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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%2FV0.17e%2Fuart1.h |
44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%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 | #define INVALID 0x00 |
52 | #define INVALID 0x00 |
53 | #define NEWDATA 0x01 |
53 | #define NEWDATA 0x01 |
54 | #define PROCESSED 0x02 |
54 | #define PROCESSED 0x02 |
55 | 55 | ||
56 | - | ||
57 | typedef struct { |
- | |
58 | { |
56 | |
59 | u16 Distance; // distance to target in cm |
57 | typedef struct { |
60 | s16 Bearing; // course to target in deg |
58 | u16 Distance; // distance to target in cm |
61 | } __attribute__((packed)) GPS_PosDev_t; |
59 | s16 Bearing; // course to target in deg |
62 | 60 | } __attribute__((packed)) GPS_PosDev_t; |
|
63 | typedef struct { |
61 | |
64 | u8 Version; // version of the data structure |
62 | typedef struct { |
65 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
63 | u8 Version; // version of the data structure |
66 | GPS_Pos_t TargetPosition; |
64 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
67 | GPS_PosDev_t TargetPositionDeviation; |
65 | GPS_Pos_t TargetPosition; |
68 | GPS_Pos_t HomePosition; |
66 | GPS_PosDev_t TargetPositionDeviation; |
69 | GPS_PosDev_t HomePositionDeviation; |
67 | GPS_Pos_t HomePosition; |
70 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
68 | GPS_PosDev_t HomePositionDeviation; |
71 | u8 WaypointNumber; // number of stored waypoints |
69 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
72 | u8 SatsInUse; // number of satellites used for position solution |
70 | u8 WaypointNumber; // number of stored waypoints |
73 | s16 Altimeter; // hight according to air pressure |
71 | u8 SatsInUse; // number of satellites used for position solution |
74 | s16 Variometer; // climb(+) and sink(-) rate |
72 | s16 Altimeter; // hight according to air pressure |
75 | u16 FlyingTime; // in seconds |
73 | s16 Variometer; // climb(+) and sink(-) rate |
76 | u8 UBat; // Battery Voltage in 0.1 Volts |
74 | u16 FlyingTime; // in seconds |
77 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
75 | u8 UBat; // Battery Voltage in 0.1 Volts |
78 | s16 Heading; // current flight direction in ° as angle to north |
76 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
79 | s16 CompassHeading; // current compass value in ° |
77 | s16 Heading; // current flight direction in ° as angle to north |
80 | s8 AngleNick; // current Nick angle in 1° |
78 | s16 CompassHeading; // current compass value in ° |
81 | s8 AngleRoll; // current Rick angle in 1° |
79 | s8 AngleNick; // current Nick angle in 1° |
82 | u8 RC_Quality; // RC_Quality |
80 | s8 AngleRoll; // current Rick angle in 1° |
83 | u8 MKFlags; // Flags from FC |
81 | u8 RC_Quality; // RC_Quality |
84 | u8 NCFlags; // Flags from NC |
82 | u8 MKFlags; // Flags from FC |
85 | u8 Errorcode; // 0 --> okay |
83 | u8 NCFlags; // Flags from NC |
86 | u8 OperatingRadius; // current operation radius around the Home Position in m |
84 | u8 Errorcode; // 0 --> okay |
87 | s16 TopSpeed; // velocity in vertical direction in cm/s |
85 | u8 OperatingRadius; // current operation radius around the Home Position in m |
88 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
86 | s16 TopSpeed; // velocity in vertical direction in cm/s |
89 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
87 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
90 | s16 SetpointAltitude; // setpoint for altitude |
88 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
91 | u8 Gas; // for future use |
89 | s16 SetpointAltitude; // setpoint for altitude |
92 | } __attribute__((packed)) NaviData_t; |
90 | u8 Gas; // for future use |
93 | 91 | } __attribute__((packed)) NaviData_t; |
|
94 | /* |
92 | |
95 | * MikroKopter Flags |
93 | /* |
96 | * taken from |
94 | * MikroKopter Flags |
97 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
95 | * taken from |
98 | */ |
96 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
99 | #define FLAG_MOTOR_RUN 1 |
97 | */ |
100 | #define FLAG_FLY 2 |
98 | #define FLAG_MOTOR_RUN 1 |
101 | #define FLAG_CALIBRATE 4 |
99 | #define FLAG_FLY 2 |
102 | #define FLAG_START 8 |
100 | #define FLAG_CALIBRATE 4 |
103 | 101 | #define FLAG_START 8 |
|
104 | /* |
102 | |
105 | * NaviCtrl Flags |
103 | /* |
106 | * taken from |
104 | * NaviCtrl Flags |
107 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
105 | * taken from |
108 | */ |
106 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
109 | #define NC_FLAG_FREE 0x01 |
107 | */ |
110 | #define NC_FLAG_PH 0x02 |
108 | #define NC_FLAG_FREE 0x01 |
111 | #define NC_FLAG_CH 0x04 |
109 | #define NC_FLAG_PH 0x02 |
112 | #define NC_FLAG_RANGE_LIMIT 0x08 |
110 | #define NC_FLAG_CH 0x04 |
113 | #define NC_FLAG_NOSERIALLINK 0x10 |
111 | #define NC_FLAG_RANGE_LIMIT 0x08 |
114 | #define NC_FLAG_TARGET_REACHED 0x20 |
112 | #define NC_FLAG_NOSERIALLINK 0x10 |
115 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
113 | #define NC_FLAG_TARGET_REACHED 0x20 |
116 | #define NC_FLAG_8 0x80 |
114 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
117 | 115 | #define NC_FLAG_8 0x80 |
|
118 | 116 | ||
119 | 117 | ||
- | 118 |