WebSVN - Projects - Diff - Rev 449 and 450 - /QMK-Groundstation/branches/libMK/libMK/Kopter.h


#ifndef COPTER_H
#define COPTER_H
 
/**
 * This file contains informations and configurations from the Mikrokopter
 */
 
#define MAX_DATA_SIZE 150
 
// version information for the serial connection
#define VERSION_SERIAL_MAJOR 10
#define VERSION_SERIAL_MINOR 0
 
// Basis-Adresses for different hardware components
#define ADDRESS_ALL 0
#define ADDRESS_FC 1
#define ADDRESS_NC 2
#define ADDRESS_MK3MAG 3
 
//maximum amount of motors
#define MAX_MOTORS 12
 
// settings ID
#define SETTINGS_ID 2
 
//TODO: use enum?
/*
enum HardwareType {
    Default,
    FlightCtrl,
    NaviCtrl,
    MK3Mag
};
*/
static const char * HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"};
 
static const int MaxTickerEvents = 5;
 
static const int MaxAnalog    = 32;
static const int MaxPlot      = 50000;
 
static const int MaxNaviPos   = 2000;
 
struct sMotorData
{
    int mixer_gas[MAX_MOTORS];
    int mixer_nick[MAX_MOTORS];
    int mixer_roll[MAX_MOTORS];
    int mixer_yaw[MAX_MOTORS];
    int desired_speed[MAX_MOTORS];
    char * mixer_name;
    int mixer_version;
};
 
struct sMode
{
    int id;
    int version_major;
    int version_minor;
    int version_patch;
    int version_serial_major;
    int version_serial_minor;
    char * hardware;
    char * version;
};
 
struct sGPS_Pos
{
    long Longitude;
    long Latitude;
    long Altitude;
};
 
struct sNaviData
{
    sGPS_Pos Current;
    sGPS_Pos Target;
    sGPS_Pos Home;
 
    long Longitude;
    long Latitude;
    long Altitude;
};
 
struct sWayPoint
{
    double Longitude;
    double Latitude;
    double Altitude;
    int Time;
};
 
/**
 * The KopterData class represents the current state of the MikroKopter.
 * It containes all data that was sent from the Mikrokopter
 */
class KopterData {
    public:
        sMode mode;
        sNaviData navi;
        sMotorData motor;
        int analogData[MaxAnalog];
        // current LCD page
        int lcd_cur;
        //max count of LCD pages
        int lcd_max;
};
 
#endif

Rev 449	Rev 450
1	#ifndef COPTER_H	1	#ifndef COPTER_H
2	#define COPTER_H	2	#define COPTER_H
3		3
4	/**	4	/**
5	* This file contains informations and configurations from the Mikrokopter	5	* This file contains informations and configurations from the Mikrokopter
6	*/	6	*/
7		7
8	#define MAX_DATA_SIZE 150	8	#define MAX_DATA_SIZE 150
9		9
10	// version information for the serial connection	10	// version information for the serial connection
11	#define VERSION_SERIAL_MAJOR 10	11	#define VERSION_SERIAL_MAJOR 10
12	#define VERSION_SERIAL_MINOR 0	12	#define VERSION_SERIAL_MINOR 0
13		13
14	// Basis-Adresses for different hardware components	14	// Basis-Adresses for different hardware components
15	#define ADDRESS_ALL 0	15	#define ADDRESS_ALL 0
16	#define ADDRESS_FC 1	16	#define ADDRESS_FC 1
17	#define ADDRESS_NC 2	17	#define ADDRESS_NC 2
18	#define ADDRESS_MK3MAG 3	18	#define ADDRESS_MK3MAG 3
19		19
20	//maximum amount of motors	20	//maximum amount of motors
21	#define MAX_MOTORS 12	21	#define MAX_MOTORS 12
22		22
23	// settings ID	23	// settings ID
24	#define SETTINGS_ID 2	24	#define SETTINGS_ID 2
-		25
-		26	//TODO: use enum?
-		27	/*
-		28	enum HardwareType {
-		29	Default,
-		30	FlightCtrl,
-		31	NaviCtrl,
-		32	MK3Mag
-		33	};
25		34	*/
26	static const char * HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"};	35	static const char * HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"};
27		36
28	static const int MaxTickerEvents = 5;	37	static const int MaxTickerEvents = 5;
29		38
30	static const int MaxAnalog = 32;	39	static const int MaxAnalog = 32;
31	static const int MaxPlot = 50000;	40	static const int MaxPlot = 50000;
32		41
33	static const int MaxNaviPos = 2000;	42	static const int MaxNaviPos = 2000;
34		43
35	struct sMotorData	44	struct sMotorData
36	{	45	{
37	int mixer_gas[MAX_MOTORS];	46	int mixer_gas[MAX_MOTORS];
38	int mixer_nick[MAX_MOTORS];	47	int mixer_nick[MAX_MOTORS];
39	int mixer_roll[MAX_MOTORS];	48	int mixer_roll[MAX_MOTORS];
40	int mixer_yaw[MAX_MOTORS];	49	int mixer_yaw[MAX_MOTORS];
41	int desired_speed[MAX_MOTORS];	50	int desired_speed[MAX_MOTORS];
42	char * mixer_name;	51	char * mixer_name;
43	int mixer_version;	52	int mixer_version;
44	};	53	};
45		54
46	struct sMode	55	struct sMode
47	{	56	{
48	int id;	57	int id;
49	int version_major;	58	int version_major;
50	int version_minor;	59	int version_minor;
51	int version_patch;	60	int version_patch;
52	int version_serial_major;	61	int version_serial_major;
53	int version_serial_minor;	62	int version_serial_minor;
54	char * hardware;	63	char * hardware;
55	char * version;	64	char * version;
56	};	65	};
57		66
58	struct sGPS_Pos	67	struct sGPS_Pos
59	{	68	{
60	long Longitude;	69	long Longitude;
61	long Latitude;	70	long Latitude;
62	long Altitude;	71	long Altitude;
63	};	72	};
64		73
65	struct sNaviData	74	struct sNaviData
66	{	75	{
67	sGPS_Pos Current;	76	sGPS_Pos Current;
68	sGPS_Pos Target;	77	sGPS_Pos Target;
69	sGPS_Pos Home;	78	sGPS_Pos Home;
70		79
71	long Longitude;	80	long Longitude;
72	long Latitude;	81	long Latitude;
73	long Altitude;	82	long Altitude;
74	};	83	};
75		84
76	struct sWayPoint	85	struct sWayPoint
77	{	86	{
78	double Longitude;	87	double Longitude;
79	double Latitude;	88	double Latitude;
80	double Altitude;	89	double Altitude;
81	int Time;	90	int Time;
82	};	91	};
83		92
84	/**	93	/**
85	* The KopterData class represents the current state of the MikroKopter.	94	* The KopterData class represents the current state of the MikroKopter.
86	* It containes all data that was sent from the Mikrokopter	95	* It containes all data that was sent from the Mikrokopter
87	*/	96	*/
88	class KopterData {	97	class KopterData {
89	public:	98	public:
90	sMode mode;	99	sMode mode;
91	sNaviData navi;	100	sNaviData navi;
92	sMotorData motor;	101	sMotorData motor;
93	int analogData[MaxAnalog];	102	int analogData[MaxAnalog];
94	// current LCD page	103	// current LCD page
95	int lcd_cur;	104	int lcd_cur;
96	//max count of LCD pages	105	//max count of LCD pages
97	int lcd_max;	106	int lcd_max;
98	};	107	};
99		108
100	#endif	109	#endif

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