WebSVN - Projects - Blame - Rev 728 - /C-OSD/trunk/mk-data-structs.h

Rev	Author	Line No.	Line
331	cascade	1	/****************************************************************************
728	cascade	2	* Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje *
331	cascade	3	* admiralcascade@gmail.com *
		4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
		5	* *
		6	* This program is free software; you can redistribute it and/or modify *
		7	* it under the terms of the GNU General Public License as published by *
		8	* the Free Software Foundation; either version 2 of the License. *
		9	* *
		10	* This program is distributed in the hope that it will be useful, *
		11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
		12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
		13	* GNU General Public License for more details. *
		14	* *
		15	* You should have received a copy of the GNU General Public License *
		16	* along with this program; if not, write to the *
		17	* Free Software Foundation, Inc., *
		18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		19	****************************************************************************/
		20
		21	/* ##########################################################################
		22	* gain some fake arm compat :)
		23	* ##########################################################################*/
		24	#define u8 uint8_t
		25	#define s8 int8_t
		26	#define u16 uint16_t
		27	#define s16 int16_t
		28	#define u32 uint32_t
		29	#define s32 int32_t
		30
		31	/*
		32	* FC Debug Struct
		33	* portions taken and adapted from
		34	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
		35	*/
		36	typedef struct {
		37	uint8_t Digital[2];
		38	uint16_t Analog[32]; // Debugvalues
		39	} __attribute__((packed)) DebugOut_t;
		40
677	cascade	41
		42	typedef struct {
		43	unsigned char SWMajor;
		44	unsigned char SWMinor;
		45	unsigned char ProtoMajor;
		46	unsigned char ProtoMinor;
		47	unsigned char SWPatch;
		48	unsigned char Reserved[5];
		49	} str_VersionInfo;
		50
		51
331	cascade	52	/*
		53	* NaviCtrl OSD Structs
675	cascade	54	* portions taken and adapted from
728	cascade	55	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
331	cascade	56	*/
		57	typedef struct {
		58	s32 Longitude; // in 1E-7 deg
		59	s32 Latitude; // in 1E-7 deg
		60	s32 Altitude; // in mm
		61	u8 Status; // validity of data
675	cascade	62	} __attribute__((packed)) GPS_Pos_t;
		63	#define INVALID 0x00
		64	#define NEWDATA 0x01
		65	#define PROCESSED 0x02
331	cascade	66
675	cascade	67
676	cascade	68	typedef struct {
675	cascade	69	u16 Distance; // distance to target in cm
		70	s16 Bearing; // course to target in deg
331	cascade	71	} __attribute__((packed)) GPS_PosDev_t;
		72
		73	typedef struct {
728	cascade	74	u8 Version; // version of the data structure
		75	GPS_Pos_t CurrentPosition; // see ubx.h for details
		76	GPS_Pos_t TargetPosition;
		77	GPS_PosDev_t TargetPositionDeviation;
		78	GPS_Pos_t HomePosition;
		79	GPS_PosDev_t HomePositionDeviation;
		80	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		81	u8 WaypointNumber; // number of stored waypoints
		82	u8 SatsInUse; // number of satellites used for position solution
		83	s16 Altimeter; // hight according to air pressure
		84	s16 Variometer; // climb(+) and sink(-) rate
		85	u16 FlyingTime; // in seconds
		86	u8 UBat; // Battery Voltage in 0.1 Volts
		87	u16 GroundSpeed; // speed over ground in cm/s (2D)
		88	s16 Heading; // current flight direction in � as angle to north
		89	s16 CompassHeading; // current compass value in �
		90	s8 AngleNick; // current Nick angle in 1�
		91	s8 AngleRoll; // current Rick angle in 1�
		92	u8 RC_Quality; // RC_Quality
		93	u8 FCFlags; // Flags from FC
		94	u8 NCFlags; // Flags from NC
		95	u8 Errorcode; // 0 --> okay
		96	u8 OperatingRadius; // current operation radius around the Home Position in m
		97	s16 TopSpeed; // velocity in vertical direction in cm/s
		98	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		99	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
		100	s16 SetpointAltitude; // setpoint for altitude
675	cascade	101	u8 Gas; // for future use
728	cascade	102	u16 Current; // actual current in 0.1A steps
		103	u16 UsedCapacity; // used capacity in mAh
331	cascade	104	} __attribute__((packed)) NaviData_t;
		105
728	cascade	106
331	cascade	107	/*
		108	* MikroKopter Flags
407	cascade	109	* taken from
		110	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
331	cascade	111	*/
		112	#define FLAG_MOTOR_RUN 1
		113	#define FLAG_FLY 2
		114	#define FLAG_CALIBRATE 4
		115	#define FLAG_START 8
407	cascade	116
		117	/*
		118	* NaviCtrl Flags
		119	* taken from
675	cascade	120	* http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
407	cascade	121	*/
		122	#define NC_FLAG_FREE 0x01
		123	#define NC_FLAG_PH 0x02
		124	#define NC_FLAG_CH 0x04
		125	#define NC_FLAG_RANGE_LIMIT 0x08
		126	#define NC_FLAG_NOSERIALLINK 0x10
		127	#define NC_FLAG_TARGET_REACHED 0x20
		128	#define NC_FLAG_MANUAL_CONTROL 0x40
		129	#define NC_FLAG_8 0x80
		130
		131

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