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/****************************************************************************
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 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
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 *   admiralcascade@gmail.com                                               *
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 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
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 *                                                                          *
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 *   This program is free software; you can redistribute it and/or modify   *
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 *   it under the terms of the GNU General Public License as published by   *
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 *   the Free Software Foundation; either version 2 of the License.         *
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 *                                                                          *
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 *   This program is distributed in the hope that it will be useful,        *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   GNU General Public License for more details.                           *
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 *                                                                          *
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 *   You should have received a copy of the GNU General Public License      *
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 *   along with this program; if not, write to the                          *
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 *   Free Software Foundation, Inc.,                                        *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
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 ****************************************************************************/
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#ifndef _MK_DATA_STRUCTS_H
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#define _MK_DATA_STRUCTS_H
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/* ##########################################################################
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 * gain some fake arm compat :)
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 * ##########################################################################*/
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#define u8 uint8_t
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#define s8 int8_t
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#define u16 uint16_t
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#define s16 int16_t
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#define u32 uint32_t
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#define s32 int32_t
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/*
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 * FC Debug Struct
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
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 */
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typedef struct  {
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        unsigned char Status[2];
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        signed int Analog[32];    // Debugwerte
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} __attribute__((packed)) str_DebugOut;
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typedef struct {
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        unsigned char SWMajor;
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        unsigned char SWMinor;
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        unsigned char ProtoMajor;
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        unsigned char ProtoMinor;
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        unsigned char SWPatch;
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        unsigned char HardwareError[5];
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} __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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 */
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typedef struct {
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        s32 Longitude;  // in 1E-7 deg
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        s32 Latitude;   // in 1E-7 deg
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        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
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#define NEWDATA         0x01
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#define PROCESSED       0x02
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/*
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 * NaviCtrl OSD 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/uart1.h
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 */
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typedef struct {
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        u16 Distance;                                   // distance to target in dm
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        s16 Bearing;                                    // course to target in deg
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} __attribute__((packed)) GPS_PosDev_t;
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typedef struct {
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        u8 Version;                                             // version of the data structure
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        GPS_Pos_t CurrentPosition;                              // see ubx.h for details
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        GPS_Pos_t TargetPosition;
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        GPS_PosDev_t TargetPositionDeviation;
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        GPS_Pos_t HomePosition;
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        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
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        u16 FlyingTime;                                 // in seconds
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        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
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        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  RC_RSSI;                                    // Receiver signal strength (since version 2 added)
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        s16 SetpointAltitude;                                   // setpoint for altitude
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        u8  Gas;                                        // for future use
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        u16 Current;                                    // actual current in 0.1A steps
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        u16 UsedCapacity;                               // used capacity in mAh
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} __attribute__((packed)) NaviData_t;
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#define NC_FLAG_FREE                    0x01
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#define NC_FLAG_PH                              0x02
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_8                               0x80
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/*
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 * MikroKopter Flags
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
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 */
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#define FCFLAG_MOTOR_RUN        0x01
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#define FCFLAG_FLY              0x02
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#define FCFLAG_CALIBRATE        0x04
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#define FCFLAG_START            0x08
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_SPI_RX_ERR       0x40
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#define FCFLAG_I2CERR           0x80
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#define DEFEKT_G_NICK           0x01
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#define DEFEKT_G_ROLL           0x02
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#define DEFEKT_G_GIER           0x04
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#define DEFEKT_A_NICK           0x08
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#define DEFEKT_A_ROLL           0x10
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#define DEFEKT_A_Z              0x20
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#define DEFEKT_PRESSURE         0x40
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#define DEFEKT_CAREFREE_ERR 0x80
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#define DEFEKT_I2C              0x01
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#define DEFEKT_BL_MISSING       0x02
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#define DEFEKT_SPI_RX_ERR       0x04
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#define DEFEKT_PPM_ERR          0x08
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#define DEFEKT_MIXER_ERR    0x10
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/*
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 * MikroKopter config struct
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h
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 */
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typedef struct {
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        unsigned char Revision;
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        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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        unsigned char GlobalConfig;           // 0x01=Hhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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        unsigned char Hoehe_MinGas;           // Wert : 0-100
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        unsigned char Luftdruck_D;            // Wert : 0-250
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        unsigned char MaxHoehe;               // 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
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        unsigned char Hoehe_HoverBand;        // Wert : 0-250
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        unsigned char Hoehe_GPS_Z;            // Wert : 0-250
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        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 Gier_P;                 // Wert : 1-20
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        unsigned char Gas_Min;                // Wert : 0-32
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        unsigned char Gas_Max;                // Wert : 33-250
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        unsigned char GyroAccFaktor;          // Wert : 1-64
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        unsigned char KompassWirkung;         // Wert : 0-32
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        unsigned char Gyro_P;                 // Wert : 10-250
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        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
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        unsigned char Gyro_Gier_I;            // Wert : 0-250
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        unsigned char Gyro_Stability;         // Wert : 0-16
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        unsigned char UnterspannungsWarnung;  // Wert : 0-250
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        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empngsverlust
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        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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        unsigned char Receiver;               // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
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        unsigned char I_Faktor;               // Wert : 0-250
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        unsigned char UserParam1;             // Wert : 0-250
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        unsigned char UserParam2;             // Wert : 0-250
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        unsigned char UserParam3;             // Wert : 0-250
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        unsigned char UserParam4;             // Wert : 0-250
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        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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        //--- Seit V0.75
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        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoRollComp;          // Wert : 0-250
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        unsigned char ServoRollMin;           // Wert : 0-250
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        unsigned char ServoRollMax;           // Wert : 0-250
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        //---
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        unsigned char ServoNickRefresh;       // Speed of the Servo
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        unsigned char Servo3;                 // Value or mapping of the Servo Output
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        unsigned char Servo4;                 // Value or mapping of the Servo Output
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        unsigned char Servo5;                 // Value or mapping of the Servo Output
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        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas whrend Looping
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        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle fr Stickausschlag
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        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese fr Stickausschlag
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        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180-Punkt
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        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180-Punkt
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        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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        unsigned char Driftkomp;
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        unsigned char DynamicStability;
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        unsigned char UserParam5;             // Wert : 0-250
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        unsigned char UserParam6;             // Wert : 0-250
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        unsigned char UserParam7;             // Wert : 0-250
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        unsigned char UserParam8;             // Wert : 0-250
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        //---Output ---------------------------------------------
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        unsigned char J16Bitmask;             // for the J16 Output
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        unsigned char J16Timing;              // for the J16 Output
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        unsigned char J17Bitmask;             // for the J17 Output
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        unsigned char J17Timing;              // for the J17 Output
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        // seit version V0.75c
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        unsigned char WARN_J16_Bitmask;       // for the J16 Output
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        unsigned char WARN_J17_Bitmask;       // for the J17 Output
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        //---NaviCtrl---------------------------------------------
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        unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
231
        unsigned char NaviGpsGain;
232
        unsigned char NaviGpsP;
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        unsigned char NaviGpsI;
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        unsigned char NaviGpsD;
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        unsigned char NaviGpsPLimit;
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        unsigned char NaviGpsILimit;
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        unsigned char NaviGpsDLimit;
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        unsigned char NaviGpsACC;
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        unsigned char NaviGpsMinSat;
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        unsigned char NaviStickThreshold;
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        unsigned char NaviWindCorrection;
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        unsigned char NaviSpeedCompensation;
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        unsigned char NaviOperatingRadius;
244
        unsigned char NaviAngleLimitation;
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        unsigned char NaviPH_LoginTime;
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        //---Ext.Ctrl---------------------------------------------
247
        unsigned char ExternalControl;         // for serial Control
248
        //---CareFree---------------------------------------------
249
        unsigned char OrientationAngle;        // Where is the front-direction?
250
        unsigned char OrientationModeControl;  // switch for CareFree     
251
        //------------------------------------------------
252
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
253
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
254
        unsigned char ExtraConfig;        // bitcodiert
255
        char Name[12];
256
        unsigned char crc;                // must be the last byte!
257
} __attribute__((packed)) paramset_t;
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783 - 259
typedef struct {
260
        u8 SettingsIndex;
261
        paramset_t param;
262
} __attribute__((packed)) paramset_serial;
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#endif