Subversion Repositories Projects

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

 *   Copyright (C) 2009-2013 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/V0.88e/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 ProtoMinor;

    unsigned char SWPatch;

    unsigned char HardwareError[5];

} __attribute__((packed)) str_VersionInfo;

/*

 * NaviCtrl GPS Structs

 * portions taken and adapted from

 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.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

/*

 * NaviCtrl OSD Structs

 * portions taken and adapted from

 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h

 */

typedef struct {

    u16 Distance; // distance to target in dm

    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 FCStatusFlags2; // StatusFlags2 (since version 5 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;

#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

/*

 * MikroKopter Flags

 * portions taken and adapted from

 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.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_VARIO_TRIM_UP    0x40

#define FCFLAG_VARIO_TRIM_DOWN  0x80

// FC STATUS FLAGS2

#define FC_STATUS2_CAREFREE                 0x01

#define FC_STATUS2_ALTITUDE_CONTROL         0x02

#define DEFEKT_G_NICK           0x01

#define DEFEKT_G_ROLL           0x02

#define DEFEKT_G_GIER           0x04

#define DEFEKT_A_NICK           0x08

#define DEFEKT_A_ROLL           0x10

#define DEFEKT_A_Z              0x20

#define DEFEKT_PRESSURE         0x40

#define DEFEKT_CAREFREE_ERR 0x80

#define DEFEKT_I2C              0x01

#define DEFEKT_BL_MISSING       0x02

#define DEFEKT_SPI_RX_ERR       0x04

#define DEFEKT_PPM_ERR          0x08

#define DEFEKT_MIXER_ERR    0x10

/*

 * MikroKopter config struct

 * portions taken and adapted from

 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.90j/eeprom.h

 */

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 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 NaviOut1Parameter; // for the J16 Output

    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 NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation

    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 CareFreeModeControl; // 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 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;

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