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331 | cascade | 1 | /**************************************************************************** |
728 | cascade | 2 | * Copyright (C) 2009-2010 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 | |||
21 | /* ########################################################################## |
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22 | * gain some fake arm compat :) |
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23 | * ##########################################################################*/ |
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24 | #define u8 uint8_t |
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25 | #define s8 int8_t |
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26 | #define u16 uint16_t |
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27 | #define s16 int16_t |
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28 | #define u32 uint32_t |
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29 | #define s32 int32_t |
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30 | |||
31 | /* |
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32 | * FC Debug Struct |
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33 | * portions taken and adapted from |
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34 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
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35 | */ |
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36 | typedef struct { |
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37 | uint8_t Digital[2]; |
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38 | uint16_t Analog[32]; // Debugvalues |
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39 | } __attribute__((packed)) DebugOut_t; |
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40 | |||
677 | cascade | 41 | |
42 | typedef struct { |
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43 | unsigned char SWMajor; |
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44 | unsigned char SWMinor; |
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45 | unsigned char ProtoMajor; |
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46 | unsigned char ProtoMinor; |
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47 | unsigned char SWPatch; |
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48 | unsigned char Reserved[5]; |
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49 | } str_VersionInfo; |
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50 | |||
51 | |||
331 | cascade | 52 | /* |
53 | * NaviCtrl OSD Structs |
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675 | cascade | 54 | * portions taken and adapted from |
728 | cascade | 55 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h |
331 | cascade | 56 | */ |
57 | typedef struct { |
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58 | s32 Longitude; // in 1E-7 deg |
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59 | s32 Latitude; // in 1E-7 deg |
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60 | s32 Altitude; // in mm |
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61 | u8 Status; // validity of data |
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675 | cascade | 62 | } __attribute__((packed)) GPS_Pos_t; |
63 | #define INVALID 0x00 |
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64 | #define NEWDATA 0x01 |
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65 | #define PROCESSED 0x02 |
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331 | cascade | 66 | |
675 | cascade | 67 | |
676 | cascade | 68 | typedef struct { |
675 | cascade | 69 | u16 Distance; // distance to target in cm |
70 | s16 Bearing; // course to target in deg |
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331 | cascade | 71 | } __attribute__((packed)) GPS_PosDev_t; |
72 | |||
73 | typedef struct { |
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728 | cascade | 74 | u8 Version; // version of the data structure |
75 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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76 | GPS_Pos_t TargetPosition; |
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77 | GPS_PosDev_t TargetPositionDeviation; |
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78 | GPS_Pos_t HomePosition; |
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79 | GPS_PosDev_t HomePositionDeviation; |
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80 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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81 | u8 WaypointNumber; // number of stored waypoints |
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82 | u8 SatsInUse; // number of satellites used for position solution |
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83 | s16 Altimeter; // hight according to air pressure |
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84 | s16 Variometer; // climb(+) and sink(-) rate |
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85 | u16 FlyingTime; // in seconds |
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86 | u8 UBat; // Battery Voltage in 0.1 Volts |
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87 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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88 | s16 Heading; // current flight direction in � as angle to north |
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89 | s16 CompassHeading; // current compass value in � |
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90 | s8 AngleNick; // current Nick angle in 1� |
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91 | s8 AngleRoll; // current Rick angle in 1� |
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92 | u8 RC_Quality; // RC_Quality |
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93 | u8 FCFlags; // Flags from FC |
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94 | u8 NCFlags; // Flags from NC |
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95 | u8 Errorcode; // 0 --> okay |
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96 | u8 OperatingRadius; // current operation radius around the Home Position in m |
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97 | s16 TopSpeed; // velocity in vertical direction in cm/s |
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98 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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99 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
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100 | s16 SetpointAltitude; // setpoint for altitude |
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675 | cascade | 101 | u8 Gas; // for future use |
728 | cascade | 102 | u16 Current; // actual current in 0.1A steps |
103 | u16 UsedCapacity; // used capacity in mAh |
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331 | cascade | 104 | } __attribute__((packed)) NaviData_t; |
105 | |||
728 | cascade | 106 | |
331 | cascade | 107 | /* |
108 | * MikroKopter Flags |
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407 | cascade | 109 | * taken from |
734 | cascade | 110 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h |
331 | cascade | 111 | */ |
734 | cascade | 112 | #define FCFLAG_MOTOR_RUN 0x01 |
113 | #define FCFLAG_FLY 0x02 |
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114 | #define FCFLAG_CALIBRATE 0x04 |
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115 | #define FCFLAG_START 0x08 |
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116 | #define FCFLAG_NOTLANDUNG 0x10 |
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117 | #define FCFLAG_LOWBAT 0x20 |
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118 | #define FCFLAG_SPI_RX_ERR 0x40 |
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119 | #define FCFLAG_I2CERR 0x80 |
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407 | cascade | 120 | |
734 | cascade | 121 | // backward compat |
122 | #define FLAG_MOTOR_RUN FCFLAG_MOTOR_RUN |
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123 | #define FLAG_FLY FCFLAG_FLY |
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124 | #define FLAG_CALIBRATE FCFLAG_CALIBRATE |
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125 | #define FLAG_START FCFLAG_START |
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126 | |||
407 | cascade | 127 | /* |
128 | * NaviCtrl Flags |
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129 | * taken from |
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675 | cascade | 130 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
407 | cascade | 131 | */ |
132 | #define NC_FLAG_FREE 0x01 |
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133 | #define NC_FLAG_PH 0x02 |
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134 | #define NC_FLAG_CH 0x04 |
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135 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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136 | #define NC_FLAG_NOSERIALLINK 0x10 |
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137 | #define NC_FLAG_TARGET_REACHED 0x20 |
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138 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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139 | #define NC_FLAG_8 0x80 |
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140 | |||
141 |