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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2016 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2016 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/V2.12a/uart.h |
49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/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 LabelTextCRC; |
60 | unsigned char LabelTextCRC; |
61 | unsigned char SWPatch; |
61 | unsigned char SWPatch; |
62 | unsigned char HardwareError[2]; |
62 | unsigned char HardwareError[2]; |
63 | unsigned char HWMajor; |
63 | unsigned char HWMajor; |
64 | unsigned char BL_Firmware; |
64 | unsigned char BL_Firmware; |
65 | unsigned char Flags; |
65 | unsigned char Flags; |
66 | } __attribute__((packed)) str_VersionInfo; |
66 | } __attribute__((packed)) str_VersionInfo; |
67 | 67 | ||
68 | /* |
68 | /* |
69 | * NaviCtrl GPS Structs |
69 | * NaviCtrl GPS Structs |
70 | * portions taken and adapted from |
70 | * portions taken and adapted from |
71 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h |
71 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h |
72 | */ |
72 | */ |
73 | typedef struct { |
73 | typedef struct { |
74 | s32 Longitude; // in 1E-7 deg |
74 | s32 Longitude; // in 1E-7 deg |
75 | s32 Latitude; // in 1E-7 deg |
75 | s32 Latitude; // in 1E-7 deg |
76 | s32 Altitude; // in mm |
76 | s32 Altitude; // in mm |
77 | u8 Status; // validity of data |
77 | u8 Status; // validity of data |
78 | } __attribute__((packed)) GPS_Pos_t; |
78 | } __attribute__((packed)) GPS_Pos_t; |
79 | 79 | ||
80 | #define INVALID 0x00 |
80 | #define INVALID 0x00 |
81 | #define NEWDATA 0x01 |
81 | #define NEWDATA 0x01 |
82 | #define PROCESSED 0x02 |
82 | #define PROCESSED 0x02 |
83 | #define SIMULATION 0x03 |
83 | #define SIMULATION 0x03 |
84 | 84 | ||
85 | /* |
85 | /* |
86 | * NaviCtrl OSD Structs |
86 | * NaviCtrl OSD Structs |
87 | * portions taken and adapted from |
87 | * portions taken and adapted from |
88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h |
88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h |
89 | */ |
89 | */ |
90 | typedef struct { |
90 | typedef struct { |
91 | u16 Distance; // distance to target in dm |
91 | u16 Distance; // distance to target in dm |
92 | s16 Bearing; // course to target in deg |
92 | s16 Bearing; // course to target in deg |
93 | } __attribute__((packed)) GPS_PosDev_t; |
93 | } __attribute__((packed)) GPS_PosDev_t; |
94 | 94 | ||
95 | #define NAVIDATA_VERSION 5 |
95 | #define NAVIDATA_VERSION 5 |
96 | 96 | ||
- | 97 | typedef struct // 84 Bytes (note: this is the old protocol) |
|
97 | typedef struct { |
98 | { |
98 | u8 Version; // version of the data structure |
99 | u8 Version; // version of the data structure = 5 |
99 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
100 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
100 | GPS_Pos_t TargetPosition; |
101 | GPS_Pos_t TargetPosition; |
101 | GPS_PosDev_t TargetPositionDeviation; |
102 | GPS_PosDev_t TargetPositionDeviation; |
102 | GPS_Pos_t HomePosition; |
103 | GPS_Pos_t HomePosition; |
103 | GPS_PosDev_t HomePositionDeviation; |
104 | GPS_PosDev_t HomePositionDeviation; |
104 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
105 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
105 | u8 WaypointNumber; // number of stored waypoints |
106 | u8 WaypointNumber; // number of stored waypoints |
106 | u8 SatsInUse; // number of satellites used for position solution |
107 | u8 SatsInUse; // number of satellites used for position solution |
107 | s16 Altimeter_5cm; // hight according to air pressure |
108 | s16 Altimeter_5cm; // hight according to air pressure |
108 | s16 Variometer; // climb(+) and sink(-) rate |
109 | s16 Variometer; // climb(+) and sink(-) rate |
109 | u16 FlyingTime; // in seconds |
110 | u16 FlyingTime; // in seconds |
110 | u8 UBat; // Battery Voltage in 0.1 Volts |
111 | u8 UBat; // Battery Voltage in 0.1 Volts |
111 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
112 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
112 | s16 Heading; // current flight direction in ° as angle to north |
113 | s16 Heading; // current flight direction in ° as angle to north |
113 | s16 CompassHeading; // current compass value in ° |
114 | s16 CompassHeading; // current compass value in ° |
114 | s8 AngleNick; // current Nick angle in 1° |
115 | s8 AngleNick; // current Nick angle in 1° |
115 | s8 AngleRoll; // current Rick angle in 1° |
116 | s8 AngleRoll; // current Rick angle in 1° |
116 | u8 RC_Quality; // RC_Quality |
117 | u8 RC_Quality; // RC_Quality |
117 | u8 FCStatusFlags; // Flags from FC |
118 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
118 | u8 NCFlags; // Flags from NC |
119 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
119 | u8 Errorcode; // 0 --> okay |
120 | u8 Errorcode; // 0 --> okay |
120 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
121 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
121 | s16 TopSpeed; // velocity in vertical direction in cm/s |
122 | s16 TopSpeed; // velocity in vertical direction in cm/s |
122 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
123 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
123 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
124 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
124 | s16 SetpointAltitude; // setpoint for altitude |
125 | s16 SetpointAltitude; // setpoint for altitude |
125 | u8 Gas; // for future use |
126 | u8 Gas; // current gas (thrust) |
126 | u16 Current; // actual current in 0.1A steps |
127 | u16 Current; // actual current in 0.1A steps |
- | 128 | u16 UsedCapacity; // used capacity in mAh |
|
- | 129 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
|
127 | u16 UsedCapacity; // used capacity in mAh |
130 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
- | 131 | } __attribute__((packed)) NaviData_t; |
|
128 | } __attribute__((packed)) NaviData_t; |
132 | extern NaviData_t NaviData; |
129 | 133 | ||
130 | /* |
134 | /* |
131 | * NaviCtrl & FCFlags Flags |
135 | * NaviCtrl & FCFlags Flags |
132 | * portions taken and adapted from |
136 | * portions taken and adapted from |
133 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h |
137 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h |
134 | */ |
138 | */ |
135 | // .NCFlags |
139 | // .NCFlags |
136 | #define NC_FLAG_FREE 0x01 |
140 | #define NC_FLAG_FREE 0x01 |
137 | #define NC_FLAG_PH 0x02 |
141 | #define NC_FLAG_PH 0x02 |
138 | #define NC_FLAG_CH 0x04 |
142 | #define NC_FLAG_CH 0x04 |
139 | #define NC_FLAG_RANGE_LIMIT 0x08 |
143 | #define NC_FLAG_RANGE_LIMIT 0x08 |
140 | #define NC_FLAG_NOSERIALLINK 0x10 |
144 | #define NC_FLAG_NOSERIALLINK 0x10 |
141 | #define NC_FLAG_TARGET_REACHED 0x20 |
145 | #define NC_FLAG_TARGET_REACHED 0x20 |
142 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
146 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
143 | #define NC_FLAG_GPS_OK 0x80 |
147 | #define NC_FLAG_GPS_OK 0x80 |
144 | 148 | ||
145 | // FC.StatusFlags |
149 | // FC.StatusFlags |
146 | #define FCFLAG_MOTOR_RUN 0x01 |
150 | #define FCFLAG_MOTOR_RUN 0x01 |
147 | #define FCFLAG_FLY 0x02 |
151 | #define FCFLAG_FLY 0x02 |
148 | #define FCFLAG_CALIBRATE 0x04 |
152 | #define FCFLAG_CALIBRATE 0x04 |
149 | #define FCFLAG_START 0x08 |
153 | #define FCFLAG_START 0x08 |
150 | #define FCFLAG_NOTLANDUNG 0x10 |
154 | #define FCFLAG_NOTLANDUNG 0x10 |
151 | #define FCFLAG_LOWBAT 0x20 |
155 | #define FCFLAG_LOWBAT 0x20 |
152 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
156 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
153 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
157 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
154 | 158 | ||
155 | // FC.StatusFlags2 |
159 | // FC.StatusFlags2 |
156 | #define FC_STATUS2_CAREFREE 0x01 |
160 | #define FC_STATUS2_CAREFREE 0x01 |
157 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
161 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
158 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
162 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
159 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
163 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
160 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
164 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
161 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
165 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
162 | #define FC_STATUS2_AUTO_STARTING 0x40 |
166 | #define FC_STATUS2_AUTO_STARTING 0x40 |
163 | #define FC_STATUS2_AUTO_LANDING 0x80 |
167 | #define FC_STATUS2_AUTO_LANDING 0x80 |
164 | 168 | ||
165 | // FC.StatusFlags3 |
169 | // FC.StatusFlags3 |
166 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
170 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
167 | #define FC_STATUS3_BOAT 0x02 |
171 | #define FC_STATUS3_BOAT 0x02 |
168 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
172 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
169 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
173 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
170 | #define FC_STATUS3_NOT_CALIBRATED 0x10 |
174 | #define FC_STATUS3_NOT_CALIBRATED 0x10 |
171 | #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
175 | #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
172 | 176 | ||
173 | // FC ERRORS FLAGS |
177 | // FC ERRORS FLAGS |
174 | #define FC_ERROR0_GYRO_NICK 0x01 |
178 | #define FC_ERROR0_GYRO_NICK 0x01 |
175 | #define FC_ERROR0_GYRO_ROLL 0x02 |
179 | #define FC_ERROR0_GYRO_ROLL 0x02 |
176 | #define FC_ERROR0_GYRO_YAW 0x04 |
180 | #define FC_ERROR0_GYRO_YAW 0x04 |
177 | #define FC_ERROR0_ACC_NICK 0x08 |
181 | #define FC_ERROR0_ACC_NICK 0x08 |
178 | #define FC_ERROR0_ACC_ROLL 0x10 |
182 | #define FC_ERROR0_ACC_ROLL 0x10 |
179 | #define FC_ERROR0_ACC_TOP 0x20 |
183 | #define FC_ERROR0_ACC_TOP 0x20 |
180 | #define FC_ERROR0_PRESSURE 0x40 |
184 | #define FC_ERROR0_PRESSURE 0x40 |
181 | #define FC_ERROR0_CAREFREE 0x80 |
185 | #define FC_ERROR0_CAREFREE 0x80 |
182 | 186 | ||
183 | #define FC_ERROR1_I2C 0x01 |
187 | #define FC_ERROR1_I2C 0x01 |
184 | #define FC_ERROR1_BL_MISSING 0x02 |
188 | #define FC_ERROR1_BL_MISSING 0x02 |
185 | #define FC_ERROR1_SPI_RX 0x04 |
189 | #define FC_ERROR1_SPI_RX 0x04 |
186 | #define FC_ERROR1_PPM 0x08 |
190 | #define FC_ERROR1_PPM 0x08 |
187 | #define FC_ERROR1_MIXER 0x10 |
191 | #define FC_ERROR1_MIXER 0x10 |
188 | #define FC_ERROR1_RES1 0x20 |
192 | #define FC_ERROR1_RES1 0x20 |
189 | #define FC_ERROR1_RES2 0x40 |
193 | #define FC_ERROR1_RES2 0x40 |
190 | #define FC_ERROR1_RES3 0x80 |
194 | #define FC_ERROR1_RES3 0x80 |
191 | 195 | ||
192 | /* |
196 | /* |
193 | * MikroKopter config struct |
197 | * MikroKopter config struct |
194 | * portions taken and adapted from |
198 | * portions taken and adapted from |
195 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h |
199 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h |
196 | */ |
200 | */ |
197 | 201 | ||
198 | #define EEPARAM_REVISION 108 // is count up, if paramater stucture has changed (compatibility) |
202 | #define EEPARAM_REVISION 109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility) |
- | 203 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
|
- | 204 | #define EE_BACKWARD_COMP 1 // change if the eepropm parameters are not backwards compatible |
|
- | 205 | ||
199 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
206 | |
200 | 207 | ||
201 | typedef struct |
208 | typedef struct |
202 | { |
209 | { |
203 | unsigned char Revision; |
210 | unsigned char Revision; |
204 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
211 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
205 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
212 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
206 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
213 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
207 | unsigned char Luftdruck_D; // Wert : 0-250 |
214 | unsigned char Luftdruck_D; // Wert : 0-250 |
208 | unsigned char HoeheChannel; // Wert : 0-32 |
215 | unsigned char HoeheChannel; // Wert : 0-32 |
209 | unsigned char Hoehe_P; // Wert : 0-32 |
216 | unsigned char Hoehe_P; // Wert : 0-32 |
210 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
217 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
211 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
218 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
212 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
219 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
213 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
220 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
214 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
221 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
215 | unsigned char Stick_P; // Wert : 1-6 |
222 | unsigned char Stick_P; // Wert : 1-6 |
216 | unsigned char Stick_D; // Wert : 0-64 |
223 | unsigned char Stick_D; // Wert : 0-64 |
217 | unsigned char StickGier_P; // Wert : 1-20 |
224 | unsigned char StickGier_P; // Wert : 1-20 |
218 | unsigned char Gas_Min; // Wert : 0-32 |
225 | unsigned char Gas_Min; // Wert : 0-32 |
219 | unsigned char Gas_Max; // Wert : 33-250 |
226 | unsigned char Gas_Max; // Wert : 33-250 |
220 | unsigned char GyroAccFaktor; // Wert : 1-64 |
227 | unsigned char GyroAccFaktor; // Wert : 1-64 |
221 | unsigned char KompassWirkung; // Wert : 0-32 |
228 | unsigned char KompassWirkung; // Wert : 0-32 |
222 | unsigned char Gyro_P; // Wert : 10-250 |
229 | unsigned char Gyro_P; // Wert : 10-250 |
223 | unsigned char Gyro_I; // Wert : 0-250 |
230 | unsigned char Gyro_I; // Wert : 0-250 |
224 | unsigned char Gyro_D; // Wert : 0-250 |
231 | unsigned char Gyro_D; // Wert : 0-250 |
225 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
232 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
226 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
233 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
227 | unsigned char Gyro_Stability; // Wert : 0-16 |
234 | unsigned char Gyro_Stability; // Wert : 0-16 |
228 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
235 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
229 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
236 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
230 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
237 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
231 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
238 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
232 | unsigned char I_Faktor; // Wert : 0-250 |
239 | unsigned char I_Faktor; // Wert : 0-250 |
233 | unsigned char UserParam1; // Wert : 0-250 |
240 | unsigned char UserParam1; // Wert : 0-250 |
234 | unsigned char UserParam2; // Wert : 0-250 |
241 | unsigned char UserParam2; // Wert : 0-250 |
235 | unsigned char UserParam3; // Wert : 0-250 |
242 | unsigned char UserParam3; // Wert : 0-250 |
236 | unsigned char UserParam4; // Wert : 0-250 |
243 | unsigned char UserParam4; // Wert : 0-250 |
237 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
244 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
238 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
245 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
239 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
246 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
240 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
247 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
241 | //--- Seit V0.75 |
248 | //--- Seit V0.75 |
242 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
249 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
243 | unsigned char ServoRollComp; // Wert : 0-250 |
250 | unsigned char ServoRollComp; // Wert : 0-250 |
244 | unsigned char ServoRollMin; // Wert : 0-250 |
251 | unsigned char ServoRollMin; // Wert : 0-250 |
245 | unsigned char ServoRollMax; // Wert : 0-250 |
252 | unsigned char ServoRollMax; // Wert : 0-250 |
246 | //--- |
253 | //--- |
247 | unsigned char ServoNickRefresh; // Speed of the Servo |
254 | unsigned char ServoNickRefresh; // Speed of the Servo |
248 | unsigned char ServoManualControlSpeed;// |
255 | unsigned char ServoManualControlSpeed;// |
249 | unsigned char CamOrientation; // |
256 | unsigned char CamOrientation; // |
250 | unsigned char Servo3; // Value or mapping of the Servo Output |
257 | unsigned char Servo3; // Value or mapping of the Servo Output |
251 | unsigned char Servo4; // Value or mapping of the Servo Output |
258 | unsigned char Servo4; // Value or mapping of the Servo Output |
252 | unsigned char Servo5; // Value or mapping of the Servo Output |
259 | unsigned char Servo5; // Value or mapping of the Servo Output |
253 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
260 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
254 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
261 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
255 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
262 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
256 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
263 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
257 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
264 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
258 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
265 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
259 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
266 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
260 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
267 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
261 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
268 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
262 | unsigned char Driftkomp; |
269 | unsigned char Driftkomp; |
263 | unsigned char DynamicStability; |
270 | unsigned char DynamicStability; |
264 | unsigned char UserParam5; // Wert : 0-250 |
271 | unsigned char UserParam5; // Wert : 0-250 |
265 | unsigned char UserParam6; // Wert : 0-250 |
272 | unsigned char UserParam6; // Wert : 0-250 |
266 | unsigned char UserParam7; // Wert : 0-250 |
273 | unsigned char UserParam7; // Wert : 0-250 |
267 | unsigned char UserParam8; // Wert : 0-250 |
274 | unsigned char UserParam8; // Wert : 0-250 |
268 | //---Output --------------------------------------------- |
275 | //---Output --------------------------------------------- |
269 | unsigned char J16Bitmask; // for the J16 Output |
276 | unsigned char J16Bitmask; // for the J16 Output |
270 | unsigned char J16Timing; // for the J16 Output |
277 | unsigned char J16Timing; // for the J16 Output |
271 | unsigned char J17Bitmask; // for the J17 Output |
278 | unsigned char J17Bitmask; // for the J17 Output |
272 | unsigned char J17Timing; // for the J17 Output |
279 | unsigned char J17Timing; // for the J17 Output |
273 | // seit version V0.75c |
280 | // seit version V0.75c |
274 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
281 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
275 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
282 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
276 | //---NaviCtrl--------------------------------------------- |
283 | //---NaviCtrl--------------------------------------------- |
277 | unsigned char AutoPhotoDistance; // Auto Photo |
284 | unsigned char AutoPhotoDistance; // Auto Photo |
278 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
285 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
279 | unsigned char NaviGpsGain; |
286 | unsigned char NaviGpsGain; |
280 | unsigned char NaviGpsP; |
287 | unsigned char NaviGpsP; |
281 | unsigned char NaviGpsI; |
288 | unsigned char NaviGpsI; |
282 | unsigned char NaviGpsD; |
289 | unsigned char NaviGpsD; |
283 | unsigned char NaviGpsPLimit; |
290 | unsigned char NaviGpsPLimit; |
284 | unsigned char NaviGpsILimit; |
291 | unsigned char NaviGpsILimit; |
285 | unsigned char NaviGpsDLimit; |
292 | unsigned char NaviGpsDLimit; |
286 | unsigned char NaviGpsA; |
293 | unsigned char NaviGpsA; |
287 | unsigned char NaviGpsMinSat; |
294 | unsigned char NaviGpsMinSat; |
288 | unsigned char NaviStickThreshold; |
295 | unsigned char NaviStickThreshold; |
289 | unsigned char NaviWindCorrection; |
296 | unsigned char NaviWindCorrection; |
290 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
297 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
291 | unsigned char NaviMaxFlyingRange; // in 10m |
298 | unsigned char NaviMaxFlyingRange; // in 10m |
292 | unsigned char NaviAngleLimitation; |
299 | unsigned char NaviAngleLimitation; |
293 | unsigned char NaviPH_LoginTime; |
300 | unsigned char NaviPH_LoginTime; |
294 | unsigned char NaviDescendRange; |
301 | unsigned char NaviDescendRange; |
295 | //---Ext.Ctrl--------------------------------------------- |
302 | //---Ext.Ctrl--------------------------------------------- |
296 | unsigned char ExternalControl; // for serial Control |
303 | unsigned char ExternalControl; // for serial Control |
297 | //---CareFree--------------------------------------------- |
304 | //---CareFree--------------------------------------------- |
298 | unsigned char OrientationAngle; // Where is the front-direction? |
305 | unsigned char OrientationAngle; // Where is the front-direction? |
299 | unsigned char CareFreeChannel; // switch for CareFree |
306 | unsigned char CareFreeChannel; // switch for CareFree |
300 | unsigned char MotorSafetySwitch; |
307 | unsigned char MotorSafetySwitch; |
301 | unsigned char MotorSmooth; |
308 | unsigned char MotorSmooth; |
302 | unsigned char ComingHomeAltitude; |
309 | unsigned char ComingHomeAltitude; |
303 | unsigned char FailSafeTime; |
310 | unsigned char FailSafeTime; |
304 | unsigned char MaxAltitude; |
311 | unsigned char MaxAltitude; |
305 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
312 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
306 | unsigned char ServoFilterNick; |
313 | unsigned char ServoFilterNick; |
307 | unsigned char ServoFilterRoll; |
314 | unsigned char ServoFilterRoll; |
308 | unsigned char Servo3OnValue; |
315 | unsigned char Servo3OnValue; |
309 | unsigned char Servo3OffValue; |
316 | unsigned char Servo3OffValue; |
310 | unsigned char Servo4OnValue; |
317 | unsigned char Servo4OnValue; |
311 | unsigned char Servo4OffValue; |
318 | unsigned char Servo4OffValue; |
312 | unsigned char ServoFS_Pos[5]; |
319 | unsigned char ServoFS_Pos[5]; |
313 | unsigned char StartLandChannel; |
320 | unsigned char StartLandChannel; |
314 | unsigned char LandingSpeed; |
321 | unsigned char LandingSpeed; |
315 | unsigned char CompassOffset; |
322 | unsigned char CompassOffset; |
316 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
323 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
317 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
324 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
318 | unsigned char AutoPhotoAtitudes; |
325 | unsigned char AutoPhotoAtitudes; |
319 | unsigned char SingleWpSpeed; |
326 | unsigned char SingleWpSpeed; |
320 | unsigned char LandingPulse; |
327 | unsigned char LandingPulse; |
321 | unsigned char SingleWpControlChannel; |
328 | unsigned char SingleWpControlChannel; |
322 | unsigned char MenuKeyChannel; |
329 | unsigned char MenuKeyChannel; |
323 | unsigned char CamCtrlModeChannel; |
330 | unsigned char CamCtrlModeChannel; |
324 | unsigned char CamCtrlZoomChannel; |
331 | unsigned char CamCtrlZoomChannel; |
325 | unsigned char reserved[32]; // for later use |
332 | unsigned char reserved[32]; // for later use |
326 | //------------------------------------------------ |
333 | //------------------------------------------------ |
327 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
334 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
328 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
335 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
329 | unsigned char ExtraConfig; // bitcodiert |
336 | unsigned char ExtraConfig; // bitcodiert |
330 | unsigned char GlobalConfig3; // bitcodiert |
337 | unsigned char GlobalConfig3; // bitcodiert |
331 | char Name[12]; |
338 | char Name[12]; |
332 | unsigned char crc; // must be the last byte! |
339 | unsigned char crc; // must be the last byte! |
333 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
340 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
- | 341 | // -> if changed: update NC-Data structure also <- |
|
334 | 342 | ||
335 | 343 | ||
336 | typedef struct { |
344 | typedef struct { |
337 | u8 SettingsIndex; |
345 | u8 SettingsIndex; |
338 | paramset_t param; |
346 | paramset_t param; |
339 | } __attribute__((packed)) paramset_serial; |
347 | } __attribute__((packed)) paramset_serial; |
340 | 348 | ||
341 | /* |
349 | /* |
342 | * MikroKopter 3D-Data struct |
350 | * MikroKopter 3D-Data struct |
343 | * portions taken and adapted from |
351 | * portions taken and adapted from |
344 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
352 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
345 | */ |
353 | */ |
346 | typedef struct { |
354 | typedef struct { |
347 | s16 AngleNick; // in 0.1 deg |
355 | s16 AngleNick; // in 0.1 deg |
348 | s16 AngleRoll; // in 0.1 deg |
356 | s16 AngleRoll; // in 0.1 deg |
349 | s16 Heading; // in 0.1 deg |
357 | s16 Heading; // in 0.1 deg |
350 | u8 StickNick; |
358 | u8 StickNick; |
351 | u8 StickRoll; |
359 | u8 StickRoll; |
352 | u8 StickYaw; |
360 | u8 StickYaw; |
353 | u8 StickGas; |
361 | u8 StickGas; |
354 | u8 reserve[4]; |
362 | u8 reserve[4]; |
355 | } __attribute__((packed)) Data3D_t; |
363 | } __attribute__((packed)) Data3D_t; |
356 | 364 | ||
357 | extern Data3D_t Data3D; |
365 | extern Data3D_t Data3D; |
358 | 366 | ||
359 | #endif |
367 | #endif |
360 | 368 |