Subversion Repositories Projects

Rev

Rev 734 | Rev 762 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
331 cascade 1
/****************************************************************************
728 cascade 2
 *   Copyright (C) 2009-2010 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
 
21
/* ##########################################################################
22
 * gain some fake arm compat :)
23
 * ##########################################################################*/
24
#define u8 uint8_t
25
#define s8 int8_t
26
#define u16 uint16_t
27
#define s16 int16_t
28
#define u32 uint32_t
29
#define s32 int32_t
30
 
31
/*
32
 * FC Debug Struct
33
 * portions taken and adapted from
34
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
35
 */
36
typedef struct {
37
    uint8_t Digital[2];
38
    uint16_t Analog[32]; // Debugvalues
39
} __attribute__((packed)) DebugOut_t;
40
 
677 cascade 41
typedef struct {
761 - 42
    unsigned char SWMajor;
43
    unsigned char SWMinor;
44
    unsigned char ProtoMajor;
45
    unsigned char ProtoMinor;
46
    unsigned char SWPatch;
47
    unsigned char Reserved[5];
677 cascade 48
} str_VersionInfo;
49
 
331 cascade 50
/*
51
 * NaviCtrl OSD Structs
761 - 52
 * portions taken and adapted from
728 cascade 53
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
331 cascade 54
 */
55
typedef struct {
56
    s32 Longitude; // in 1E-7 deg
57
    s32 Latitude; // in 1E-7 deg
58
    s32 Altitude; // in mm
59
    u8 Status; // validity of data
761 - 60
} __attribute__((packed)) GPS_Pos_t;
61
#define INVALID         0x00
62
#define NEWDATA         0x01
63
#define PROCESSED       0x02
331 cascade 64
 
761 - 65
typedef struct {
66
    u16 Distance; // distance to target in cm
67
    s16 Bearing; // course to target in deg
331 cascade 68
} __attribute__((packed)) GPS_PosDev_t;
69
 
70
typedef struct {
761 - 71
    u8 Version; // version of the data structure
72
    GPS_Pos_t CurrentPosition; // see ubx.h for details
73
    GPS_Pos_t TargetPosition;
74
    GPS_PosDev_t TargetPositionDeviation;
75
    GPS_Pos_t HomePosition;
76
    GPS_PosDev_t HomePositionDeviation;
77
    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
78
    u8 WaypointNumber; // number of stored waypoints
79
    u8 SatsInUse; // number of satellites used for position solution
80
    s16 Altimeter; // hight according to air pressure
81
    s16 Variometer; // climb(+) and sink(-) rate
82
    u16 FlyingTime; // in seconds
83
    u8 UBat; // Battery Voltage in 0.1 Volts
84
    u16 GroundSpeed; // speed over ground in cm/s (2D)
85
    s16 Heading; // current flight direction in � as angle to north
86
    s16 CompassHeading; // current compass value in �
87
    s8 AngleNick; // current Nick angle in 1�
88
    s8 AngleRoll; // current Rick angle in 1�
89
    u8 RC_Quality; // RC_Quality
90
    u8 FCFlags; // Flags from FC
91
    u8 NCFlags; // Flags from NC
92
    u8 Errorcode; // 0 --> okay
93
    u8 OperatingRadius; // current operation radius around the Home Position in m
94
    s16 TopSpeed; // velocity in vertical direction in cm/s
95
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
96
    u8 RC_RSSI; // Receiver signal strength (since version 2 added)
97
    s16 SetpointAltitude; // setpoint for altitude
98
    u8 Gas; // for future use
99
    u16 Current; // actual current in 0.1A steps
100
    u16 UsedCapacity; // used capacity in mAh
331 cascade 101
} __attribute__((packed)) NaviData_t;
102
 
728 cascade 103
 
331 cascade 104
/*
105
 * MikroKopter Flags
407 cascade 106
 * taken from
734 cascade 107
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h
331 cascade 108
 */
734 cascade 109
#define FCFLAG_MOTOR_RUN        0x01
110
#define FCFLAG_FLY              0x02
111
#define FCFLAG_CALIBRATE        0x04
112
#define FCFLAG_START            0x08
113
#define FCFLAG_NOTLANDUNG       0x10
114
#define FCFLAG_LOWBAT           0x20
115
#define FCFLAG_SPI_RX_ERR       0x40
116
#define FCFLAG_I2CERR           0x80
407 cascade 117
 
734 cascade 118
// backward compat
119
#define FLAG_MOTOR_RUN  FCFLAG_MOTOR_RUN
120
#define FLAG_FLY        FCFLAG_FLY
121
#define FLAG_CALIBRATE  FCFLAG_CALIBRATE
122
#define FLAG_START      FCFLAG_START
123
 
407 cascade 124
/*
125
 * NaviCtrl Flags
126
 * taken from
675 cascade 127
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
407 cascade 128
 */
129
#define NC_FLAG_FREE                    0x01
130
#define NC_FLAG_PH                              0x02
131
#define NC_FLAG_CH                              0x04
132
#define NC_FLAG_RANGE_LIMIT             0x08
133
#define NC_FLAG_NOSERIALLINK    0x10
134
#define NC_FLAG_TARGET_REACHED  0x20
135
#define NC_FLAG_MANUAL_CONTROL  0x40
136
#define NC_FLAG_8                               0x80
137
 
138