Subversion Repositories Projects

Rev

Rev 2217 | Rev 2569 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
331 cascade 1
/****************************************************************************
2225 - 2
 *   Copyright (C) 2009-2016 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
 
762 - 21
#ifndef _MK_DATA_STRUCTS_H
22
#define _MK_DATA_STRUCTS_H
23
 
331 cascade 24
/* ##########################################################################
25
 * gain some fake arm compat :)
26
 * ##########################################################################*/
27
#define u8 uint8_t
28
#define s8 int8_t
29
#define u16 uint16_t
30
#define s16 int16_t
31
#define u32 uint32_t
32
#define s32 int32_t
33
 
832 - 34
/**
35
 * MikroKopter Slave-Addresses
36
 * portions taken and adapted from
37
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
38
 */
39
#define ANY_ADDRESS 0
40
#define FC_ADDRESS 1
41
#define NC_ADDRESS 2
42
#define MK3MAG_ADDRESS 3
43
#define MKOSD_ADDRESS 4
44
#define BL_ADDRESS 5
45
 
331 cascade 46
/*
47
 * FC Debug Struct
48
 * portions taken and adapted from
2217 - 49
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/uart.h
331 cascade 50
 */
1992 - 51
typedef struct {
52
    unsigned char Status[2];
53
    signed int Analog[32]; // Debugwerte
783 - 54
} __attribute__((packed)) str_DebugOut;
331 cascade 55
 
677 cascade 56
typedef struct {
2217 - 57
        unsigned char SWMajor;
58
        unsigned char SWMinor;
59
        unsigned char ProtoMajor;
60
        unsigned char LabelTextCRC;
61
        unsigned char SWPatch;
62
        unsigned char HardwareError[2];
63
        unsigned char HWMajor;
64
        unsigned char BL_Firmware;  
65
        unsigned char Flags;
783 - 66
} __attribute__((packed)) str_VersionInfo;
677 cascade 67
 
331 cascade 68
/*
783 - 69
 * NaviCtrl GPS Structs
761 - 70
 * portions taken and adapted from
2217 - 71
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h
331 cascade 72
 */
73
typedef struct {
1992 - 74
    s32 Longitude; // in 1E-7 deg
75
    s32 Latitude; // in 1E-7 deg
76
    s32 Altitude; // in mm
77
    u8 Status; // validity of data
761 - 78
} __attribute__((packed)) GPS_Pos_t;
1992 - 79
 
761 - 80
#define INVALID         0x00
81
#define NEWDATA         0x01
82
#define PROCESSED       0x02
2217 - 83
#define SIMULATION      0x03
331 cascade 84
 
783 - 85
/*
86
 * NaviCtrl OSD Structs
87
 * portions taken and adapted from
2217 - 88
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h
783 - 89
 */
761 - 90
typedef struct {
1992 - 91
    u16 Distance; // distance to target in dm
92
    s16 Bearing; // course to target in deg
331 cascade 93
} __attribute__((packed)) GPS_PosDev_t;
2043 - 94
 
2039 - 95
#define NAVIDATA_VERSION 5
331 cascade 96
 
97
typedef struct {
2225 - 98
        u8 Version;                                             // version of the data structure
99
        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
100
        GPS_Pos_t TargetPosition;
101
        GPS_PosDev_t TargetPositionDeviation;
102
        GPS_Pos_t HomePosition;
103
        GPS_PosDev_t HomePositionDeviation;
104
        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
105
        u8  WaypointNumber;                             // number of stored waypoints
106
        u8  SatsInUse;                                  // number of satellites used for position solution
107
        s16 Altimeter_5cm;                              // hight according to air pressure
108
        s16 Variometer;                                 // climb(+) and sink(-) rate
109
        u16 FlyingTime;                                 // in seconds
110
        u8  UBat;                                               // Battery Voltage in 0.1 Volts
111
        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
112
        s16 Heading;                                    // current flight direction in ° as angle to north
113
        s16     CompassHeading;                         // current compass value in °
114
        s8  AngleNick;                                  // current Nick angle in 1°
115
        s8  AngleRoll;                                  // current Rick angle in 1°
116
        u8  RC_Quality;                                 // RC_Quality
117
        u8  FCStatusFlags;                              // Flags from FC
118
        u8  NCFlags;                                    // Flags from NC
119
        u8  Errorcode;                                  // 0 --> okay
120
        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
121
        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
122
        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
123
        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
124
        s16 SetpointAltitude;                   // setpoint for altitude
125
        u8  Gas;                                                // for future use
126
        u16 Current;                                    // actual current in 0.1A steps
127
        u16 UsedCapacity;                               // used capacity in mAh
331 cascade 128
} __attribute__((packed)) NaviData_t;
129
 
2217 - 130
/*
131
 * NaviCtrl & FCFlags Flags
132
 * portions taken and adapted from
133
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h
134
 */
135
 // .NCFlags
2039 - 136
#define NC_FLAG_FREE                    0x01
137
#define NC_FLAG_PH                              0x02
138
#define NC_FLAG_CH                              0x04
139
#define NC_FLAG_RANGE_LIMIT             0x08
140
#define NC_FLAG_NOSERIALLINK    0x10
141
#define NC_FLAG_TARGET_REACHED  0x20
142
#define NC_FLAG_MANUAL_CONTROL  0x40
832 - 143
#define NC_FLAG_GPS_OK                  0x80
728 cascade 144
 
2217 - 145
// FC.StatusFlags
734 cascade 146
#define FCFLAG_MOTOR_RUN        0x01
147
#define FCFLAG_FLY              0x02
148
#define FCFLAG_CALIBRATE        0x04
149
#define FCFLAG_START            0x08
150
#define FCFLAG_NOTLANDUNG       0x10
151
#define FCFLAG_LOWBAT           0x20
832 - 152
#define FCFLAG_VARIO_TRIM_UP    0x40
153
#define FCFLAG_VARIO_TRIM_DOWN  0x80
407 cascade 154
 
2217 - 155
// FC.StatusFlags2
941 - 156
#define FC_STATUS2_CAREFREE                 0x01
157
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
2217 - 158
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
159
#define FC_STATUS2_OUT1_ACTIVE                  0x08
160
#define FC_STATUS2_OUT2_ACTIVE                  0x10
161
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
2225 - 162
#define FC_STATUS2_AUTO_STARTING                0x40
163
#define FC_STATUS2_AUTO_LANDING                 0x80
941 - 164
 
2217 - 165
// FC.StatusFlags3
166
#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
167
#define FC_STATUS3_BOAT                         0x02
168
#define FC_STATUS3_REDUNDANCE_ERROR                     0x04
169
#define FC_STATUS3_REDUNDANCE_TEST                      0x08
2225 - 170
#define FC_STATUS3_NOT_CALIBRATED                       0x10
171
#define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20
783 - 172
 
2217 - 173
// FC ERRORS FLAGS
174
#define FC_ERROR0_GYRO_NICK     0x01
175
#define FC_ERROR0_GYRO_ROLL     0x02
176
#define FC_ERROR0_GYRO_YAW              0x04
177
#define FC_ERROR0_ACC_NICK              0x08
178
#define FC_ERROR0_ACC_ROLL              0x10
179
#define FC_ERROR0_ACC_TOP               0x20
180
#define FC_ERROR0_PRESSURE              0x40
181
#define FC_ERROR0_CAREFREE              0x80
182
 
183
#define FC_ERROR1_I2C                   0x01
184
#define FC_ERROR1_BL_MISSING    0x02
185
#define FC_ERROR1_SPI_RX                0x04
186
#define FC_ERROR1_PPM                   0x08
187
#define FC_ERROR1_MIXER                 0x10
188
#define FC_ERROR1_RES1                  0x20
189
#define FC_ERROR1_RES2                  0x40
190
#define FC_ERROR1_RES3                  0x80
191
 
407 cascade 192
/*
783 - 193
 * MikroKopter config struct
194
 * portions taken and adapted from
2217 - 195
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h
407 cascade 196
 */
2039 - 197
 
2225 - 198
#define EEPARAM_REVISION        108 // is count up, if paramater stucture has changed (compatibility)
199
#define EEMIXER_REVISION          1 // is count up, if mixer stucture has changed (compatibility)
2039 - 200
 
2043 - 201
typedef struct
202
{
2075 - 203
        unsigned char Revision;
204
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
205
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
206
        unsigned char Hoehe_MinGas;           // Wert : 0-100
207
        unsigned char Luftdruck_D;            // Wert : 0-250
208
        unsigned char HoeheChannel;           // Wert : 0-32
209
        unsigned char Hoehe_P;                // Wert : 0-32
210
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
211
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
212
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
213
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
214
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
215
        unsigned char Stick_P;                // Wert : 1-6
216
        unsigned char Stick_D;                // Wert : 0-64
217
        unsigned char StickGier_P;            // Wert : 1-20
218
        unsigned char Gas_Min;                // Wert : 0-32
219
        unsigned char Gas_Max;                // Wert : 33-250
220
        unsigned char GyroAccFaktor;          // Wert : 1-64
221
        unsigned char KompassWirkung;         // Wert : 0-32
222
        unsigned char Gyro_P;                 // Wert : 10-250
223
        unsigned char Gyro_I;                 // Wert : 0-250
224
        unsigned char Gyro_D;                 // Wert : 0-250
225
        unsigned char Gyro_Gier_P;            // Wert : 10-250
226
        unsigned char Gyro_Gier_I;            // Wert : 0-250
227
        unsigned char Gyro_Stability;         // Wert : 0-16
228
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
229
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
230
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
231
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
232
        unsigned char I_Faktor;               // Wert : 0-250
233
        unsigned char UserParam1;             // Wert : 0-250
234
        unsigned char UserParam2;             // Wert : 0-250
235
        unsigned char UserParam3;             // Wert : 0-250
236
        unsigned char UserParam4;             // Wert : 0-250
237
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
238
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
239
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
240
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
241
        //--- Seit V0.75
242
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
243
        unsigned char ServoRollComp;          // Wert : 0-250
244
        unsigned char ServoRollMin;           // Wert : 0-250
245
        unsigned char ServoRollMax;           // Wert : 0-250
246
        //---
247
        unsigned char ServoNickRefresh;       // Speed of the Servo
2043 - 248
    unsigned char ServoManualControlSpeed;//
249
    unsigned char CamOrientation;         //
2075 - 250
        unsigned char Servo3;                    // Value or mapping of the Servo Output
251
        unsigned char Servo4;                            // Value or mapping of the Servo Output
252
        unsigned char Servo5;                            // Value or mapping of the Servo Output
253
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
254
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
255
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
256
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
257
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
258
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
259
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
260
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
261
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
262
        unsigned char Driftkomp;
263
        unsigned char DynamicStability;
264
        unsigned char UserParam5;             // Wert : 0-250
265
        unsigned char UserParam6;             // Wert : 0-250
266
        unsigned char UserParam7;             // Wert : 0-250
267
        unsigned char UserParam8;             // Wert : 0-250
268
        //---Output ---------------------------------------------
269
        unsigned char J16Bitmask;             // for the J16 Output
270
        unsigned char J16Timing;              // for the J16 Output
271
        unsigned char J17Bitmask;             // for the J17 Output
272
        unsigned char J17Timing;              // for the J17 Output
273
        // seit version V0.75c
274
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
275
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
276
        //---NaviCtrl---------------------------------------------
277
        unsigned char AutoPhotoDistance;      // Auto Photo
278
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
279
        unsigned char NaviGpsGain;
280
        unsigned char NaviGpsP;
281
        unsigned char NaviGpsI;
282
        unsigned char NaviGpsD;
283
        unsigned char NaviGpsPLimit;
284
        unsigned char NaviGpsILimit;
285
        unsigned char NaviGpsDLimit;
286
        unsigned char NaviGpsA;
287
        unsigned char NaviGpsMinSat;
288
        unsigned char NaviStickThreshold;
289
        unsigned char NaviWindCorrection;
290
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
291
        unsigned char NaviMaxFlyingRange;     // in 10m
292
        unsigned char NaviAngleLimitation;
293
        unsigned char NaviPH_LoginTime;
294
        unsigned char NaviDescendRange;
295
        //---Ext.Ctrl---------------------------------------------
296
        unsigned char ExternalControl;         // for serial Control
297
        //---CareFree---------------------------------------------
298
        unsigned char OrientationAngle;        // Where is the front-direction?
299
        unsigned char CareFreeChannel;     // switch for CareFree
1992 - 300
    unsigned char MotorSafetySwitch;
301
    unsigned char MotorSmooth;
302
    unsigned char ComingHomeAltitude;
303
    unsigned char FailSafeTime;
304
    unsigned char MaxAltitude;
2075 - 305
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
306
        unsigned char ServoFilterNick;  
307
        unsigned char ServoFilterRoll;  
2043 - 308
    unsigned char Servo3OnValue;
309
    unsigned char Servo3OffValue;
310
    unsigned char Servo4OnValue;
311
    unsigned char Servo4OffValue;
2099 - 312
        unsigned char ServoFS_Pos[5];
2075 - 313
        unsigned char StartLandChannel;  
314
        unsigned char LandingSpeed;  
315
        unsigned char CompassOffset;        
316
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
317
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
318
        unsigned char AutoPhotoAtitudes;
319
        unsigned char SingleWpSpeed;
2099 - 320
        unsigned char LandingPulse;
2217 - 321
        unsigned char SingleWpControlChannel;
322
        unsigned char MenuKeyChannel;
2225 - 323
    unsigned char CamCtrlModeChannel;
324
    unsigned char CamCtrlZoomChannel;  
325
        unsigned char reserved[32];       // for later use
2075 - 326
        //------------------------------------------------
327
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
328
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
329
        unsigned char ExtraConfig;        // bitcodiert
330
        unsigned char GlobalConfig3;      // bitcodiert
331
        char Name[12];
2225 - 332
        unsigned char crc;                              // must be the last byte!
333
} paramset_t; // since 2.14 -> size is always 179 Bytes
407 cascade 334
 
2075 - 335
 
783 - 336
typedef struct {
1992 - 337
    u8 SettingsIndex;
338
    paramset_t param;
783 - 339
} __attribute__((packed)) paramset_serial;
407 cascade 340
 
1801 - 341
/*
342
 * MikroKopter 3D-Data struct
343
 * portions taken and adapted from
344
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
345
 */
346
typedef struct {
1992 - 347
    s16 AngleNick; // in 0.1 deg
348
    s16 AngleRoll; // in 0.1 deg
349
    s16 Heading; // in 0.1 deg
1801 - 350
    u8 StickNick;
351
    u8 StickRoll;
352
    u8 StickYaw;
353
    u8 StickGas;
354
    u8 reserve[4];
355
} __attribute__((packed)) Data3D_t;
356
 
357
extern Data3D_t Data3D;
358
 
2000 - 359
#endif