WebSVN - Projects - Diff - Rev 1866 and 1992 - /C-OSD/trunk/mk-data-structs.h


/****************************************************************************
 *   Copyright (C) 2009-2013 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/V0.88e/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/V0.90j/eeprom.h
 */
typedef struct {
    unsigned char Revision;
    unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
    unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
    unsigned char Hoehe_MinGas; // Wert : 0-100
    unsigned char Luftdruck_D; // Wert : 0-250
    unsigned char MaxHoehe; // Wert : 0-32
    unsigned char Hoehe_P; // Wert : 0-32
    unsigned char Hoehe_Verstaerkung; // Wert : 0-50
    unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
    unsigned char Hoehe_HoverBand; // Wert : 0-250
    unsigned char Hoehe_GPS_Z; // Wert : 0-250
    unsigned char Hoehe_StickNeutralPoint; // Wert : 0-250
    unsigned char Stick_P; // Wert : 1-6
    unsigned char Stick_D; // Wert : 0-64
    unsigned char StickGier_P; // Wert : 1-20
    unsigned char Gas_Min; // Wert : 0-32
    unsigned char Gas_Max; // Wert : 33-250
    unsigned char GyroAccFaktor; // Wert : 1-64
    unsigned char KompassWirkung; // Wert : 0-32
    unsigned char Gyro_P; // Wert : 10-250
    unsigned char Gyro_I; // Wert : 0-250
    unsigned char Gyro_D; // Wert : 0-250
    unsigned char Gyro_Gier_P; // Wert : 10-250
    unsigned char Gyro_Gier_I; // Wert : 0-250
    unsigned char Gyro_Stability; // Wert : 0-16
    unsigned char UnterspannungsWarnung; // Wert : 0-250
    unsigned char NotGas; // Wert : 0-250     //Gaswert bei Empängsverlust
    unsigned char NotGasZeit; // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
    unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
    unsigned char I_Faktor; // Wert : 0-250
    unsigned char UserParam1; // Wert : 0-250
    unsigned char UserParam2; // Wert : 0-250
    unsigned char UserParam3; // Wert : 0-250
    unsigned char UserParam4; // Wert : 0-250
    unsigned char ServoNickControl; // Wert : 0-250     // Stellung des Servos
    unsigned char ServoNickComp; // Wert : 0-250     // Einfluss Gyro/Servo
    unsigned char ServoNickMin; // Wert : 0-250     // Anschlag
    unsigned char ServoNickMax; // Wert : 0-250     // Anschlag
    //--- Seit V0.75
    unsigned char ServoRollControl; // Wert : 0-250     // Stellung des Servos
    unsigned char ServoRollComp; // Wert : 0-250
    unsigned char ServoRollMin; // Wert : 0-250
    unsigned char ServoRollMax; // Wert : 0-250
    //---
    unsigned char ServoNickRefresh; // Speed of the Servo
    unsigned char ServoManualControlSpeed; //
    unsigned char CamOrientation; //
    unsigned char Servo3; // Value or mapping of the Servo Output
    unsigned char Servo4; // Value or mapping of the Servo Output
    unsigned char Servo5; // Value or mapping of the Servo Output
    unsigned char LoopGasLimit; // Wert: 0-250  max. Gas während Looping
    unsigned char LoopThreshold; // Wert: 0-250  Schwelle für Stickausschlag
    unsigned char LoopHysterese; // Wert: 0-250  Hysterese für Stickausschlag
    unsigned char AchsKopplung1; // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
    unsigned char AchsKopplung2; // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
    unsigned char CouplingYawCorrection; // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
    unsigned char WinkelUmschlagNick; // Wert: 0-250  180°-Punkt
    unsigned char WinkelUmschlagRoll; // Wert: 0-250  180°-Punkt
    unsigned char GyroAccAbgleich; // 1/k  (Koppel_ACC_Wirkung)
    unsigned char Driftkomp;
    unsigned char DynamicStability;
    unsigned char UserParam5; // Wert : 0-250
    unsigned char UserParam6; // Wert : 0-250
    unsigned char UserParam7; // Wert : 0-250
    unsigned char UserParam8; // Wert : 0-250
    //---Output ---------------------------------------------
    unsigned char J16Bitmask; // for the J16 Output
    unsigned char J16Timing; // for the J16 Output
    unsigned char J17Bitmask; // for the J17 Output
    unsigned char J17Timing; // for the J17 Output
    // seit version V0.75c
    unsigned char WARN_J16_Bitmask; // for the J16 Output
    unsigned char WARN_J17_Bitmask; // for the J17 Output
    //---NaviCtrl---------------------------------------------
    unsigned char NaviOut1Parameter; // for the J16 Output
    unsigned char NaviGpsModeControl; // Parameters for the Naviboard
    unsigned char NaviGpsGain;
    unsigned char NaviGpsP;
    unsigned char NaviGpsI;
    unsigned char NaviGpsD;
    unsigned char NaviGpsPLimit;
    unsigned char NaviGpsILimit;
    unsigned char NaviGpsDLimit;
    unsigned char NaviGpsACC;
    unsigned char NaviGpsMinSat;
    unsigned char NaviStickThreshold;
    unsigned char NaviWindCorrection;
    unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation
    unsigned char NaviOperatingRadius;
    unsigned char NaviAngleLimitation;
    unsigned char NaviPH_LoginTime;
    //---Ext.Ctrl---------------------------------------------
    unsigned char ExternalControl; // for serial Control
    //---CareFree---------------------------------------------
    unsigned char OrientationAngle; // Where is the front-direction?
    unsigned char CareFreeModeControl; // switch for CareFree
    unsigned char MotorSafetySwitch;
    unsigned char MotorSmooth;
    unsigned char ComingHomeAltitude;
    unsigned char FailSafeTime;
    unsigned char MaxAltitude;
    unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost"
    unsigned char ServoFilterNick;
    unsigned char ServoFilterRoll;
    //------------------------------------------------
    unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
    unsigned char ServoCompInvert; // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
    unsigned char ExtraConfig; // bitcodiert
    unsigned char GlobalConfig3; // bitcodiert
    char Name[12];
    unsigned char crc; // must be the last byte!
} paramset_t;
 
typedef struct {
    u8 SettingsIndex;
    paramset_t param;
} __attribute__((packed)) paramset_serial;
 
 
 
/*
 * MikroKopter 3D-Data struct
 * portions taken and adapted from
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
 */
typedef struct {
    s16 AngleNick; // in 0.1 deg
    s16 AngleRoll; // in 0.1 deg
    s16 Heading; // in 0.1 deg
    u8 StickNick;
    u8 StickRoll;
    u8 StickYaw;
    u8 StickGas;
    u8 reserve[4];
} __attribute__((packed)) Data3D_t;
 
extern Data3D_t Data3D;
 
#endif
 
Subversion Repositories Projects

(root)/C-OSD/trunk/mk-data-structs.h @ 2000 - Rev 1866 → 1992
