Subversion Repositories Projects

Rev

Rev 339 | Rev 675 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
331 cascade 1
/****************************************************************************
2
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
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          *
13
 *   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
 
21
/* ##########################################################################
22
 * gain some fake arm compat :)
23
 * ##########################################################################*/
24
#define u8 uint8_t
25
#define s8 int8_t
26
#define u16 uint16_t
27
#define s16 int16_t
28
#define u32 uint32_t
29
#define s32 int32_t
30
 
31
/*
32
 * FC Debug Struct
33
 * portions taken and adapted from
34
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
35
 */
36
typedef struct {
37
    uint8_t Digital[2];
38
    uint16_t Analog[32]; // Debugvalues
39
} __attribute__((packed)) DebugOut_t;
40
 
41
/*
42
 * NaviCtrl OSD Structs
43
 * portions taken and adapted from
339 cascade 44
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
331 cascade 45
 */
46
typedef struct {
47
    s32 Longitude; // in 1E-7 deg
48
    s32 Latitude; // in 1E-7 deg
49
    s32 Altitude; // in mm
50
    u8 Status; // validity of data
51
} __attribute__((packed)) GPS_Pos_t;
52
 
53
typedef struct {
54
    s16 Distance; // distance to target in cm
55
    s16 Bearing; // course to target in deg
56
} __attribute__((packed)) GPS_PosDev_t;
57
 
58
typedef struct {
339 cascade 59
        u8 Version;                                             // version of the data structure
60
        GPS_Pos_t CurrentPosition;              // see ubx.h for details
61
        GPS_Pos_t TargetPosition;
62
        GPS_PosDev_t TargetPositionDeviation;
63
        GPS_Pos_t HomePosition;
64
        GPS_PosDev_t HomePositionDeviation;
65
        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
66
        u8  WaypointNumber;                             // number of stored waypoints
67
        u8  SatsInUse;                                  // number of satellites used for position solution
68
        s16 Altimeter;                                  // hight according to air pressure
69
        s16 Variometer;                                 // climb(+) and sink(-) rate
70
        u16 FlyingTime;                                 // in seconds
71
        u8  UBat;                                               // Battery Voltage in 0.1 Volts
72
        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
73
        s16 Heading;                                    // current flight direction in  as angle to north
74
        s16     CompassHeading;                         // current compass value in 
75
        s8  AngleNick;                                  // current Nick angle in 1
76
        s8  AngleRoll;                                  // current Rick angle in 1
77
        u8  RC_Quality;                                 // RC_Quality
78
        u8  MKFlags;                                    // Flags from FC
79
        u8  NCFlags;                                    // Flags from NC
80
        u8  Errorcode;                                  // 0 --> okay
81
    u8  OperatingRadius;                        // current operation radius around the Home Position in m
82
        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
83
        u8 TargetHoldTime;                              // time in s to stay at the given target, counts down to 0 if target has been reached
84
        u8  Reserve[4];                                 // for future use
331 cascade 85
} __attribute__((packed)) NaviData_t;
86
 
87
/*
88
 * MikroKopter Flags
407 cascade 89
 * taken from
90
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
331 cascade 91
 */
92
#define FLAG_MOTOR_RUN  1
93
#define FLAG_FLY        2
94
#define FLAG_CALIBRATE  4
95
#define FLAG_START      8
407 cascade 96
 
97
/*
98
 * NaviCtrl Flags
99
 * taken from
100
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
101
 */
102
#define NC_FLAG_FREE                    0x01
103
#define NC_FLAG_PH                              0x02
104
#define NC_FLAG_CH                              0x04
105
#define NC_FLAG_RANGE_LIMIT             0x08
106
#define NC_FLAG_NOSERIALLINK    0x10
107
#define NC_FLAG_TARGET_REACHED  0x20
108
#define NC_FLAG_MANUAL_CONTROL  0x40
109
#define NC_FLAG_8                               0x80
110
 
111