass value in °
-        s8  AngleNick;                                  // current Nick angle in 1°
-        s8  AngleRoll;                                  // current Rick angle in 1°
-        u8  RC_Quality;                                 // RC_Quality
-        u8  FCStatusFlags;                              // Flags from FC
-        u8  NCFlags;                                    // Flags from NC
-        u8  Errorcode;                                  // 0 --> okay
-        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
-        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
-        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
-        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
-        s16 SetpointAltitude;                   // setpoint for altitude
-        u8  Gas;                                                // for future use
-        u16 Current;                                    // actual current in 0.1A steps
-        u16 UsedCapacity;                               // used capacity in mAh
+typedef struct   // 84 Bytes    (note: this is the old protocol)
+{
+        u8 Version;                                             // version of the data structure = 5
+        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
+        GPS_Pos_t TargetPosition;
+        GPS_PosDev_t TargetPositionDeviation;
+        GPS_Pos_t HomePosition;
+        GPS_PosDev_t HomePositionDeviation;
+        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
+        u8  WaypointNumber;                             // number of stored waypoints
+        u8  SatsInUse;                                  // number of satellites used for position solution
+        s16 Altimeter_5cm;                              // hight according to air pressure
+        s16 Variometer;                                 // climb(+) and sink(-) rate
+        u16 FlyingTime;                                 // in seconds
+        u8  UBat;                                               // Battery Voltage in 0.1 Volts
+        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
+        s16 Heading;                                    // current flight direction in ° as angle to north
+        s16     CompassHeading;                         // current compass value in °
+        s8  AngleNick;                                  // current Nick angle in 1°
+        s8  AngleRoll;                                  // current Rick angle in 1°
+        u8  RC_Quality;                                 // RC_Quality
+        u8  FCStatusFlags;                              // Flags from FC see main.c FC_STATUS_xxx
+        u8  NCFlags;                                    // Flags from NC see main.h NC_FLAG_xxx
+        u8  Errorcode;                                  // 0 --> okay
+        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
+        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
+        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
+        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
+        s16 SetpointAltitude;                   // setpoint for altitude
+        u8  Gas;                                                // current gas (thrust)
+        u16 Current;                                    // actual current in 0.1A steps
+        u16 UsedCapacity;                               // used capacity in mAh
+        u8 reserve1;                                    // to fit into 84 bytes (must be divisible by 3)
+        u8 reserve2;                                    // to fit into 84 bytes (must be divisible by 3)
 } __attribute__((packed)) NaviData_t;
+extern NaviData_t NaviData;
 /*
  * NaviCtrl & FCFlags Flags
 ,145 → 196,149
 /*
  * MikroKopter config struct
  * portions taken and adapted from
- * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h
+ * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h
  */
-#define EEPARAM_REVISION        108 // is count up, if paramater stucture has changed (compatibility)
-#define EEMIXER_REVISION          1 // is count up, if mixer stucture has changed (compatibility)
+#define EEPARAM_REVISION        109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility)
+#define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)
+#define EE_BACKWARD_COMP        1   // change if the eepropm parameters are not backwards compatible
 typedef struct
 {
-        unsigned char Revision;
-        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
-        unsigned char GlobalConfig;           // 0x01=Höhenregler 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 HoeheChannel;           // 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_TiltCompensation; // 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 StickGier_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 Gyro_Stability;         // Wert : 0-16
-        unsigned char UnterspannungsWarnung;  // Wert : 0-250
-        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
-        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 Revision;
+        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
+        unsigned char GlobalConfig;           // 0x01=Höhenregler 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 HoeheChannel;           // 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_TiltCompensation; // 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 StickGier_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 Gyro_Stability;         // Wert : 0-16
+        unsigned char UnterspannungsWarnung;  // Wert : 0-250
+        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
+        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 ServoManualControlSpeed;//
     unsigned char CamOrientation;         //
-        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 während Looping
-        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
-        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für 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 AutoPhotoDistance;      // Auto Photo
-        unsigned char NaviGpsModeChannel;     // 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 NaviGpsA;
-        unsigned char NaviGpsMinSat;
-        unsigned char NaviStickThreshold;
-        unsigned char NaviWindCorrection;
-        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
-        unsigned char NaviMaxFlyingRange;     // in 10m
-        unsigned char NaviAngleLimitation;
-        unsigned char NaviPH_LoginTime;
-        unsigned char NaviDescendRange;
-        //---Ext.Ctrl---------------------------------------------
-        unsigned char ExternalControl;         // for serial Control
-        //---CareFree---------------------------------------------
-        unsigned char OrientationAngle;        // Where is the front-direction?
-        unsigned char CareFreeChannel;     // switch for CareFree
+        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 während Looping
+        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
+        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für 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 AutoPhotoDistance;      // Auto Photo
+        unsigned char NaviGpsModeChannel;     // 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 NaviGpsA;
+        unsigned char NaviGpsMinSat;
+        unsigned char NaviStickThreshold;
+        unsigned char NaviWindCorrection;
+        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
+        unsigned char NaviMaxFlyingRange;     // in 10m
+        unsigned char NaviAngleLimitation;
+        unsigned char NaviPH_LoginTime;
+        unsigned char NaviDescendRange;
+        //---Ext.Ctrl---------------------------------------------
+        unsigned char ExternalControl;         // for serial Control
+        //---CareFree---------------------------------------------
+        unsigned char OrientationAngle;        // Where is the front-direction?
+        unsigned char CareFreeChannel;     // switch for CareFree
     unsigned char MotorSafetySwitch;
     unsigned char MotorSmooth;
     unsigned char ComingHomeAltitude;
     unsigned char FailSafeTime;
     unsigned char MaxAltitude;
-        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
-        unsigned char ServoFilterNick;
-        unsigned char ServoFilterRoll;
+        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
+        unsigned char ServoFilterNick;
+        unsigned char ServoFilterRoll;
     unsigned char Servo3OnValue;
     unsigned char Servo3OffValue;
     unsigned char Servo4OnValue;
     unsigned char Servo4OffValue;
-        unsigned char ServoFS_Pos[5];
-        unsigned char StartLandChannel;
-        unsigned char LandingSpeed;
-        unsigned char CompassOffset;
-        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
-        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
-        unsigned char AutoPhotoAtitudes;
-        unsigned char SingleWpSpeed;
-        unsigned char LandingPulse;
-        unsigned char SingleWpControlChannel;
-        unsigned char MenuKeyChannel;
+        unsigned char ServoFS_Pos[5];
+        unsigned char StartLandChannel;
+        unsigned char LandingSpeed;
+        unsigned char CompassOffset;
+        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
+        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
+        unsigned char AutoPhotoAtitudes;
+        unsigned char SingleWpSpeed;
+        unsigned char LandingPulse;
+        unsigned char SingleWpControlChannel;
+        unsigned char MenuKeyChannel;
     unsigned char CamCtrlModeChannel;
-    unsigned char CamCtrlZoomChannel;
-        unsigned char reserved[32];       // for later use
-        //------------------------------------------------
-        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, 0x04 = relative moving // WICHTIG!!! am Ende lassen
-        unsigned char ExtraConfig;        // bitcodiert
-        unsigned char GlobalConfig3;      // bitcodiert
-        char Name[12];
-        unsigned char crc;                              // must be the last byte!
-} paramset_t; // since 2.14 -> size is always 179 Bytes
+    unsigned char CamCtrlZoomChannel;
+        unsigned char reserved[32];       // for later use
+        //------------------------------------------------
+        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, 0x04 = relative moving // WICHTIG!!! am Ende lassen
+        unsigned char ExtraConfig;        // bitcodiert
+        unsigned char GlobalConfig3;      // bitcodiert
+        char Name[12];
+        unsigned char crc;                                // must be the last byte!
+} paramset_t;      // since 2.14 -> size is always 179 Bytes
+// -> if changed: update NC-Data structure also <-
 typedef struct {

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