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331 cascade 1
/****************************************************************************
1437 - 2
 *   Copyright (C) 2009-2012 by Claas Anders "CaScAdE" Rathje               *
331 cascade 3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
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   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
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 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   GNU General Public License for more details.                           *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 ****************************************************************************/
20
 
762 - 21
#ifndef _MK_DATA_STRUCTS_H
22
#define _MK_DATA_STRUCTS_H
23
 
331 cascade 24
/* ##########################################################################
25
 * gain some fake arm compat :)
26
 * ##########################################################################*/
27
#define u8 uint8_t
28
#define s8 int8_t
29
#define u16 uint16_t
30
#define s16 int16_t
31
#define u32 uint32_t
32
#define s32 int32_t
33
 
832 - 34
/**
35
 * MikroKopter Slave-Addresses
36
 * portions taken and adapted from
37
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
38
 */
39
#define ANY_ADDRESS 0
40
#define FC_ADDRESS 1
41
#define NC_ADDRESS 2
42
#define MK3MAG_ADDRESS 3
43
#define MKOSD_ADDRESS 4
44
#define BL_ADDRESS 5
45
 
46
 
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/*
48
 * FC Debug Struct
49
 * portions taken and adapted from
1591 - 50
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h
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 */
783 - 52
typedef struct  {
53
        unsigned char Status[2];
54
        signed int Analog[32];    // Debugwerte
55
} __attribute__((packed)) str_DebugOut;
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typedef struct {
783 - 58
        unsigned char SWMajor;
59
        unsigned char SWMinor;
60
        unsigned char ProtoMajor;
61
        unsigned char ProtoMinor;
62
        unsigned char SWPatch;
63
        unsigned char HardwareError[5];
64
} __attribute__((packed)) str_VersionInfo;
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/*
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 * NaviCtrl GPS Structs
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
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 */
71
typedef struct {
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        s32 Longitude;  // in 1E-7 deg
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        s32 Latitude;   // in 1E-7 deg
74
        s32 Altitude;   // in mm
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        u8 Status;// validity of data
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} __attribute__((packed)) GPS_Pos_t;
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#define INVALID         0x00
79
#define NEWDATA         0x01
80
#define PROCESSED       0x02
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83
/*
84
 * NaviCtrl OSD Structs
85
 * portions taken and adapted from
941 - 86
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h
783 - 87
 */
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typedef struct {
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        u16 Distance;                                   // distance to target in dm
90
        s16 Bearing;                                    // course to target in deg
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} __attribute__((packed)) GPS_PosDev_t;
92
 
93
typedef struct {
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        u8 Version;                                             // version of the data structure
95
        GPS_Pos_t CurrentPosition;                              // see ubx.h for details
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        GPS_Pos_t TargetPosition;
97
        GPS_PosDev_t TargetPositionDeviation;
98
        GPS_Pos_t HomePosition;
99
        GPS_PosDev_t HomePositionDeviation;
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        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
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        u8  WaypointNumber;                             // number of stored waypoints
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        u8  SatsInUse;                                  // number of satellites used for position solution
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        s16 Altimeter;                                  // hight according to air pressure
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        s16 Variometer;                                 // climb(+) and sink(-) rate
105
        u16 FlyingTime;                                 // in seconds
106
        u8  UBat;                                       // Battery Voltage in 0.1 Volts
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        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
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        s16 Heading;                                    // current flight direction in ° as angle to north
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        s16 CompassHeading;                             // current compass value in °
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        s8  AngleNick;                                  // current Nick angle in 1°
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        s8  AngleRoll;                                  // current Rick angle in 1°
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        u8  RC_Quality;                                 // RC_Quality
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        u8  FCFlags;                                    // Flags from FC
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        u8  NCFlags;                                    // Flags from NC
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        u8  Errorcode;                                  // 0 --> okay
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        u8  OperatingRadius;                            // current operation radius around the Home Position in m
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        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
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        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
120
        s16 SetpointAltitude;                           // setpoint for altitude
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        u8  Gas;                                        // for future use
122
        u16 Current;                                    // actual current in 0.1A steps
123
        u16 UsedCapacity;                               // used capacity in mAh
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} __attribute__((packed)) NaviData_t;
125
 
783 - 126
#define NC_FLAG_FREE                    0x01
127
#define NC_FLAG_PH                              0x02
128
#define NC_FLAG_CH                              0x04
129
#define NC_FLAG_RANGE_LIMIT             0x08
130
#define NC_FLAG_NOSERIALLINK    0x10
131
#define NC_FLAG_TARGET_REACHED  0x20
132
#define NC_FLAG_MANUAL_CONTROL  0x40
832 - 133
#define NC_FLAG_GPS_OK                  0x80
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331 cascade 135
/*
136
 * MikroKopter Flags
783 - 137
 * portions taken and adapted from
138
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
331 cascade 139
 */
734 cascade 140
#define FCFLAG_MOTOR_RUN        0x01
141
#define FCFLAG_FLY              0x02
142
#define FCFLAG_CALIBRATE        0x04
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#define FCFLAG_START            0x08
144
#define FCFLAG_NOTLANDUNG       0x10
145
#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_VARIO_TRIM_UP    0x40
147
#define FCFLAG_VARIO_TRIM_DOWN  0x80
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941 - 149
// FC STATUS FLAGS2
150
#define FC_STATUS2_CAREFREE                 0x01
151
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
152
 
783 - 153
#define DEFEKT_G_NICK           0x01
154
#define DEFEKT_G_ROLL           0x02
155
#define DEFEKT_G_GIER           0x04
156
#define DEFEKT_A_NICK           0x08
157
#define DEFEKT_A_ROLL           0x10
158
#define DEFEKT_A_Z              0x20
159
#define DEFEKT_PRESSURE         0x40
160
#define DEFEKT_CAREFREE_ERR 0x80
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783 - 162
#define DEFEKT_I2C              0x01
163
#define DEFEKT_BL_MISSING       0x02
164
#define DEFEKT_SPI_RX_ERR       0x04
165
#define DEFEKT_PPM_ERR          0x08
166
#define DEFEKT_MIXER_ERR    0x10
167
 
168
 
407 cascade 169
/*
783 - 170
 * MikroKopter config struct
171
 * portions taken and adapted from
1596 - 172
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/eeprom.h
407 cascade 173
 */
783 - 174
typedef struct {
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        unsigned char Revision;
176
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
177
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
178
        unsigned char Hoehe_MinGas;           // Wert : 0-100
179
        unsigned char Luftdruck_D;            // Wert : 0-250
180
        unsigned char MaxHoehe;               // Wert : 0-32
181
        unsigned char Hoehe_P;                // Wert : 0-32
182
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
183
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
184
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
185
        unsigned char Hoehe_GPS_Z;            // Wert : 0-250
186
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
187
        unsigned char Stick_P;                // Wert : 1-6
188
        unsigned char Stick_D;                // Wert : 0-64
189
        unsigned char StickGier_P;            // Wert : 1-20
190
        unsigned char Gas_Min;                // Wert : 0-32
191
        unsigned char Gas_Max;                // Wert : 33-250
192
        unsigned char GyroAccFaktor;          // Wert : 1-64
193
        unsigned char KompassWirkung;         // Wert : 0-32
194
        unsigned char Gyro_P;                 // Wert : 10-250
195
        unsigned char Gyro_I;                 // Wert : 0-250
196
        unsigned char Gyro_D;                 // Wert : 0-250
197
        unsigned char Gyro_Gier_P;            // Wert : 10-250
198
        unsigned char Gyro_Gier_I;            // Wert : 0-250
199
        unsigned char Gyro_Stability;         // Wert : 0-16
200
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
201
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
202
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
203
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
204
        unsigned char I_Faktor;               // Wert : 0-250
205
        unsigned char UserParam1;             // Wert : 0-250
206
        unsigned char UserParam2;             // Wert : 0-250
207
        unsigned char UserParam3;             // Wert : 0-250
208
        unsigned char UserParam4;             // Wert : 0-250
209
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
210
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
211
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
212
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
213
        //--- Seit V0.75
214
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
215
        unsigned char ServoRollComp;          // Wert : 0-250
216
        unsigned char ServoRollMin;           // Wert : 0-250
217
        unsigned char ServoRollMax;           // Wert : 0-250
218
        //---
219
        unsigned char ServoNickRefresh;       // Speed of the Servo
220
                unsigned char ServoManualControlSpeed;//
221
                unsigned char CamOrientation;         //
222
        unsigned char Servo3;                    // Value or mapping of the Servo Output
223
        unsigned char Servo4;                            // Value or mapping of the Servo Output
224
        unsigned char Servo5;                            // Value or mapping of the Servo Output
225
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
226
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
227
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
228
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
229
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
230
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
231
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
232
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
233
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
234
        unsigned char Driftkomp;
235
        unsigned char DynamicStability;
236
        unsigned char UserParam5;             // Wert : 0-250
237
        unsigned char UserParam6;             // Wert : 0-250
238
        unsigned char UserParam7;             // Wert : 0-250
239
        unsigned char UserParam8;             // Wert : 0-250
240
        //---Output ---------------------------------------------
241
        unsigned char J16Bitmask;             // for the J16 Output
242
        unsigned char J16Timing;              // for the J16 Output
243
        unsigned char J17Bitmask;             // for the J17 Output
244
        unsigned char J17Timing;              // for the J17 Output
245
        // seit version V0.75c
246
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
247
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
248
        //---NaviCtrl---------------------------------------------
249
        unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
250
        unsigned char NaviGpsGain;
251
        unsigned char NaviGpsP;
252
        unsigned char NaviGpsI;
253
        unsigned char NaviGpsD;
254
        unsigned char NaviGpsPLimit;
255
        unsigned char NaviGpsILimit;
256
        unsigned char NaviGpsDLimit;
257
        unsigned char NaviGpsACC;
258
        unsigned char NaviGpsMinSat;
259
        unsigned char NaviStickThreshold;
260
        unsigned char NaviWindCorrection;
261
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
262
        unsigned char NaviOperatingRadius;
263
        unsigned char NaviAngleLimitation;
264
        unsigned char NaviPH_LoginTime;
265
        //---Ext.Ctrl---------------------------------------------
266
        unsigned char ExternalControl;         // for serial Control
267
        //---CareFree---------------------------------------------
268
        unsigned char OrientationAngle;        // Where is the front-direction?
269
        unsigned char CareFreeModeControl;         // switch for CareFree
270
                unsigned char MotorSafetySwitch;
271
                unsigned char MotorSmooth;
272
                unsigned char ComingHomeAltitude;
273
                unsigned char FailSafeTime;
274
                unsigned char MaxAltitude;
1591 - 275
                unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
276
                unsigned char ServoFilterNick;  
277
                unsigned char ServoFilterRoll;                 
1468 - 278
        //------------------------------------------------
279
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
280
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
281
        unsigned char ExtraConfig;        // bitcodiert
1591 - 282
                unsigned char GlobalConfig3;      // bitcodiert         
1468 - 283
        char Name[12];
284
        unsigned char crc;                                // must be the last byte!
783 - 285
} __attribute__((packed)) paramset_t;
407 cascade 286
 
783 - 287
typedef struct {
288
        u8 SettingsIndex;
289
        paramset_t param;
290
} __attribute__((packed)) paramset_serial;
407 cascade 291
 
1801 - 292
 
293
 
294
/*
295
 * MikroKopter 3D-Data struct
296
 * portions taken and adapted from
297
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
298
 */
299
typedef struct {
300
    s16 AngleNick;  // in 0.1 deg
301
    s16 AngleRoll;   // in 0.1 deg
302
    s16 Heading;    // in 0.1 deg
303
    u8 StickNick;
304
    u8 StickRoll;
305
    u8 StickYaw;
306
    u8 StickGas;
307
    u8 reserve[4];
308
} __attribute__((packed)) Data3D_t;
309
 
310
extern Data3D_t Data3D;
311
 
762 - 312
#endif