WebSVN - Projects - Diff - Rev 2225 and 2569 - /C-OSD/trunk/mk-data-structs.h

 /****************************************************************************
  *   Copyright (C) 2009-2016 by Claas Anders "CaScAdE" Rathje               *
  *   admiralcascade@gmail.com                                               *
  *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
  *                                                                          *
  *   This program is free software; you can redistribute it and/or modify   *
  *   it under the terms of the GNU General Public License as published by   *
  *   the Free Software Foundation; either version 2 of the License.         *
  *                                                                          *
  *   This program is distributed in the hope that it will be useful,        *
  *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
  *   GNU General Public License for more details.                           *
  *                                                                          *
  *   You should have received a copy of the GNU General Public License      *
  *   along with this program; if not, write to the                          *
  *   Free Software Foundation, Inc.,                                        *
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
  ****************************************************************************/
 #ifndef _MK_DATA_STRUCTS_H
 #define _MK_DATA_STRUCTS_H
 /* ##########################################################################
  * gain some fake arm compat :)
  * ##########################################################################*/
 #define u8 uint8_t
 #define s8 int8_t
 #define u16 uint16_t
 #define s16 int16_t
 #define u32 uint32_t
 #define s32 int32_t
 /**
  * MikroKopter Slave-Addresses
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
  */
 #define ANY_ADDRESS 0
 #define FC_ADDRESS 1
 #define NC_ADDRESS 2
 #define MK3MAG_ADDRESS 3
 #define MKOSD_ADDRESS 4
 #define BL_ADDRESS 5
 /*
  * FC Debug Struct
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/uart.h
  */
 typedef struct {
     unsigned char Status[2];
     signed int Analog[32]; // Debugwerte
 } __attribute__((packed)) str_DebugOut;
 typedef struct {
         unsigned char SWMajor;
         unsigned char SWMinor;
         unsigned char ProtoMajor;
         unsigned char LabelTextCRC;
         unsigned char SWPatch;
         unsigned char HardwareError[2];
         unsigned char HWMajor;
         unsigned char BL_Firmware;
         unsigned char Flags;
 } __attribute__((packed)) str_VersionInfo;
 /*
  * NaviCtrl GPS Structs
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h
  */
 typedef struct {
     s32 Longitude; // in 1E-7 deg
     s32 Latitude; // in 1E-7 deg
     s32 Altitude; // in mm
     u8 Status; // validity of data
 } __attribute__((packed)) GPS_Pos_t;
 #define INVALID         0x00
 #define NEWDATA         0x01
 #define PROCESSED       0x02
 #define SIMULATION      0x03
 /*
  * NaviCtrl OSD Structs
  * portions taken and adapted from
- * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h
+ * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h
  */
 typedef struct {
     u16 Distance; // distance to target in dm
     s16 Bearing; // course to target in deg
 } __attribute__((packed)) GPS_PosDev_t;
 #define NAVIDATA_VERSION 5
+typedef struct   // 84 Bytes    (note: this is the old protocol)
-typedef struct {
+{
-        u8 Version;                                             // version of the data structure
+        u8 Version;                                             // version of the data structure = 5
-        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
+        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
         GPS_Pos_t TargetPosition;
         GPS_PosDev_t TargetPositionDeviation;
         GPS_Pos_t HomePosition;
         GPS_PosDev_t HomePositionDeviation;
-        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
+        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
         u8  WaypointNumber;                             // number of stored waypoints
-        u8  SatsInUse;                                  // number of satellites used for position solution
+        u8  SatsInUse;                                  // number of satellites used for position solution
-        s16 Altimeter_5cm;                              // hight according to air pressure
+        s16 Altimeter_5cm;                              // hight according to air pressure
         s16 Variometer;                                 // climb(+) and sink(-) rate
         u16 FlyingTime;                                 // in seconds
         u8  UBat;                                               // Battery Voltage in 0.1 Volts
-        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
+        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
-        s16 Heading;                                    // current flight direction in ° as angle to north
+        s16 Heading;                                    // current flight direction in ° as angle to north
         s16     CompassHeading;                         // current compass value in °
-        s8  AngleNick;                                  // current Nick angle in 1°
+        s8  AngleNick;                                  // current Nick angle in 1°
-        s8  AngleRoll;                                  // current Rick angle in 1°
+        s8  AngleRoll;                                  // current Rick angle in 1°
         u8  RC_Quality;                                 // RC_Quality
-        u8  FCStatusFlags;                              // Flags from FC
+        u8  FCStatusFlags;                              // Flags from FC see main.c FC_STATUS_xxx
-        u8  NCFlags;                                    // Flags from NC
+        u8  NCFlags;                                    // Flags from NC see main.h NC_FLAG_xxx
-        u8  Errorcode;                                  // 0 --> okay
+        u8  Errorcode;                                  // 0 --> okay
         u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
         s16 TopSpeed;                                   // velocity in vertical direction in cm/s
         u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
         u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
         s16 SetpointAltitude;                   // setpoint for altitude
-        u8  Gas;                                                // for future use
+        u8  Gas;                                                // current gas (thrust)
-        u16 Current;                                    // actual current in 0.1A steps
+        u16 Current;                                    // actual current in 0.1A steps
+        u16 UsedCapacity;                               // used capacity in mAh
+        u8 reserve1;                                    // to fit into 84 bytes (must be divisible by 3)
-        u16 UsedCapacity;                               // used capacity in mAh
+        u8 reserve2;                                    // to fit into 84 bytes (must be divisible by 3)
+} __attribute__((packed)) NaviData_t;
-} __attribute__((packed)) NaviData_t;
+extern NaviData_t NaviData;
 /*
  * NaviCtrl & FCFlags Flags
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h
  */
  // .NCFlags
 #define NC_FLAG_FREE                    0x01
 #define NC_FLAG_PH                              0x02
 #define NC_FLAG_CH                              0x04
 #define NC_FLAG_RANGE_LIMIT             0x08
 #define NC_FLAG_NOSERIALLINK    0x10
 #define NC_FLAG_TARGET_REACHED  0x20
 #define NC_FLAG_MANUAL_CONTROL  0x40
 #define NC_FLAG_GPS_OK                  0x80
 // FC.StatusFlags
 #define FCFLAG_MOTOR_RUN        0x01
 #define FCFLAG_FLY              0x02
 #define FCFLAG_CALIBRATE        0x04
 #define FCFLAG_START            0x08
 #define FCFLAG_NOTLANDUNG       0x10
 #define FCFLAG_LOWBAT           0x20
 #define FCFLAG_VARIO_TRIM_UP    0x40
 #define FCFLAG_VARIO_TRIM_DOWN  0x80
 // FC.StatusFlags2
 #define FC_STATUS2_CAREFREE                 0x01
 #define FC_STATUS2_ALTITUDE_CONTROL         0x02
 #define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
 #define FC_STATUS2_OUT1_ACTIVE                  0x08
 #define FC_STATUS2_OUT2_ACTIVE                  0x10
 #define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
 #define FC_STATUS2_AUTO_STARTING                0x40
 #define FC_STATUS2_AUTO_LANDING                 0x80
 // FC.StatusFlags3
 #define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
 #define FC_STATUS3_BOAT                         0x02
 #define FC_STATUS3_REDUNDANCE_ERROR                     0x04
 #define FC_STATUS3_REDUNDANCE_TEST                      0x08
 #define FC_STATUS3_NOT_CALIBRATED                       0x10
 #define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20
 // FC ERRORS FLAGS
 #define FC_ERROR0_GYRO_NICK     0x01
 #define FC_ERROR0_GYRO_ROLL     0x02
 #define FC_ERROR0_GYRO_YAW              0x04
 #define FC_ERROR0_ACC_NICK              0x08
 #define FC_ERROR0_ACC_ROLL              0x10
 #define FC_ERROR0_ACC_TOP               0x20
 #define FC_ERROR0_PRESSURE              0x40
 #define FC_ERROR0_CAREFREE              0x80
 #define FC_ERROR1_I2C                   0x01
 #define FC_ERROR1_BL_MISSING    0x02
 #define FC_ERROR1_SPI_RX                0x04
 #define FC_ERROR1_PPM                   0x08
 #define FC_ERROR1_MIXER                 0x10
 #define FC_ERROR1_RES1                  0x20
 #define FC_ERROR1_RES2                  0x40
 #define FC_ERROR1_RES3                  0x80
 /*
  * MikroKopter config struct
  * portions taken and adapted from
- * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h
+ * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h
  */
-#define EEPARAM_REVISION        108 // is count up, if paramater stucture has changed (compatibility)
+#define EEPARAM_REVISION        109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility)
+#define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)
+#define EE_BACKWARD_COMP        1   // change if the eepropm parameters are not backwards compatible
 #define EEMIXER_REVISION          1 // is count up, if mixer stucture has changed (compatibility)
 typedef struct
+{
         unsigned char Revision;
         unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
         unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
         unsigned char Hoehe_MinGas;           // Wert : 0-100
         unsigned char Luftdruck_D;            // Wert : 0-250
         unsigned char HoeheChannel;           // Wert : 0-32
         unsigned char Hoehe_P;                // Wert : 0-32
         unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
         unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
         unsigned char Hoehe_HoverBand;        // Wert : 0-250
         unsigned char Hoehe_TiltCompensation; // Wert : 0-250
         unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
         unsigned char Stick_P;                // Wert : 1-6
         unsigned char Stick_D;                // Wert : 0-64
         unsigned char StickGier_P;            // Wert : 1-20
         unsigned char Gas_Min;                // Wert : 0-32
         unsigned char Gas_Max;                // Wert : 33-250
         unsigned char GyroAccFaktor;          // Wert : 1-64
         unsigned char KompassWirkung;         // Wert : 0-32
         unsigned char Gyro_P;                 // Wert : 10-250
         unsigned char Gyro_I;                 // Wert : 0-250
         unsigned char Gyro_D;                 // Wert : 0-250
         unsigned char Gyro_Gier_P;            // Wert : 10-250
         unsigned char Gyro_Gier_I;            // Wert : 0-250
         unsigned char Gyro_Stability;         // Wert : 0-16
         unsigned char UnterspannungsWarnung;  // Wert : 0-250
         unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
         unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
         unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
         unsigned char I_Faktor;               // Wert : 0-250
         unsigned char UserParam1;             // Wert : 0-250
         unsigned char UserParam2;             // Wert : 0-250
         unsigned char UserParam3;             // Wert : 0-250
         unsigned char UserParam4;             // Wert : 0-250
         unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
         unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
         unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
         unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
         //--- Seit V0.75
         unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
         unsigned char ServoRollComp;          // Wert : 0-250
         unsigned char ServoRollMin;           // Wert : 0-250
         unsigned char ServoRollMax;           // Wert : 0-250
         //---
         unsigned char ServoNickRefresh;       // Speed of the Servo
     unsigned char ServoManualControlSpeed;//
     unsigned char CamOrientation;         //
         unsigned char Servo3;                    // Value or mapping of the Servo Output
         unsigned char Servo4;                            // Value or mapping of the Servo Output
         unsigned char Servo5;                            // Value or mapping of the Servo Output
         unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
         unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
         unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
         unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
         unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
         unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
         unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
         unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
         unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
         unsigned char Driftkomp;
         unsigned char DynamicStability;
         unsigned char UserParam5;             // Wert : 0-250
         unsigned char UserParam6;             // Wert : 0-250
         unsigned char UserParam7;             // Wert : 0-250
         unsigned char UserParam8;             // Wert : 0-250
         //---Output ---------------------------------------------
         unsigned char J16Bitmask;             // for the J16 Output
         unsigned char J16Timing;              // for the J16 Output
         unsigned char J17Bitmask;             // for the J17 Output
         unsigned char J17Timing;              // for the J17 Output
         // seit version V0.75c
         unsigned char WARN_J16_Bitmask;       // for the J16 Output
         unsigned char WARN_J17_Bitmask;       // for the J17 Output
         //---NaviCtrl---------------------------------------------
         unsigned char AutoPhotoDistance;      // Auto Photo
         unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
         unsigned char NaviGpsGain;
         unsigned char NaviGpsP;
         unsigned char NaviGpsI;
         unsigned char NaviGpsD;
         unsigned char NaviGpsPLimit;
         unsigned char NaviGpsILimit;
         unsigned char NaviGpsDLimit;
         unsigned char NaviGpsA;
         unsigned char NaviGpsMinSat;
         unsigned char NaviStickThreshold;
         unsigned char NaviWindCorrection;
         unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
         unsigned char NaviMaxFlyingRange;     // in 10m
         unsigned char NaviAngleLimitation;
         unsigned char NaviPH_LoginTime;
         unsigned char NaviDescendRange;
         //---Ext.Ctrl---------------------------------------------
         unsigned char ExternalControl;         // for serial Control
         //---CareFree---------------------------------------------
         unsigned char OrientationAngle;        // Where is the front-direction?
-        unsigned char CareFreeChannel;     // switch for CareFree
+        unsigned char CareFreeChannel;     // switch for CareFree
     unsigned char MotorSafetySwitch;
     unsigned char MotorSmooth;
     unsigned char ComingHomeAltitude;
     unsigned char FailSafeTime;
     unsigned char MaxAltitude;
         unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
         unsigned char ServoFilterNick;
         unsigned char ServoFilterRoll;
     unsigned char Servo3OnValue;
     unsigned char Servo3OffValue;
     unsigned char Servo4OnValue;
     unsigned char Servo4OffValue;
         unsigned char ServoFS_Pos[5];
         unsigned char StartLandChannel;
         unsigned char LandingSpeed;
         unsigned char CompassOffset;
         unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
         unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
         unsigned char AutoPhotoAtitudes;
         unsigned char SingleWpSpeed;
         unsigned char LandingPulse;
         unsigned char SingleWpControlChannel;
         unsigned char MenuKeyChannel;
     unsigned char CamCtrlModeChannel;
     unsigned char CamCtrlZoomChannel;
         unsigned char reserved[32];       // for later use
         //------------------------------------------------
         unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
         unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
         unsigned char ExtraConfig;        // bitcodiert
         unsigned char GlobalConfig3;      // bitcodiert
         char Name[12];
-        unsigned char crc;                              // must be the last byte!
+        unsigned char crc;                                // must be the last byte!
-} paramset_t; // since 2.14 -> size is always 179 Bytes
+} paramset_t;      // since 2.14 -> size is always 179 Bytes
+// -> if changed: update NC-Data structure also <-
 typedef struct {
     u8 SettingsIndex;
     paramset_t param;
 } __attribute__((packed)) paramset_serial;
 /*
  * MikroKopter 3D-Data struct
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
  */
 typedef struct {
     s16 AngleNick; // in 0.1 deg
     s16 AngleRoll; // in 0.1 deg
     s16 Heading; // in 0.1 deg
     u8 StickNick;
     u8 StickRoll;
     u8 StickYaw;
     u8 StickGas;
     u8 reserve[4];
 } __attribute__((packed)) Data3D_t;
 extern Data3D_t Data3D;
 #endif

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(root)/C-OSD/trunk/mk-data-structs.h - Rev 2225 → 2569