WebSVN - Projects - Blame - Rev 730 - /Transportables

Rev	Author	Line No.	Line
730	woggle	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	//
		33	#define NUMBER_OF_DEBUG_DATAS 32
		34	#define ANALOG_NAME_LENGTH 16
		35
		36	// Version of supported serial protocol
		37	#define MIN_VERSION 7
		38	#define MAX_VERSION 10
		39
		40	// Setting index
		41	#define SETTING_1 1
		42	#define SETTING_2 2
		43	#define SETTING_3 3
		44	#define SETTING_4 4
		45	#define SETTING_5 5
		46	#define SETTING_CURRENT 0xff
		47
		48	typedef struct
		49	{
		50	unsigned char SWMajor;
		51	unsigned char SWMinor;
		52	unsigned char ProtoMajor;
		53	unsigned char ProtoMinor;
		54	unsigned char SWPatch;
		55	unsigned char Reserved[5];
		56	} __attribute__((packed)) Version_t;
		57
		58	/*
		59	* FC Debug Struct
		60	* portions taken and adapted from
		61	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
		62	*/
		63	typedef struct {
		64	uint8_t Digital[2];
		65	// NC: unsigned; FC: signed !!!!
		66	int16_t Analog[32]; // Debugvalues
		67	} __attribute__((packed)) DebugData_t;
		68
		69	typedef struct {
		70	uint8_t line;
		71	uint8_t text[20];
		72	} __attribute__((packed)) Display_t;
		73
		74	typedef struct
		75	{
		76	char Revision;
		77	char Name[12];
		78	signed char Motor[16][4];
		79	} __attribute__((packed)) Mixer_t;
		80
		81	/*
		82	* NaviCtrl OSD Structs
		83	* portions taken and adapted from
		84	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
		85	*/
		86	typedef struct
		87	{
		88	s16 AngleNick; // in 0.1 deg
		89	s16 AngleRoll; // in 0.1 deg
		90	s16 Heading; // in 0.1 deg
		91	u8 reserve[8];
		92	} __attribute__((packed)) Data3D_t;
		93
		94	typedef struct {
		95	s32 Longitude; // in 1E-7 deg
		96	s32 Latitude; // in 1E-7 deg
		97	s32 Altitude; // in mm
		98	u8 Status; // validity of data
		99	} __attribute__((packed)) GPS_Pos_t;
		100
		101	typedef struct {
		102	s16 Distance; // distance to target in cm
		103	s16 Bearing; // course to target in deg
		104	} __attribute__((packed)) GPS_PosDev_t;
		105
		106	#if 0
		107	typedef struct {
		108	u8 Version; // version of the data structure
		109	GPS_Pos_t CurrentPosition; // see ubx.h for details
		110	GPS_Pos_t TargetPosition;
		111	GPS_PosDev_t TargetPositionDeviation;
		112	GPS_Pos_t HomePosition;
		113	GPS_PosDev_t HomePositionDeviation;
		114	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		115	u8 WaypointNumber; // number of stored waypoints
		116	u8 SatsInUse; // number of satellites used for position solution
		117	s16 Altimeter; // hight according to air pressure
		118	s16 Variometer; // climb(+) and sink(-) rate
		119	u16 FlyingTime; // in seconds
		120	u8 UBat; // Battery Voltage in 0.1 Volts
		121	u16 GroundSpeed; // speed over ground in cm/s (2D)
		122	s16 Heading; // current flight direction in ∞ as angle to north
		123	s16 CompassHeading; // current compass value in ∞
		124	s8 AngleNick; // current Nick angle in 1∞
		125	s8 AngleRoll; // current Rick angle in 1∞
		126	u8 RC_Quality; // RC_Quality
		127	u8 MKFlags; // Flags from FC
		128	u8 NCFlags; // Flags from NC
		129	u8 Errorcode; // 0 --> okay
		130	u8 OperatingRadius; // current operation radius around the Home Position in m
		131	s16 TopSpeed; // velocity in vertical direction in cm/s
		132	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		133	u8 Reserve[4]; // for future use
		134	} __attribute__((packed)) NaviData_t;
		135	#endif
		136
		137	typedef struct
		138	{
		139	u8 Version; // version of the data structure
		140	GPS_Pos_t CurrentPosition; // see ubx.h for details
		141	GPS_Pos_t TargetPosition;
		142	GPS_PosDev_t TargetPositionDeviation;
		143	GPS_Pos_t HomePosition;
		144	GPS_PosDev_t HomePositionDeviation;
		145	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		146	u8 WaypointNumber; // number of stored waypoints
		147	u8 SatsInUse; // number of satellites used for position solution
		148	s16 Altimeter; // hight according to air pressure
		149	s16 Variometer; // climb(+) and sink(-) rate
		150	u16 FlyingTime; // in seconds
		151	u8 UBat; // Battery Voltage in 0.1 Volts
		152	u16 GroundSpeed; // speed over ground in cm/s (2D)
		153	s16 Heading; // current flight direction in ° as angle to north
		154	s16 CompassHeading; // current compass value in °
		155	s8 AngleNick; // current Nick angle in 1°
		156	s8 AngleRoll; // current Rick angle in 1°
		157	u8 RC_Quality; // RC_Quality
		158	u8 FCFlags; // Flags from FC
		159	u8 NCFlags; // Flags from NC
		160	u8 Errorcode; // 0 --> okay
		161	u8 OperatingRadius; // current operation radius around the Home Position in m
		162	s16 TopSpeed; // velocity in vertical direction in cm/s
		163	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		164	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
		165	s16 SetpointAltitude; // setpoint for altitude
		166	u8 Gas; // for future use
		167	u16 Current; // actual current in 0.1A steps
		168	u16 UsedCapacity; // used capacity in mAh
		169	} __attribute__((packed)) NaviData_t;
		170
		171	/*
		172	* MikroKopter Flags
		173	* taken from
		174	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
		175	*/
		176	#define FCFLAG_MOTOR_RUN 0x01
		177	#define FCFLAG_FLY 0x02
		178	#define FCFLAG_CALIBRATE 0x04
		179	#define FCFLAG_START 0x08
		180	#define FCFLAG_NOTLANDUNG 0x10
		181	#define FCFLAG_LOWBAT 0x20
		182	#define FCFLAG_SPI_RX_ERR 0x40
		183	#define FCFLAG_I2CERR 0x80
		184
		185	/*
		186	* NaviCtrl Flags
		187	* taken from
		188	* http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
		189	*/
		190	#define NC_FLAG_FREE 0x01
		191	#define NC_FLAG_PH 0x02
		192	#define NC_FLAG_CH 0x04
		193	#define NC_FLAG_RANGE_LIMIT 0x08
		194	#define NC_FLAG_NOSERIALLINK 0x10
		195	#define NC_FLAG_TARGET_REACHED 0x20
		196	#define NC_FLAG_MANUAL_CONTROL 0x40
		197	#define NC_FLAG_8 0x80
		198
		199	#if 0
		200	typedef struct
		201	{
		202	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
		203	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
		204	unsigned char Hoehe_MinGas; // Wert : 0-100
		205	unsigned char Luftdruck_D; // Wert : 0-250
		206	unsigned char MaxHoehe; // Wert : 0-32
		207	unsigned char Hoehe_P; // Wert : 0-32
		208	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
		209	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
		210	unsigned char Hoehe_HoverBand; // Wert : 0-250
		211	unsigned char Hoehe_GPS_Z; // Wert : 0-250
		212	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
		213	unsigned char Stick_P; // Wert : 1-6
		214	unsigned char Stick_D; // Wert : 0-64
		215	unsigned char Gier_P; // Wert : 1-20
		216	unsigned char Gas_Min; // Wert : 0-32
		217	unsigned char Gas_Max; // Wert : 33-250
		218	unsigned char GyroAccFaktor; // Wert : 1-64
		219	unsigned char KompassWirkung; // Wert : 0-32
		220	unsigned char Gyro_P; // Wert : 10-250
		221	unsigned char Gyro_I; // Wert : 0-250
		222	unsigned char Gyro_D; // Wert : 0-250
		223	unsigned char Gyro_Gier_P; // Wert : 10-250
		224	unsigned char Gyro_Gier_I; // Wert : 0-250
		225	unsigned char UnterspannungsWarnung; // Wert : 0-250
		226	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
		227	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
		228	unsigned char UfoAusrichtung; // X oder + Formation
		229	unsigned char I_Faktor; // Wert : 0-250
		230	unsigned char UserParam1; // Wert : 0-250
		231	unsigned char UserParam2; // Wert : 0-250
		232	unsigned char UserParam3; // Wert : 0-250
		233	unsigned char UserParam4; // Wert : 0-250
		234	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
		235	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
		236	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
		237	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
		238	//--- Seit V0.75
		239	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
		240	unsigned char ServoRollComp; // Wert : 0-250
		241	unsigned char ServoRollMin; // Wert : 0-250
		242	unsigned char ServoRollMax; // Wert : 0-250
		243	//---
		244	unsigned char ServoNickRefresh; //
		245	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
		246	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
		247	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
		248	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
		249	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
		250	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
		251	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
		252	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
		253	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
		254	unsigned char Driftkomp;
		255	unsigned char DynamicStability;
		256	unsigned char UserParam5; // Wert : 0-250
		257	unsigned char UserParam6; // Wert : 0-250
		258	unsigned char UserParam7; // Wert : 0-250
		259	unsigned char UserParam8; // Wert : 0-250
		260	//---Output ---------------------------------------------
		261	unsigned char J16Bitmask; // for the J16 Output
		262	unsigned char J16Timing; // for the J16 Output
		263	unsigned char J17Bitmask; // for the J17 Output
		264	unsigned char J17Timing; // for the J17 Output
		265	// seit version V0.75c
		266	unsigned char WARN_J16_Bitmask; // for the J16 Output
		267	unsigned char WARN_J17_Bitmask; // for the J17 Output
		268	//---NaviCtrl---------------------------------------------
		269	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
		270	unsigned char NaviGpsGain;
		271	unsigned char NaviGpsP;
		272	unsigned char NaviGpsI;
		273	unsigned char NaviGpsD;
		274	unsigned char NaviGpsPLimit;
		275	unsigned char NaviGpsILimit;
		276	unsigned char NaviGpsDLimit;
		277	unsigned char NaviGpsACC;
		278	unsigned char NaviGpsMinSat;
		279	unsigned char NaviStickThreshold;
		280	unsigned char NaviWindCorrection;
		281	unsigned char NaviSpeedCompensation;
		282	unsigned char NaviOperatingRadius;
		283	unsigned char NaviAngleLimitation;
		284	unsigned char NaviPH_LoginTime;
		285	//---Ext.Ctrl---------------------------------------------
		286	unsigned char ExternalControl; // for serial Control
		287	//------------------------------------------------
		288	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
		289	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
		290	unsigned char ExtraConfig; // bitcodiert
		291	char Name[12];
		292	} __attribute__((packed)) mk_param_struct_t;
		293	#endif
		294	typedef struct
		295	{
		296	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
		297	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
		298	unsigned char Hoehe_MinGas; // Wert : 0-100
		299	unsigned char Luftdruck_D; // Wert : 0-250
		300	unsigned char MaxHoehe; // Wert : 0-32
		301	unsigned char Hoehe_P; // Wert : 0-32
		302	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
		303	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
		304	unsigned char Hoehe_HoverBand; // Wert : 0-250
		305	unsigned char Hoehe_GPS_Z; // Wert : 0-250
		306	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
		307	unsigned char Stick_P; // Wert : 1-6
		308	unsigned char Stick_D; // Wert : 0-64
		309	unsigned char Gier_P; // Wert : 1-20
		310	unsigned char Gas_Min; // Wert : 0-32
		311	unsigned char Gas_Max; // Wert : 33-250
		312	unsigned char GyroAccFaktor; // Wert : 1-64
		313	unsigned char KompassWirkung; // Wert : 0-32
		314	unsigned char Gyro_P; // Wert : 10-250
		315	unsigned char Gyro_I; // Wert : 0-250
		316	unsigned char Gyro_D; // Wert : 0-250
		317	unsigned char Gyro_Gier_P; // Wert : 10-250
		318	unsigned char Gyro_Gier_I; // Wert : 0-250
		319	unsigned char UnterspannungsWarnung; // Wert : 0-250
		320	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
		321	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
		322	unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
		323	unsigned char I_Faktor; // Wert : 0-250
		324	unsigned char UserParam1; // Wert : 0-250
		325	unsigned char UserParam2; // Wert : 0-250
		326	unsigned char UserParam3; // Wert : 0-250
		327	unsigned char UserParam4; // Wert : 0-250
		328	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
		329	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
		330	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
		331	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
		332	//--- Seit V0.75
		333	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
		334	unsigned char ServoRollComp; // Wert : 0-250
		335	unsigned char ServoRollMin; // Wert : 0-250
		336	unsigned char ServoRollMax; // Wert : 0-250
		337	//---
		338	unsigned char ServoNickRefresh; // Speed of the Servo
		339	unsigned char Servo3; // Value or mapping of the Servo Output
		340	unsigned char Servo4; // Value or mapping of the Servo Output
		341	unsigned char Servo5; // Value or mapping of the Servo Output
		342	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
		343	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
		344	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
		345	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
		346	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
		347	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
		348	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
		349	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
		350	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
		351	unsigned char Driftkomp;
		352	unsigned char DynamicStability;
		353	unsigned char UserParam5; // Wert : 0-250
		354	unsigned char UserParam6; // Wert : 0-250
		355	unsigned char UserParam7; // Wert : 0-250
		356	unsigned char UserParam8; // Wert : 0-250
		357	//---Output ---------------------------------------------
		358	unsigned char J16Bitmask; // for the J16 Output
		359	unsigned char J16Timing; // for the J16 Output
		360	unsigned char J17Bitmask; // for the J17 Output
		361	unsigned char J17Timing; // for the J17 Output
		362	// seit version V0.75c
		363	unsigned char WARN_J16_Bitmask; // for the J16 Output
		364	unsigned char WARN_J17_Bitmask; // for the J17 Output
		365	//---NaviCtrl---------------------------------------------
		366	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
		367	unsigned char NaviGpsGain;
		368	unsigned char NaviGpsP;
		369	unsigned char NaviGpsI;
		370	unsigned char NaviGpsD;
		371	unsigned char NaviGpsPLimit;
		372	unsigned char NaviGpsILimit;
		373	unsigned char NaviGpsDLimit;
		374	unsigned char NaviGpsACC;
		375	unsigned char NaviGpsMinSat;
		376	unsigned char NaviStickThreshold;
		377	unsigned char NaviWindCorrection;
		378	unsigned char NaviSpeedCompensation;
		379	unsigned char NaviOperatingRadius;
		380	unsigned char NaviAngleLimitation;
		381	unsigned char NaviPH_LoginTime;
		382	//---Ext.Ctrl---------------------------------------------
		383	unsigned char ExternalControl; // for serial Control
		384	//------------------------------------------------
		385	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
		386	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
		387	unsigned char ExtraConfig; // bitcodiert
		388	char Name[12];
		389	} __attribute__((packed)) mk_param_struct_t;
		390	#define STRUCT_PARAM_LAENGE sizeof(mk_param_struct_t)

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(root)/Transportables_Koptertool/trunk/mk-data-structs.h - Rev 730