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331 cascade 1
/****************************************************************************
2039 - 2
 *   Copyright (C) 2009-2014 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
 *                                                                          *
10
 *   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.              *
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 ****************************************************************************/
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
 
331 cascade 46
/*
47
 * FC Debug Struct
48
 * portions taken and adapted from
1591 - 49
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h
331 cascade 50
 */
1992 - 51
typedef struct {
52
    unsigned char Status[2];
53
    signed int Analog[32]; // Debugwerte
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} __attribute__((packed)) str_DebugOut;
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typedef struct {
1992 - 57
    unsigned char SWMajor;
58
    unsigned char SWMinor;
59
    unsigned char ProtoMajor;
60
    unsigned char ProtoMinor;
61
    unsigned char SWPatch;
62
    unsigned char HardwareError[5];
783 - 63
} __attribute__((packed)) str_VersionInfo;
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331 cascade 65
/*
783 - 66
 * NaviCtrl GPS Structs
761 - 67
 * portions taken and adapted from
783 - 68
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
331 cascade 69
 */
70
typedef struct {
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    s32 Longitude; // in 1E-7 deg
72
    s32 Latitude; // in 1E-7 deg
73
    s32 Altitude; // in mm
74
    u8 Status; // validity of data
761 - 75
} __attribute__((packed)) GPS_Pos_t;
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761 - 77
#define INVALID         0x00
78
#define NEWDATA         0x01
79
#define PROCESSED       0x02
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783 - 81
/*
82
 * NaviCtrl OSD Structs
83
 * portions taken and adapted from
2043 - 84
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/uart1.h
783 - 85
 */
761 - 86
typedef struct {
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    u16 Distance; // distance to target in dm
88
    s16 Bearing; // course to target in deg
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} __attribute__((packed)) GPS_PosDev_t;
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2039 - 91
#define NAVIDATA_VERSION 5
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93
typedef struct {
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    u8 Version; // version of the data structure
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    GPS_Pos_t CurrentPosition; // see gpspos.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;
100
    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
101
    u8 WaypointNumber; // number of stored waypoints
102
    u8 SatsInUse; // number of satellites used for position solution
103
    s16 Altimeter; // hight according to air pressure
104
    s16 Variometer; // climb(+) and sink(-) rate
105
    u16 FlyingTime; // in seconds
106
    u8 UBat; // Battery Voltage in 0.1 Volts
107
    u16 GroundSpeed; // speed over ground in cm/s (2D)
2039 - 108
    s16 Heading; // current flight direction in ° as angle to north
109
    s16 CompassHeading; // current compass value in °
110
    s8 AngleNick; // current Nick angle in 1°
111
    s8 AngleRoll; // current Rick angle in 1°
1992 - 112
    u8 RC_Quality; // RC_Quality
2039 - 113
    u8 FCStatusFlags; // Flags from FC
1992 - 114
    u8 NCFlags; // Flags from NC
115
    u8 Errorcode; // 0 --> okay
116
    u8 OperatingRadius; // current operation radius around the Home Position in m
117
    s16 TopSpeed; // velocity in vertical direction in cm/s
118
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
119
    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
120
    s16 SetpointAltitude; // setpoint for altitude
121
    u8 Gas; // for future use
122
    u16 Current; // actual current in 0.1A steps
123
    u16 UsedCapacity; // used capacity in mAh
331 cascade 124
} __attribute__((packed)) NaviData_t;
125
 
2039 - 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
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#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
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#define FCFLAG_NOTLANDUNG       0x10
145
#define FCFLAG_LOWBAT           0x20
832 - 146
#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
 
407 cascade 168
/*
783 - 169
 * MikroKopter config struct
170
 * portions taken and adapted from
2075 - 171
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.08a/eeprom.h
407 cascade 172
 */
2039 - 173
 
2075 - 174
#define EEPARAM_REVISION        103 // is count up, if paramater stucture has changed (compatibility)
2039 - 175
 
2043 - 176
 
177
typedef struct
178
{
2075 - 179
        unsigned char Revision;
180
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
181
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
182
        unsigned char Hoehe_MinGas;           // Wert : 0-100
183
        unsigned char Luftdruck_D;            // Wert : 0-250
184
        unsigned char HoeheChannel;           // Wert : 0-32
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        unsigned char Hoehe_P;                // Wert : 0-32
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        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
188
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
189
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
190
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
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        unsigned char Stick_P;                // Wert : 1-6
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        unsigned char Stick_D;                // Wert : 0-64
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        unsigned char StickGier_P;            // Wert : 1-20
194
        unsigned char Gas_Min;                // Wert : 0-32
195
        unsigned char Gas_Max;                // Wert : 33-250
196
        unsigned char GyroAccFaktor;          // Wert : 1-64
197
        unsigned char KompassWirkung;         // Wert : 0-32
198
        unsigned char Gyro_P;                 // Wert : 10-250
199
        unsigned char Gyro_I;                 // Wert : 0-250
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        unsigned char Gyro_D;                 // Wert : 0-250
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        unsigned char Gyro_Gier_P;            // Wert : 10-250
202
        unsigned char Gyro_Gier_I;            // Wert : 0-250
203
        unsigned char Gyro_Stability;         // Wert : 0-16
204
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
205
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
206
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
207
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
208
        unsigned char I_Faktor;               // Wert : 0-250
209
        unsigned char UserParam1;             // Wert : 0-250
210
        unsigned char UserParam2;             // Wert : 0-250
211
        unsigned char UserParam3;             // Wert : 0-250
212
        unsigned char UserParam4;             // Wert : 0-250
213
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
214
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
215
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
216
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
217
        //--- Seit V0.75
218
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
219
        unsigned char ServoRollComp;          // Wert : 0-250
220
        unsigned char ServoRollMin;           // Wert : 0-250
221
        unsigned char ServoRollMax;           // Wert : 0-250
222
        //---
223
        unsigned char ServoNickRefresh;       // Speed of the Servo
2043 - 224
    unsigned char ServoManualControlSpeed;//
225
    unsigned char CamOrientation;         //
2075 - 226
        unsigned char Servo3;                    // Value or mapping of the Servo Output
227
        unsigned char Servo4;                            // Value or mapping of the Servo Output
228
        unsigned char Servo5;                            // Value or mapping of the Servo Output
229
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
230
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
231
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
232
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
233
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
234
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
235
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
236
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
237
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
238
        unsigned char Driftkomp;
239
        unsigned char DynamicStability;
240
        unsigned char UserParam5;             // Wert : 0-250
241
        unsigned char UserParam6;             // Wert : 0-250
242
        unsigned char UserParam7;             // Wert : 0-250
243
        unsigned char UserParam8;             // Wert : 0-250
244
        //---Output ---------------------------------------------
245
        unsigned char J16Bitmask;             // for the J16 Output
246
        unsigned char J16Timing;              // for the J16 Output
247
        unsigned char J17Bitmask;             // for the J17 Output
248
        unsigned char J17Timing;              // for the J17 Output
249
        // seit version V0.75c
250
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
251
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
252
        //---NaviCtrl---------------------------------------------
253
        unsigned char AutoPhotoDistance;      // Auto Photo
254
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
255
        unsigned char NaviGpsGain;
256
        unsigned char NaviGpsP;
257
        unsigned char NaviGpsI;
258
        unsigned char NaviGpsD;
259
        unsigned char NaviGpsPLimit;
260
        unsigned char NaviGpsILimit;
261
        unsigned char NaviGpsDLimit;
262
        unsigned char NaviGpsA;
263
        unsigned char NaviGpsMinSat;
264
        unsigned char NaviStickThreshold;
265
        unsigned char NaviWindCorrection;
266
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
267
        unsigned char NaviMaxFlyingRange;     // in 10m
268
        unsigned char NaviAngleLimitation;
269
        unsigned char NaviPH_LoginTime;
270
        unsigned char NaviDescendRange;
271
        //---Ext.Ctrl---------------------------------------------
272
        unsigned char ExternalControl;         // for serial Control
273
        //---CareFree---------------------------------------------
274
        unsigned char OrientationAngle;        // Where is the front-direction?
275
        unsigned char CareFreeChannel;     // switch for CareFree
1992 - 276
    unsigned char MotorSafetySwitch;
277
    unsigned char MotorSmooth;
278
    unsigned char ComingHomeAltitude;
279
    unsigned char FailSafeTime;
280
    unsigned char MaxAltitude;
2075 - 281
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
282
        unsigned char ServoFilterNick;  
283
        unsigned char ServoFilterRoll;  
2043 - 284
    unsigned char Servo3OnValue;
285
    unsigned char Servo3OffValue;
286
    unsigned char Servo4OnValue;
287
    unsigned char Servo4OffValue;
2075 - 288
        unsigned char StartLandChannel;  
289
        unsigned char LandingSpeed;  
290
        unsigned char CompassOffset;        
291
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
292
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
293
        unsigned char AutoPhotoAtitudes;
294
        unsigned char SingleWpSpeed;
295
        //------------------------------------------------
296
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
297
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
298
        unsigned char ExtraConfig;        // bitcodiert
299
        unsigned char GlobalConfig3;      // bitcodiert
300
        char Name[12];
301
        unsigned char crc;                                // must be the last byte!
302
} paramset_t; // 134 bytes (V1.06)
407 cascade 303
 
2075 - 304
 
783 - 305
typedef struct {
1992 - 306
    u8 SettingsIndex;
307
    paramset_t param;
783 - 308
} __attribute__((packed)) paramset_serial;
407 cascade 309
 
1801 - 310
/*
311
 * MikroKopter 3D-Data struct
312
 * portions taken and adapted from
313
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
314
 */
315
typedef struct {
1992 - 316
    s16 AngleNick; // in 0.1 deg
317
    s16 AngleRoll; // in 0.1 deg
318
    s16 Heading; // in 0.1 deg
1801 - 319
    u8 StickNick;
320
    u8 StickRoll;
321
    u8 StickYaw;
322
    u8 StickGas;
323
    u8 reserve[4];
324
} __attribute__((packed)) Data3D_t;
325
 
326
extern Data3D_t Data3D;
327
 
2000 - 328
#endif