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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2013 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2013 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 | #ifndef _MK_DATA_STRUCTS_H |
21 | #ifndef _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
23 | 23 | ||
24 | /* ########################################################################## |
24 | /* ########################################################################## |
25 | * gain some fake arm compat :) |
25 | * gain some fake arm compat :) |
26 | * ##########################################################################*/ |
26 | * ##########################################################################*/ |
27 | #define u8 uint8_t |
27 | #define u8 uint8_t |
28 | #define s8 int8_t |
28 | #define s8 int8_t |
29 | #define u16 uint16_t |
29 | #define u16 uint16_t |
30 | #define s16 int16_t |
30 | #define s16 int16_t |
31 | #define u32 uint32_t |
31 | #define u32 uint32_t |
32 | #define s32 int32_t |
32 | #define s32 int32_t |
33 | 33 | ||
34 | /** |
34 | /** |
35 | * MikroKopter Slave-Addresses |
35 | * MikroKopter Slave-Addresses |
36 | * portions taken and adapted from |
36 | * portions taken and adapted from |
37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
38 | */ |
38 | */ |
39 | #define ANY_ADDRESS 0 |
39 | #define ANY_ADDRESS 0 |
40 | #define FC_ADDRESS 1 |
40 | #define FC_ADDRESS 1 |
41 | #define NC_ADDRESS 2 |
41 | #define NC_ADDRESS 2 |
42 | #define MK3MAG_ADDRESS 3 |
42 | #define MK3MAG_ADDRESS 3 |
43 | #define MKOSD_ADDRESS 4 |
43 | #define MKOSD_ADDRESS 4 |
44 | #define BL_ADDRESS 5 |
44 | #define BL_ADDRESS 5 |
45 | - | ||
46 | 45 | ||
47 | /* |
46 | /* |
48 | * FC Debug Struct |
47 | * FC Debug Struct |
49 | * portions taken and adapted from |
48 | * portions taken and adapted from |
50 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h |
49 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h |
51 | */ |
50 | */ |
52 | typedef struct { |
51 | typedef struct { |
53 | unsigned char Status[2]; |
52 | unsigned char Status[2]; |
54 | signed int Analog[32]; // Debugwerte |
53 | signed int Analog[32]; // Debugwerte |
55 | } __attribute__((packed)) str_DebugOut; |
54 | } __attribute__((packed)) str_DebugOut; |
56 | 55 | ||
57 | typedef struct { |
56 | typedef struct { |
58 | unsigned char SWMajor; |
57 | unsigned char SWMajor; |
59 | unsigned char SWMinor; |
58 | unsigned char SWMinor; |
60 | unsigned char ProtoMajor; |
59 | unsigned char ProtoMajor; |
61 | unsigned char ProtoMinor; |
60 | unsigned char ProtoMinor; |
62 | unsigned char SWPatch; |
61 | unsigned char SWPatch; |
63 | unsigned char HardwareError[5]; |
62 | unsigned char HardwareError[5]; |
64 | } __attribute__((packed)) str_VersionInfo; |
63 | } __attribute__((packed)) str_VersionInfo; |
65 | 64 | ||
66 | /* |
65 | /* |
67 | * NaviCtrl GPS Structs |
66 | * NaviCtrl GPS Structs |
68 | * portions taken and adapted from |
67 | * portions taken and adapted from |
69 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
68 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
70 | */ |
69 | */ |
71 | typedef struct { |
70 | typedef struct { |
72 | s32 Longitude; // in 1E-7 deg |
71 | s32 Longitude; // in 1E-7 deg |
73 | s32 Latitude; // in 1E-7 deg |
72 | s32 Latitude; // in 1E-7 deg |
74 | s32 Altitude; // in mm |
73 | s32 Altitude; // in mm |
75 | u8 Status;// validity of data |
74 | u8 Status; // validity of data |
76 | } __attribute__((packed)) GPS_Pos_t; |
75 | } __attribute__((packed)) GPS_Pos_t; |
77 | 76 | ||
78 | #define INVALID 0x00 |
77 | #define INVALID 0x00 |
79 | #define NEWDATA 0x01 |
78 | #define NEWDATA 0x01 |
80 | #define PROCESSED 0x02 |
79 | #define PROCESSED 0x02 |
81 | - | ||
82 | 80 | ||
83 | /* |
81 | /* |
84 | * NaviCtrl OSD Structs |
82 | * NaviCtrl OSD Structs |
85 | * portions taken and adapted from |
83 | * portions taken and adapted from |
86 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
84 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
87 | */ |
85 | */ |
88 | typedef struct { |
86 | typedef struct { |
89 | u16 Distance; // distance to target in dm |
87 | u16 Distance; // distance to target in dm |
90 | s16 Bearing; // course to target in deg |
88 | s16 Bearing; // course to target in deg |
91 | } __attribute__((packed)) GPS_PosDev_t; |
89 | } __attribute__((packed)) GPS_PosDev_t; |
92 | 90 | ||
93 | typedef struct { |
91 | typedef struct { |
94 | u8 Version; // version of the data structure |
92 | u8 Version; // version of the data structure |
95 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
93 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
96 | GPS_Pos_t TargetPosition; |
94 | GPS_Pos_t TargetPosition; |
97 | GPS_PosDev_t TargetPositionDeviation; |
95 | GPS_PosDev_t TargetPositionDeviation; |
98 | GPS_Pos_t HomePosition; |
96 | GPS_Pos_t HomePosition; |
99 | GPS_PosDev_t HomePositionDeviation; |
97 | GPS_PosDev_t HomePositionDeviation; |
100 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
98 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
101 | u8 WaypointNumber; // number of stored waypoints |
99 | u8 WaypointNumber; // number of stored waypoints |
102 | u8 SatsInUse; // number of satellites used for position solution |
100 | u8 SatsInUse; // number of satellites used for position solution |
103 | s16 Altimeter; // hight according to air pressure |
101 | s16 Altimeter; // hight according to air pressure |
104 | s16 Variometer; // climb(+) and sink(-) rate |
102 | s16 Variometer; // climb(+) and sink(-) rate |
105 | u16 FlyingTime; // in seconds |
103 | u16 FlyingTime; // in seconds |
106 | u8 UBat; // Battery Voltage in 0.1 Volts |
104 | u8 UBat; // Battery Voltage in 0.1 Volts |
107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
105 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
108 | s16 Heading; // current flight direction in ° as angle to north |
106 | s16 Heading; // current flight direction in ° as angle to north |
109 | s16 CompassHeading; // current compass value in ° |
107 | s16 CompassHeading; // current compass value in ° |
110 | s8 AngleNick; // current Nick angle in 1° |
108 | s8 AngleNick; // current Nick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
109 | s8 AngleRoll; // current Rick angle in 1° |
112 | u8 RC_Quality; // RC_Quality |
110 | u8 RC_Quality; // RC_Quality |
113 | u8 FCFlags; // Flags from FC |
111 | u8 FCFlags; // Flags from FC |
114 | u8 NCFlags; // Flags from NC |
112 | u8 NCFlags; // Flags from NC |
115 | u8 Errorcode; // 0 --> okay |
113 | u8 Errorcode; // 0 --> okay |
116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
114 | u8 OperatingRadius; // current operation radius around the Home Position in m |
117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
115 | s16 TopSpeed; // velocity in vertical direction in cm/s |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
116 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
119 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
117 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
120 | s16 SetpointAltitude; // setpoint for altitude |
118 | s16 SetpointAltitude; // setpoint for altitude |
121 | u8 Gas; // for future use |
119 | u8 Gas; // for future use |
122 | u16 Current; // actual current in 0.1A steps |
120 | u16 Current; // actual current in 0.1A steps |
123 | u16 UsedCapacity; // used capacity in mAh |
121 | u16 UsedCapacity; // used capacity in mAh |
124 | } __attribute__((packed)) NaviData_t; |
122 | } __attribute__((packed)) NaviData_t; |
125 | 123 | ||
126 | #define NC_FLAG_FREE 0x01 |
124 | #define NC_FLAG_FREE 0x01 |
127 | #define NC_FLAG_PH 0x02 |
125 | #define NC_FLAG_PH 0x02 |
128 | #define NC_FLAG_CH 0x04 |
126 | #define NC_FLAG_CH 0x04 |
129 | #define NC_FLAG_RANGE_LIMIT 0x08 |
127 | #define NC_FLAG_RANGE_LIMIT 0x08 |
130 | #define NC_FLAG_NOSERIALLINK 0x10 |
128 | #define NC_FLAG_NOSERIALLINK 0x10 |
131 | #define NC_FLAG_TARGET_REACHED 0x20 |
129 | #define NC_FLAG_TARGET_REACHED 0x20 |
132 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
130 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
133 | #define NC_FLAG_GPS_OK 0x80 |
131 | #define NC_FLAG_GPS_OK 0x80 |
134 | 132 | ||
135 | /* |
133 | /* |
136 | * MikroKopter Flags |
134 | * MikroKopter Flags |
137 | * portions taken and adapted from |
135 | * portions taken and adapted from |
138 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
136 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
139 | */ |
137 | */ |
140 | #define FCFLAG_MOTOR_RUN 0x01 |
138 | #define FCFLAG_MOTOR_RUN 0x01 |
141 | #define FCFLAG_FLY 0x02 |
139 | #define FCFLAG_FLY 0x02 |
142 | #define FCFLAG_CALIBRATE 0x04 |
140 | #define FCFLAG_CALIBRATE 0x04 |
143 | #define FCFLAG_START 0x08 |
141 | #define FCFLAG_START 0x08 |
144 | #define FCFLAG_NOTLANDUNG 0x10 |
142 | #define FCFLAG_NOTLANDUNG 0x10 |
145 | #define FCFLAG_LOWBAT 0x20 |
143 | #define FCFLAG_LOWBAT 0x20 |
146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
144 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
145 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
148 | 146 | ||
149 | // FC STATUS FLAGS2 |
147 | // FC STATUS FLAGS2 |
150 | #define FC_STATUS2_CAREFREE 0x01 |
148 | #define FC_STATUS2_CAREFREE 0x01 |
151 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
149 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
152 | 150 | ||
153 | #define DEFEKT_G_NICK 0x01 |
151 | #define DEFEKT_G_NICK 0x01 |
154 | #define DEFEKT_G_ROLL 0x02 |
152 | #define DEFEKT_G_ROLL 0x02 |
155 | #define DEFEKT_G_GIER 0x04 |
153 | #define DEFEKT_G_GIER 0x04 |
156 | #define DEFEKT_A_NICK 0x08 |
154 | #define DEFEKT_A_NICK 0x08 |
157 | #define DEFEKT_A_ROLL 0x10 |
155 | #define DEFEKT_A_ROLL 0x10 |
158 | #define DEFEKT_A_Z 0x20 |
156 | #define DEFEKT_A_Z 0x20 |
159 | #define DEFEKT_PRESSURE 0x40 |
157 | #define DEFEKT_PRESSURE 0x40 |
160 | #define DEFEKT_CAREFREE_ERR 0x80 |
158 | #define DEFEKT_CAREFREE_ERR 0x80 |
161 | 159 | ||
162 | #define DEFEKT_I2C 0x01 |
160 | #define DEFEKT_I2C 0x01 |
163 | #define DEFEKT_BL_MISSING 0x02 |
161 | #define DEFEKT_BL_MISSING 0x02 |
164 | #define DEFEKT_SPI_RX_ERR 0x04 |
162 | #define DEFEKT_SPI_RX_ERR 0x04 |
165 | #define DEFEKT_PPM_ERR 0x08 |
163 | #define DEFEKT_PPM_ERR 0x08 |
166 | #define DEFEKT_MIXER_ERR 0x10 |
164 | #define DEFEKT_MIXER_ERR 0x10 |
167 | - | ||
168 | 165 | ||
169 | /* |
166 | /* |
170 | * MikroKopter config struct |
167 | * MikroKopter config struct |
171 | * portions taken and adapted from |
168 | * portions taken and adapted from |
172 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/eeprom.h |
169 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.90j/eeprom.h |
173 | */ |
170 | */ |
174 | typedef struct { |
171 | typedef struct { |
286 | 284 | ||
287 | typedef struct { |
285 | typedef struct { |
288 | u8 SettingsIndex; |
286 | u8 SettingsIndex; |
289 | paramset_t param; |
287 | paramset_t param; |
290 | } __attribute__((packed)) paramset_serial; |
- | |
291 | - | ||
292 | 288 | } __attribute__((packed)) paramset_serial; |
|
293 | 289 | ||
294 | /* |
290 | /* |
295 | * MikroKopter 3D-Data struct |
291 | * MikroKopter 3D-Data struct |
296 | * portions taken and adapted from |
292 | * portions taken and adapted from |
297 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
293 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
298 | */ |
294 | */ |
299 | typedef struct { |
295 | typedef struct { |
300 | s16 AngleNick; // in 0.1 deg |
296 | s16 AngleNick; // in 0.1 deg |
301 | s16 AngleRoll; // in 0.1 deg |
297 | s16 AngleRoll; // in 0.1 deg |
302 | s16 Heading; // in 0.1 deg |
298 | s16 Heading; // in 0.1 deg |
303 | u8 StickNick; |
299 | u8 StickNick; |
304 | u8 StickRoll; |
300 | u8 StickRoll; |
305 | u8 StickYaw; |
301 | u8 StickYaw; |
306 | u8 StickGas; |
302 | u8 StickGas; |
307 | u8 reserve[4]; |
303 | u8 reserve[4]; |
308 | } __attribute__((packed)) Data3D_t; |
304 | } __attribute__((packed)) Data3D_t; |
309 | 305 | ||
310 | extern Data3D_t Data3D; |
306 | extern Data3D_t Data3D; |
311 | 307 | ||
312 | #endif |
308 | #endif |
313 | - |