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331 | cascade | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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3 | * admiralcascade@gmail.com * |
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4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | ****************************************************************************/ |
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20 | |||
21 | /* ########################################################################## |
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22 | * gain some fake arm compat :) |
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23 | * ##########################################################################*/ |
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24 | #define u8 uint8_t |
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25 | #define s8 int8_t |
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26 | #define u16 uint16_t |
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27 | #define s16 int16_t |
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28 | #define u32 uint32_t |
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29 | #define s32 int32_t |
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30 | |||
31 | /* |
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32 | * FC Debug Struct |
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33 | * portions taken and adapted from |
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34 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
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35 | */ |
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36 | typedef struct { |
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37 | uint8_t Digital[2]; |
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38 | uint16_t Analog[32]; // Debugvalues |
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39 | } __attribute__((packed)) DebugOut_t; |
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40 | |||
41 | /* |
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42 | * NaviCtrl OSD Structs |
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43 | * portions taken and adapted from |
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339 | cascade | 44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
331 | cascade | 45 | */ |
46 | typedef struct { |
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47 | s32 Longitude; // in 1E-7 deg |
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48 | s32 Latitude; // in 1E-7 deg |
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49 | s32 Altitude; // in mm |
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50 | u8 Status; // validity of data |
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51 | } __attribute__((packed)) GPS_Pos_t; |
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52 | |||
53 | typedef struct { |
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54 | s16 Distance; // distance to target in cm |
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55 | s16 Bearing; // course to target in deg |
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56 | } __attribute__((packed)) GPS_PosDev_t; |
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57 | |||
58 | typedef struct { |
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339 | cascade | 59 | u8 Version; // version of the data structure |
60 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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61 | GPS_Pos_t TargetPosition; |
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62 | GPS_PosDev_t TargetPositionDeviation; |
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63 | GPS_Pos_t HomePosition; |
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64 | GPS_PosDev_t HomePositionDeviation; |
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65 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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66 | u8 WaypointNumber; // number of stored waypoints |
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67 | u8 SatsInUse; // number of satellites used for position solution |
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68 | s16 Altimeter; // hight according to air pressure |
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69 | s16 Variometer; // climb(+) and sink(-) rate |
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70 | u16 FlyingTime; // in seconds |
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71 | u8 UBat; // Battery Voltage in 0.1 Volts |
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72 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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73 | s16 Heading; // current flight direction in ° as angle to north |
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74 | s16 CompassHeading; // current compass value in ° |
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75 | s8 AngleNick; // current Nick angle in 1° |
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76 | s8 AngleRoll; // current Rick angle in 1° |
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77 | u8 RC_Quality; // RC_Quality |
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78 | u8 MKFlags; // Flags from FC |
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79 | u8 NCFlags; // Flags from NC |
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80 | u8 Errorcode; // 0 --> okay |
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81 | u8 OperatingRadius; // current operation radius around the Home Position in m |
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82 | s16 TopSpeed; // velocity in vertical direction in cm/s |
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83 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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84 | u8 Reserve[4]; // for future use |
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331 | cascade | 85 | } __attribute__((packed)) NaviData_t; |
86 | |||
87 | /* |
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88 | * MikroKopter Flags |
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407 | cascade | 89 | * taken from |
90 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
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331 | cascade | 91 | */ |
92 | #define FLAG_MOTOR_RUN 1 |
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93 | #define FLAG_FLY 2 |
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94 | #define FLAG_CALIBRATE 4 |
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95 | #define FLAG_START 8 |
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407 | cascade | 96 | |
97 | /* |
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98 | * NaviCtrl Flags |
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99 | * taken from |
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100 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
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101 | */ |
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102 | #define NC_FLAG_FREE 0x01 |
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103 | #define NC_FLAG_PH 0x02 |
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104 | #define NC_FLAG_CH 0x04 |
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105 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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106 | #define NC_FLAG_NOSERIALLINK 0x10 |
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107 | #define NC_FLAG_TARGET_REACHED 0x20 |
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108 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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109 | #define NC_FLAG_8 0x80 |
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110 | |||
111 |