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// ///////////////////////////////////////////////////////////////////////////////

// Copyright (C) 2010, Frank Blumenberg

//

// See License.txt for complete licensing and attribution information.

// Permission is hereby granted, free of charge, to any person obtaining a copy

// of this software and associated documentation files (the "Software"), to deal

// in the Software without restriction, including without limitation the rights

// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

// copies of the Software, and to permit persons to whom the Software is

// furnished to do so, subject to the following conditions:

//

// The above copyright notice and this permission notice shall be included in all

// copies or substantial portions of the Software.

//

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

// THE SOFTWARE.

//

// ///////////////////////////////////////////////////////////////////////////////

typedef enum {

  MKAddressAll   =0,

  MKAddressFC    =1,

  MKAddressNC    =2,

  MKAddressMK3MAg=3,

  MKAddressMKGPS =0XFE

} MKAddress;

static const int kMaxDebugData = 32;

typedef enum {

  MKCommandDebugValueRequest='d',

  MKCommandDebugValueResponse='D',

  MKCommandDebugLabelRequest='a',

  MKCommandDebugLabelResponse='A',

  MKCommandVersionRequest='v',

  MKCommandVersionResponse='V',

  MKCommandLcdMenuRequest='l',

  MKCommandLcdMenuResponse='L',

  MKCommandLcdRequest='h',

  MKCommandLcdResponse='H',

  MKCommandReadSettingsRequest='q',

  MKCommandReadSettingsResponse='Q',

  MKCommandWriteSettingsRequest='s',

  MKCommandWriteSettingsResponse='S',

  MKCommandChangeSettingsRequest='f',

  MKCommandChangeSettingsResponse='F',

  MKCommandChannelsValueRequest='p',

  MKCommandChannelsValueResponse='P',

  MKCommandMixerReadRequest='n',

  MKCommandMixerReadResponse='N',

  MKCommandMixerWriteRequest='m',

  MKCommandMixerWriteResponse='M',

  MKCommandRedirectRequest='u',

  MKCommandEngineTestRequest='t',

  MKCommandOsdRequest='o',

  MKCommandOsdResponse='O',

} MKCommandId;

typedef struct

{

  uint8_t SWMajor;

  uint8_t SWMinor;

  uint8_t ProtoMajor;

  uint8_t ProtoMinor;

  uint8_t SWPatch;

  uint8_t Reserved[5];

} VersionInfo;

typedef struct

{

  uint8_t Digital[2];

  uint16_t Analog[32];    // Debugvalues

} DebugOut;

typedef struct

{

  char Revision;

  char Name[12];

  signed char Motor[16][4];

} Mixer;

typedef struct

{

  unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

  unsigned char GlobalConfig;           // 0x01=H?henregler 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 Gier_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 UnterspannungsWarnung;  // Wert : 0-250

  unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Emp?ngsverlust

  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

  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 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 w?hrend Looping

  unsigned char LoopThreshold;          // Wert: 0-250  Schwelle f?r Stickausschlag

  unsigned char LoopHysterese;          // Wert: 0-250  Hysterese f?r 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

  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

  unsigned char WARN_J16_Bitmask;       // for the J16 Output

  unsigned char WARN_J17_Bitmask;       // for the J17 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 NaviSpeedCompensation;

  unsigned char NaviOperatingRadius;

  unsigned char NaviAngleLimitation;

  unsigned char NaviPH_LoginTime;

  unsigned char ExternalControl;        // for serial Control

  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   0 oder 1  // WICHTIG!!! am Ende lassen

  unsigned char ExtraConfig;        // bitcodiert

  char Name[12];

} MKSetting;

#define CFG_HOEHENREGELUNG       0x01

#define CFG_HOEHEN_SCHALTER      0x02

#define CFG_HEADING_HOLD         0x04

#define CFG_KOMPASS_AKTIV        0x08

#define CFG_KOMPASS_FIX          0x10

#define CFG_GPS_AKTIV            0x20

#define CFG_ACHSENKOPPLUNG_AKTIV 0x40

#define CFG_DREHRATEN_BEGRENZER  0x80

#define CFG_LOOP_OBEN            0x01

#define CFG_LOOP_UNTEN           0x02

#define CFG_LOOP_LINKS           0x04

#define CFG_LOOP_RECHTS          0x08

#define CFG_MOTOR_BLINK          0x10

#define CFG_MOTOR_OFF_LED1       0x20

#define CFG_MOTOR_OFF_LED2       0x40

#define CFG_RES4                 0x80

#define CFG2_HEIGHT_LIMIT        0x01

#define CFG2_VARIO_BEEP          0x02

#define CFG_SENSITIVE_RC         0x04

#define CFG2_INVERT_NICK         0x01

#define CFG2_INVERT_ROLL         0x02

//////////////////////////////////////////////////////////////////////////////////////////

typedef struct

{

  int16_t AngleNick;  // in 0.1 deg

  int16_t AngleRoll;   // in 0.1 deg

  int16_t Heading;    // in 0.1 deg

  uint8_t reserve[8];

} Data3D_t;

typedef struct

{

  int32_t Longitude;      // in 1E-7 deg

  int32_t Latitude;       // in 1E-7 deg

  int32_t Altitude;       // in mm

  uint8_t Status;         // validity of data

} __attribute__((packed)) GPS_Pos_t;

typedef struct

{

  uint16_t Distance;      // distance to target in dm

  int16_t Bearing;        // course to target in deg

}  __attribute__((packed)) GPS_PosDev_t;

typedef struct

{

  uint8_t      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;

  uint8_t      WaypointIndex;           // index of current waypoints running from 0 to WaypointNumber-1

  uint8_t      WaypointNumber;          // number of stored waypoints

  uint8_t      SatsInUse;               // number of satellites used for position solution

  int16_t      Altimeter;               // hight according to air pressure

  int16_t      Variometer;              // climb(+) and sink(-) rate

  uint16_t     FlyingTime;              // in seconds

  uint8_t      UBat;                    // Battery Voltage in 0.1 Volts

  uint16_t     GroundSpeed;             // speed over ground in cm/s (2D)

  int16_t      Heading;         // current flight direction in ° as angle to north

  int16_t      CompassHeading;          // current compass value in °

  int8_t       AngleNick;               // current Nick angle in 1°

  int8_t       AngleRoll;               // current Rick angle in 1°

  uint8_t      RC_Quality;              // RC_Quality

  uint8_t      FCFlags;         // Flags from FC

  uint8_t      NCFlags;         // Flags from NC

  uint8_t      Errorcode;               // 0 --> okay

  uint8_t      OperatingRadius;               // current operation radius around the Home Position in m

  int16_t      TopSpeed;                // velocity in vertical direction in cm/s

  uint8_t      TargetHoldTime;          // time in s to stay at the given target, counts down to 0 if target has been reached

  uint8_t      RC_RSSI;         // Receiver signal strength (since version 2 added)

  int16_t      SetpointAltitude;                        // setpoint for altitude

  uint8_t      Gas;                                             // for future use

  uint16_t     Current;                                 // actual current in 0.1A steps

  uint16_t     UsedCapacity;                            // used capacity in mAh

} __attribute__((packed)) NaviData_t;

typedef struct

{

  GPS_Pos_t Position;          // the gps position of the waypoint, see ubx.h for details

  int16_t   Heading;           // orientation, future implementation

  uint8_t   ToleranceRadius;   // in meters, if the MK is within that range around the target, then the next target is triggered

  uint8_t   HoldTime;          // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered

  uint8_t   Event_Flag;        // future emplementation

  uint8_t   reserve[12];       // reserve

} __attribute__((packed)) WayPoint_t;

#define NAVIDATA_VERSION 3

#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

#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