| 0,0 → 1,141 |
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| /**************************************************************************** |
| * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
| * admiralcascade@gmail.com * |
| * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| ****************************************************************************/ |
| |
| /* ########################################################################## |
| * gain some fake arm compat :) |
| * ##########################################################################*/ |
| #define u8 uint8_t |
| #define s8 int8_t |
| #define u16 uint16_t |
| #define s16 int16_t |
| #define u32 uint32_t |
| #define s32 int32_t |
| |
| /* |
| * FC Debug Struct |
| * portions taken and adapted from |
| * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
| */ |
| typedef struct { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } __attribute__((packed)) DebugOut_t; |
| |
| |
| typedef struct { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char Reserved[5]; |
| } str_VersionInfo; |
| |
| |
| /* |
| * NaviCtrl OSD Structs |
| * portions taken and adapted from |
| * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h |
| */ |
| typedef struct { |
| s32 Longitude; // in 1E-7 deg |
| s32 Latitude; // in 1E-7 deg |
| s32 Altitude; // in mm |
| u8 Status; // validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define PROCESSED 0x02 |
| |
| |
| + u16 Distance; // distance to target in cm |
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| + s16 Bearing; // course to target in deg |
|---|
| +} __attribute__((packed)) GPS_PosDev_t; |
|---|
| + |
|---|
| +typedef struct { |
|---|
| + u8 Version; // version of the data structure |
|---|
| + GPS_Pos_t CurrentPosition; // see ubx.h for details |
|---|
| + GPS_Pos_t TargetPosition; |
|---|
| + GPS_PosDev_t TargetPositionDeviation; |
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| + GPS_Pos_t HomePosition; |
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| + GPS_PosDev_t HomePositionDeviation; |
|---|
| + u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| + u8 WaypointNumber; // number of stored waypoints |
|---|
| + u8 SatsInUse; // number of satellites used for position solution |
|---|
| + 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 |
|---|
| +} __attribute__((packed)) NaviData_t; |
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| + |
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| + |
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| +/* |
|---|
| + * MikroKopter Flags |
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| + * taken from |
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| + * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h |
|---|
| + */ |
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| +#define FCFLAG_MOTOR_RUN 0x01 |
|---|
| +#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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| + |
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| +// backward compat |
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| +#define FLAG_MOTOR_RUN FCFLAG_MOTOR_RUN |
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| +#define FLAG_FLY FCFLAG_FLY |
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| +#define FLAG_CALIBRATE FCFLAG_CALIBRATE |
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| +#define FLAG_START FCFLAG_START |
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| + |
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| +/* |
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| + * NaviCtrl Flags |
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| + * taken from |
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| + * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
|---|
| + */ |
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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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| + |
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