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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
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 * |
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. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | ****************************************************************************/ |
19 | ****************************************************************************/ |
20 | 20 | ||
21 | /* ########################################################################## |
21 | /* ########################################################################## |
22 | * gain some fake arm compat :) |
22 | * gain some fake arm compat :) |
23 | * ##########################################################################*/ |
23 | * ##########################################################################*/ |
24 | #define u8 uint8_t |
24 | #define u8 uint8_t |
25 | #define s8 int8_t |
25 | #define s8 int8_t |
26 | #define u16 uint16_t |
26 | #define u16 uint16_t |
27 | #define s16 int16_t |
27 | #define s16 int16_t |
28 | #define u32 uint32_t |
28 | #define u32 uint32_t |
29 | #define s32 int32_t |
29 | #define s32 int32_t |
30 | 30 | ||
31 | /* |
31 | /* |
32 | * FC Debug Struct |
32 | * FC Debug Struct |
33 | * portions taken and adapted from |
33 | * portions taken and adapted from |
34 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
34 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
35 | */ |
35 | */ |
36 | typedef struct { |
36 | typedef struct { |
37 | uint8_t Digital[2]; |
37 | uint8_t Digital[2]; |
38 | uint16_t Analog[32]; // Debugvalues |
38 | uint16_t Analog[32]; // Debugvalues |
39 | } __attribute__((packed)) DebugOut_t; |
39 | } __attribute__((packed)) DebugOut_t; |
40 | 40 | ||
41 | /* |
41 | /* |
42 | * NaviCtrl OSD Structs |
42 | * NaviCtrl OSD Structs |
43 | * portions taken and adapted from |
43 | * portions taken and adapted from |
44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
45 | */ |
45 | */ |
46 | typedef struct { |
46 | typedef struct { |
47 | s32 Longitude; // in 1E-7 deg |
47 | s32 Longitude; // in 1E-7 deg |
48 | s32 Latitude; // in 1E-7 deg |
48 | s32 Latitude; // in 1E-7 deg |
49 | s32 Altitude; // in mm |
49 | s32 Altitude; // in mm |
50 | u8 Status; // validity of data |
50 | u8 Status; // validity of data |
51 | } __attribute__((packed)) GPS_Pos_t; |
51 | } __attribute__((packed)) GPS_Pos_t; |
52 | 52 | ||
53 | typedef struct { |
53 | typedef struct { |
54 | s16 Distance; // distance to target in cm |
54 | s16 Distance; // distance to target in cm |
55 | s16 Bearing; // course to target in deg |
55 | s16 Bearing; // course to target in deg |
56 | } __attribute__((packed)) GPS_PosDev_t; |
56 | } __attribute__((packed)) GPS_PosDev_t; |
57 | 57 | ||
58 | typedef struct { |
58 | typedef struct { |
59 | u8 Version; // version of the data structure |
59 | u8 Version; // version of the data structure |
60 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
60 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
61 | GPS_Pos_t TargetPosition; |
61 | GPS_Pos_t TargetPosition; |
62 | GPS_PosDev_t TargetPositionDeviation; |
62 | GPS_PosDev_t TargetPositionDeviation; |
63 | GPS_Pos_t HomePosition; |
63 | GPS_Pos_t HomePosition; |
64 | GPS_PosDev_t HomePositionDeviation; |
64 | GPS_PosDev_t HomePositionDeviation; |
65 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
65 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
66 | u8 WaypointNumber; // number of stored waypoints |
66 | u8 WaypointNumber; // number of stored waypoints |
67 | u8 SatsInUse; // number of satellites used for position solution |
67 | u8 SatsInUse; // number of satellites used for position solution |
68 | s16 Altimeter; // hight according to air pressure |
68 | s16 Altimeter; // hight according to air pressure |
69 | s16 Variometer; // climb(+) and sink(-) rate |
69 | s16 Variometer; // climb(+) and sink(-) rate |
70 | u16 FlyingTime; // in seconds |
70 | u16 FlyingTime; // in seconds |
71 | u8 UBat; // Battery Voltage in 0.1 Volts |
71 | u8 UBat; // Battery Voltage in 0.1 Volts |
72 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
72 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
73 | s16 Heading; // current flight direction in ° as angle to north |
73 | s16 Heading; // current flight direction in ° as angle to north |
74 | s16 CompassHeading; // current compass value in ° |
74 | s16 CompassHeading; // current compass value in ° |
75 | s8 AngleNick; // current Nick angle in 1° |
75 | s8 AngleNick; // current Nick angle in 1° |
76 | s8 AngleRoll; // current Rick angle in 1° |
76 | s8 AngleRoll; // current Rick angle in 1° |
77 | u8 RC_Quality; // RC_Quality |
77 | u8 RC_Quality; // RC_Quality |
78 | u8 MKFlags; // Flags from FC |
78 | u8 MKFlags; // Flags from FC |
79 | u8 NCFlags; // Flags from NC |
79 | u8 NCFlags; // Flags from NC |
80 | u8 Errorcode; // 0 --> okay |
80 | u8 Errorcode; // 0 --> okay |
81 | u8 OperatingRadius; // current operation radius around the Home Position in m |
81 | u8 OperatingRadius; // current operation radius around the Home Position in m |
82 | s16 TopSpeed; // velocity in vertical direction in cm/s |
82 | s16 TopSpeed; // velocity in vertical direction in cm/s |
83 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
83 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
84 | u8 Reserve[4]; // for future use |
84 | u8 Reserve[4]; // for future use |
85 | } __attribute__((packed)) NaviData_t; |
85 | } __attribute__((packed)) NaviData_t; |
86 | 86 | ||
87 | /* |
87 | /* |
88 | * MikroKopter Flags |
88 | * MikroKopter Flags |
89 | * portions taken and adapted from |
89 | * taken from |
90 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
90 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
91 | */ |
91 | */ |
92 | #define NC_FLAG_FREE 1 |
- | |
93 | #define NC_FLAG_PH 2 |
- | |
94 | #define NC_FLAG_CH 4 |
- | |
95 | #define NC_FLAG_RANGE_LIMIT 8 |
- | |
96 | #define NC_SERIAL_LINK_OK 16 |
- | |
97 | #define NC_FLAG_TARGET_REACHED 32 |
- | |
98 | - | ||
99 | #define FLAG_MOTOR_RUN 1 |
92 | #define FLAG_MOTOR_RUN 1 |
100 | #define FLAG_FLY 2 |
93 | #define FLAG_FLY 2 |
101 | #define FLAG_CALIBRATE 4 |
94 | #define FLAG_CALIBRATE 4 |
102 | #define FLAG_START 8 |
95 | #define FLAG_START 8 |
- | 96 | ||
- | 97 | /* |
|
- | 98 | * NaviCtrl Flags |
|
- | 99 | * taken from |
|
- | 100 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
|
- | 101 | */ |
|
- | 102 | #define NC_FLAG_FREE 0x01 |
|
- | 103 | #define NC_FLAG_PH 0x02 |
|
- | 104 | #define NC_FLAG_CH 0x04 |
|
- | 105 | #define NC_FLAG_RANGE_LIMIT 0x08 |
|
- | 106 | #define NC_FLAG_NOSERIALLINK 0x10 |
|
- | 107 | #define NC_FLAG_TARGET_REACHED 0x20 |
|
- | 108 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
|
- | 109 | #define NC_FLAG_8 0x80 |
|
- | 110 | ||
- | 111 | ||
103 | 112 |