| 0,0 → 1,491 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
| * Copyright (C) 2011 Harald Bongartz * |
| * * |
| * 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. * |
| * * |
| * * |
| * Credits to: * |
| * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
| * http://www.mikrokopter.de * |
| * Gregor "killagreg" Stobrawa for his version of the MK code * |
| * Thomas Kaiser "thkais" for the original project. See * |
| * http://www.ft-fanpage.de/mikrokopter/ * |
| * http://forum.mikrokopter.de/topic-4061-1.html * |
| * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
| * http://www.mylifesucks.de/oss/c-osd/ * |
| * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
| *****************************************************************************/ |
| |
| |
| #ifndef _MK_DATA_STRUCTS_H |
| #define _MK_DATA_STRUCTS_H |
| |
| #include "main.h" |
| |
| //-------------------------------------------------------------------------------- |
| #ifdef MKVERSION088n |
| // FC Version 0.88m |
| #define EEProm_Version 91 // FC EEProm Revision / Struktur FC 0.87 |
| #define FC_Version "0.88n" //Softwareversion der FC |
| |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 88 |
| #define VERSION_PATCH 12 |
| #define VERSION_SERIAL_MAJOR 11 // Serial Protocol |
| #define VERSION_SERIAL_MINOR 0 // Serial Protocol |
| #define NC_SPI_COMPATIBLE 51 // Navi-Kompatibilität |
| #warning "FC-Version 0.88n" |
| #endif |
| //-------------------------------------------------------------------------------- |
| #ifdef MKVERSION090b |
| // FC Version 0.89b |
| #define EEProm_Version 92 // FC EEProm Revision / Struktur FC 0.87 |
| #define FC_Version "0.90b" //Softwareversion der FC |
| |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 89 |
| #define VERSION_PATCH 2 |
| #define VERSION_SERIAL_MAJOR 11 // Serial Protocol |
| #define VERSION_SERIAL_MINOR 0 // Serial Protocol |
| #define NC_SPI_COMPATIBLE 52 // Navi-Kompatibilität |
| #warning "FC-Version 0.90b" |
| #endif |
| //-------------------------------------------------------------------------------- |
| |
| |
| |
| |
| #define u8 uint8_t |
| #define s8 int8_t |
| #define u16 uint16_t |
| #define s16 int16_t |
| #define u32 uint32_t |
| #define s32 int32_t |
| |
| #define NUMBER_OF_DEBUG_DATAS 32 |
| #define ANALOG_NAME_LENGTH 16 |
| |
| // Version of supported serial protocol |
| #define MIN_VERSION 7 |
| #define MAX_VERSION 10 |
| |
| // Setting index |
| #define SETTING_1 1 |
| #define SETTING_2 2 |
| #define SETTING_3 3 |
| #define SETTING_4 4 |
| #define SETTING_5 5 |
| #define SETTING_CURRENT 0xff |
| |
| |
| // MikroKopter defines |
| // taken from |
| // FC Software eeprom.h |
| // |
| |
| //GlobalConfig3 aus FC/eeprom.h |
| #define CFG3_NO_SDCARD_NO_START 0x01 |
| #define CFG3_DPH_MAX_RADIUS 0x02 |
| #define CFG3_VARIO_FAILSAFE 0x04 |
| #define CFG3_MOTOR_SWITCH_MODE 0x08 //FC0.88L 7.5.12 |
| #define CFG3_NO_GPSFIX_NO_START 0x10 //FC0.88L 7.5.12 |
| #ifdef MKVERSION090b |
| #define CFG3_USE_NC_FOR_OUT1 0x20 |
| #define CFG3_SPEAK_ALL 0x40 |
| #endif |
| |
| //GlobalConfig |
| #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 |
| |
| //Bitconfig MAsk |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| #define CFG_MOTOR_BLINK1 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_MOTOR_BLINK2 0x80 |
| |
| // ServoCompInvert, FC0.89 |
| |
| #define SVNick 0x01 |
| #define SVRoll 0x02 |
| #define SVRelMov 0x04 |
| |
| // ExtraConfig |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| #define CFG_3_3V_REFERENCE 0x08 |
| #define CFG_NO_RCOFF_BEEPING 0x10 |
| #define CFG_GPS_AID 0x20 |
| #define CFG_LEARNABLE_CAREFREE 0x40 |
| #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
| |
| // bit mask for ParamSet.Config0 |
| #define CFG0_AIRPRESS_SENSOR 0x01 |
| #define CFG0_HEIGHT_SWITCH 0x02 |
| #define CFG0_HEADING_HOLD 0x04 |
| #define CFG0_COMPASS_ACTIVE 0x08 |
| #define CFG0_COMPASS_FIX 0x10 |
| #define CFG0_GPS_ACTIVE 0x20 |
| #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG0_ROTARY_RATE_LIMITER 0x80 |
| |
| // defines for the receiver selection |
| #define RECEIVER_PPM 0 |
| #define RECEIVER_SPEKTRUM 1 |
| #define RECEIVER_SPEKTRUM_HI_RES 2 |
| #define RECEIVER_SPEKTRUM_LOW_RES 3 |
| #define RECEIVER_JETI 4 |
| #define RECEIVER_ACT_DSL 5 |
| #define RECEIVER_HOTT 6 |
| #define RECEIVER_SBUS 7 |
| #define RECEIVER_USER 8 |
| #define RECEIVER_UNKNOWN 0xFF |
| |
| // MikroKopter Flags |
| // taken from |
| // http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
| //alt 0.86 |
| //#define FCFLAG_MOTOR_RUN 0x01 |
| //#define FCFLAG_FLY 0x02 |
| //#define FCFLAG_CALIBRATE 0x04 |
| //#define FCFLAG_START 0x08 |
| //#define FCFLAG_NOTLANDUNG 0x10 |
| //#define FCFLAG_LOWBAT 0x20 |
| //#define FCFLAG_SPI_RX_ERR 0x40 |
| //#define FCFLAG_I2CERR 0x80 |
| // FC_StatusFlags 0.88 |
| #define FC_STATUS_MOTOR_RUN 0x01 |
| #define FC_STATUS_FLY 0x02 |
| #define FC_STATUS_CALIBRATE 0x04 |
| #define FC_STATUS_START 0x08 |
| #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| #define FC_STATUS_LOWBAT 0x20 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| |
| // FC_StatusFlags2 |
| #define FC_STATUS2_CAREFREE 0x01 |
| #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| #define FC_STATUS2_OUT1_ACTIVE 0x08 |
| #define FC_STATUS2_OUT2_ACTIVE 0x10 |
| |
| // NaviCtrl Flags |
| // taken from |
| // http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
| // |
| #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_GPS_OK 0x80 |
| |
| typedef struct |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char HardwareError[5]; |
| } __attribute__((packed)) Version_t; |
| |
| |
| // FC Debug Struct |
| // portions taken and adapted from |
| // http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
| // |
| typedef struct // 0.86 |
| { |
| uint8_t Digital[2]; |
| // NC: unsigned; FC: signed !!!! |
| int16_t Analog[32]; // Debugvalues |
| } __attribute__((packed)) DebugData_t; |
| |
| //****************************************************************** |
| // uart1.h NC 0.87, zur Zeit hier nicht verwendet 28.01.2012 CB |
| |
| #define AMPEL_FC 0x01 |
| #define AMPEL_BL 0x02 |
| #define AMPEL_NC 0x04 |
| #define AMPEL_COMPASS 0x08 |
| |
| |
| typedef struct //0.87 |
| { |
| u8 StatusGreen; |
| u8 StatusRed; |
| u16 Analog[32]; // Debugwerte |
| } __attribute__((packed)) DebugOut_t; |
| //****************************************************************** |
| |
| |
| // NaviCtrl OSD Structs |
| // portions taken and adapted from |
| // http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
| // |
| |
| typedef struct //NC uart1.h |
| { |
| s16 AngleNick; // in 0.1 deg |
| s16 AngleRoll; // in 0.1 deg |
| s16 Heading; // in 0.1 deg |
| u8 StickNick; |
| u8 StickRoll; |
| u8 StickYaw; |
| u8 StickGas; |
| u8 reserve[4]; |
| } __attribute__((packed)) Data3D_t; |
| |
| |
| |
| typedef struct |
| { |
| s32 Longitude; // in 1E-7 deg |
| s32 Latitude; // in 1E-7 deg |
| s32 Altitude; // in mm |
| u8 Status; // validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| |
| |
| typedef struct |
| { |
| u16 Distance; // distance to target in cm |
| s16 Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| |
| |
| // aus NC waypoint.h |
| typedef struct |
| { |
| GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
| u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| u8 Event_Flag; // future implementation |
| u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| u8 Type; // typeof Waypoint |
| u8 WP_EventChannelValue; // |
| u8 AltitudeRate; // rate to change the setpoint |
| u8 Speed; // rate to change the Position |
| u8 CamAngle; // Camera servo angle |
| u8 reserve[6]; // reserve |
| } __attribute__((packed)) Point_t; |
| |
| |
| // NaviCtrl struct |
| // taken from |
| // http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
| // |
| #define NAVIDATA_VERSION 5 |
| |
| typedef struct |
| { |
| u8 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; |
| 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; // 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 Roll angle in 1 |
| u8 RC_Quality; // RC_Quality |
| u8 FCStatusFlags; // Flags from FC |
| u8 NCFlags; // Flags from NC |
| u8 Errorcode; // 0 --> okay |
| u8 OperatingRadius; // current 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 |
| } __attribute__((packed)) NaviData_t; |
| |
| |
| typedef struct |
| { |
| uint8_t Version; // the version of the BL (0 = old) |
| uint8_t SetPoint; // written by attitude controller |
| uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| uint8_t ReadMode; // select data to read |
| // the following bytes must be exactly in that order! |
| uint8_t Current; // in 0.1 A steps, read back from BL |
| uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40) |
| int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in �C |
| } __attribute__((packed)) MotorData_t; |
| |
| typedef struct |
| { |
| uint8_t Revision; // must be BL_REVISION |
| uint8_t SetMask; // settings mask |
| uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| uint8_t CurrentLimit; // current limit in A |
| uint8_t TempLimit; // in �C |
| uint8_t CurrentScaling; // scaling factor for current measurement |
| uint8_t BitConfig; // see defines above |
| uint8_t crc; // checksum |
| } __attribute__((packed)) BLConfig_t; |
| |
| |
| // Aus FC eeprom.h |
| // |
| 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 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 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 EmpÀngsverlust |
| 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 wÀhrend Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle fÃŒr Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese fÃŒr 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--------------------------------------------- |
| #ifdef MKVERSION090b |
| unsigned char NaviOut1Parameter; // for the J16 Output |
| #endif |
| 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 NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
| unsigned char NaviOperatingRadius; |
| unsigned char NaviAngleLimitation; |
| unsigned char NaviPH_LoginTime; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //---CareFree--------------------------------------------- |
| unsigned char OrientationAngle; // Where is the front-direction? |
| unsigned char CareFreeModeControl; // 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 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! // MUST BE THE LAST BYTE! |
| } __attribute__((packed)) mk_param_struct_t; |
| |
| #endif |
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