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

 *   Copyright (C) 2009 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%2FV0.17e%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;

        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  MKFlags;                                    // 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

} __attribute__((packed)) NaviData_t;

 * MikroKopter Flags

 * taken from

 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h

 */

#define FLAG_MOTOR_RUN  1

#define FLAG_FLY        2

#define FLAG_CALIBRATE  4

#define FLAG_START      8

 * 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