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331 cascade 1
/****************************************************************************
2598 - 2
 *   Copyright (C) 2009-2017 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.              *
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 ****************************************************************************/
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;
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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;
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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
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783 - 85
/*
86
 * NaviCtrl OSD Structs
87
 * portions taken and adapted from
2598 - 88
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.18a/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
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} __attribute__((packed)) GPS_PosDev_t;
2043 - 94
 
2598 - 95
 
2039 - 96
#define NAVIDATA_VERSION 5
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2598 - 98
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
99
//+ old protocol
100
//+ start abbo communication with: 'O' + Interval [10ms] 
101
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2569 - 102
typedef struct   // 84 Bytes    (note: this is the old protocol)
103
{
104
        u8 Version;                                             // version of the data structure = 5 
105
        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
106
        GPS_Pos_t TargetPosition;
107
        GPS_PosDev_t TargetPositionDeviation;
108
        GPS_Pos_t HomePosition;
109
        GPS_PosDev_t HomePositionDeviation;
110
        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
111
        u8  WaypointNumber;                             // number of stored waypoints
112
        u8  SatsInUse;                                  // number of satellites used for position solution
113
        s16 Altimeter_5cm;                              // hight according to air pressure
114
        s16 Variometer;                                 // climb(+) and sink(-) rate
115
        u16 FlyingTime;                                 // in seconds
116
        u8  UBat;                                               // Battery Voltage in 0.1 Volts
117
        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
118
        s16 Heading;                                    // current flight direction in ° as angle to north
119
        s16     CompassHeading;                         // current compass value in °
120
        s8  AngleNick;                                  // current Nick angle in 1°
121
        s8  AngleRoll;                                  // current Rick angle in 1°
122
        u8  RC_Quality;                                 // RC_Quality
123
        u8  FCStatusFlags;                              // Flags from FC see main.c FC_STATUS_xxx
124
        u8  NCFlags;                                    // Flags from NC see main.h NC_FLAG_xxx
125
        u8  Errorcode;                                  // 0 --> okay
126
        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
127
        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
128
        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
129
        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
130
        s16 SetpointAltitude;                   // setpoint for altitude
131
        u8  Gas;                                                // current gas (thrust)
132
        u16 Current;                                    // actual current in 0.1A steps
133
        u16 UsedCapacity;                               // used capacity in mAh
134
        u8 reserve1;                                    // to fit into 84 bytes (must be divisible by 3) 
135
        u8 reserve2;                                    // to fit into 84 bytes (must be divisible by 3)
331 cascade 136
} __attribute__((packed)) NaviData_t;
137
 
2217 - 138
/*
139
 * NaviCtrl & FCFlags Flags
140
 * portions taken and adapted from
141
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h
142
 */
143
 // .NCFlags
2039 - 144
#define NC_FLAG_FREE                    0x01
145
#define NC_FLAG_PH                              0x02
146
#define NC_FLAG_CH                              0x04
147
#define NC_FLAG_RANGE_LIMIT             0x08
148
#define NC_FLAG_NOSERIALLINK    0x10
149
#define NC_FLAG_TARGET_REACHED  0x20
150
#define NC_FLAG_MANUAL_CONTROL  0x40
832 - 151
#define NC_FLAG_GPS_OK                  0x80
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2217 - 153
// FC.StatusFlags
734 cascade 154
#define FCFLAG_MOTOR_RUN        0x01
155
#define FCFLAG_FLY              0x02
156
#define FCFLAG_CALIBRATE        0x04
157
#define FCFLAG_START            0x08
158
#define FCFLAG_NOTLANDUNG       0x10
159
#define FCFLAG_LOWBAT           0x20
832 - 160
#define FCFLAG_VARIO_TRIM_UP    0x40
161
#define FCFLAG_VARIO_TRIM_DOWN  0x80
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2217 - 163
// FC.StatusFlags2
941 - 164
#define FC_STATUS2_CAREFREE                 0x01
165
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
2217 - 166
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
167
#define FC_STATUS2_OUT1_ACTIVE                  0x08
168
#define FC_STATUS2_OUT2_ACTIVE                  0x10
169
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
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#define FC_STATUS2_AUTO_STARTING                0x40
171
#define FC_STATUS2_AUTO_LANDING                 0x80
941 - 172
 
2217 - 173
// FC.StatusFlags3
174
#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
175
#define FC_STATUS3_BOAT                         0x02
176
#define FC_STATUS3_REDUNDANCE_ERROR                     0x04
177
#define FC_STATUS3_REDUNDANCE_TEST                      0x08
2225 - 178
#define FC_STATUS3_NOT_CALIBRATED                       0x10
179
#define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20
783 - 180
 
2217 - 181
// FC ERRORS FLAGS
182
#define FC_ERROR0_GYRO_NICK     0x01
183
#define FC_ERROR0_GYRO_ROLL     0x02
184
#define FC_ERROR0_GYRO_YAW              0x04
185
#define FC_ERROR0_ACC_NICK              0x08
186
#define FC_ERROR0_ACC_ROLL              0x10
187
#define FC_ERROR0_ACC_TOP               0x20
188
#define FC_ERROR0_PRESSURE              0x40
189
#define FC_ERROR0_CAREFREE              0x80
190
 
191
#define FC_ERROR1_I2C                   0x01
192
#define FC_ERROR1_BL_MISSING    0x02
193
#define FC_ERROR1_SPI_RX                0x04
194
#define FC_ERROR1_PPM                   0x08
195
#define FC_ERROR1_MIXER                 0x10
196
#define FC_ERROR1_RES1                  0x20
197
#define FC_ERROR1_RES2                  0x40
198
#define FC_ERROR1_RES3                  0x80
199
 
407 cascade 200
/*
783 - 201
 * MikroKopter config struct
202
 * portions taken and adapted from
2569 - 203
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h
407 cascade 204
 */
2039 - 205
 
2598 - 206
#define EEPARAM_REVISION        110 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility)
2569 - 207
#define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)
208
#define EE_BACKWARD_COMP        1   // change if the eepropm parameters are not backwards compatible
2039 - 209
 
2569 - 210
 
211
 
2043 - 212
typedef struct
213
{
2569 - 214
        unsigned char Revision;
215
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
216
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
217
        unsigned char Hoehe_MinGas;           // Wert : 0-100
218
        unsigned char Luftdruck_D;            // Wert : 0-250
219
        unsigned char HoeheChannel;           // Wert : 0-32
220
        unsigned char Hoehe_P;                // Wert : 0-32
221
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
222
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
223
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
224
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
225
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
226
        unsigned char Stick_P;                // Wert : 1-6
227
        unsigned char Stick_D;                // Wert : 0-64
228
        unsigned char StickGier_P;            // Wert : 1-20
229
        unsigned char Gas_Min;                // Wert : 0-32
230
        unsigned char Gas_Max;                // Wert : 33-250
231
        unsigned char GyroAccFaktor;          // Wert : 1-64
232
        unsigned char KompassWirkung;         // Wert : 0-32
233
        unsigned char Gyro_P;                 // Wert : 10-250
234
        unsigned char Gyro_I;                 // Wert : 0-250
235
        unsigned char Gyro_D;                 // Wert : 0-250
236
        unsigned char Gyro_Gier_P;            // Wert : 10-250
237
        unsigned char Gyro_Gier_I;            // Wert : 0-250
238
        unsigned char Gyro_Stability;         // Wert : 0-16
239
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
240
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
241
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
242
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
243
        unsigned char I_Faktor;               // Wert : 0-250
244
        unsigned char UserParam1;             // Wert : 0-250
245
        unsigned char UserParam2;             // Wert : 0-250
246
        unsigned char UserParam3;             // Wert : 0-250
247
        unsigned char UserParam4;             // Wert : 0-250
248
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
249
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
250
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
251
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
252
        //--- Seit V0.75
253
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
254
        unsigned char ServoRollComp;          // Wert : 0-250
255
        unsigned char ServoRollMin;           // Wert : 0-250
256
        unsigned char ServoRollMax;           // Wert : 0-250
257
        //---
258
        unsigned char ServoNickRefresh;       // Speed of the Servo
2043 - 259
    unsigned char ServoManualControlSpeed;//
260
    unsigned char CamOrientation;         //
2569 - 261
        unsigned char Servo3;                    // Value or mapping of the Servo Output
262
        unsigned char Servo4;                            // Value or mapping of the Servo Output
263
        unsigned char Servo5;                            // Value or mapping of the Servo Output
264
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
265
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
266
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
267
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
268
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
269
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
270
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
271
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
272
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
273
        unsigned char Driftkomp;
274
        unsigned char DynamicStability;
275
        unsigned char UserParam5;             // Wert : 0-250
276
        unsigned char UserParam6;             // Wert : 0-250
277
        unsigned char UserParam7;             // Wert : 0-250
278
        unsigned char UserParam8;             // Wert : 0-250
279
        //---Output ---------------------------------------------
280
        unsigned char J16Bitmask;             // for the J16 Output
281
        unsigned char J16Timing;              // for the J16 Output
282
        unsigned char J17Bitmask;             // for the J17 Output
283
        unsigned char J17Timing;              // for the J17 Output
284
        // seit version V0.75c
285
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
286
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
287
        //---NaviCtrl---------------------------------------------
288
        unsigned char AutoPhotoDistance;      // Auto Photo
289
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
290
        unsigned char NaviGpsGain;
291
        unsigned char NaviGpsP;
292
        unsigned char NaviGpsI;
293
        unsigned char NaviGpsD;
294
        unsigned char NaviGpsPLimit;
295
        unsigned char NaviGpsILimit;
296
        unsigned char NaviGpsDLimit;
297
        unsigned char NaviGpsA;
298
        unsigned char NaviGpsMinSat;
299
        unsigned char NaviStickThreshold;
300
        unsigned char NaviWindCorrection;
301
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
302
        unsigned char NaviMaxFlyingRange;     // in 10m
303
        unsigned char NaviAngleLimitation;
304
        unsigned char NaviPH_LoginTime;
305
        unsigned char NaviDescendRange;
306
        //---Ext.Ctrl---------------------------------------------
307
        unsigned char ExternalControl;         // for serial Control
308
        //---CareFree---------------------------------------------
309
        unsigned char OrientationAngle;        // Where is the front-direction?
310
        unsigned char CareFreeChannel;     // switch for CareFree
1992 - 311
    unsigned char MotorSafetySwitch;
312
    unsigned char MotorSmooth;
313
    unsigned char ComingHomeAltitude;
314
    unsigned char FailSafeTime;
315
    unsigned char MaxAltitude;
2569 - 316
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
317
        unsigned char ServoFilterNick;  
318
        unsigned char ServoFilterRoll;  
2043 - 319
    unsigned char Servo3OnValue;
320
    unsigned char Servo3OffValue;
321
    unsigned char Servo4OnValue;
322
    unsigned char Servo4OffValue;
2569 - 323
        unsigned char ServoFS_Pos[5];
324
        unsigned char StartLandChannel;  
325
        unsigned char LandingSpeed;  
326
        unsigned char CompassOffset;        
327
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
328
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
329
        unsigned char AutoPhotoAtitudes;
330
        unsigned char SingleWpSpeed;
331
        unsigned char LandingPulse;
332
        unsigned char SingleWpControlChannel;
333
        unsigned char MenuKeyChannel;
2225 - 334
    unsigned char CamCtrlModeChannel;
2569 - 335
    unsigned char CamCtrlZoomChannel;  
336
        unsigned char reserved[32];       // for later use
337
        //------------------------------------------------
338
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
339
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
340
        unsigned char ExtraConfig;        // bitcodiert
341
        unsigned char GlobalConfig3;      // bitcodiert
342
        char Name[12];
343
        unsigned char crc;                                // must be the last byte!
344
} paramset_t;      // since 2.14 -> size is always 179 Bytes
345
// -> if changed: update NC-Data structure also <-
407 cascade 346
 
2075 - 347
 
783 - 348
typedef struct {
1992 - 349
    u8 SettingsIndex;
350
    paramset_t param;
783 - 351
} __attribute__((packed)) paramset_serial;
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/*
354
 * MikroKopter 3D-Data struct
355
 * portions taken and adapted from
356
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
357
 */
358
typedef struct {
1992 - 359
    s16 AngleNick; // in 0.1 deg
360
    s16 AngleRoll; // in 0.1 deg
361
    s16 Heading; // in 0.1 deg
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    u8 StickNick;
363
    u8 StickRoll;
364
    u8 StickYaw;
365
    u8 StickGas;
366
    u8 reserve[4];
367
} __attribute__((packed)) Data3D_t;
368
 
369
extern Data3D_t Data3D;
370
 
2000 - 371
#endif