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805 | - | 1 | // /////////////////////////////////////////////////////////////////////////////// |
2 | // Copyright (C) 2010, Frank Blumenberg |
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3 | // |
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4 | // See License.txt for complete licensing and attribution information. |
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5 | // Permission is hereby granted, free of charge, to any person obtaining a copy |
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6 | // of this software and associated documentation files (the "Software"), to deal |
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7 | // in the Software without restriction, including without limitation the rights |
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8 | // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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9 | // copies of the Software, and to permit persons to whom the Software is |
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10 | // furnished to do so, subject to the following conditions: |
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11 | // |
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12 | // The above copyright notice and this permission notice shall be included in all |
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13 | // copies or substantial portions of the Software. |
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14 | // |
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15 | // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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16 | // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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17 | // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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18 | // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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19 | // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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20 | // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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21 | // THE SOFTWARE. |
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22 | // |
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23 | // /////////////////////////////////////////////////////////////////////////////// |
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24 | |||
25 | typedef enum { |
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26 | MKAddressAll =0, |
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27 | MKAddressFC =1, |
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28 | MKAddressNC =2, |
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29 | MKAddressMK3MAg=3, |
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30 | MKAddressMKGPS =0XFE |
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31 | } MKAddress; |
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32 | |||
33 | static const int kMaxDebugData = 32; |
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34 | |||
35 | typedef enum { |
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36 | MKCommandDebugValueRequest='d', |
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37 | MKCommandDebugValueResponse='D', |
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38 | MKCommandDebugLabelRequest='a', |
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39 | MKCommandDebugLabelResponse='A', |
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40 | MKCommandVersionRequest='v', |
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41 | MKCommandVersionResponse='V', |
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42 | MKCommandLcdMenuRequest='l', |
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43 | MKCommandLcdMenuResponse='L', |
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44 | MKCommandLcdRequest='h', |
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45 | MKCommandLcdResponse='H', |
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46 | MKCommandReadSettingsRequest='q', |
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47 | MKCommandReadSettingsResponse='Q', |
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48 | MKCommandWriteSettingsRequest='s', |
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49 | MKCommandWriteSettingsResponse='S', |
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50 | MKCommandChangeSettingsRequest='f', |
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51 | MKCommandChangeSettingsResponse='F', |
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52 | MKCommandChannelsValueRequest='p', |
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53 | MKCommandChannelsValueResponse='P', |
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54 | MKCommandMixerReadRequest='n', |
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55 | MKCommandMixerReadResponse='N', |
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56 | MKCommandMixerWriteRequest='m', |
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57 | MKCommandMixerWriteResponse='M', |
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58 | MKCommandRedirectRequest='u', |
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59 | MKCommandEngineTestRequest='t', |
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60 | MKCommandOsdRequest='o', |
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61 | MKCommandOsdResponse='O', |
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62 | } MKCommandId; |
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63 | |||
64 | |||
65 | typedef struct |
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66 | { |
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67 | uint8_t SWMajor; |
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68 | uint8_t SWMinor; |
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69 | uint8_t ProtoMajor; |
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70 | uint8_t ProtoMinor; |
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71 | uint8_t SWPatch; |
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72 | uint8_t Reserved[5]; |
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73 | } VersionInfo; |
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74 | |||
75 | typedef struct |
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76 | { |
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77 | uint8_t Digital[2]; |
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78 | uint16_t Analog[32]; // Debugvalues |
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79 | } DebugOut; |
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80 | |||
81 | typedef struct |
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82 | { |
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83 | char Revision; |
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84 | char Name[12]; |
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85 | signed char Motor[16][4]; |
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86 | } Mixer; |
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87 | |||
88 | typedef struct |
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89 | { |
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90 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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91 | unsigned char GlobalConfig; // 0x01=H?henregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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92 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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93 | unsigned char Luftdruck_D; // Wert : 0-250 |
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94 | unsigned char MaxHoehe; // Wert : 0-32 |
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95 | unsigned char Hoehe_P; // Wert : 0-32 |
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96 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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97 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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98 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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99 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
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100 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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101 | unsigned char Stick_P; // Wert : 1-6 |
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102 | unsigned char Stick_D; // Wert : 0-64 |
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103 | unsigned char Gier_P; // Wert : 1-20 |
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104 | unsigned char Gas_Min; // Wert : 0-32 |
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105 | unsigned char Gas_Max; // Wert : 33-250 |
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106 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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107 | unsigned char KompassWirkung; // Wert : 0-32 |
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108 | unsigned char Gyro_P; // Wert : 10-250 |
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109 | unsigned char Gyro_I; // Wert : 0-250 |
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110 | unsigned char Gyro_D; // Wert : 0-250 |
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111 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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112 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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113 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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114 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Emp?ngsverlust |
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115 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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116 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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117 | unsigned char I_Faktor; // Wert : 0-250 |
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118 | unsigned char UserParam1; // Wert : 0-250 |
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119 | unsigned char UserParam2; // Wert : 0-250 |
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120 | unsigned char UserParam3; // Wert : 0-250 |
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121 | unsigned char UserParam4; // Wert : 0-250 |
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122 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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123 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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124 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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125 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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126 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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127 | unsigned char ServoRollComp; // Wert : 0-250 |
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128 | unsigned char ServoRollMin; // Wert : 0-250 |
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129 | unsigned char ServoRollMax; // Wert : 0-250 |
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130 | unsigned char ServoNickRefresh; // Speed of the Servo |
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131 | unsigned char Servo3; // Value or mapping of the Servo Output |
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132 | unsigned char Servo4; // Value or mapping of the Servo Output |
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133 | unsigned char Servo5; // Value or mapping of the Servo Output |
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134 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas w?hrend Looping |
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135 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle f?r Stickausschlag |
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136 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese f?r Stickausschlag |
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137 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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138 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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139 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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140 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180?-Punkt |
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141 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180?-Punkt |
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142 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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143 | unsigned char Driftkomp; |
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144 | unsigned char DynamicStability; |
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145 | unsigned char UserParam5; // Wert : 0-250 |
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146 | unsigned char UserParam6; // Wert : 0-250 |
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147 | unsigned char UserParam7; // Wert : 0-250 |
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148 | unsigned char UserParam8; // Wert : 0-250 |
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149 | unsigned char J16Bitmask; // for the J16 Output |
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150 | unsigned char J16Timing; // for the J16 Output |
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151 | unsigned char J17Bitmask; // for the J17 Output |
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152 | unsigned char J17Timing; // for the J17 Output |
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153 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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154 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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155 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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156 | unsigned char NaviGpsGain; |
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157 | unsigned char NaviGpsP; |
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158 | unsigned char NaviGpsI; |
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159 | unsigned char NaviGpsD; |
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160 | unsigned char NaviGpsPLimit; |
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161 | unsigned char NaviGpsILimit; |
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162 | unsigned char NaviGpsDLimit; |
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163 | unsigned char NaviGpsACC; |
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164 | unsigned char NaviGpsMinSat; |
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165 | unsigned char NaviStickThreshold; |
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166 | unsigned char NaviWindCorrection; |
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167 | unsigned char NaviSpeedCompensation; |
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168 | unsigned char NaviOperatingRadius; |
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169 | unsigned char NaviAngleLimitation; |
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170 | unsigned char NaviPH_LoginTime; |
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171 | unsigned char ExternalControl; // for serial Control |
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172 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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173 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
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174 | unsigned char ExtraConfig; // bitcodiert |
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175 | char Name[12]; |
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176 | } MKSetting; |
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177 | |||
178 | #define CFG_HOEHENREGELUNG 0x01 |
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179 | #define CFG_HOEHEN_SCHALTER 0x02 |
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180 | #define CFG_HEADING_HOLD 0x04 |
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181 | #define CFG_KOMPASS_AKTIV 0x08 |
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182 | #define CFG_KOMPASS_FIX 0x10 |
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183 | #define CFG_GPS_AKTIV 0x20 |
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184 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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185 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
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186 | |||
187 | #define CFG_LOOP_OBEN 0x01 |
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188 | #define CFG_LOOP_UNTEN 0x02 |
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189 | #define CFG_LOOP_LINKS 0x04 |
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190 | #define CFG_LOOP_RECHTS 0x08 |
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191 | #define CFG_MOTOR_BLINK 0x10 |
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192 | #define CFG_MOTOR_OFF_LED1 0x20 |
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193 | #define CFG_MOTOR_OFF_LED2 0x40 |
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194 | #define CFG_RES4 0x80 |
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195 | |||
196 | #define CFG2_HEIGHT_LIMIT 0x01 |
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197 | #define CFG2_VARIO_BEEP 0x02 |
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198 | #define CFG_SENSITIVE_RC 0x04 |
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199 | |||
200 | #define CFG2_INVERT_NICK 0x01 |
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201 | #define CFG2_INVERT_ROLL 0x02 |
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202 | |||
203 | ////////////////////////////////////////////////////////////////////////////////////////// |
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204 | |||
205 | typedef struct |
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206 | { |
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207 | int16_t AngleNick; // in 0.1 deg |
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208 | int16_t AngleRoll; // in 0.1 deg |
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209 | int16_t Heading; // in 0.1 deg |
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210 | uint8_t reserve[8]; |
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211 | } Data3D_t; |
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212 | |||
213 | |||
214 | |||
215 | typedef struct |
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216 | { |
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217 | int32_t Longitude; // in 1E-7 deg |
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218 | int32_t Latitude; // in 1E-7 deg |
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219 | int32_t Altitude; // in mm |
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220 | uint8_t Status; // validity of data |
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221 | } __attribute__((packed)) GPS_Pos_t; |
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222 | |||
223 | typedef struct |
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224 | { |
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225 | uint16_t Distance; // distance to target in dm |
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226 | int16_t Bearing; // course to target in deg |
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227 | } __attribute__((packed)) GPS_PosDev_t; |
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228 | |||
229 | typedef struct |
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230 | { |
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231 | uint8_t Version; // version of the data structure |
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232 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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233 | GPS_Pos_t TargetPosition; |
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234 | GPS_PosDev_t TargetPositionDeviation; |
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235 | GPS_Pos_t HomePosition; |
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236 | GPS_PosDev_t HomePositionDeviation; |
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237 | uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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238 | uint8_t WaypointNumber; // number of stored waypoints |
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239 | uint8_t SatsInUse; // number of satellites used for position solution |
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240 | int16_t Altimeter; // hight according to air pressure |
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241 | int16_t Variometer; // climb(+) and sink(-) rate |
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242 | uint16_t FlyingTime; // in seconds |
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243 | uint8_t UBat; // Battery Voltage in 0.1 Volts |
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244 | uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
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245 | int16_t Heading; // current flight direction in ° as angle to north |
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246 | int16_t CompassHeading; // current compass value in ° |
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247 | int8_t AngleNick; // current Nick angle in 1° |
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248 | int8_t AngleRoll; // current Rick angle in 1° |
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249 | uint8_t RC_Quality; // RC_Quality |
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250 | uint8_t FCFlags; // Flags from FC |
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251 | uint8_t NCFlags; // Flags from NC |
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252 | uint8_t Errorcode; // 0 --> okay |
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253 | uint8_t OperatingRadius; // current operation radius around the Home Position in m |
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254 | int16_t TopSpeed; // velocity in vertical direction in cm/s |
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255 | 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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256 | uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
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257 | int16_t SetpointAltitude; // setpoint for altitude |
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258 | uint8_t Gas; // for future use |
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259 | uint16_t Current; // actual current in 0.1A steps |
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260 | uint16_t UsedCapacity; // used capacity in mAh |
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261 | |||
262 | } __attribute__((packed)) NaviData_t; |
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263 | |||
264 | typedef struct |
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265 | { |
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266 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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267 | int16_t Heading; // orientation, future implementation |
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268 | 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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269 | 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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270 | uint8_t Event_Flag; // future emplementation |
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271 | uint8_t reserve[12]; // reserve |
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272 | } __attribute__((packed)) WayPoint_t; |
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273 | |||
274 | |||
275 | #define NAVIDATA_VERSION 3 |
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276 | |||
277 | #define NC_FLAG_FREE 0x01 |
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278 | #define NC_FLAG_PH 0x02 |
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279 | #define NC_FLAG_CH 0x04 |
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280 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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281 | #define NC_FLAG_NOSERIALLINK 0x10 |
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282 | #define NC_FLAG_TARGET_REACHED 0x20 |
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283 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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284 | #define NC_FLAG_8 0x80 |
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285 | |||
286 | #define FCFLAG_MOTOR_RUN 0x01 |
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287 | #define FCFLAG_FLY 0x02 |
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288 | #define FCFLAG_CALIBRATE 0x04 |
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289 | #define FCFLAG_START 0x08 |
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290 | #define FCFLAG_NOTLANDUNG 0x10 |
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291 | #define FCFLAG_LOWBAT 0x20 |
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292 | #define FCFLAG_SPI_RX_ERR 0x40 |
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293 | #define FCFLAG_I2CERR 0x80 |
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294 |