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331 | cascade | 1 | /**************************************************************************** |
2601 | - | 2 | * Copyright (C) 2009-2018 by Claas Anders "CaScAdE" Rathje * |
331 | cascade | 3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | ****************************************************************************/ |
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20 | |||
762 | - | 21 | #ifndef _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
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23 | |||
331 | cascade | 24 | /* ########################################################################## |
25 | * gain some fake arm compat :) |
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26 | * ##########################################################################*/ |
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27 | #define u8 uint8_t |
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28 | #define s8 int8_t |
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29 | #define u16 uint16_t |
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30 | #define s16 int16_t |
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31 | #define u32 uint32_t |
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32 | #define s32 int32_t |
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33 | |||
832 | - | 34 | /** |
35 | * MikroKopter Slave-Addresses |
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36 | * portions taken and adapted from |
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37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
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38 | */ |
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39 | #define ANY_ADDRESS 0 |
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40 | #define FC_ADDRESS 1 |
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41 | #define NC_ADDRESS 2 |
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42 | #define MK3MAG_ADDRESS 3 |
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43 | #define MKOSD_ADDRESS 4 |
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44 | #define BL_ADDRESS 5 |
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45 | |||
331 | cascade | 46 | /* |
47 | * FC Debug Struct |
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48 | * portions taken and adapted from |
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2217 | - | 49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/uart.h |
331 | cascade | 50 | */ |
1992 | - | 51 | typedef struct { |
52 | unsigned char Status[2]; |
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53 | signed int Analog[32]; // Debugwerte |
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783 | - | 54 | } __attribute__((packed)) str_DebugOut; |
331 | cascade | 55 | |
677 | cascade | 56 | typedef struct { |
2217 | - | 57 | unsigned char SWMajor; |
58 | unsigned char SWMinor; |
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59 | unsigned char ProtoMajor; |
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60 | unsigned char LabelTextCRC; |
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61 | unsigned char SWPatch; |
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62 | unsigned char HardwareError[2]; |
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63 | unsigned char HWMajor; |
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64 | unsigned char BL_Firmware; |
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65 | unsigned char Flags; |
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783 | - | 66 | } __attribute__((packed)) str_VersionInfo; |
677 | cascade | 67 | |
331 | cascade | 68 | /* |
783 | - | 69 | * NaviCtrl GPS Structs |
761 | - | 70 | * portions taken and adapted from |
2217 | - | 71 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h |
331 | cascade | 72 | */ |
73 | typedef struct { |
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1992 | - | 74 | s32 Longitude; // in 1E-7 deg |
75 | s32 Latitude; // in 1E-7 deg |
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76 | s32 Altitude; // in mm |
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77 | u8 Status; // validity of data |
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761 | - | 78 | } __attribute__((packed)) GPS_Pos_t; |
1992 | - | 79 | |
761 | - | 80 | #define INVALID 0x00 |
81 | #define NEWDATA 0x01 |
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82 | #define PROCESSED 0x02 |
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2217 | - | 83 | #define SIMULATION 0x03 |
331 | cascade | 84 | |
783 | - | 85 | /* |
86 | * NaviCtrl OSD Structs |
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87 | * portions taken and adapted from |
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2601 | - | 88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.20h/uart1.h |
783 | - | 89 | */ |
761 | - | 90 | typedef struct { |
1992 | - | 91 | u16 Distance; // distance to target in dm |
92 | s16 Bearing; // course to target in deg |
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331 | cascade | 93 | } __attribute__((packed)) GPS_PosDev_t; |
2043 | - | 94 | |
2598 | - | 95 | |
2039 | - | 96 | #define NAVIDATA_VERSION 5 |
331 | cascade | 97 | |
2598 | - | 98 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
99 | //+ old protocol |
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100 | //+ start abbo communication with: 'O' + Interval [10ms] |
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101 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2569 | - | 102 | typedef struct // 84 Bytes (note: this is the old protocol) |
103 | { |
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104 | u8 Version; // version of the data structure = 5 |
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105 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
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106 | GPS_Pos_t TargetPosition; |
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107 | GPS_PosDev_t TargetPositionDeviation; |
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108 | GPS_Pos_t HomePosition; |
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109 | GPS_PosDev_t HomePositionDeviation; |
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110 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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111 | u8 WaypointNumber; // number of stored waypoints |
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112 | u8 SatsInUse; // number of satellites used for position solution |
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113 | s16 Altimeter_5cm; // hight according to air pressure |
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114 | s16 Variometer; // climb(+) and sink(-) rate |
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115 | u16 FlyingTime; // in seconds |
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116 | u8 UBat; // Battery Voltage in 0.1 Volts |
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117 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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118 | s16 Heading; // current flight direction in ° as angle to north |
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119 | s16 CompassHeading; // current compass value in ° |
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120 | s8 AngleNick; // current Nick angle in 1° |
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121 | s8 AngleRoll; // current Rick angle in 1° |
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122 | u8 RC_Quality; // RC_Quality |
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123 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
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124 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
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125 | u8 Errorcode; // 0 --> okay |
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126 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
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127 | s16 TopSpeed; // velocity in vertical direction in cm/s |
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128 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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129 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
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130 | s16 SetpointAltitude; // setpoint for altitude |
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131 | u8 Gas; // current gas (thrust) |
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132 | u16 Current; // actual current in 0.1A steps |
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133 | u16 UsedCapacity; // used capacity in mAh |
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134 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
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135 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
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331 | cascade | 136 | } __attribute__((packed)) NaviData_t; |
2601 | - | 137 | extern NaviData_t NaviData; |
331 | cascade | 138 | |
2217 | - | 139 | /* |
140 | * NaviCtrl & FCFlags Flags |
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141 | * portions taken and adapted from |
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142 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h |
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143 | */ |
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144 | // .NCFlags |
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2039 | - | 145 | #define NC_FLAG_FREE 0x01 |
146 | #define NC_FLAG_PH 0x02 |
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147 | #define NC_FLAG_CH 0x04 |
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148 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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149 | #define NC_FLAG_NOSERIALLINK 0x10 |
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150 | #define NC_FLAG_TARGET_REACHED 0x20 |
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151 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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832 | - | 152 | #define NC_FLAG_GPS_OK 0x80 |
728 | cascade | 153 | |
2217 | - | 154 | // FC.StatusFlags |
734 | cascade | 155 | #define FCFLAG_MOTOR_RUN 0x01 |
156 | #define FCFLAG_FLY 0x02 |
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157 | #define FCFLAG_CALIBRATE 0x04 |
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158 | #define FCFLAG_START 0x08 |
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159 | #define FCFLAG_NOTLANDUNG 0x10 |
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160 | #define FCFLAG_LOWBAT 0x20 |
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832 | - | 161 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
162 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
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407 | cascade | 163 | |
2217 | - | 164 | // FC.StatusFlags2 |
941 | - | 165 | #define FC_STATUS2_CAREFREE 0x01 |
166 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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2217 | - | 167 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
168 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
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169 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
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170 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
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2225 | - | 171 | #define FC_STATUS2_AUTO_STARTING 0x40 |
172 | #define FC_STATUS2_AUTO_LANDING 0x80 |
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941 | - | 173 | |
2217 | - | 174 | // FC.StatusFlags3 |
175 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
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176 | #define FC_STATUS3_BOAT 0x02 |
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177 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
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178 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
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2225 | - | 179 | #define FC_STATUS3_NOT_CALIBRATED 0x10 |
180 | #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
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783 | - | 181 | |
2217 | - | 182 | // FC ERRORS FLAGS |
183 | #define FC_ERROR0_GYRO_NICK 0x01 |
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184 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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185 | #define FC_ERROR0_GYRO_YAW 0x04 |
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186 | #define FC_ERROR0_ACC_NICK 0x08 |
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187 | #define FC_ERROR0_ACC_ROLL 0x10 |
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188 | #define FC_ERROR0_ACC_TOP 0x20 |
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189 | #define FC_ERROR0_PRESSURE 0x40 |
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190 | #define FC_ERROR0_CAREFREE 0x80 |
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191 | |||
192 | #define FC_ERROR1_I2C 0x01 |
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193 | #define FC_ERROR1_BL_MISSING 0x02 |
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194 | #define FC_ERROR1_SPI_RX 0x04 |
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195 | #define FC_ERROR1_PPM 0x08 |
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196 | #define FC_ERROR1_MIXER 0x10 |
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197 | #define FC_ERROR1_RES1 0x20 |
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198 | #define FC_ERROR1_RES2 0x40 |
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199 | #define FC_ERROR1_RES3 0x80 |
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200 | |||
407 | cascade | 201 | /* |
783 | - | 202 | * MikroKopter config struct |
203 | * portions taken and adapted from |
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2601 | - | 204 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.20c/eeprom.h |
407 | cascade | 205 | */ |
2039 | - | 206 | |
2601 | - | 207 | #define EEPARAM_REVISION 113 // -> InsertDefaultParameters() |
2569 | - | 208 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
2601 | - | 209 | #define EE_BACKWARD_COMP 1 // count up if the eepropm parameters are not backwards compatible |
2039 | - | 210 | |
2569 | - | 211 | |
212 | |||
2043 | - | 213 | typedef struct |
214 | { |
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2569 | - | 215 | unsigned char Revision; |
216 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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217 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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218 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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219 | unsigned char Luftdruck_D; // Wert : 0-250 |
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220 | unsigned char HoeheChannel; // Wert : 0-32 |
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221 | unsigned char Hoehe_P; // Wert : 0-32 |
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222 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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223 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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224 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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225 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
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226 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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227 | unsigned char Stick_P; // Wert : 1-6 |
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228 | unsigned char Stick_D; // Wert : 0-64 |
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229 | unsigned char StickGier_P; // Wert : 1-20 |
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230 | unsigned char Gas_Min; // Wert : 0-32 |
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231 | unsigned char Gas_Max; // Wert : 33-250 |
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232 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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233 | unsigned char KompassWirkung; // Wert : 0-32 |
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234 | unsigned char Gyro_P; // Wert : 10-250 |
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235 | unsigned char Gyro_I; // Wert : 0-250 |
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236 | unsigned char Gyro_D; // Wert : 0-250 |
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237 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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238 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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239 | unsigned char Gyro_Stability; // Wert : 0-16 |
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240 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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241 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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242 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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243 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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244 | unsigned char I_Faktor; // Wert : 0-250 |
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245 | unsigned char UserParam1; // Wert : 0-250 |
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246 | unsigned char UserParam2; // Wert : 0-250 |
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247 | unsigned char UserParam3; // Wert : 0-250 |
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248 | unsigned char UserParam4; // Wert : 0-250 |
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249 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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250 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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251 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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252 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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253 | //--- Seit V0.75 |
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254 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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255 | unsigned char ServoRollComp; // Wert : 0-250 |
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256 | unsigned char ServoRollMin; // Wert : 0-250 |
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257 | unsigned char ServoRollMax; // Wert : 0-250 |
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258 | //--- |
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259 | unsigned char ServoNickRefresh; // Speed of the Servo |
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2043 | - | 260 | unsigned char ServoManualControlSpeed;// |
261 | unsigned char CamOrientation; // |
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2569 | - | 262 | unsigned char Servo3; // Value or mapping of the Servo Output |
263 | unsigned char Servo4; // Value or mapping of the Servo Output |
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264 | unsigned char Servo5; // Value or mapping of the Servo Output |
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265 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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266 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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267 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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268 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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269 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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270 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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271 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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272 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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273 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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274 | unsigned char Driftkomp; |
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275 | unsigned char DynamicStability; |
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276 | unsigned char UserParam5; // Wert : 0-250 |
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277 | unsigned char UserParam6; // Wert : 0-250 |
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278 | unsigned char UserParam7; // Wert : 0-250 |
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279 | unsigned char UserParam8; // Wert : 0-250 |
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280 | //---Output --------------------------------------------- |
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281 | unsigned char J16Bitmask; // for the J16 Output |
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282 | unsigned char J16Timing; // for the J16 Output |
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283 | unsigned char J17Bitmask; // for the J17 Output |
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284 | unsigned char J17Timing; // for the J17 Output |
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285 | // seit version V0.75c |
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286 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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287 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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288 | //---NaviCtrl--------------------------------------------- |
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289 | unsigned char AutoPhotoDistance; // Auto Photo |
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290 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
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291 | unsigned char NaviGpsGain; |
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292 | unsigned char NaviGpsP; |
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293 | unsigned char NaviGpsI; |
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294 | unsigned char NaviGpsD; |
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295 | unsigned char NaviGpsPLimit; |
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296 | unsigned char NaviGpsILimit; |
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297 | unsigned char NaviGpsDLimit; |
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298 | unsigned char NaviGpsA; |
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299 | unsigned char NaviGpsMinSat; |
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300 | unsigned char NaviStickThreshold; |
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301 | unsigned char NaviWindCorrection; |
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302 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
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303 | unsigned char NaviMaxFlyingRange; // in 10m |
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304 | unsigned char NaviAngleLimitation; |
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305 | unsigned char NaviPH_LoginTime; |
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306 | unsigned char NaviDescendRange; |
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307 | //---Ext.Ctrl--------------------------------------------- |
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308 | unsigned char ExternalControl; // for serial Control |
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309 | //---CareFree--------------------------------------------- |
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310 | unsigned char OrientationAngle; // Where is the front-direction? |
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311 | unsigned char CareFreeChannel; // switch for CareFree |
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1992 | - | 312 | unsigned char MotorSafetySwitch; |
313 | unsigned char MotorSmooth; |
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314 | unsigned char ComingHomeAltitude; |
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315 | unsigned char FailSafeTime; |
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316 | unsigned char MaxAltitude; |
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2569 | - | 317 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
318 | unsigned char ServoFilterNick; |
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319 | unsigned char ServoFilterRoll; |
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2043 | - | 320 | unsigned char Servo3OnValue; |
321 | unsigned char Servo3OffValue; |
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322 | unsigned char Servo4OnValue; |
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323 | unsigned char Servo4OffValue; |
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2569 | - | 324 | unsigned char ServoFS_Pos[5]; |
325 | unsigned char StartLandChannel; |
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326 | unsigned char LandingSpeed; |
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327 | unsigned char CompassOffset; |
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328 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
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329 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
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330 | unsigned char AutoPhotoAtitudes; |
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331 | unsigned char SingleWpSpeed; |
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332 | unsigned char LandingPulse; |
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333 | unsigned char SingleWpControlChannel; |
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334 | unsigned char MenuKeyChannel; |
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2225 | - | 335 | unsigned char CamCtrlModeChannel; |
2569 | - | 336 | unsigned char CamCtrlZoomChannel; |
2601 | - | 337 | unsigned char FailsSafeAltitude; |
338 | unsigned char GimbalYawChannel; |
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339 | unsigned char GimbalOut1Channel; |
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340 | unsigned char GimbalOut2Channel; |
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341 | unsigned char reserved[28]; // for later use |
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2569 | - | 342 | //------------------------------------------------ |
343 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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344 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
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345 | unsigned char ExtraConfig; // bitcodiert |
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346 | unsigned char GlobalConfig3; // bitcodiert |
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347 | char Name[12]; |
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348 | unsigned char crc; // must be the last byte! |
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349 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
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350 | // -> if changed: update NC-Data structure also <- |
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407 | cascade | 351 | |
2075 | - | 352 | |
783 | - | 353 | typedef struct { |
1992 | - | 354 | u8 SettingsIndex; |
355 | paramset_t param; |
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783 | - | 356 | } __attribute__((packed)) paramset_serial; |
407 | cascade | 357 | |
1801 | - | 358 | /* |
359 | * MikroKopter 3D-Data struct |
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360 | * portions taken and adapted from |
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361 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
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362 | */ |
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363 | typedef struct { |
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1992 | - | 364 | s16 AngleNick; // in 0.1 deg |
365 | s16 AngleRoll; // in 0.1 deg |
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366 | s16 Heading; // in 0.1 deg |
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1801 | - | 367 | u8 StickNick; |
368 | u8 StickRoll; |
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369 | u8 StickYaw; |
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370 | u8 StickGas; |
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371 | u8 reserve[4]; |
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372 | } __attribute__((packed)) Data3D_t; |
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373 | |||
374 | extern Data3D_t Data3D; |
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375 | |||
2000 | - | 376 | #endif |