Subversion Repositories Projects

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

 *   Copyright (C) 2009-2016 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/V2.16a/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

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/V2.16a/eeprom.h

 */

#define EEPARAM_REVISION        109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility)

#define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)

#define EE_BACKWARD_COMP        1   // change 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 reserved[32];       // 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