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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