Subversion Repositories Projects

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

 *   Copyright (C) 2009-2010 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.              *

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

/* ##########################################################################

 * 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

/*

 * FC Debug Struct

 * portions taken and adapted from

 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h

 */

typedef struct {

    uint8_t Digital[2];

    uint16_t Analog[32]; // Debugvalues

} __attribute__((packed)) DebugOut_t;

typedef struct {

    unsigned char SWMajor;

    unsigned char SWMinor;

    unsigned char ProtoMajor;

    unsigned char ProtoMinor;

    unsigned char SWPatch;

    unsigned char Reserved[5];

} str_VersionInfo;

/*

 * NaviCtrl OSD Structs

 * portions taken and adapted from

 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.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

typedef struct {

    u16 Distance; // distance to target in cm

    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 RC_RSSI; // Receiver signal strength (since version 2 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;

/*

 * MikroKopter Flags

 * taken from

 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.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_SPI_RX_ERR       0x40

#define FCFLAG_I2CERR           0x80

// backward compat

#define FLAG_MOTOR_RUN  FCFLAG_MOTOR_RUN

#define FLAG_FLY        FCFLAG_FLY

#define FLAG_CALIBRATE  FCFLAG_CALIBRATE

#define FLAG_START      FCFLAG_START

/*

 * NaviCtrl Flags

 * taken from

 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h

 */

#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_8                               0x80