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/****************************************************************************
* Copyright (C) 2009-2018 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/V2.12a/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 LabelTextCRC;
unsigned char SWPatch;
unsigned char HardwareError[2];
unsigned char HWMajor;
unsigned char BL_Firmware;
unsigned char Flags;
} __attribute__((packed)) str_VersionInfo;
/*
* NaviCtrl GPS Structs
* portions taken and adapted from
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.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
#define SIMULATION 0x03
/*
* NaviCtrl OSD Structs
* portions taken and adapted from
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.20h/uart1.h
*/
typedef struct {
u16 Distance; // distance to target in dm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
#define NAVIDATA_VERSION 5
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ old protocol
//+ start abbo communication with: 'O' + Interval [10ms]
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
typedef struct // 84 Bytes (note: this is the old protocol)
{
u8 Version; // version of the data structure = 5
GPS_Pos_t CurrentPosition; // see gpspos.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_5cm; // 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 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx
u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx
u8 Errorcode; // 0 --> okay
u8 WP_OperatingRadius; // current WP 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; // current gas (thrust)
u16 Current; // actual current in 0.1A steps
u16 UsedCapacity; // used capacity in mAh
u8 reserve1; // to fit into 84 bytes (must be divisible by 3)
u8 reserve2; // to fit into 84 bytes (must be divisible by 3)
} __attribute__((packed)) NaviData_t;
extern NaviData_t NaviData;
/*
* NaviCtrl & FCFlags Flags
* portions taken and adapted from
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h
*/
// .NCFlags
#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
// FC.StatusFlags
#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.StatusFlags2
#define FC_STATUS2_CAREFREE 0x01
#define FC_STATUS2_ALTITUDE_CONTROL 0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
#define FC_STATUS2_OUT1_ACTIVE 0x08
#define FC_STATUS2_OUT2_ACTIVE 0x10
#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
#define FC_STATUS2_AUTO_STARTING 0x40
#define FC_STATUS2_AUTO_LANDING 0x80
// FC.StatusFlags3
#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01
#define FC_STATUS3_BOAT 0x02
#define FC_STATUS3_REDUNDANCE_ERROR 0x04
#define FC_STATUS3_REDUNDANCE_TEST 0x08
#define FC_STATUS3_NOT_CALIBRATED 0x10
#define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20
// FC ERRORS FLAGS
#define FC_ERROR0_GYRO_NICK 0x01
#define FC_ERROR0_GYRO_ROLL 0x02
#define FC_ERROR0_GYRO_YAW 0x04
#define FC_ERROR0_ACC_NICK 0x08
#define FC_ERROR0_ACC_ROLL 0x10
#define FC_ERROR0_ACC_TOP 0x20
#define FC_ERROR0_PRESSURE 0x40
#define FC_ERROR0_CAREFREE 0x80
#define FC_ERROR1_I2C 0x01
#define FC_ERROR1_BL_MISSING 0x02
#define FC_ERROR1_SPI_RX 0x04
#define FC_ERROR1_PPM 0x08
#define FC_ERROR1_MIXER 0x10
#define FC_ERROR1_RES1 0x20
#define FC_ERROR1_RES2 0x40
#define FC_ERROR1_RES3 0x80
/*
* MikroKopter config struct
* portions taken and adapted from
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.20c/eeprom.h
*/
#define EEPARAM_REVISION 113 // -> InsertDefaultParameters()
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility)
#define EE_BACKWARD_COMP 1 // count up if the eepropm parameters are not backwards compatible
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 HoeheChannel; // 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_TiltCompensation; // 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 AutoPhotoDistance; // Auto Photo
unsigned char NaviGpsModeChannel; // 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 NaviGpsA;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation
unsigned char NaviMaxFlyingRange; // in 10m
unsigned char NaviAngleLimitation;
unsigned char NaviPH_LoginTime;
unsigned char NaviDescendRange;
//---Ext.Ctrl---------------------------------------------
unsigned char ExternalControl; // for serial Control
//---CareFree---------------------------------------------
unsigned char OrientationAngle; // Where is the front-direction?
unsigned char CareFreeChannel; // 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 Servo3OnValue;
unsigned char Servo3OffValue;
unsigned char Servo4OnValue;
unsigned char Servo4OffValue;
unsigned char ServoFS_Pos[5];
unsigned char StartLandChannel;
unsigned char LandingSpeed;
unsigned char CompassOffset;
unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled
unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled
unsigned char AutoPhotoAtitudes;
unsigned char SingleWpSpeed;
unsigned char LandingPulse;
unsigned char SingleWpControlChannel;
unsigned char MenuKeyChannel;
unsigned char CamCtrlModeChannel;
unsigned char CamCtrlZoomChannel;
unsigned char FailsSafeAltitude;
unsigned char GimbalYawChannel;
unsigned char GimbalOut1Channel;
unsigned char GimbalOut2Channel;
unsigned char reserved[28]; // for later use
//------------------------------------------------
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; // since 2.14 -> size is always 179 Bytes
// -> if changed: update NC-Data structure also <-
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