Subversion Repositories Projects

/****************************************************************************

 *   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