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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2014 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2014 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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/V0.88e/uart.h |
49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/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/V2.06a/uart1.h |
84 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/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 | #define NAVIDATA_VERSION 5 |
91 | #define NAVIDATA_VERSION 5 |
92 | 92 | ||
93 | typedef struct { |
93 | typedef struct { |
94 | u8 Version; // version of the data structure |
94 | u8 Version; // version of the data structure |
95 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
95 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
96 | GPS_Pos_t TargetPosition; |
96 | GPS_Pos_t TargetPosition; |
97 | GPS_PosDev_t TargetPositionDeviation; |
97 | GPS_PosDev_t TargetPositionDeviation; |
98 | GPS_Pos_t HomePosition; |
98 | GPS_Pos_t HomePosition; |
99 | GPS_PosDev_t HomePositionDeviation; |
99 | GPS_PosDev_t HomePositionDeviation; |
100 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
100 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
101 | u8 WaypointNumber; // number of stored waypoints |
101 | u8 WaypointNumber; // number of stored waypoints |
102 | u8 SatsInUse; // number of satellites used for position solution |
102 | u8 SatsInUse; // number of satellites used for position solution |
103 | s16 Altimeter; // hight according to air pressure |
103 | s16 Altimeter; // hight according to air pressure |
104 | s16 Variometer; // climb(+) and sink(-) rate |
104 | s16 Variometer; // climb(+) and sink(-) rate |
105 | u16 FlyingTime; // in seconds |
105 | u16 FlyingTime; // in seconds |
106 | u8 UBat; // Battery Voltage in 0.1 Volts |
106 | u8 UBat; // Battery Voltage in 0.1 Volts |
107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
108 | s16 Heading; // current flight direction in ° as angle to north |
108 | s16 Heading; // current flight direction in ° as angle to north |
109 | s16 CompassHeading; // current compass value in ° |
109 | s16 CompassHeading; // current compass value in ° |
110 | s8 AngleNick; // current Nick angle in 1° |
110 | s8 AngleNick; // current Nick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
112 | u8 RC_Quality; // RC_Quality |
112 | u8 RC_Quality; // RC_Quality |
113 | u8 FCStatusFlags; // Flags from FC |
113 | u8 FCStatusFlags; // Flags from FC |
114 | u8 NCFlags; // Flags from NC |
114 | u8 NCFlags; // Flags from NC |
115 | u8 Errorcode; // 0 --> okay |
115 | u8 Errorcode; // 0 --> okay |
116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
119 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
119 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
120 | s16 SetpointAltitude; // setpoint for altitude |
120 | s16 SetpointAltitude; // setpoint for altitude |
121 | u8 Gas; // for future use |
121 | u8 Gas; // for future use |
122 | u16 Current; // actual current in 0.1A steps |
122 | u16 Current; // actual current in 0.1A steps |
123 | u16 UsedCapacity; // used capacity in mAh |
123 | u16 UsedCapacity; // used capacity in mAh |
124 | } __attribute__((packed)) NaviData_t; |
124 | } __attribute__((packed)) NaviData_t; |
125 | 125 | ||
126 | #define NC_FLAG_FREE 0x01 |
126 | #define NC_FLAG_FREE 0x01 |
127 | #define NC_FLAG_PH 0x02 |
127 | #define NC_FLAG_PH 0x02 |
128 | #define NC_FLAG_CH 0x04 |
128 | #define NC_FLAG_CH 0x04 |
129 | #define NC_FLAG_RANGE_LIMIT 0x08 |
129 | #define NC_FLAG_RANGE_LIMIT 0x08 |
130 | #define NC_FLAG_NOSERIALLINK 0x10 |
130 | #define NC_FLAG_NOSERIALLINK 0x10 |
131 | #define NC_FLAG_TARGET_REACHED 0x20 |
131 | #define NC_FLAG_TARGET_REACHED 0x20 |
132 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
132 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
133 | #define NC_FLAG_GPS_OK 0x80 |
133 | #define NC_FLAG_GPS_OK 0x80 |
134 | 134 | ||
135 | /* |
135 | /* |
136 | * MikroKopter Flags |
136 | * MikroKopter Flags |
137 | * portions taken and adapted from |
137 | * portions taken and adapted from |
138 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
138 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
139 | */ |
139 | */ |
140 | #define FCFLAG_MOTOR_RUN 0x01 |
140 | #define FCFLAG_MOTOR_RUN 0x01 |
141 | #define FCFLAG_FLY 0x02 |
141 | #define FCFLAG_FLY 0x02 |
142 | #define FCFLAG_CALIBRATE 0x04 |
142 | #define FCFLAG_CALIBRATE 0x04 |
143 | #define FCFLAG_START 0x08 |
143 | #define FCFLAG_START 0x08 |
144 | #define FCFLAG_NOTLANDUNG 0x10 |
144 | #define FCFLAG_NOTLANDUNG 0x10 |
145 | #define FCFLAG_LOWBAT 0x20 |
145 | #define FCFLAG_LOWBAT 0x20 |
146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
148 | 148 | ||
149 | // FC STATUS FLAGS2 |
149 | // FC STATUS FLAGS2 |
150 | #define FC_STATUS2_CAREFREE 0x01 |
150 | #define FC_STATUS2_CAREFREE 0x01 |
151 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
151 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
152 | 152 | ||
153 | #define DEFEKT_G_NICK 0x01 |
153 | #define DEFEKT_G_NICK 0x01 |
154 | #define DEFEKT_G_ROLL 0x02 |
154 | #define DEFEKT_G_ROLL 0x02 |
155 | #define DEFEKT_G_GIER 0x04 |
155 | #define DEFEKT_G_GIER 0x04 |
156 | #define DEFEKT_A_NICK 0x08 |
156 | #define DEFEKT_A_NICK 0x08 |
157 | #define DEFEKT_A_ROLL 0x10 |
157 | #define DEFEKT_A_ROLL 0x10 |
158 | #define DEFEKT_A_Z 0x20 |
158 | #define DEFEKT_A_Z 0x20 |
159 | #define DEFEKT_PRESSURE 0x40 |
159 | #define DEFEKT_PRESSURE 0x40 |
160 | #define DEFEKT_CAREFREE_ERR 0x80 |
160 | #define DEFEKT_CAREFREE_ERR 0x80 |
161 | 161 | ||
162 | #define DEFEKT_I2C 0x01 |
162 | #define DEFEKT_I2C 0x01 |
163 | #define DEFEKT_BL_MISSING 0x02 |
163 | #define DEFEKT_BL_MISSING 0x02 |
164 | #define DEFEKT_SPI_RX_ERR 0x04 |
164 | #define DEFEKT_SPI_RX_ERR 0x04 |
165 | #define DEFEKT_PPM_ERR 0x08 |
165 | #define DEFEKT_PPM_ERR 0x08 |
166 | #define DEFEKT_MIXER_ERR 0x10 |
166 | #define DEFEKT_MIXER_ERR 0x10 |
167 | 167 | ||
168 | /* |
168 | /* |
169 | * MikroKopter config struct |
169 | * MikroKopter config struct |
170 | * portions taken and adapted from |
170 | * portions taken and adapted from |
171 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.06a/eeprom.h |
171 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.08a/eeprom.h |
172 | */ |
172 | */ |
173 | 173 | ||
174 | #define EEPARAM_REVISION 102 // is count up, if paramater stucture has changed (compatibility) |
174 | #define EEPARAM_REVISION 103 // is count up, if paramater stucture has changed (compatibility) |
175 | 175 | ||
176 | 176 | ||
177 | typedef struct |
177 | typedef struct |
178 | { |
178 | { |
179 | unsigned char Revision; |
179 | unsigned char Revision; |
180 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
180 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
181 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
181 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
182 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
182 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
183 | unsigned char Luftdruck_D; // Wert : 0-250 |
183 | unsigned char Luftdruck_D; // Wert : 0-250 |
184 | unsigned char HoeheChannel; // Wert : 0-32 |
184 | unsigned char HoeheChannel; // Wert : 0-32 |
185 | unsigned char Hoehe_P; // Wert : 0-32 |
185 | unsigned char Hoehe_P; // Wert : 0-32 |
186 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
186 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
187 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
187 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
188 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
188 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
189 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
189 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
190 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
190 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
191 | unsigned char Stick_P; // Wert : 1-6 |
191 | unsigned char Stick_P; // Wert : 1-6 |
192 | unsigned char Stick_D; // Wert : 0-64 |
192 | unsigned char Stick_D; // Wert : 0-64 |
193 | unsigned char StickGier_P; // Wert : 1-20 |
193 | unsigned char StickGier_P; // Wert : 1-20 |
194 | unsigned char Gas_Min; // Wert : 0-32 |
194 | unsigned char Gas_Min; // Wert : 0-32 |
195 | unsigned char Gas_Max; // Wert : 33-250 |
195 | unsigned char Gas_Max; // Wert : 33-250 |
196 | unsigned char GyroAccFaktor; // Wert : 1-64 |
196 | unsigned char GyroAccFaktor; // Wert : 1-64 |
197 | unsigned char KompassWirkung; // Wert : 0-32 |
197 | unsigned char KompassWirkung; // Wert : 0-32 |
198 | unsigned char Gyro_P; // Wert : 10-250 |
198 | unsigned char Gyro_P; // Wert : 10-250 |
199 | unsigned char Gyro_I; // Wert : 0-250 |
199 | unsigned char Gyro_I; // Wert : 0-250 |
200 | unsigned char Gyro_D; // Wert : 0-250 |
200 | unsigned char Gyro_D; // Wert : 0-250 |
201 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
201 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
202 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
202 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
203 | unsigned char Gyro_Stability; // Wert : 0-16 |
203 | unsigned char Gyro_Stability; // Wert : 0-16 |
204 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
204 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
205 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
205 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
206 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
206 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
207 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
207 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
208 | unsigned char I_Faktor; // Wert : 0-250 |
208 | unsigned char I_Faktor; // Wert : 0-250 |
209 | unsigned char UserParam1; // Wert : 0-250 |
209 | unsigned char UserParam1; // Wert : 0-250 |
210 | unsigned char UserParam2; // Wert : 0-250 |
210 | unsigned char UserParam2; // Wert : 0-250 |
211 | unsigned char UserParam3; // Wert : 0-250 |
211 | unsigned char UserParam3; // Wert : 0-250 |
212 | unsigned char UserParam4; // Wert : 0-250 |
212 | unsigned char UserParam4; // Wert : 0-250 |
213 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
213 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
214 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
214 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
215 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
215 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
216 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
216 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
217 | //--- Seit V0.75 |
217 | //--- Seit V0.75 |
218 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
218 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
219 | unsigned char ServoRollComp; // Wert : 0-250 |
219 | unsigned char ServoRollComp; // Wert : 0-250 |
220 | unsigned char ServoRollMin; // Wert : 0-250 |
220 | unsigned char ServoRollMin; // Wert : 0-250 |
221 | unsigned char ServoRollMax; // Wert : 0-250 |
221 | unsigned char ServoRollMax; // Wert : 0-250 |
222 | //--- |
222 | //--- |
223 | unsigned char ServoNickRefresh; // Speed of the Servo |
223 | unsigned char ServoNickRefresh; // Speed of the Servo |
224 | unsigned char ServoManualControlSpeed;// |
224 | unsigned char ServoManualControlSpeed;// |
225 | unsigned char CamOrientation; // |
225 | unsigned char CamOrientation; // |
226 | unsigned char Servo3; // Value or mapping of the Servo Output |
226 | unsigned char Servo3; // Value or mapping of the Servo Output |
227 | unsigned char Servo4; // Value or mapping of the Servo Output |
227 | unsigned char Servo4; // Value or mapping of the Servo Output |
228 | unsigned char Servo5; // Value or mapping of the Servo Output |
228 | unsigned char Servo5; // Value or mapping of the Servo Output |
229 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
229 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
230 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
230 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
231 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
231 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
232 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
232 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
233 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
233 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
234 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
234 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
235 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
235 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
236 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
236 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
237 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
237 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
238 | unsigned char Driftkomp; |
238 | unsigned char Driftkomp; |
239 | unsigned char DynamicStability; |
239 | unsigned char DynamicStability; |
240 | unsigned char UserParam5; // Wert : 0-250 |
240 | unsigned char UserParam5; // Wert : 0-250 |
241 | unsigned char UserParam6; // Wert : 0-250 |
241 | unsigned char UserParam6; // Wert : 0-250 |
242 | unsigned char UserParam7; // Wert : 0-250 |
242 | unsigned char UserParam7; // Wert : 0-250 |
243 | unsigned char UserParam8; // Wert : 0-250 |
243 | unsigned char UserParam8; // Wert : 0-250 |
244 | //---Output --------------------------------------------- |
244 | //---Output --------------------------------------------- |
245 | unsigned char J16Bitmask; // for the J16 Output |
245 | unsigned char J16Bitmask; // for the J16 Output |
246 | unsigned char J16Timing; // for the J16 Output |
246 | unsigned char J16Timing; // for the J16 Output |
247 | unsigned char J17Bitmask; // for the J17 Output |
247 | unsigned char J17Bitmask; // for the J17 Output |
248 | unsigned char J17Timing; // for the J17 Output |
248 | unsigned char J17Timing; // for the J17 Output |
249 | // seit version V0.75c |
249 | // seit version V0.75c |
250 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
250 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
251 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
251 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
252 | //---NaviCtrl--------------------------------------------- |
252 | //---NaviCtrl--------------------------------------------- |
253 | unsigned char AutoPhotoDistance; // Auto Photo |
253 | unsigned char AutoPhotoDistance; // Auto Photo |
254 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
254 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
255 | unsigned char NaviGpsGain; |
255 | unsigned char NaviGpsGain; |
256 | unsigned char NaviGpsP; |
256 | unsigned char NaviGpsP; |
257 | unsigned char NaviGpsI; |
257 | unsigned char NaviGpsI; |
258 | unsigned char NaviGpsD; |
258 | unsigned char NaviGpsD; |
259 | unsigned char NaviGpsPLimit; |
259 | unsigned char NaviGpsPLimit; |
260 | unsigned char NaviGpsILimit; |
260 | unsigned char NaviGpsILimit; |
261 | unsigned char NaviGpsDLimit; |
261 | unsigned char NaviGpsDLimit; |
262 | unsigned char NaviGpsA; |
262 | unsigned char NaviGpsA; |
263 | unsigned char NaviGpsMinSat; |
263 | unsigned char NaviGpsMinSat; |
264 | unsigned char NaviStickThreshold; |
264 | unsigned char NaviStickThreshold; |
265 | unsigned char NaviWindCorrection; |
265 | unsigned char NaviWindCorrection; |
266 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
266 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
267 | unsigned char NaviMaxFlyingRange; // in 10m |
267 | unsigned char NaviMaxFlyingRange; // in 10m |
268 | unsigned char NaviAngleLimitation; |
268 | unsigned char NaviAngleLimitation; |
269 | unsigned char NaviPH_LoginTime; |
269 | unsigned char NaviPH_LoginTime; |
270 | unsigned char NaviDescendRange; |
270 | unsigned char NaviDescendRange; |
271 | //---Ext.Ctrl--------------------------------------------- |
271 | //---Ext.Ctrl--------------------------------------------- |
272 | unsigned char ExternalControl; // for serial Control |
272 | unsigned char ExternalControl; // for serial Control |
273 | //---CareFree--------------------------------------------- |
273 | //---CareFree--------------------------------------------- |
274 | unsigned char OrientationAngle; // Where is the front-direction? |
274 | unsigned char OrientationAngle; // Where is the front-direction? |
275 | unsigned char CareFreeChannel; // switch for CareFree |
275 | unsigned char CareFreeChannel; // switch for CareFree |
276 | unsigned char MotorSafetySwitch; |
276 | unsigned char MotorSafetySwitch; |
277 | unsigned char MotorSmooth; |
277 | unsigned char MotorSmooth; |
278 | unsigned char ComingHomeAltitude; |
278 | unsigned char ComingHomeAltitude; |
279 | unsigned char FailSafeTime; |
279 | unsigned char FailSafeTime; |
280 | unsigned char MaxAltitude; |
280 | unsigned char MaxAltitude; |
281 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
281 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
282 | unsigned char ServoFilterNick; |
282 | unsigned char ServoFilterNick; |
283 | unsigned char ServoFilterRoll; |
283 | unsigned char ServoFilterRoll; |
284 | unsigned char Servo3OnValue; |
284 | unsigned char Servo3OnValue; |
285 | unsigned char Servo3OffValue; |
285 | unsigned char Servo3OffValue; |
286 | unsigned char Servo4OnValue; |
286 | unsigned char Servo4OnValue; |
287 | unsigned char Servo4OffValue; |
287 | unsigned char Servo4OffValue; |
288 | unsigned char StartLandChannel; |
288 | unsigned char StartLandChannel; |
289 | unsigned char LandingSpeed; |
289 | unsigned char LandingSpeed; |
290 | unsigned char CompassOffset; |
290 | unsigned char CompassOffset; |
291 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
291 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
292 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
292 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
293 | unsigned char AutoPhotoAtitudes; |
293 | unsigned char AutoPhotoAtitudes; |
294 | unsigned char SingleWpSpeed; |
294 | unsigned char SingleWpSpeed; |
295 | //------------------------------------------------ |
295 | //------------------------------------------------ |
296 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
296 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
297 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
297 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
298 | unsigned char ExtraConfig; // bitcodiert |
298 | unsigned char ExtraConfig; // bitcodiert |
299 | unsigned char GlobalConfig3; // bitcodiert |
299 | unsigned char GlobalConfig3; // bitcodiert |
300 | char Name[12]; |
300 | char Name[12]; |
301 | unsigned char crc; // must be the last byte! |
301 | unsigned char crc; // must be the last byte! |
302 | } paramset_t; // 127 bytes |
302 | } paramset_t; // 134 bytes (V1.06) |
- | 303 | ||
303 | 304 | ||
304 | typedef struct { |
305 | typedef struct { |
305 | u8 SettingsIndex; |
306 | u8 SettingsIndex; |
306 | paramset_t param; |
307 | paramset_t param; |
307 | } __attribute__((packed)) paramset_serial; |
308 | } __attribute__((packed)) paramset_serial; |
308 | 309 | ||
309 | /* |
310 | /* |
310 | * MikroKopter 3D-Data struct |
311 | * MikroKopter 3D-Data struct |
311 | * portions taken and adapted from |
312 | * portions taken and adapted from |
312 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
313 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
313 | */ |
314 | */ |
314 | typedef struct { |
315 | typedef struct { |
315 | s16 AngleNick; // in 0.1 deg |
316 | s16 AngleNick; // in 0.1 deg |
316 | s16 AngleRoll; // in 0.1 deg |
317 | s16 AngleRoll; // in 0.1 deg |
317 | s16 Heading; // in 0.1 deg |
318 | s16 Heading; // in 0.1 deg |
318 | u8 StickNick; |
319 | u8 StickNick; |
319 | u8 StickRoll; |
320 | u8 StickRoll; |
320 | u8 StickYaw; |
321 | u8 StickYaw; |
321 | u8 StickGas; |
322 | u8 StickGas; |
322 | u8 reserve[4]; |
323 | u8 reserve[4]; |
323 | } __attribute__((packed)) Data3D_t; |
324 | } __attribute__((packed)) Data3D_t; |
324 | 325 | ||
325 | extern Data3D_t Data3D; |
326 | extern Data3D_t Data3D; |
326 | 327 | ||
327 | #endif |
328 | #endif |
328 | 329 |