WebSVN - Projects - Diff - Rev 761 and 762 - /C-OSD/trunk/mk-data-structs.h


/****************************************************************************
 *   Copyright (C) 2009-2010 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
 
/*
 * FC Debug Struct
 * portions taken and adapted from
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
 */
typedef struct {
    uint8_t Digital[2];
    uint16_t Analog[32]; // Debugvalues
} __attribute__((packed)) DebugOut_t;
 
typedef struct {
    unsigned char SWMajor;
    unsigned char SWMinor;
    unsigned char ProtoMajor;
    unsigned char ProtoMinor;
    unsigned char SWPatch;
    unsigned char Reserved[5];
} str_VersionInfo;
 
/*
 * NaviCtrl OSD Structs
 * portions taken and adapted from
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.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
 
typedef struct {
    u16 Distance; // distance to target in cm
    s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
typedef struct {
    u8 Version; // version of the data structure
    GPS_Pos_t CurrentPosition; // see ubx.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 WaypointNumber; // number of stored waypoints
    u8 SatsInUse; // number of satellites used for position solution
    s16 Altimeter; // 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)
    s16 Heading; // current flight direction in � as angle to north
    s16 CompassHeading; // current compass value in �
    s8 AngleNick; // current Nick angle in 1�
    s8 AngleRoll; // current Rick angle in 1�
    u8 RC_Quality; // RC_Quality
    u8 FCFlags; // Flags from FC
    u8 NCFlags; // Flags from NC
    u8 Errorcode; // 0 --> okay
    u8 OperatingRadius; // current 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 RC_RSSI; // Receiver signal strength (since version 2 added)
    s16 SetpointAltitude; // setpoint for altitude
    u8 Gas; // for future use
    u16 Current; // actual current in 0.1A steps
    u16 UsedCapacity; // used capacity in mAh
} __attribute__((packed)) NaviData_t;
 
 
/*
 * MikroKopter Flags
 * taken from
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h
 */
#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_SPI_RX_ERR       0x40
#define FCFLAG_I2CERR           0x80
 
// backward compat
#define FLAG_MOTOR_RUN  FCFLAG_MOTOR_RUN
#define FLAG_FLY        FCFLAG_FLY
#define FLAG_CALIBRATE  FCFLAG_CALIBRATE
#define FLAG_START      FCFLAG_START
 
/*
 * NaviCtrl Flags
 * taken from
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
 */
#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_8                               0x80
 
 
#endif
 

Rev 761	Rev 762
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009-2010 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
-		21	#ifndef _MK_DATA_STRUCTS_H
-		22	#define _MK_DATA_STRUCTS_H
20		23
21	/* ##########################################################################	24	/* ##########################################################################
22	* gain some fake arm compat :)	25	* gain some fake arm compat :)
23	* ##########################################################################*/	26	* ##########################################################################*/
24	#define u8 uint8_t	27	#define u8 uint8_t
25	#define s8 int8_t	28	#define s8 int8_t
26	#define u16 uint16_t	29	#define u16 uint16_t
27	#define s16 int16_t	30	#define s16 int16_t
28	#define u32 uint32_t	31	#define u32 uint32_t
29	#define s32 int32_t	32	#define s32 int32_t
30		33
31	/*	34	/*
32	* FC Debug Struct	35	* FC Debug Struct
33	* portions taken and adapted from	36	* portions taken and adapted from
34	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h	37	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
35	*/	38	*/
36	typedef struct {	39	typedef struct {
37	uint8_t Digital[2];	40	uint8_t Digital[2];
38	uint16_t Analog[32]; // Debugvalues	41	uint16_t Analog[32]; // Debugvalues
39	} __attribute__((packed)) DebugOut_t;	42	} __attribute__((packed)) DebugOut_t;
40		43
41	typedef struct {	44	typedef struct {
42	unsigned char SWMajor;	45	unsigned char SWMajor;
43	unsigned char SWMinor;	46	unsigned char SWMinor;
44	unsigned char ProtoMajor;	47	unsigned char ProtoMajor;
45	unsigned char ProtoMinor;	48	unsigned char ProtoMinor;
46	unsigned char SWPatch;	49	unsigned char SWPatch;
47	unsigned char Reserved[5];	50	unsigned char Reserved[5];
48	} str_VersionInfo;	51	} str_VersionInfo;
49		52
50	/*	53	/*
51	* NaviCtrl OSD Structs	54	* NaviCtrl OSD Structs
52	* portions taken and adapted from	55	* portions taken and adapted from
53	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h	56	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
54	*/	57	*/
55	typedef struct {	58	typedef struct {
56	s32 Longitude; // in 1E-7 deg	59	s32 Longitude; // in 1E-7 deg
57	s32 Latitude; // in 1E-7 deg	60	s32 Latitude; // in 1E-7 deg
58	s32 Altitude; // in mm	61	s32 Altitude; // in mm
59	u8 Status; // validity of data	62	u8 Status; // validity of data
60	} __attribute__((packed)) GPS_Pos_t;	63	} __attribute__((packed)) GPS_Pos_t;
61	#define INVALID 0x00	64	#define INVALID 0x00
62	#define NEWDATA 0x01	65	#define NEWDATA 0x01
63	#define PROCESSED 0x02	66	#define PROCESSED 0x02
64		67
65	typedef struct {	68	typedef struct {
66	u16 Distance; // distance to target in cm	69	u16 Distance; // distance to target in cm
67	s16 Bearing; // course to target in deg	70	s16 Bearing; // course to target in deg
68	} __attribute__((packed)) GPS_PosDev_t;	71	} __attribute__((packed)) GPS_PosDev_t;
69		72
70	typedef struct {	73	typedef struct {
71	u8 Version; // version of the data structure	74	u8 Version; // version of the data structure
72	GPS_Pos_t CurrentPosition; // see ubx.h for details	75	GPS_Pos_t CurrentPosition; // see ubx.h for details
73	GPS_Pos_t TargetPosition;	76	GPS_Pos_t TargetPosition;
74	GPS_PosDev_t TargetPositionDeviation;	77	GPS_PosDev_t TargetPositionDeviation;
75	GPS_Pos_t HomePosition;	78	GPS_Pos_t HomePosition;
76	GPS_PosDev_t HomePositionDeviation;	79	GPS_PosDev_t HomePositionDeviation;
77	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	80	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
78	u8 WaypointNumber; // number of stored waypoints	81	u8 WaypointNumber; // number of stored waypoints
79	u8 SatsInUse; // number of satellites used for position solution	82	u8 SatsInUse; // number of satellites used for position solution
80	s16 Altimeter; // hight according to air pressure	83	s16 Altimeter; // hight according to air pressure
81	s16 Variometer; // climb(+) and sink(-) rate	84	s16 Variometer; // climb(+) and sink(-) rate
82	u16 FlyingTime; // in seconds	85	u16 FlyingTime; // in seconds
83	u8 UBat; // Battery Voltage in 0.1 Volts	86	u8 UBat; // Battery Voltage in 0.1 Volts
84	u16 GroundSpeed; // speed over ground in cm/s (2D)	87	u16 GroundSpeed; // speed over ground in cm/s (2D)
85	s16 Heading; // current flight direction in � as angle to north	88	s16 Heading; // current flight direction in � as angle to north
86	s16 CompassHeading; // current compass value in �	89	s16 CompassHeading; // current compass value in �
87	s8 AngleNick; // current Nick angle in 1�	90	s8 AngleNick; // current Nick angle in 1�
88	s8 AngleRoll; // current Rick angle in 1�	91	s8 AngleRoll; // current Rick angle in 1�
89	u8 RC_Quality; // RC_Quality	92	u8 RC_Quality; // RC_Quality
90	u8 FCFlags; // Flags from FC	93	u8 FCFlags; // Flags from FC
91	u8 NCFlags; // Flags from NC	94	u8 NCFlags; // Flags from NC
92	u8 Errorcode; // 0 --> okay	95	u8 Errorcode; // 0 --> okay
93	u8 OperatingRadius; // current operation radius around the Home Position in m	96	u8 OperatingRadius; // current operation radius around the Home Position in m
94	s16 TopSpeed; // velocity in vertical direction in cm/s	97	s16 TopSpeed; // velocity in vertical direction in cm/s
95	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	98	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
96	u8 RC_RSSI; // Receiver signal strength (since version 2 added)	99	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
97	s16 SetpointAltitude; // setpoint for altitude	100	s16 SetpointAltitude; // setpoint for altitude
98	u8 Gas; // for future use	101	u8 Gas; // for future use
99	u16 Current; // actual current in 0.1A steps	102	u16 Current; // actual current in 0.1A steps
100	u16 UsedCapacity; // used capacity in mAh	103	u16 UsedCapacity; // used capacity in mAh
101	} __attribute__((packed)) NaviData_t;	104	} __attribute__((packed)) NaviData_t;
102		105
103		106
104	/*	107	/*
105	* MikroKopter Flags	108	* MikroKopter Flags
106	* taken from	109	* taken from
107	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h	110	* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h
108	*/	111	*/
109	#define FCFLAG_MOTOR_RUN 0x01	112	#define FCFLAG_MOTOR_RUN 0x01
110	#define FCFLAG_FLY 0x02	113	#define FCFLAG_FLY 0x02
111	#define FCFLAG_CALIBRATE 0x04	114	#define FCFLAG_CALIBRATE 0x04
112	#define FCFLAG_START 0x08	115	#define FCFLAG_START 0x08
113	#define FCFLAG_NOTLANDUNG 0x10	116	#define FCFLAG_NOTLANDUNG 0x10
114	#define FCFLAG_LOWBAT 0x20	117	#define FCFLAG_LOWBAT 0x20
115	#define FCFLAG_SPI_RX_ERR 0x40	118	#define FCFLAG_SPI_RX_ERR 0x40
116	#define FCFLAG_I2CERR 0x80	119	#define FCFLAG_I2CERR 0x80
117		120
118	// backward compat	121	// backward compat
119	#define FLAG_MOTOR_RUN FCFLAG_MOTOR_RUN	122	#define FLAG_MOTOR_RUN FCFLAG_MOTOR_RUN
120	#define FLAG_FLY FCFLAG_FLY	123	#define FLAG_FLY FCFLAG_FLY
121	#define FLAG_CALIBRATE FCFLAG_CALIBRATE	124	#define FLAG_CALIBRATE FCFLAG_CALIBRATE
122	#define FLAG_START FCFLAG_START	125	#define FLAG_START FCFLAG_START
123		126
124	/*	127	/*
125	* NaviCtrl Flags	128	* NaviCtrl Flags
126	* taken from	129	* taken from
127	* http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h	130	* http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
128	*/	131	*/
129	#define NC_FLAG_FREE 0x01	132	#define NC_FLAG_FREE 0x01
130	#define NC_FLAG_PH 0x02	133	#define NC_FLAG_PH 0x02
131	#define NC_FLAG_CH 0x04	134	#define NC_FLAG_CH 0x04
132	#define NC_FLAG_RANGE_LIMIT 0x08	135	#define NC_FLAG_RANGE_LIMIT 0x08
133	#define NC_FLAG_NOSERIALLINK 0x10	136	#define NC_FLAG_NOSERIALLINK 0x10
134	#define NC_FLAG_TARGET_REACHED 0x20	137	#define NC_FLAG_TARGET_REACHED 0x20
135	#define NC_FLAG_MANUAL_CONTROL 0x40	138	#define NC_FLAG_MANUAL_CONTROL 0x40
136	#define NC_FLAG_8 0x80	139	#define NC_FLAG_8 0x80
137		140
-		141
138		142	#endif
139		143

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