Subversion Repositories Projects

Rev

Rev 783 | Rev 833 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
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/                      *
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
 
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
 
331 cascade 47
/*
48
 * FC Debug Struct
49
 * portions taken and adapted from
783 - 50
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
331 cascade 51
 */
783 - 52
typedef struct  {
53
        unsigned char Status[2];
54
        signed int Analog[32];    // Debugwerte
55
} __attribute__((packed)) str_DebugOut;
331 cascade 56
 
677 cascade 57
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;
677 cascade 65
 
331 cascade 66
/*
783 - 67
 * NaviCtrl GPS Structs
761 - 68
 * portions taken and adapted from
783 - 69
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
331 cascade 70
 */
71
typedef struct {
783 - 72
        s32 Longitude;  // in 1E-7 deg
73
        s32 Latitude;   // in 1E-7 deg
74
        s32 Altitude;   // in mm
75
        u8 Status;// validity of data
761 - 76
} __attribute__((packed)) GPS_Pos_t;
783 - 77
 
761 - 78
#define INVALID         0x00
79
#define NEWDATA         0x01
80
#define PROCESSED       0x02
331 cascade 81
 
783 - 82
 
83
/*
84
 * NaviCtrl OSD Structs
85
 * portions taken and adapted from
832 - 86
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/uart1.h
783 - 87
 */
761 - 88
typedef struct {
783 - 89
        u16 Distance;                                   // distance to target in dm
90
        s16 Bearing;                                    // course to target in deg
331 cascade 91
} __attribute__((packed)) GPS_PosDev_t;
92
 
93
typedef struct {
783 - 94
        u8 Version;                                             // version of the data structure
95
        GPS_Pos_t CurrentPosition;                              // see ubx.h for details
96
        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)
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°
112
        u8  RC_Quality;                                 // RC_Quality
113
        u8  FCFlags;                                    // Flags from FC
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  RC_RSSI;                                    // Receiver signal strength (since version 2 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
 
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
728 cascade 134
 
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
143
#define FCFLAG_START            0x08
144
#define FCFLAG_NOTLANDUNG       0x10
145
#define FCFLAG_LOWBAT           0x20
832 - 146
#define FCFLAG_VARIO_TRIM_UP    0x40
147
#define FCFLAG_VARIO_TRIM_DOWN  0x80
407 cascade 148
 
783 - 149
#define DEFEKT_G_NICK           0x01
150
#define DEFEKT_G_ROLL           0x02
151
#define DEFEKT_G_GIER           0x04
152
#define DEFEKT_A_NICK           0x08
153
#define DEFEKT_A_ROLL           0x10
154
#define DEFEKT_A_Z              0x20
155
#define DEFEKT_PRESSURE         0x40
156
#define DEFEKT_CAREFREE_ERR 0x80
734 cascade 157
 
783 - 158
#define DEFEKT_I2C              0x01
159
#define DEFEKT_BL_MISSING       0x02
160
#define DEFEKT_SPI_RX_ERR       0x04
161
#define DEFEKT_PPM_ERR          0x08
162
#define DEFEKT_MIXER_ERR    0x10
163
 
164
 
407 cascade 165
/*
783 - 166
 * MikroKopter config struct
167
 * portions taken and adapted from
168
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h
407 cascade 169
 */
783 - 170
typedef struct {
171
        unsigned char Revision;
172
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
173
        unsigned char GlobalConfig;           // 0x01=Hhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
174
        unsigned char Hoehe_MinGas;           // Wert : 0-100
175
        unsigned char Luftdruck_D;            // Wert : 0-250
176
        unsigned char MaxHoehe;               // Wert : 0-32
177
        unsigned char Hoehe_P;                // Wert : 0-32
178
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
179
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
180
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
181
        unsigned char Hoehe_GPS_Z;            // Wert : 0-250
182
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
183
        unsigned char Stick_P;                // Wert : 1-6
184
        unsigned char Stick_D;                // Wert : 0-64
185
        unsigned char Gier_P;                 // Wert : 1-20
186
        unsigned char Gas_Min;                // Wert : 0-32
187
        unsigned char Gas_Max;                // Wert : 33-250
188
        unsigned char GyroAccFaktor;          // Wert : 1-64
189
        unsigned char KompassWirkung;         // Wert : 0-32
190
        unsigned char Gyro_P;                 // Wert : 10-250
191
        unsigned char Gyro_I;                 // Wert : 0-250
192
        unsigned char Gyro_D;                 // Wert : 0-250
193
        unsigned char Gyro_Gier_P;            // Wert : 10-250
194
        unsigned char Gyro_Gier_I;            // Wert : 0-250
195
        unsigned char Gyro_Stability;         // Wert : 0-16
196
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
197
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empngsverlust
198
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
199
        unsigned char Receiver;               // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
200
        unsigned char I_Faktor;               // Wert : 0-250
201
        unsigned char UserParam1;             // Wert : 0-250
202
        unsigned char UserParam2;             // Wert : 0-250
203
        unsigned char UserParam3;             // Wert : 0-250
204
        unsigned char UserParam4;             // Wert : 0-250
205
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
206
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
207
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
208
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
209
        //--- Seit V0.75
210
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
211
        unsigned char ServoRollComp;          // Wert : 0-250
212
        unsigned char ServoRollMin;           // Wert : 0-250
213
        unsigned char ServoRollMax;           // Wert : 0-250
214
        //---
215
        unsigned char ServoNickRefresh;       // Speed of the Servo
832 - 216
        unsigned char ServoManualControlSpeed;// 
217
        unsigned char CamOrientation;         // 
783 - 218
        unsigned char Servo3;                 // Value or mapping of the Servo Output
219
        unsigned char Servo4;                 // Value or mapping of the Servo Output
220
        unsigned char Servo5;                 // Value or mapping of the Servo Output
221
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas whrend Looping
222
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle fr Stickausschlag
223
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese fr Stickausschlag
224
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
225
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
226
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
227
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180-Punkt
228
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180-Punkt
229
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
230
        unsigned char Driftkomp;
231
        unsigned char DynamicStability;
232
        unsigned char UserParam5;             // Wert : 0-250
233
        unsigned char UserParam6;             // Wert : 0-250
234
        unsigned char UserParam7;             // Wert : 0-250
235
        unsigned char UserParam8;             // Wert : 0-250
236
        //---Output ---------------------------------------------
237
        unsigned char J16Bitmask;             // for the J16 Output
238
        unsigned char J16Timing;              // for the J16 Output
239
        unsigned char J17Bitmask;             // for the J17 Output
240
        unsigned char J17Timing;              // for the J17 Output
241
        // seit version V0.75c
242
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
243
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
244
        //---NaviCtrl---------------------------------------------
245
        unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
246
        unsigned char NaviGpsGain;
247
        unsigned char NaviGpsP;
248
        unsigned char NaviGpsI;
249
        unsigned char NaviGpsD;
250
        unsigned char NaviGpsPLimit;
251
        unsigned char NaviGpsILimit;
252
        unsigned char NaviGpsDLimit;
253
        unsigned char NaviGpsACC;
254
        unsigned char NaviGpsMinSat;
255
        unsigned char NaviStickThreshold;
256
        unsigned char NaviWindCorrection;
257
        unsigned char NaviSpeedCompensation;
258
        unsigned char NaviOperatingRadius;
259
        unsigned char NaviAngleLimitation;
260
        unsigned char NaviPH_LoginTime;
261
        //---Ext.Ctrl---------------------------------------------
262
        unsigned char ExternalControl;         // for serial Control
263
        //---CareFree---------------------------------------------
264
        unsigned char OrientationAngle;        // Where is the front-direction?
265
        unsigned char OrientationModeControl;  // switch for CareFree     
266
        //------------------------------------------------
267
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
268
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
269
        unsigned char ExtraConfig;        // bitcodiert
270
        char Name[12];
271
        unsigned char crc;                // must be the last byte!
272
} __attribute__((packed)) paramset_t;
407 cascade 273
 
783 - 274
typedef struct {
275
        u8 SettingsIndex;
276
        paramset_t param;
277
} __attribute__((packed)) paramset_serial;
407 cascade 278
 
762 - 279
#endif