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| /*************************************************************************** |
| * Copyright (C) 2009 by Manuel Schrape * |
| * manuel.schrape@gmx.de * |
| * * |
| * 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. * |
| ***************************************************************************/ |
| #ifndef MK_DATATYPES_H |
| #define MK_DATATYPES_H |
| |
| #include <stdint.h> |
| |
| #ifdef _BETA_ |
| static const int MK_VERSION_SETTINGS = 82; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
| #else |
| static const int MK_VERSION_SETTINGS = 82; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
| #endif |
| |
| static const int MK_VERSION_NAVI = 3; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben |
| |
| static const int MK_VERSION_MIXER = 1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben |
| static const int MK_MAX_MOTOR = 16; // Maximale Anzahl der Motoren im Mixer |
| |
| // Version des Seriellen Protokoll |
| static const int VERSION_SERIAL_MAJOR = 11; |
| static const int VERSION_SERIAL_MINOR = 0; |
| |
| // Basis-Addressen der verschiedenen Hardware |
| static const int ADDRESS_ALL = 0; |
| static const int ADDRESS_FC = 1; |
| static const int ADDRESS_NC = 2; |
| static const int ADDRESS_MK3MAG = 3; |
| |
| #define FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| #define FLAG_START 8 |
| #define FLAG_NOTLANDUNG 16 |
| #define FLAG_LOWBAT 32 |
| |
| #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 |
| |
| struct s_MK_Debug |
| { |
| unsigned char Digital[2]; |
| int16_t Analog[32]; // Debugwerte |
| }; |
| |
| struct s_MK_DebugLabels |
| { |
| int Position; |
| QString Text; |
| }; |
| |
| //typedef int16_t s_MK_PPM_Data[26]; |
| |
| struct s_MK_PPM_Data |
| { |
| int16_t Data[26]; |
| }; |
| |
| |
| struct s_MK_Settings |
| { |
| // Die ersten beiden Bytes nicht an den MK senden. |
| unsigned char Index; |
| unsigned char Version; |
| |
| 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 |
| //--- 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 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 |
| //---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--------------------------------------------- |
| 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; |
| //---Ext.Ctrl--------------------------------------------- |
| 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]; |
| |
| }; |
| |
| struct s_MK_Mixer |
| { |
| char Revision; |
| char Name[12]; |
| signed char Motor[16][4]; |
| }; |
| |
| /////////////// |
| // Navi-Ctrl // |
| /////////////// |
| |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define PROCESSED 0x02 |
| |
| #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 |
| |
| 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 MKFlags; // 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)) s_MK_NaviData; |
| |
| 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)) s_MK_WayPoint; |
| |
| #endif // MK_DATATYPES_H |