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/****************************************************************************
 *   Copyright (C) 2009 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 :)
 * ##########################################################################*/



#ifndef _MK_DATA_STRUCTS_H
#define _MK_DATA_STRUCTS_H

// FC Version 0.82

#define EEProm_Version  85 // FC EEProm Revision / Struktur FC 0.82
#define FC_Version "0.82/0.84"    //Softwareversion der FC

#define u8 uint8_t
#define s8 int8_t
#define u16 uint16_t
#define s16 int16_t
#define u32 uint32_t
#define s32 int32_t

//*****************************************************************************
//
#define NUMBER_OF_DEBUG_DATAS 32
#define ANALOG_NAME_LENGTH 16

// Version of supported serial protocol
#define MIN_VERSION 7
#define MAX_VERSION 10

// Setting index
#define SETTING_1       1
#define SETTING_2       2
#define SETTING_3       3
#define SETTING_4       4
#define SETTING_5       5
#define SETTING_CURRENT 0xff

typedef struct
{
        unsigned char SWMajor;
        unsigned char SWMinor;
        unsigned char ProtoMajor;
        unsigned char ProtoMinor;
        unsigned char SWPatch;
        unsigned char HardwareError[5];
} __attribute__((packed)) Version_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];
        // NC: unsigned; FC: signed !!!!
        int16_t Analog[32];     // Debugvalues
} __attribute__((packed)) DebugData_t;

//typedef struct {
//      uint8_t line;
//      uint8_t text[20];
//} __attribute__((packed)) Display_t;


//typedef struct
//{
//    uint8_t Revision;
//    int8_t Name[12];
//    int8_t Motor[16][4];
//    uint8_t crc;
//} __attribute__((packed)) Mixer_t;


/*
 * NaviCtrl OSD Structs
 * portions taken and adapted from
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
 */


//typedef struct
//{
//   signed int  Winkel[3]; // nick, roll, compass in 0,1.^
//   signed char Centroid[3];
//   signed char reserve[5];
//} __attribute__((packed)) Data3D_t;


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;


typedef struct {
        u16 Distance;           // distance to target in cm
        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  RC_RSSI;                    // Receiver signal strength (since version 2 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;




/*
 * MikroKopter Flags
 * taken from
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.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_SPI_RX_ERR   0x40
#define FCFLAG_I2CERR       0x80


/*
 * NaviCtrl Flags
 * taken from
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
 */


#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_8               0x80


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 Gier_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 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 NaviSpeedCompensation;
    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 OrientationModeControl;  // switch for CareFree
    unsigned char MotorSafetySwitch;
    //------------------------------------------------
    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   0 oder 1  // WICHTIG!!! am Ende lassen
    unsigned char ExtraConfig;        // bitcodiert
    char Name[12];
    unsigned char crc;
} __attribute__((packed)) mk_param_struct_t;

#endif