WebSVN - Projects - Diff - Rev 1437 and 1468 - /C-OSD/trunk/mk-data-structs.h


/****************************************************************************
 *   Copyright (C) 2009-2012 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.              *
 ****************************************************************************/
 
#ifndef _MK_DATA_STRUCTS_H
#define _MK_DATA_STRUCTS_H
 
/* ##########################################################################
 * 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
 
/**
 * MikroKopter Slave-Addresses
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
 */
#define ANY_ADDRESS 0
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define MKOSD_ADDRESS 4
#define BL_ADDRESS 5
 
 
/*
 * FC Debug Struct
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
 */
typedef struct  {
        unsigned char Status[2];
        signed int Analog[32];    // Debugwerte
} __attribute__((packed)) str_DebugOut;
 
typedef struct {
        unsigned char SWMajor;
        unsigned char SWMinor;
        unsigned char ProtoMajor;
        unsigned char ProtoMinor;
        unsigned char SWPatch;
        unsigned char HardwareError[5];
} __attribute__((packed)) str_VersionInfo;
 
/*
 * NaviCtrl GPS Structs
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.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
 
 
/*
 * NaviCtrl OSD Structs
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h
 */
typedef struct {
        u16 Distance;                                   // distance to target in dm
        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;
        GPS_Pos_t HomePosition;
        GPS_PosDev_t HomePositionDeviation;
        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
        u8  WaypointNumber;                             // number of stored waypoints
        u8  SatsInUse;                                  // number of satellites used for position solution
        s16 Altimeter;                                  // hight according to air pressure
        s16 Variometer;                                 // climb(+) and sink(-) rate
        u16 FlyingTime;                                 // in seconds
        u8  UBat;                                       // Battery Voltage in 0.1 Volts
        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
        s16 Heading;                                    // current flight direction in ° as angle to north
        s16 CompassHeading;                             // current compass value in °
        s8  AngleNick;                                  // current Nick angle in 1°
        s8  AngleRoll;                                  // current Rick angle in 1°
        u8  RC_Quality;                                 // RC_Quality
        u8  FCFlags;                                    // Flags from FC
        u8  NCFlags;                                    // Flags from NC
        u8  Errorcode;                                  // 0 --> okay
        u8  OperatingRadius;                            // current operation radius around the Home Position in m
        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
        s16 SetpointAltitude;                           // setpoint for altitude
        u8  Gas;                                        // for future use
        u16 Current;                                    // actual current in 0.1A steps
        u16 UsedCapacity;                               // used capacity in mAh
} __attribute__((packed)) NaviData_t;
 
#define NC_FLAG_FREE                    0x01
#define NC_FLAG_PH                              0x02
#define NC_FLAG_CH                              0x04
#define NC_FLAG_RANGE_LIMIT             0x08
#define NC_FLAG_NOSERIALLINK    0x10
#define NC_FLAG_TARGET_REACHED  0x20
#define NC_FLAG_MANUAL_CONTROL  0x40
#define NC_FLAG_GPS_OK                  0x80
 
/*
 * MikroKopter Flags
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
 */
#define FCFLAG_MOTOR_RUN        0x01
#define FCFLAG_FLY              0x02
#define FCFLAG_CALIBRATE        0x04
#define FCFLAG_START            0x08
#define FCFLAG_NOTLANDUNG       0x10
#define FCFLAG_LOWBAT           0x20
#define FCFLAG_VARIO_TRIM_UP    0x40
#define FCFLAG_VARIO_TRIM_DOWN  0x80
 
// FC STATUS FLAGS2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
 
#define DEFEKT_G_NICK           0x01
#define DEFEKT_G_ROLL           0x02
#define DEFEKT_G_GIER           0x04
#define DEFEKT_A_NICK           0x08
#define DEFEKT_A_ROLL           0x10
#define DEFEKT_A_Z              0x20
#define DEFEKT_PRESSURE         0x40
#define DEFEKT_CAREFREE_ERR 0x80
 
#define DEFEKT_I2C              0x01
#define DEFEKT_BL_MISSING       0x02
#define DEFEKT_SPI_RX_ERR       0x04
#define DEFEKT_PPM_ERR          0x08
#define DEFEKT_MIXER_ERR    0x10
 
 
/*
 * MikroKopter config struct
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.86d/eeprom.h
 */
typedef struct {
} __attribute__((packed)) paramset_t;
 
typedef struct {
        u8 SettingsIndex;
        paramset_t param;
} __attribute__((packed)) paramset_serial;
 
#endif
 

Rev 1437	Rev 1468
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009-2012 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009-2012 by Claas Anders "CaScAdE" Rathje *
3	* admiralcascade@gmail.com *	3	* admiralcascade@gmail.com *
4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *	4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
5	* *	5	* *
6	* This program is free software; you can redistribute it and/or modify *	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 *	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. *	8	* the Free Software Foundation; either version 2 of the License. *
9	* *	9	* *
10	* This program is distributed in the hope that it will be useful, *	10	* This program is distributed in the hope that it will be useful, *
11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13	* GNU General Public License for more details. *	13	* GNU General Public License for more details. *
14	* *	14	* *
15	* You should have received a copy of the GNU General Public License *	15	* You should have received a copy of the GNU General Public License *
16	* along with this program; if not, write to the *	16	* along with this program; if not, write to the *
17	* Free Software Foundation, Inc., *	17	* Free Software Foundation, Inc., *
18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19	****************************************************************************/	19	****************************************************************************/
20		20
21	#ifndef _MK_DATA_STRUCTS_H	21	#ifndef _MK_DATA_STRUCTS_H
22	#define _MK_DATA_STRUCTS_H	22	#define _MK_DATA_STRUCTS_H
23		23
24	/* ##########################################################################	24	/* ##########################################################################
25	* gain some fake arm compat :)	25	* gain some fake arm compat :)
26	* ##########################################################################*/	26	* ##########################################################################*/
27	#define u8 uint8_t	27	#define u8 uint8_t
28	#define s8 int8_t	28	#define s8 int8_t
29	#define u16 uint16_t	29	#define u16 uint16_t
30	#define s16 int16_t	30	#define s16 int16_t
31	#define u32 uint32_t	31	#define u32 uint32_t
32	#define s32 int32_t	32	#define s32 int32_t
33		33
34	/**	34	/**
35	* MikroKopter Slave-Addresses	35	* MikroKopter Slave-Addresses
36	* portions taken and adapted from	36	* portions taken and adapted from
37	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h	37	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
38	*/	38	*/
39	#define ANY_ADDRESS 0	39	#define ANY_ADDRESS 0
40	#define FC_ADDRESS 1	40	#define FC_ADDRESS 1
41	#define NC_ADDRESS 2	41	#define NC_ADDRESS 2
42	#define MK3MAG_ADDRESS 3	42	#define MK3MAG_ADDRESS 3
43	#define MKOSD_ADDRESS 4	43	#define MKOSD_ADDRESS 4
44	#define BL_ADDRESS 5	44	#define BL_ADDRESS 5
45		45
46		46
47	/*	47	/*
48	* FC Debug Struct	48	* FC Debug Struct
49	* portions taken and adapted from	49	* portions taken and adapted from
50	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h	50	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
51	*/	51	*/
52	typedef struct {	52	typedef struct {
53	unsigned char Status[2];	53	unsigned char Status[2];
54	signed int Analog[32]; // Debugwerte	54	signed int Analog[32]; // Debugwerte
55	} __attribute__((packed)) str_DebugOut;	55	} __attribute__((packed)) str_DebugOut;
56		56
57	typedef struct {	57	typedef struct {
58	unsigned char SWMajor;	58	unsigned char SWMajor;
59	unsigned char SWMinor;	59	unsigned char SWMinor;
60	unsigned char ProtoMajor;	60	unsigned char ProtoMajor;
61	unsigned char ProtoMinor;	61	unsigned char ProtoMinor;
62	unsigned char SWPatch;	62	unsigned char SWPatch;
63	unsigned char HardwareError[5];	63	unsigned char HardwareError[5];
64	} __attribute__((packed)) str_VersionInfo;	64	} __attribute__((packed)) str_VersionInfo;
65		65
66	/*	66	/*
67	* NaviCtrl GPS Structs	67	* NaviCtrl GPS Structs
68	* portions taken and adapted from	68	* portions taken and adapted from
69	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h	69	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
70	*/	70	*/
71	typedef struct {	71	typedef struct {
72	s32 Longitude; // in 1E-7 deg	72	s32 Longitude; // in 1E-7 deg
73	s32 Latitude; // in 1E-7 deg	73	s32 Latitude; // in 1E-7 deg
74	s32 Altitude; // in mm	74	s32 Altitude; // in mm
75	u8 Status;// validity of data	75	u8 Status;// validity of data
76	} __attribute__((packed)) GPS_Pos_t;	76	} __attribute__((packed)) GPS_Pos_t;
77		77
78	#define INVALID 0x00	78	#define INVALID 0x00
79	#define NEWDATA 0x01	79	#define NEWDATA 0x01
80	#define PROCESSED 0x02	80	#define PROCESSED 0x02
81		81
82		82
83	/*	83	/*
84	* NaviCtrl OSD Structs	84	* NaviCtrl OSD Structs
85	* portions taken and adapted from	85	* portions taken and adapted from
86	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h	86	* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h
87	*/	87	*/
88	typedef struct {	88	typedef struct {
89	u16 Distance; // distance to target in dm	89	u16 Distance; // distance to target in dm
90	s16 Bearing; // course to target in deg	90	s16 Bearing; // course to target in deg
91	} __attribute__((packed)) GPS_PosDev_t;	91	} __attribute__((packed)) GPS_PosDev_t;
92		92
93	typedef struct {	93	typedef struct {
94	u8 Version; // version of the data structure	94	u8 Version; // version of the data structure
95	GPS_Pos_t CurrentPosition; // see ubx.h for details	95	GPS_Pos_t CurrentPosition; // see ubx.h for details
96	GPS_Pos_t TargetPosition;	96	GPS_Pos_t TargetPosition;
97	GPS_PosDev_t TargetPositionDeviation;	97	GPS_PosDev_t TargetPositionDeviation;
98	GPS_Pos_t HomePosition;	98	GPS_Pos_t HomePosition;
99	GPS_PosDev_t HomePositionDeviation;	99	GPS_PosDev_t HomePositionDeviation;
100	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	100	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
101	u8 WaypointNumber; // number of stored waypoints	101	u8 WaypointNumber; // number of stored waypoints
102	u8 SatsInUse; // number of satellites used for position solution	102	u8 SatsInUse; // number of satellites used for position solution
103	s16 Altimeter; // hight according to air pressure	103	s16 Altimeter; // hight according to air pressure
104	s16 Variometer; // climb(+) and sink(-) rate	104	s16 Variometer; // climb(+) and sink(-) rate
105	u16 FlyingTime; // in seconds	105	u16 FlyingTime; // in seconds
106	u8 UBat; // Battery Voltage in 0.1 Volts	106	u8 UBat; // Battery Voltage in 0.1 Volts
107	u16 GroundSpeed; // speed over ground in cm/s (2D)	107	u16 GroundSpeed; // speed over ground in cm/s (2D)
108	s16 Heading; // current flight direction in ° as angle to north	108	s16 Heading; // current flight direction in ° as angle to north
109	s16 CompassHeading; // current compass value in °	109	s16 CompassHeading; // current compass value in °
110	s8 AngleNick; // current Nick angle in 1°	110	s8 AngleNick; // current Nick angle in 1°
111	s8 AngleRoll; // current Rick angle in 1°	111	s8 AngleRoll; // current Rick angle in 1°
112	u8 RC_Quality; // RC_Quality	112	u8 RC_Quality; // RC_Quality
113	u8 FCFlags; // Flags from FC	113	u8 FCFlags; // Flags from FC
114	u8 NCFlags; // Flags from NC	114	u8 NCFlags; // Flags from NC
115	u8 Errorcode; // 0 --> okay	115	u8 Errorcode; // 0 --> okay
116	u8 OperatingRadius; // current operation radius around the Home Position in m	116	u8 OperatingRadius; // current operation radius around the Home Position in m
117	s16 TopSpeed; // velocity in vertical direction in cm/s	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	118	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
119	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)	119	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
120	s16 SetpointAltitude; // setpoint for altitude	120	s16 SetpointAltitude; // setpoint for altitude
121	u8 Gas; // for future use	121	u8 Gas; // for future use
122	u16 Current; // actual current in 0.1A steps	122	u16 Current; // actual current in 0.1A steps
123	u16 UsedCapacity; // used capacity in mAh	123	u16 UsedCapacity; // used capacity in mAh
124	} __attribute__((packed)) NaviData_t;	124	} __attribute__((packed)) NaviData_t;
125		125
126	#define NC_FLAG_FREE 0x01	126	#define NC_FLAG_FREE 0x01
127	#define NC_FLAG_PH 0x02	127	#define NC_FLAG_PH 0x02
128	#define NC_FLAG_CH 0x04	128	#define NC_FLAG_CH 0x04
129	#define NC_FLAG_RANGE_LIMIT 0x08	129	#define NC_FLAG_RANGE_LIMIT 0x08
130	#define NC_FLAG_NOSERIALLINK 0x10	130	#define NC_FLAG_NOSERIALLINK 0x10
131	#define NC_FLAG_TARGET_REACHED 0x20	131	#define NC_FLAG_TARGET_REACHED 0x20
132	#define NC_FLAG_MANUAL_CONTROL 0x40	132	#define NC_FLAG_MANUAL_CONTROL 0x40
133	#define NC_FLAG_GPS_OK 0x80	133	#define NC_FLAG_GPS_OK 0x80
134		134
135	/*	135	/*
136	* MikroKopter Flags	136	* MikroKopter Flags
137	* portions taken and adapted from	137	* portions taken and adapted from
138	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h	138	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
139	*/	139	*/
140	#define FCFLAG_MOTOR_RUN 0x01	140	#define FCFLAG_MOTOR_RUN 0x01
141	#define FCFLAG_FLY 0x02	141	#define FCFLAG_FLY 0x02
142	#define FCFLAG_CALIBRATE 0x04	142	#define FCFLAG_CALIBRATE 0x04
143	#define FCFLAG_START 0x08	143	#define FCFLAG_START 0x08
144	#define FCFLAG_NOTLANDUNG 0x10	144	#define FCFLAG_NOTLANDUNG 0x10
145	#define FCFLAG_LOWBAT 0x20	145	#define FCFLAG_LOWBAT 0x20
146	#define FCFLAG_VARIO_TRIM_UP 0x40	146	#define FCFLAG_VARIO_TRIM_UP 0x40
147	#define FCFLAG_VARIO_TRIM_DOWN 0x80	147	#define FCFLAG_VARIO_TRIM_DOWN 0x80
148		148
149	// FC STATUS FLAGS2	149	// FC STATUS FLAGS2
150	#define FC_STATUS2_CAREFREE 0x01	150	#define FC_STATUS2_CAREFREE 0x01
151	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	151	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
152		152
153	#define DEFEKT_G_NICK 0x01	153	#define DEFEKT_G_NICK 0x01
154	#define DEFEKT_G_ROLL 0x02	154	#define DEFEKT_G_ROLL 0x02
155	#define DEFEKT_G_GIER 0x04	155	#define DEFEKT_G_GIER 0x04
156	#define DEFEKT_A_NICK 0x08	156	#define DEFEKT_A_NICK 0x08
157	#define DEFEKT_A_ROLL 0x10	157	#define DEFEKT_A_ROLL 0x10
158	#define DEFEKT_A_Z 0x20	158	#define DEFEKT_A_Z 0x20
159	#define DEFEKT_PRESSURE 0x40	159	#define DEFEKT_PRESSURE 0x40
160	#define DEFEKT_CAREFREE_ERR 0x80	160	#define DEFEKT_CAREFREE_ERR 0x80
161		161
162	#define DEFEKT_I2C 0x01	162	#define DEFEKT_I2C 0x01
163	#define DEFEKT_BL_MISSING 0x02	163	#define DEFEKT_BL_MISSING 0x02
164	#define DEFEKT_SPI_RX_ERR 0x04	164	#define DEFEKT_SPI_RX_ERR 0x04
165	#define DEFEKT_PPM_ERR 0x08	165	#define DEFEKT_PPM_ERR 0x08
166	#define DEFEKT_MIXER_ERR 0x10	166	#define DEFEKT_MIXER_ERR 0x10
167		167
168		168
169	/*	169	/*
170	* MikroKopter config struct	170	* MikroKopter config struct
171	* portions taken and adapted from	171	* portions taken and adapted from
172	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h	172	* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.86d/eeprom.h
173	*/	173	*/
174	typedef struct {	174	typedef struct {
277	} __attribute__((packed)) paramset_t;	281	} __attribute__((packed)) paramset_t;
278		282
279	typedef struct {	283	typedef struct {
280	u8 SettingsIndex;	284	u8 SettingsIndex;
281	paramset_t param;	285	paramset_t param;
282	} __attribute__((packed)) paramset_serial;	286	} __attribute__((packed)) paramset_serial;
283		287
284	#endif	288	#endif
285		289

Subversion Repositories Projects

(root)/C-OSD/trunk/mk-data-structs.h - Rev 1437 → 1468