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674 KeyOz 1
/***************************************************************************
2
 *   Copyright (C) 2009 by Manuel Schrape                                  *
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 *   manuel.schrape@gmx.de                                                 *
4
 *                                                                         *
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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        *
11
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
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 *   GNU General Public License for more details.                          *
13
 *                                                                         *
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 *   You should have received a copy of the GNU General Public License     *
15
 *   along with this program; if not, write to the                         *
16
 *   Free Software Foundation, Inc.,                                       *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
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 ***************************************************************************/
19
#ifndef MK_DATATYPES_H
20
#define MK_DATATYPES_H
21
 
22
#include <stdint.h>
23
 
24
#ifdef _BETA_
801 - 25
    static const int MK_VERSION_SETTINGS = 84; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben
674 KeyOz 26
#else
801 - 27
    static const int MK_VERSION_SETTINGS = 84; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben
674 KeyOz 28
#endif
29
 
801 - 30
static const int MK_VERSION_NAVI     =  4; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben
674 KeyOz 31
 
32
static const int MK_VERSION_MIXER    =  1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben
33
static const int MK_MAX_MOTOR        =  16; // Maximale Anzahl der Motoren im Mixer
34
 
35
// Version des Seriellen Protokoll
750 KeyOz 36
static const int VERSION_SERIAL_MAJOR = 11;
674 KeyOz 37
static const int VERSION_SERIAL_MINOR = 0;
38
 
39
// Basis-Addressen der verschiedenen Hardware
40
static const int ADDRESS_ALL    = 0;
41
static const int ADDRESS_FC     = 1;
42
static const int ADDRESS_NC     = 2;
43
static const int ADDRESS_MK3MAG = 3;
801 - 44
static const int ADDRESS_BLC    = 5;
674 KeyOz 45
 
801 - 46
#define FCFLAG_MOTOR_RUN        0x01
47
#define FCFLAG_FLY              0x02
48
#define FCFLAG_CALIBRATE        0x04
49
#define FCFLAG_START            0x08
50
#define FCFLAG_NOTLANDUNG       0x10
51
#define FCFLAG_LOWBAT           0x20
52
#define FCFLAG_SPI_RX_ERR       0x40
53
#define FCFLAG_I2CERR           0x80
674 KeyOz 54
 
801 - 55
#define DEFEKT_G_NICK           0x01
56
#define DEFEKT_G_ROLL           0x02
57
#define DEFEKT_G_GIER           0x04
58
#define DEFEKT_A_NICK           0x08
59
#define DEFEKT_A_ROLL           0x10
60
#define DEFEKT_A_Z              0x20
61
#define DEFEKT_PRESSURE         0x40
62
#define DEFEKT_CAREFREE_ERR     0x80
63
 
64
#define DEFEKT_I2C              0x01
65
#define DEFEKT_BL_MISSING       0x02
66
#define DEFEKT_SPI_RX_ERR       0x04
67
#define DEFEKT_PPM_ERR          0x08
68
#define DEFEKT_MIXER_ERR        0x10
69
 
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#define CFG_HOEHENREGELUNG       0x01
71
#define CFG_HOEHEN_SCHALTER      0x02
72
#define CFG_HEADING_HOLD         0x04
73
#define CFG_KOMPASS_AKTIV        0x08
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#define CFG_KOMPASS_FIX          0x10
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#define CFG_GPS_AKTIV            0x20
76
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
77
#define CFG_DREHRATEN_BEGRENZER  0x80
78
 
79
#define CFG_LOOP_OBEN            0x01
80
#define CFG_LOOP_UNTEN           0x02
81
#define CFG_LOOP_LINKS           0x04
82
#define CFG_LOOP_RECHTS          0x08
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#define CFG_MOTOR_BLINK          0x10
84
#define CFG_MOTOR_OFF_LED1       0x20
85
#define CFG_MOTOR_OFF_LED2       0x40
86
#define CFG_RES4                 0x80
87
 
88
#define CFG2_HEIGHT_LIMIT        0x01
89
#define CFG2_VARIO_BEEP          0x02
90
#define CFG_SENSITIVE_RC         0x04
91
 
801 - 92
#define CFG0_AIRPRESS_SENSOR            0x01
93
#define CFG0_HEIGHT_SWITCH              0x02
94
#define CFG0_HEADING_HOLD               0x04
95
#define CFG0_COMPASS_ACTIVE             0x08
96
#define CFG0_COMPASS_FIX                0x10
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#define CFG0_GPS_ACTIVE                 0x20
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#define CFG0_AXIS_COUPLING_ACTIVE       0x40
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#define CFG0_ROTARY_RATE_LIMITER        0x80
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101
// defines for the receiver selection
102
#define RECEIVER_PPM                    0
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#define RECEIVER_SPEKTRUM               1
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#define RECEIVER_SPEKTRUM_HI_RES        2
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#define RECEIVER_SPEKTRUM_LOW_RES       3
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#define RECEIVER_JETI                   4
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#define RECEIVER_ACT_DSL                5
108
#define RECEIVER_UNKNOWN                0xFF
109
 
110
struct s_MK_VersionInfo
111
{
112
  unsigned char SWMajor;
113
  unsigned char SWMinor;
114
  unsigned char ProtoMajor;
115
  unsigned char ProtoMinor;
116
  unsigned char SWPatch;
117
  unsigned char HardwareError[5];
118
};
119
 
750 KeyOz 120
struct s_MK_Debug
121
{
122
 unsigned char Digital[2];
123
 int16_t Analog[32];    // Debugwerte
124
};
125
 
126
struct s_MK_DebugLabels
127
{
128
    int Position;
129
    QString Text;
130
};
131
 
132
//typedef int16_t s_MK_PPM_Data[26];
133
 
134
struct s_MK_PPM_Data
135
{
136
    int16_t Data[26];
137
};
138
 
139
 
674 KeyOz 140
struct s_MK_Settings
141
{
142
    // Die ersten beiden Bytes nicht an den MK senden.
143
   unsigned char Index;
801 - 144
 
145
   unsigned char Revision;
750 KeyOz 146
   unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
674 KeyOz 147
   unsigned char GlobalConfig;           // 0x01=H�henregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
148
   unsigned char Hoehe_MinGas;           // Wert : 0-100
149
   unsigned char Luftdruck_D;            // Wert : 0-250
150
   unsigned char MaxHoehe;               // Wert : 0-32
151
   unsigned char Hoehe_P;                // Wert : 0-32
152
   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
154
   unsigned char Hoehe_HoverBand;        // Wert : 0-250
155
   unsigned char Hoehe_GPS_Z;            // Wert : 0-250
156
   unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
157
   unsigned char Stick_P;                // Wert : 1-6
158
   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Gier_P;                 // Wert : 1-20
160
   unsigned char Gas_Min;                // Wert : 0-32
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   unsigned char Gas_Max;                // Wert : 33-250
162
   unsigned char GyroAccFaktor;          // Wert : 1-64
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   unsigned char KompassWirkung;         // Wert : 0-32
164
   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
801 - 167
   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 Gyro_Stability;         // 0.80        Wert : 0-16   
674 KeyOz 170
   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
801 - 173
   unsigned char Receiver;               // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
674 KeyOz 174
   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
179
   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
180
   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
181
   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
182
   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
801 - 183
   unsigned char ServoRollControl;       // 0.75        Wert : 0-250     // Stellung des Servos
184
   unsigned char ServoRollComp;          // 0.75        Wert : 0-250
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   unsigned char ServoRollMin;           // 0.75        Wert : 0-250
186
   unsigned char ServoRollMax;           // 0.75        Wert : 0-250
187
   unsigned char ServoNickRefresh;       //             Speed of the Servo
188
   unsigned char Servo3;                 //             Value or mapping of the Servo Output
189
   unsigned char Servo4;                 //             Value or mapping of the Servo Output
190
   unsigned char Servo5;                 //             Value or mapping of the Servo Output
191
   unsigned char LoopGasLimit;           //             Wert: 0-250  max. Gas w�hrend Looping
192
   unsigned char LoopThreshold;          //             Wert: 0-250  Schwelle f�r Stickausschlag
193
   unsigned char LoopHysterese;          //             Wert: 0-250  Hysterese f�r Stickausschlag
194
   unsigned char AchsKopplung1;          //             Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
195
   unsigned char AchsKopplung2;          //             Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
196
   unsigned char CouplingYawCorrection;  //             Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
197
   unsigned char WinkelUmschlagNick;     //             Wert: 0-250  180�-Punkt
198
   unsigned char WinkelUmschlagRoll;     //             Wert: 0-250  180�-Punkt
199
   unsigned char GyroAccAbgleich;        //             1/k  (Koppel_ACC_Wirkung)
200
   unsigned char Driftkomp;              //
201
   unsigned char DynamicStability;       //
202
   unsigned char UserParam5;             //             Wert : 0-250
203
   unsigned char UserParam6;             //             Wert : 0-250
204
   unsigned char UserParam7;             //             Wert : 0-250
205
   unsigned char UserParam8;             //             Wert : 0-250
674 KeyOz 206
//---Output ---------------------------------------------
801 - 207
   unsigned char J16Bitmask;             //             for the J16 Output
208
   unsigned char J16Timing;              //             for the J16 Output
209
   unsigned char J17Bitmask;             //             for the J17 Output
210
   unsigned char J17Timing;              //             for the J17 Output
211
   unsigned char WARN_J16_Bitmask;       // 0.75        for the J16 Output
212
   unsigned char WARN_J17_Bitmask;       // 0.75        for the J17 Output
674 KeyOz 213
//---NaviCtrl---------------------------------------------
214
   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
215
   unsigned char NaviGpsGain;
216
   unsigned char NaviGpsP;
217
   unsigned char NaviGpsI;
218
   unsigned char NaviGpsD;
219
   unsigned char NaviGpsPLimit;
220
   unsigned char NaviGpsILimit;
221
   unsigned char NaviGpsDLimit;
222
   unsigned char NaviGpsACC;
223
   unsigned char NaviGpsMinSat;
224
   unsigned char NaviStickThreshold;
225
   unsigned char NaviWindCorrection;
226
   unsigned char NaviSpeedCompensation;
227
   unsigned char NaviOperatingRadius;
228
   unsigned char NaviAngleLimitation;
229
   unsigned char NaviPH_LoginTime;
230
//---Ext.Ctrl---------------------------------------------
231
   unsigned char ExternalControl;        // for serial Control
801 - 232
//---CareFree---------------------------------------------
233
   unsigned char OrientationAngle;       // 0.80        Where is the front-direction?
234
   unsigned char OrientationModeControl; // 0.80        switch for CareFree 
235
//--------------------------------------------------------      
674 KeyOz 236
   unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
237
   unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
238
   unsigned char ExtraConfig;        // bitcodiert
239
   char Name[12];
801 - 240
   unsigned char crc;
750 KeyOz 241
 
674 KeyOz 242
 };
243
 
244
struct s_MK_Mixer
245
{
801 - 246
    uint8_t Revision;
247
    char    Name[12];
248
    int8_t  Motor[16][4];
249
    uint8_t crc;
674 KeyOz 250
};
251
 
252
///////////////
253
// Navi-Ctrl //
254
///////////////
255
 
801 - 256
#define INVALID         0x00
257
#define NEWDATA         0x01
674 KeyOz 258
#define PROCESSED       0x02
259
 
260
#define NC_FLAG_FREE            0x01
261
#define NC_FLAG_PH              0x02
262
#define NC_FLAG_CH              0x04
263
#define NC_FLAG_RANGE_LIMIT     0x08
264
#define NC_FLAG_NOSERIALLINK    0x10
265
#define NC_FLAG_TARGET_REACHED  0x20
266
#define NC_FLAG_MANUAL_CONTROL  0x40
267
#define NC_FLAG_8               0x80
268
 
801 - 269
#define POINT_TYPE_WP   0
270
#define POINT_TYPE_POI  1
271
 
674 KeyOz 272
typedef struct
273
{
274
    int32_t Longitude;      // in 1E-7 deg
275
    int32_t Latitude;       // in 1E-7 deg
276
    int32_t Altitude;       // in mm
277
    uint8_t Status;         // validity of data
278
} __attribute__((packed)) GPS_Pos_t;
279
 
280
typedef struct
281
{
282
    uint16_t Distance;      // distance to target in dm
283
    int16_t Bearing;        // course to target in deg
284
}  __attribute__((packed)) GPS_PosDev_t;
285
 
286
typedef struct
287
{
288
    uint8_t      Version;               // version of the data structure
289
    GPS_Pos_t    CurrentPosition;               // see ubx.h for details
290
    GPS_Pos_t    TargetPosition;
291
    GPS_PosDev_t TargetPositionDeviation;
292
    GPS_Pos_t    HomePosition;
293
    GPS_PosDev_t HomePositionDeviation;
294
    uint8_t      WaypointIndex;         // index of current waypoints running from 0 to WaypointNumber-1
295
    uint8_t      WaypointNumber;                // number of stored waypoints
296
    uint8_t      SatsInUse;             // number of satellites used for position solution
297
    int16_t      Altimeter;             // hight according to air pressure
298
    int16_t      Variometer;            // climb(+) and sink(-) rate
299
    uint16_t     FlyingTime;            // in seconds
300
    uint8_t      UBat;                  // Battery Voltage in 0.1 Volts
301
    uint16_t     GroundSpeed;           // speed over ground in cm/s (2D)
302
    int16_t      Heading;               // current flight direction in ° as angle to north
303
    int16_t      CompassHeading;                // current compass value in °
304
    int8_t       AngleNick;             // current Nick angle in 1°
305
    int8_t       AngleRoll;             // current Rick angle in 1°
306
    uint8_t      RC_Quality;            // RC_Quality
801 - 307
    uint8_t      FCFlags;               // Flags from FC
674 KeyOz 308
    uint8_t      NCFlags;               // Flags from NC
309
    uint8_t      Errorcode;             // 0 --> okay
310
    uint8_t      OperatingRadius;               // current operation radius around the Home Position in m
311
    int16_t      TopSpeed;              // velocity in vertical direction in cm/s
312
    uint8_t      TargetHoldTime;                // time in s to stay at the given target, counts down to 0 if target has been reached
313
    uint8_t      RC_RSSI;               // Receiver signal strength (since version 2 added)
314
    int16_t      SetpointAltitude;                      // setpoint for altitude
315
    uint8_t      Gas;                                           // for future use
750 KeyOz 316
    uint16_t     Current;                                       // actual current in 0.1A steps
317
    uint16_t     UsedCapacity;                          // used capacity in mAh
318
 
674 KeyOz 319
} __attribute__((packed)) s_MK_NaviData;
320
 
321
typedef struct
322
{
323
    GPS_Pos_t Position;          // the gps position of the waypoint, see ubx.h for details
324
    int16_t   Heading;           // orientation, future implementation
325
    uint8_t   ToleranceRadius;   // in meters, if the MK is within that range around the target, then the next target is triggered
326
    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
327
    uint8_t   Event_Flag;        // future emplementation
801 - 328
    uint8_t   Index;             // to indentify different waypoints, workaround for bad communications PC <-> NC
329
    uint8_t   Type;              // type of Waypoint
330
    uint8_t   reserve[11];       // reserve
674 KeyOz 331
} __attribute__((packed)) s_MK_WayPoint;
332
 
333
#endif // MK_DATATYPES_H