| /branches/V0.68d Code Redesign killagreg/analog.c |
|---|
| 23,7 → 23,7 |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| uint8_t PressureSensorOffset; |
| volatile int16_t HightD = 0; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 0; |
| /*****************************************************/ |
| 171,9 → 171,9 |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| ReadingAirPressure = ADC; // update measured air pressure |
| HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert |
| HeightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight); // D-Anteil = neuerWert - AlterWert |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHight = StartAirPressure - AirPressure; |
| ReadingHeight = StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure = 0; |
| } |
| /branches/V0.68d Code Redesign killagreg/analog.h |
|---|
| 10,7 → 10,7 |
| extern volatile int32_t AirPressure; |
| extern volatile uint16_t MeasurementCounter; |
| extern uint8_t PressureSensorOffset; |
| extern volatile int16_t HightD; |
| extern volatile int16_t HeightD; |
| extern volatile uint16_t ReadingAirPressure; |
| extern volatile int16_t StartAirPressure; |
| /branches/V0.68d Code Redesign killagreg/eeprom.c |
|---|
| 38,12 → 38,12 |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Hight_MinThrust = 30; |
| ParamSet.MaxHight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Hight_P = 10; // Wert : 0-32 |
| ParamSet.Hight_D = 30; // Wert : 0-250 |
| ParamSet.Hight_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Hight_Gain = 4; // Wert : 0-50 |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 4; // Wert : 0-50 |
| ParamSet.Stick_P = 4; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 8; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 12; // Wert : 1-20 |
| 101,12 → 101,12 |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Hight_MinThrust = 30; |
| ParamSet.MaxHight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Hight_P = 10; // Wert : 0-32 |
| ParamSet.Hight_D = 30; // Wert : 0-250 |
| ParamSet.Hight_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Hight_Gain = 3; // Wert : 0-50 |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 3; // Wert : 0-50 |
| ParamSet.Stick_P = 3; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| 164,12 → 164,12 |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;///*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Hight_MinThrust = 30; |
| ParamSet.MaxHight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Hight_P = 10; // Wert : 0-32 |
| ParamSet.Hight_D = 30; // Wert : 0-250 |
| ParamSet.Hight_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Hight_Gain = 2; // Wert : 0-50 |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 2; // Wert : 0-50 |
| ParamSet.Stick_P = 2; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| /branches/V0.68d Code Redesign killagreg/eeprom.h |
|---|
| 54,12 → 54,12 |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t Hight_MinThrust; // Wert : 0-100 |
| uint8_t Hight_D; // Wert : 0-250 |
| uint8_t MaxHight; // Wert : 0-32 |
| uint8_t Hight_P; // Wert : 0-32 |
| uint8_t Hight_Gain; // Wert : 0-50 |
| uint8_t Hight_ACC_Effect; // Wert : 0-250 |
| uint8_t Height_MinThrust; // Wert : 0-100 |
| uint8_t Height_D; // Wert : 0-250 |
| uint8_t MaxHeight; // Wert : 0-32 |
| uint8_t Height_P; // Wert : 0-32 |
| uint8_t Height_Gain; // Wert : 0-50 |
| uint8_t Height_ACC_Effect; // Wert : 0-250 |
| uint8_t Stick_P; // Wert : 1-6 |
| uint8_t Stick_D; // Wert : 0-64 |
| uint8_t Yaw_P; // Wert : 1-20 |
| /branches/V0.68d Code Redesign killagreg/fc.c |
|---|
| 123,13 → 123,13 |
| int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
| int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
| // stick values derived by uart inputs |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
| int16_t ReadingHight = 0; |
| int16_t SetPointHight = 0; |
| int16_t ReadingHeight = 0; |
| int16_t SetPointHeight = 0; |
| int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
| 173,7 → 173,7 |
| CalibMean(); |
| Delay_ms_Mess(100); |
| CalibMean(); |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
| { |
| if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| } |
| 203,13 → 203,13 |
| Reading_GyroRoll = 0; |
| Reading_GyroYaw = 0; |
| StartAirPressure = AirPressure; |
| HightD = 0; |
| HeightD = 0; |
| Reading_Integral_Top = 0; |
| CompassCourse = CompassHeading; |
| BeepTime = 50; |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| ExternHightValue = 0; |
| ExternHeightValue = 0; |
| GPS_Neutral(); |
| } |
| 409,10 → 409,10 |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
| CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
| CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
| CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
| CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| 449,8 → 449,8 |
| static uint16_t RcLostTimer; |
| static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
| static uint16_t Modell_Is_Flying = 0; |
| static uint8_t HightControlActive = 0; |
| static int16_t HightControlThrust = 0; |
| static uint8_t HeightControlActive = 0; |
| static int16_t HeightControlThrust = 0; |
| static int8_t TimerDebugOut = 0; |
| static int8_t StoreNewCompassCourse = 0; |
| static int32_t CorrectionPitch, CorrectionRoll; |
| 681,8 → 681,8 |
| if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
| if(DubWiseKeys[0] & 2) ExternHightValue++; |
| if(DubWiseKeys[0] & 16) ExternHightValue--; |
| if(DubWiseKeys[0] & 2) ExternHeightValue++; |
| if(DubWiseKeys[0] & 16) ExternHeightValue--; |
| StickPitch += ExternStickPitch / 8; |
| StickRoll += ExternStickRoll / 8; |
| 697,7 → 697,7 |
| StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
| StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
| StickYaw += ExternControl.Yaw; |
| ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
| ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| } |
| // disable I part of gyro control feedback |
| 1078,7 → 1078,7 |
| DebugOut.Analog[2] = Mean_AccPitch; |
| DebugOut.Analog[3] = Mean_AccRoll; |
| DebugOut.Analog[4] = Reading_GyroYaw; |
| DebugOut.Analog[5] = ReadingHight; |
| DebugOut.Analog[5] = ReadingHeight; |
| DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| 1098,7 → 1098,7 |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| DebugOut.Analog[9] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHight; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| DebugOut.Analog[11] = CompassCourse; |
| DebugOut.Analog[10] = FCParam.Gyro_I; |
| 1105,8 → 1105,8 |
| DebugOut.Analog[10] = ParamSet.Gyro_I; |
| DebugOut.Analog[9] = CompassOffCourse; |
| DebugOut.Analog[10] = ThrustMixFraction; |
| DebugOut.Analog[3] = HightD * 32; |
| DebugOut.Analog[4] = HightControlThrust; |
| DebugOut.Analog[3] = HeightD * 32; |
| DebugOut.Analog[4] = HeightControlThrust; |
| */ |
| } |
| 1134,7 → 1134,7 |
| if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Hight Control |
| // Height Control |
| // The higth control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // If hight control is activated and no emergency landing is active |
| 1144,45 → 1144,45 |
| // if hight control is activated by an rc channel |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
| { // check if parameter is less than activation threshold |
| if(FCParam.MaxHight < 50) |
| if(FCParam.MaxHeight < 50) |
| { |
| SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
| HightControlActive = 0; // disable hight control |
| SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| HeightControlActive = 0; // disable hight control |
| } |
| else HightControlActive = 1; // enable hight control |
| else HeightControlActive = 1; // enable hight control |
| } |
| else // no switchable hight control |
| { |
| SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
| HightControlActive = 1; |
| SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| HeightControlActive = 1; |
| } |
| // get current hight |
| h = ReadingHight; |
| h = ReadingHeight; |
| // if current hight is above the setpoint reduce thrust |
| if((h > SetPointHight) && HightControlActive) |
| if((h > SetPointHeight) && HeightControlActive) |
| { |
| // hight difference -> P control part |
| h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
| h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
| h = ThrustMixFraction - h; // reduce gas |
| // higth gradient --> D control part |
| h -= (HightD * FCParam.Hight_D) / 8; // D control part |
| h -= (HeightD * FCParam.Height_D) / 8; // D control part |
| // acceleration sensor effect |
| tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
| tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| // update hight control thrust |
| HightControlThrust = (HightControlThrust*15 + h) / 16; |
| HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
| // limit thrust reduction |
| if(HightControlThrust < ParamSet.Hight_MinThrust) |
| if(HeightControlThrust < ParamSet.Height_MinThrust) |
| { |
| if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
| if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
| // allows landing also if thrust stick is reduced below min thrust on hight control |
| if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
| if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
| } |
| // limit thrust to stick setting |
| if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
| ThrustMixFraction = HightControlThrust; |
| if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
| ThrustMixFraction = HeightControlThrust; |
| } |
| } |
| // limit thrust to parameter setting |
| /branches/V0.68d Code Redesign killagreg/fc.h |
|---|
| 7,10 → 7,10 |
| typedef struct |
| { |
| uint8_t Hight_D; |
| uint8_t MaxHight; |
| uint8_t Hight_P; |
| uint8_t Hight_ACC_Effect; |
| uint8_t Height_D; |
| uint8_t MaxHeight; |
| uint8_t Height_P; |
| uint8_t Height_ACC_Effect; |
| uint8_t CompassYawEffect; |
| uint8_t Gyro_P; |
| uint8_t Gyro_I; |
| 53,8 → 53,8 |
| extern volatile int16_t CompassOffCourse; |
| // hight control |
| extern int ReadingHight; |
| extern int SetPointHight; |
| extern int ReadingHeight; |
| extern int SetPointHeight; |
| // mean accelarations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| /branches/V0.68d Code Redesign killagreg/menu.c |
|---|
| 96,11 → 96,11 |
| LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| case 1:// Hight Control Menu Item |
| case 1:// Height Control Menu Item |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| LCD_printfxy(0,0,"Hight: %5i",ReadingHight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHight); |
| LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure); |
| LCD_printfxy(0,3,"Offset : %5i",PressureSensorOffset); |
| } |
| 107,7 → 107,7 |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Hight Control"); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| 148,7 → 148,7 |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
| LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
| LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| 176,7 → 176,7 |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight, ExternControl.Config); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| break; |
| case 12://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) |
| /branches/V0.68d Code Redesign killagreg/rc.c |
|---|
| 15,8 → 15,8 |
| #include "rc.h" |
| #include "main.h" |
| volatile int16_t PPM_in[11]; |
| volatile int16_t PPM_diff[11]; |
| volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
| volatile int16_t PPM_diff[15]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t SenderOkay = 0; |
| 77,7 → 77,15 |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| 112,7 → 120,7 |
| } |
| else // within the PPM frame |
| { |
| if(index < 10) // channel limit is 9 because of the frame length of 22.5 ms |
| if(index < 14) // PPM24 supports 12 channels |
| { |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| /branches/V0.68d Code Redesign killagreg/rc.h |
|---|
| 4,8 → 4,8 |
| #include <inttypes.h> |
| extern void RC_Init (void); |
| extern volatile int16_t PPM_in[11]; // the RC-Signal |
| extern volatile int16_t PPM_diff[11]; // the differentiated RC-Signal |
| extern volatile int16_t PPM_in[15]; // the RC-Signal |
| extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
| extern volatile uint8_t NewPpmData; |
| extern volatile uint8_t SenderOkay; // signal level indicator |
| /branches/V0.68d Code Redesign killagreg/uart.c |
|---|
| 56,7 → 56,7 |
| "AccPitch ", |
| "AccRoll ", |
| "GyroYaw ", |
| "ReadingHight ", //5 |
| "ReadingHeight ", //5 |
| "AccZ ", |
| "Thrust ", |
| "CompassHeading ", |
| /branches/V0.68d Code Redesign killagreg/uart.h |
|---|
| 42,7 → 42,7 |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Thrust; |
| int8_t Hight; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |