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/****************************************************************************
 *   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.              *
 ****************************************************************************/

/* ##########################################################################
 * 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