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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2011 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2011-2012 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-epilepsy/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-epilepsy/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | ****************************************************************************/ |
19 | ****************************************************************************/ |
20 | 20 | ||
21 | #ifndef _MK_DATA_STRUCTS_H |
21 | #ifndef _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
23 | 23 | ||
24 | /* ########################################################################## |
24 | /* ########################################################################## |
25 | * gain some fake arm compat :) |
25 | * gain some fake arm compat :) |
26 | * ##########################################################################*/ |
26 | * ##########################################################################*/ |
27 | #define u8 uint8_t |
27 | #define u8 uint8_t |
28 | #define s8 int8_t |
28 | #define s8 int8_t |
29 | #define u16 uint16_t |
29 | #define u16 uint16_t |
30 | #define s16 int16_t |
30 | #define s16 int16_t |
31 | #define u32 uint32_t |
31 | #define u32 uint32_t |
32 | #define s32 int32_t |
32 | #define s32 int32_t |
33 | 33 | ||
34 | /** |
34 | /** |
35 | * MikroKopter Slave-Addresses |
35 | * MikroKopter Slave-Addresses |
36 | * portions taken and adapted from |
36 | * portions taken and adapted from |
37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
38 | */ |
38 | */ |
39 | #define ANY_ADDRESS 0 |
39 | #define ANY_ADDRESS 0 |
40 | #define FC_ADDRESS 1 |
40 | #define FC_ADDRESS 1 |
41 | #define NC_ADDRESS 2 |
41 | #define NC_ADDRESS 2 |
42 | #define MK3MAG_ADDRESS 3 |
42 | #define MK3MAG_ADDRESS 3 |
43 | #define MKOSD_ADDRESS 4 |
43 | #define MKOSD_ADDRESS 4 |
44 | #define BL_ADDRESS 5 |
44 | #define BL_ADDRESS 5 |
45 | 45 | ||
46 | /* |
46 | /* |
47 | * FC Debug Struct |
47 | * FC Debug Struct |
48 | * portions taken and adapted from |
48 | * portions taken and adapted from |
49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h |
49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h |
50 | */ |
50 | */ |
51 | typedef struct { |
51 | typedef struct { |
52 | unsigned char Status[2]; |
52 | unsigned char Status[2]; |
53 | signed int Analog[32]; // Debugwerte |
53 | signed int Analog[32]; // Debugwerte |
54 | } __attribute__((packed)) str_DebugOut; |
54 | } __attribute__((packed)) str_DebugOut; |
55 | 55 | ||
56 | typedef struct { |
56 | typedef struct { |
57 | unsigned char SWMajor; |
57 | unsigned char SWMajor; |
58 | unsigned char SWMinor; |
58 | unsigned char SWMinor; |
59 | unsigned char ProtoMajor; |
59 | unsigned char ProtoMajor; |
60 | unsigned char ProtoMinor; |
60 | unsigned char ProtoMinor; |
61 | unsigned char SWPatch; |
61 | unsigned char SWPatch; |
62 | unsigned char HardwareError[5]; |
62 | unsigned char HardwareError[5]; |
63 | } __attribute__((packed)) str_VersionInfo; |
63 | } __attribute__((packed)) str_VersionInfo; |
64 | 64 | ||
65 | /* |
65 | /* |
66 | * NaviCtrl GPS Structs |
66 | * NaviCtrl GPS Structs |
67 | * portions taken and adapted from |
67 | * portions taken and adapted from |
68 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
68 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
69 | */ |
69 | */ |
70 | typedef struct { |
70 | typedef struct { |
71 | s32 Longitude; // in 1E-7 deg |
71 | s32 Longitude; // in 1E-7 deg |
72 | s32 Latitude; // in 1E-7 deg |
72 | s32 Latitude; // in 1E-7 deg |
73 | s32 Altitude; // in mm |
73 | s32 Altitude; // in mm |
74 | u8 Status; // validity of data |
74 | u8 Status; // validity of data |
75 | } __attribute__((packed)) GPS_Pos_t; |
75 | } __attribute__((packed)) GPS_Pos_t; |
76 | 76 | ||
77 | #define INVALID 0x00 |
77 | #define INVALID 0x00 |
78 | #define NEWDATA 0x01 |
78 | #define NEWDATA 0x01 |
79 | #define PROCESSED 0x02 |
79 | #define PROCESSED 0x02 |
80 | 80 | ||
81 | /* |
81 | /* |
82 | * NaviCtrl OSD Structs |
82 | * NaviCtrl OSD Structs |
83 | * portions taken and adapted from |
83 | * portions taken and adapted from |
84 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
84 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
85 | */ |
85 | */ |
86 | typedef struct { |
86 | typedef struct { |
87 | u16 Distance; // distance to target in dm |
87 | u16 Distance; // distance to target in dm |
88 | s16 Bearing; // course to target in deg |
88 | s16 Bearing; // course to target in deg |
89 | } __attribute__((packed)) GPS_PosDev_t; |
89 | } __attribute__((packed)) GPS_PosDev_t; |
90 | 90 | ||
91 | typedef struct { |
91 | typedef struct { |
92 | u8 Version; // version of the data structure |
92 | u8 Version; // version of the data structure |
93 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
93 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
94 | GPS_Pos_t TargetPosition; |
94 | GPS_Pos_t TargetPosition; |
95 | GPS_PosDev_t TargetPositionDeviation; |
95 | GPS_PosDev_t TargetPositionDeviation; |
96 | GPS_Pos_t HomePosition; |
96 | GPS_Pos_t HomePosition; |
97 | GPS_PosDev_t HomePositionDeviation; |
97 | GPS_PosDev_t HomePositionDeviation; |
98 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
98 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
99 | u8 WaypointNumber; // number of stored waypoints |
99 | u8 WaypointNumber; // number of stored waypoints |
100 | u8 SatsInUse; // number of satellites used for position solution |
100 | u8 SatsInUse; // number of satellites used for position solution |
101 | s16 Altimeter; // hight according to air pressure |
101 | s16 Altimeter; // hight according to air pressure |
102 | s16 Variometer; // climb(+) and sink(-) rate |
102 | s16 Variometer; // climb(+) and sink(-) rate |
103 | u16 FlyingTime; // in seconds |
103 | u16 FlyingTime; // in seconds |
104 | u8 UBat; // Battery Voltage in 0.1 Volts |
104 | u8 UBat; // Battery Voltage in 0.1 Volts |
105 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
105 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
106 | s16 Heading; // current flight direction in ° as angle to north |
106 | s16 Heading; // current flight direction in ° as angle to north |
107 | s16 CompassHeading; // current compass value in ° |
107 | s16 CompassHeading; // current compass value in ° |
108 | s8 AngleNick; // current Nick angle in 1° |
108 | s8 AngleNick; // current Nick angle in 1° |
109 | s8 AngleRoll; // current Rick angle in 1° |
109 | s8 AngleRoll; // current Rick angle in 1° |
110 | u8 RC_Quality; // RC_Quality |
110 | u8 RC_Quality; // RC_Quality |
111 | u8 FCFlags; // Flags from FC |
111 | u8 FCFlags; // Flags from FC |
112 | u8 NCFlags; // Flags from NC |
112 | u8 NCFlags; // Flags from NC |
113 | u8 Errorcode; // 0 --> okay |
113 | u8 Errorcode; // 0 --> okay |
114 | u8 OperatingRadius; // current operation radius around the Home Position in m |
114 | u8 OperatingRadius; // current operation radius around the Home Position in m |
115 | s16 TopSpeed; // velocity in vertical direction in cm/s |
115 | s16 TopSpeed; // velocity in vertical direction in cm/s |
116 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
116 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
117 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
117 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
118 | s16 SetpointAltitude; // setpoint for altitude |
118 | s16 SetpointAltitude; // setpoint for altitude |
119 | u8 Gas; // for future use |
119 | u8 Gas; // for future use |
120 | u16 Current; // actual current in 0.1A steps |
120 | u16 Current; // actual current in 0.1A steps |
121 | u16 UsedCapacity; // used capacity in mAh |
121 | u16 UsedCapacity; // used capacity in mAh |
122 | } __attribute__((packed)) NaviData_t; |
122 | } __attribute__((packed)) NaviData_t; |
123 | 123 | ||
124 | #define NC_FLAG_FREE 0x01 |
124 | #define NC_FLAG_FREE 0x01 |
125 | #define NC_FLAG_PH 0x02 |
125 | #define NC_FLAG_PH 0x02 |
126 | #define NC_FLAG_CH 0x04 |
126 | #define NC_FLAG_CH 0x04 |
127 | #define NC_FLAG_RANGE_LIMIT 0x08 |
127 | #define NC_FLAG_RANGE_LIMIT 0x08 |
128 | #define NC_FLAG_NOSERIALLINK 0x10 |
128 | #define NC_FLAG_NOSERIALLINK 0x10 |
129 | #define NC_FLAG_TARGET_REACHED 0x20 |
129 | #define NC_FLAG_TARGET_REACHED 0x20 |
130 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
130 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
131 | #define NC_FLAG_GPS_OK 0x80 |
131 | #define NC_FLAG_GPS_OK 0x80 |
132 | 132 | ||
133 | /* |
133 | /* |
134 | * MikroKopter Flags |
134 | * MikroKopter Flags |
135 | * portions taken and adapted from |
135 | * portions taken and adapted from |
136 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
136 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
137 | */ |
137 | */ |
138 | #define FCFLAG_MOTOR_RUN 0x01 |
138 | #define FCFLAG_MOTOR_RUN 0x01 |
139 | #define FCFLAG_FLY 0x02 |
139 | #define FCFLAG_FLY 0x02 |
140 | #define FCFLAG_CALIBRATE 0x04 |
140 | #define FCFLAG_CALIBRATE 0x04 |
141 | #define FCFLAG_START 0x08 |
141 | #define FCFLAG_START 0x08 |
142 | #define FCFLAG_NOTLANDUNG 0x10 |
142 | #define FCFLAG_NOTLANDUNG 0x10 |
143 | #define FCFLAG_LOWBAT 0x20 |
143 | #define FCFLAG_LOWBAT 0x20 |
144 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
144 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
145 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
145 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
146 | 146 | ||
147 | // FC STATUS FLAGS2 |
147 | // FC STATUS FLAGS2 |
148 | #define FC_STATUS2_CAREFREE 0x01 |
148 | #define FC_STATUS2_CAREFREE 0x01 |
149 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
149 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
150 | 150 | ||
151 | #define DEFEKT_G_NICK 0x01 |
151 | #define DEFEKT_G_NICK 0x01 |
152 | #define DEFEKT_G_ROLL 0x02 |
152 | #define DEFEKT_G_ROLL 0x02 |
153 | #define DEFEKT_G_GIER 0x04 |
153 | #define DEFEKT_G_GIER 0x04 |
154 | #define DEFEKT_A_NICK 0x08 |
154 | #define DEFEKT_A_NICK 0x08 |
155 | #define DEFEKT_A_ROLL 0x10 |
155 | #define DEFEKT_A_ROLL 0x10 |
156 | #define DEFEKT_A_Z 0x20 |
156 | #define DEFEKT_A_Z 0x20 |
157 | #define DEFEKT_PRESSURE 0x40 |
157 | #define DEFEKT_PRESSURE 0x40 |
158 | #define DEFEKT_CAREFREE_ERR 0x80 |
158 | #define DEFEKT_CAREFREE_ERR 0x80 |
159 | 159 | ||
160 | #define DEFEKT_I2C 0x01 |
160 | #define DEFEKT_I2C 0x01 |
161 | #define DEFEKT_BL_MISSING 0x02 |
161 | #define DEFEKT_BL_MISSING 0x02 |
162 | #define DEFEKT_SPI_RX_ERR 0x04 |
162 | #define DEFEKT_SPI_RX_ERR 0x04 |
163 | #define DEFEKT_PPM_ERR 0x08 |
163 | #define DEFEKT_PPM_ERR 0x08 |
164 | #define DEFEKT_MIXER_ERR 0x10 |
164 | #define DEFEKT_MIXER_ERR 0x10 |
165 | 165 | ||
166 | /* |
166 | /* |
167 | * MikroKopter config struct |
167 | * MikroKopter config struct |
168 | * portions taken and adapted from |
168 | * portions taken and adapted from |
169 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h |
169 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h |
170 | */ |
170 | */ |
171 | typedef struct { |
171 | typedef struct { |
172 | unsigned char Revision; |
172 | unsigned char Revision; |
173 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
173 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
174 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
174 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
175 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
175 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
176 | unsigned char Luftdruck_D; // Wert : 0-250 |
176 | unsigned char Luftdruck_D; // Wert : 0-250 |
177 | unsigned char MaxHoehe; // Wert : 0-32 |
177 | unsigned char MaxHoehe; // Wert : 0-32 |
178 | unsigned char Hoehe_P; // Wert : 0-32 |
178 | unsigned char Hoehe_P; // Wert : 0-32 |
179 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
179 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
180 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
180 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
181 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
181 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
182 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
182 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
183 | unsigned char Hoehe_StickNeutralPoint; // Wert : 0-250 |
183 | unsigned char Hoehe_StickNeutralPoint; // Wert : 0-250 |
184 | unsigned char Stick_P; // Wert : 1-6 |
184 | unsigned char Stick_P; // Wert : 1-6 |
185 | unsigned char Stick_D; // Wert : 0-64 |
185 | unsigned char Stick_D; // Wert : 0-64 |
186 | unsigned char Gier_P; // Wert : 1-20 |
186 | unsigned char Gier_P; // Wert : 1-20 |
187 | unsigned char Gas_Min; // Wert : 0-32 |
187 | unsigned char Gas_Min; // Wert : 0-32 |
188 | unsigned char Gas_Max; // Wert : 33-250 |
188 | unsigned char Gas_Max; // Wert : 33-250 |
189 | unsigned char GyroAccFaktor; // Wert : 1-64 |
189 | unsigned char GyroAccFaktor; // Wert : 1-64 |
190 | unsigned char KompassWirkung; // Wert : 0-32 |
190 | unsigned char KompassWirkung; // Wert : 0-32 |
191 | unsigned char Gyro_P; // Wert : 10-250 |
191 | unsigned char Gyro_P; // Wert : 10-250 |
192 | unsigned char Gyro_I; // Wert : 0-250 |
192 | unsigned char Gyro_I; // Wert : 0-250 |
193 | unsigned char Gyro_D; // Wert : 0-250 |
193 | unsigned char Gyro_D; // Wert : 0-250 |
194 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
194 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
195 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
195 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
196 | unsigned char Gyro_Stability; // Wert : 0-16 |
196 | unsigned char Gyro_Stability; // Wert : 0-16 |
197 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
197 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
198 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
198 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
199 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
199 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
200 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
200 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
201 | unsigned char I_Faktor; // Wert : 0-250 |
201 | unsigned char I_Faktor; // Wert : 0-250 |
202 | unsigned char UserParam1; // Wert : 0-250 |
202 | unsigned char UserParam1; // Wert : 0-250 |
203 | unsigned char UserParam2; // Wert : 0-250 |
203 | unsigned char UserParam2; // Wert : 0-250 |
204 | unsigned char UserParam3; // Wert : 0-250 |
204 | unsigned char UserParam3; // Wert : 0-250 |
205 | unsigned char UserParam4; // Wert : 0-250 |
205 | unsigned char UserParam4; // Wert : 0-250 |
206 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
206 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
207 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
207 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
208 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
208 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
209 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
209 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
210 | //--- Seit V0.75 |
210 | //--- Seit V0.75 |
211 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
211 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
212 | unsigned char ServoRollComp; // Wert : 0-250 |
212 | unsigned char ServoRollComp; // Wert : 0-250 |
213 | unsigned char ServoRollMin; // Wert : 0-250 |
213 | unsigned char ServoRollMin; // Wert : 0-250 |
214 | unsigned char ServoRollMax; // Wert : 0-250 |
214 | unsigned char ServoRollMax; // Wert : 0-250 |
215 | //--- |
215 | //--- |
216 | unsigned char ServoNickRefresh; // Speed of the Servo |
216 | unsigned char ServoNickRefresh; // Speed of the Servo |
217 | unsigned char ServoManualControlSpeed; // |
217 | unsigned char ServoManualControlSpeed; // |
218 | unsigned char CamOrientation; // |
218 | unsigned char CamOrientation; // |
219 | unsigned char Servo3; // Value or mapping of the Servo Output |
219 | unsigned char Servo3; // Value or mapping of the Servo Output |
220 | unsigned char Servo4; // Value or mapping of the Servo Output |
220 | unsigned char Servo4; // Value or mapping of the Servo Output |
221 | unsigned char Servo5; // Value or mapping of the Servo Output |
221 | unsigned char Servo5; // Value or mapping of the Servo Output |
222 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas w�hrend Looping |
222 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas w�hrend Looping |
223 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle f�r Stickausschlag |
223 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle f�r Stickausschlag |
224 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese f�r Stickausschlag |
224 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese f�r Stickausschlag |
225 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
225 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
226 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
226 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
227 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
227 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
228 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
228 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
229 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
229 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
230 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
230 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
231 | unsigned char Driftkomp; |
231 | unsigned char Driftkomp; |
232 | unsigned char DynamicStability; |
232 | unsigned char DynamicStability; |
233 | unsigned char UserParam5; // Wert : 0-250 |
233 | unsigned char UserParam5; // Wert : 0-250 |
234 | unsigned char UserParam6; // Wert : 0-250 |
234 | unsigned char UserParam6; // Wert : 0-250 |
235 | unsigned char UserParam7; // Wert : 0-250 |
235 | unsigned char UserParam7; // Wert : 0-250 |
236 | unsigned char UserParam8; // Wert : 0-250 |
236 | unsigned char UserParam8; // Wert : 0-250 |
237 | //---Output --------------------------------------------- |
237 | //---Output --------------------------------------------- |
238 | unsigned char J16Bitmask; // for the J16 Output |
238 | unsigned char J16Bitmask; // for the J16 Output |
239 | unsigned char J16Timing; // for the J16 Output |
239 | unsigned char J16Timing; // for the J16 Output |
240 | unsigned char J17Bitmask; // for the J17 Output |
240 | unsigned char J17Bitmask; // for the J17 Output |
241 | unsigned char J17Timing; // for the J17 Output |
241 | unsigned char J17Timing; // for the J17 Output |
242 | // seit version V0.75c |
242 | // seit version V0.75c |
243 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
243 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
244 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
244 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
245 | //---NaviCtrl--------------------------------------------- |
245 | //---NaviCtrl--------------------------------------------- |
246 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
246 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
247 | unsigned char NaviGpsGain; |
247 | unsigned char NaviGpsGain; |
248 | unsigned char NaviGpsP; |
248 | unsigned char NaviGpsP; |
249 | unsigned char NaviGpsI; |
249 | unsigned char NaviGpsI; |
250 | unsigned char NaviGpsD; |
250 | unsigned char NaviGpsD; |
251 | unsigned char NaviGpsPLimit; |
251 | unsigned char NaviGpsPLimit; |
252 | unsigned char NaviGpsILimit; |
252 | unsigned char NaviGpsILimit; |
253 | unsigned char NaviGpsDLimit; |
253 | unsigned char NaviGpsDLimit; |
254 | unsigned char NaviGpsACC; |
254 | unsigned char NaviGpsACC; |
255 | unsigned char NaviGpsMinSat; |
255 | unsigned char NaviGpsMinSat; |
256 | unsigned char NaviStickThreshold; |
256 | unsigned char NaviStickThreshold; |
257 | unsigned char NaviWindCorrection; |
257 | unsigned char NaviWindCorrection; |
258 | unsigned char NaviSpeedCompensation; |
258 | unsigned char NaviSpeedCompensation; |
259 | unsigned char NaviOperatingRadius; |
259 | unsigned char NaviOperatingRadius; |
260 | unsigned char NaviAngleLimitation; |
260 | unsigned char NaviAngleLimitation; |
261 | unsigned char NaviPH_LoginTime; |
261 | unsigned char NaviPH_LoginTime; |
262 | //---Ext.Ctrl--------------------------------------------- |
262 | //---Ext.Ctrl--------------------------------------------- |
263 | unsigned char ExternalControl; // for serial Control |
263 | unsigned char ExternalControl; // for serial Control |
264 | //---CareFree--------------------------------------------- |
264 | //---CareFree--------------------------------------------- |
265 | unsigned char OrientationAngle; // Where is the front-direction? |
265 | unsigned char OrientationAngle; // Where is the front-direction? |
266 | unsigned char OrientationModeControl; // switch for CareFree |
266 | unsigned char OrientationModeControl; // switch for CareFree |
267 | unsigned char MotorSafetySwitch; |
267 | unsigned char MotorSafetySwitch; |
268 | //------------------------------------------------ |
268 | //------------------------------------------------ |
269 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
269 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
270 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
270 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
271 | unsigned char ExtraConfig; // bitcodiert |
271 | unsigned char ExtraConfig; // bitcodiert |
272 | char Name[12]; |
272 | char Name[12]; |
273 | unsigned char crc; // must be the last byte! |
273 | unsigned char crc; // must be the last byte! |
274 | } __attribute__((packed)) paramset_t; |
274 | } __attribute__((packed)) paramset_t; |
275 | 275 | ||
276 | typedef struct { |
276 | typedef struct { |
277 | u8 SettingsIndex; |
277 | u8 SettingsIndex; |
278 | paramset_t param; |
278 | paramset_t param; |
279 | } __attribute__((packed)) paramset_serial; |
279 | } __attribute__((packed)) paramset_serial; |
280 | 280 | ||
281 | #endif |
281 | #endif |
282 | 282 |