| 22,12 → 22,12 |
|---|
| #include <stdint.h> |
| |
| #ifdef _BETA_ |
| static const int MK_VERSION_SETTINGS = 82; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
| static const int MK_VERSION_SETTINGS = 84; // 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 |
| static const int MK_VERSION_SETTINGS = 84; // 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_NAVI = 4; // 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 |
| 41,14 → 41,32 |
|---|
| static const int ADDRESS_FC = 1; |
| static const int ADDRESS_NC = 2; |
| static const int ADDRESS_MK3MAG = 3; |
| static const int ADDRESS_BLC = 5; |
| |
| #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 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 |
| |
| #define DEFEKT_G_NICK 0x01 |
| #define DEFEKT_G_ROLL 0x02 |
| #define DEFEKT_G_GIER 0x04 |
| #define DEFEKT_A_NICK 0x08 |
| #define DEFEKT_A_ROLL 0x10 |
| #define DEFEKT_A_Z 0x20 |
| #define DEFEKT_PRESSURE 0x40 |
| #define DEFEKT_CAREFREE_ERR 0x80 |
| |
| #define DEFEKT_I2C 0x01 |
| #define DEFEKT_BL_MISSING 0x02 |
| #define DEFEKT_SPI_RX_ERR 0x04 |
| #define DEFEKT_PPM_ERR 0x08 |
| #define DEFEKT_MIXER_ERR 0x10 |
| |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| 71,6 → 89,34 |
|---|
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| |
| #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_UNKNOWN 0xFF |
| |
| struct s_MK_VersionInfo |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char HardwareError[5]; |
| }; |
| |
| struct s_MK_Debug |
| { |
| unsigned char Digital[2]; |
| 95,8 → 141,8 |
|---|
| { |
| // Die ersten beiden Bytes nicht an den MK senden. |
| unsigned char Index; |
| unsigned char Version; |
| |
| |
| unsigned char Revision; |
| 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 |
| 118,12 → 164,13 |
|---|
| 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_Gier_P; // Wert : 10-250 |
| unsigned char Gyro_Gier_I; // Wert : 0-250 |
| unsigned char Gyro_Stability; // 0.80 Wert : 0-16 |
| 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 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 |
| 133,39 → 180,36 |
|---|
| 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 |
| unsigned char ServoRollControl; // 0.75 Wert : 0-250 // Stellung des Servos |
| unsigned char ServoRollComp; // 0.75 Wert : 0-250 |
| unsigned char ServoRollMin; // 0.75 Wert : 0-250 |
| unsigned char ServoRollMax; // 0.75 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 |
| 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; // 0.75 for the J16 Output |
| unsigned char WARN_J17_Bitmask; // 0.75 for the J17 Output |
| //---NaviCtrl--------------------------------------------- |
| unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char NaviGpsGain; |
| 185,19 → 229,24 |
|---|
| unsigned char NaviPH_LoginTime; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //------------------------------------------------ |
| //---CareFree--------------------------------------------- |
| unsigned char OrientationAngle; // 0.80 Where is the front-direction? |
| unsigned char OrientationModeControl; // 0.80 switch for CareFree |
| //-------------------------------------------------------- |
| 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]; |
| unsigned char crc; |
| |
| }; |
| |
| struct s_MK_Mixer |
| { |
| char Revision; |
| char Name[12]; |
| signed char Motor[16][4]; |
| uint8_t Revision; |
| char Name[12]; |
| int8_t Motor[16][4]; |
| uint8_t crc; |
| }; |
| |
| /////////////// |
| 204,8 → 253,8 |
|---|
| // Navi-Ctrl // |
| /////////////// |
| |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define PROCESSED 0x02 |
| |
| #define NC_FLAG_FREE 0x01 |
| 217,6 → 266,9 |
|---|
| #define NC_FLAG_MANUAL_CONTROL 0x40 |
| #define NC_FLAG_8 0x80 |
| |
| #define POINT_TYPE_WP 0 |
| #define POINT_TYPE_POI 1 |
| |
| typedef struct |
| { |
| int32_t Longitude; // in 1E-7 deg |
| 252,7 → 304,7 |
|---|
| 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 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 |
| 273,7 → 325,9 |
|---|
| 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 |
| uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| uint8_t Type; // type of Waypoint |
| uint8_t reserve[11]; // reserve |
| } __attribute__((packed)) s_MK_WayPoint; |
| |
| #endif // MK_DATATYPES_H |