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| // /////////////////////////////////////////////////////////////////////////////// |
| // Copyright (C) 2010, Frank Blumenberg |
| // |
| // See License.txt for complete licensing and attribution information. |
| // Permission is hereby granted, free of charge, to any person obtaining a copy |
| // of this software and associated documentation files (the "Software"), to deal |
| // in the Software without restriction, including without limitation the rights |
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| // copies of the Software, and to permit persons to whom the Software is |
| // furnished to do so, subject to the following conditions: |
| // |
| // The above copyright notice and this permission notice shall be included in all |
| // copies or substantial portions of the Software. |
| // |
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| // THE SOFTWARE. |
| // |
| // /////////////////////////////////////////////////////////////////////////////// |
| |
| typedef enum { |
| MKAddressAll =0, |
| MKAddressFC =1, |
| MKAddressNC =2, |
| MKAddressMK3MAg=3, |
| MKAddressMKGPS =0XFE |
| } MKAddress; |
| |
| static const int kMaxDebugData = 32; |
| |
| typedef enum { |
| MKCommandDebugValueRequest='d', |
| MKCommandDebugValueResponse='D', |
| MKCommandDebugLabelRequest='a', |
| MKCommandDebugLabelResponse='A', |
| MKCommandVersionRequest='v', |
| MKCommandVersionResponse='V', |
| MKCommandLcdMenuRequest='l', |
| MKCommandLcdMenuResponse='L', |
| MKCommandLcdRequest='h', |
| MKCommandLcdResponse='H', |
| MKCommandReadSettingsRequest='q', |
| MKCommandReadSettingsResponse='Q', |
| MKCommandWriteSettingsRequest='s', |
| MKCommandWriteSettingsResponse='S', |
| MKCommandChangeSettingsRequest='f', |
| MKCommandChangeSettingsResponse='F', |
| MKCommandChannelsValueRequest='p', |
| MKCommandChannelsValueResponse='P', |
| MKCommandMixerReadRequest='n', |
| MKCommandMixerReadResponse='N', |
| MKCommandMixerWriteRequest='m', |
| MKCommandMixerWriteResponse='M', |
| MKCommandRedirectRequest='u', |
| MKCommandEngineTestRequest='t', |
| MKCommandOsdRequest='o', |
| MKCommandOsdResponse='O', |
| } MKCommandId; |
| |
| |
| typedef struct |
| { |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| } VersionInfo; |
| |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } DebugOut; |
| |
| typedef struct |
| { |
| char Revision; |
| char Name[12]; |
| signed char Motor[16][4]; |
| } Mixer; |
| |
| typedef struct |
| { |
| unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=H?henregler 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 Gier_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 UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Emp?ngsverlust |
| 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 |
| 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 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 w?hrend Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle f?r Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese f?r 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 |
| 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 |
| unsigned char WARN_J16_Bitmask; // for the J16 Output |
| unsigned char WARN_J17_Bitmask; // for the J17 Output |
| 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 NaviSpeedCompensation; |
| unsigned char NaviOperatingRadius; |
| unsigned char NaviAngleLimitation; |
| unsigned char NaviPH_LoginTime; |
| unsigned char ExternalControl; // for serial Control |
| 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 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char ExtraConfig; // bitcodiert |
| char Name[12]; |
| } MKSetting; |
| |
| #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 |
| |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| #define CFG_MOTOR_BLINK 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_RES4 0x80 |
| |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| |
| #define CFG2_INVERT_NICK 0x01 |
| #define CFG2_INVERT_ROLL 0x02 |
| |
| ////////////////////////////////////////////////////////////////////////////////////////// |
| |
| typedef struct |
| { |
| int16_t AngleNick; // in 0.1 deg |
| int16_t AngleRoll; // in 0.1 deg |
| int16_t Heading; // in 0.1 deg |
| uint8_t reserve[8]; |
| } Data3D_t; |
| |
| |
| |
| typedef struct |
| { |
| int32_t Longitude; // in 1E-7 deg |
| int32_t Latitude; // in 1E-7 deg |
| int32_t Altitude; // in mm |
| uint8_t Status; // validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| |
| typedef struct |
| { |
| uint16_t Distance; // distance to target in dm |
| int16_t Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| |
| typedef struct |
| { |
| uint8_t 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; |
| uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| uint8_t WaypointNumber; // number of stored waypoints |
| uint8_t SatsInUse; // number of satellites used for position solution |
| int16_t Altimeter; // hight according to air pressure |
| int16_t Variometer; // climb(+) and sink(-) rate |
| uint16_t FlyingTime; // in seconds |
| uint8_t UBat; // Battery Voltage in 0.1 Volts |
| uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
| int16_t Heading; // current flight direction in ° as angle to north |
| int16_t CompassHeading; // current compass value in ° |
| int8_t AngleNick; // current Nick angle in 1° |
| int8_t AngleRoll; // current Rick angle in 1° |
| uint8_t RC_Quality; // RC_Quality |
| uint8_t FCFlags; // Flags from FC |
| uint8_t NCFlags; // Flags from NC |
| uint8_t Errorcode; // 0 --> okay |
| uint8_t OperatingRadius; // current operation radius around the Home Position in m |
| int16_t TopSpeed; // velocity in vertical direction in cm/s |
| uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
| int16_t SetpointAltitude; // setpoint for altitude |
| uint8_t Gas; // for future use |
| uint16_t Current; // actual current in 0.1A steps |
| uint16_t UsedCapacity; // used capacity in mAh |
| |
| } __attribute__((packed)) NaviData_t; |
| |
| typedef struct |
| { |
| GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| int16_t Heading; // orientation, future implementation |
| uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 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 |
| uint8_t Event_Flag; // future emplementation |
| uint8_t reserve[12]; // reserve |
| } __attribute__((packed)) WayPoint_t; |
| |
| |
| #define NAVIDATA_VERSION 3 |
| |
| #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_8 0x80 |
| |
| #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 |
| |