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/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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. *
* *
* *
* Credits to: *
* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
* http://www.mikrokopter.de *
* Gregor "killagreg" Stobrawa for his version of the MK code *
* Thomas Kaiser "thkais" for the original project. See *
* http://www.ft-fanpage.de/mikrokopter/ *
* http://forum.mikrokopter.de/topic-4061-1.html *
* Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code *
* http://www.mylifesucks.de/oss/c-osd/ *
* Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility*
*****************************************************************************/
//############################################################################
//# HISTORY mk_data-stucts.h
//#
//# 16.07.2015 Cebra
//# - chg: Receiver Selection
//# RECEIVER_USER 8 -> RECEIVER_MLINK 8
//# - add: Receiver Selection
//# RECEIVER_USER 9
//#
//# 26.01.2015 Cebra
//# - chg: #defines für ServoCompInvert an aktuelle Syntax angepasst
//# SVNick -> SERVO_NICK_INV
//# SVRoll -> SERVO_ROLL_INV
//# SVRelMov -> SERVO_RELATIVE
//# - add: #define CH_DIRECTION_1 0x08 für ComingHome Ausrichtung
//# #define CH_DIRECTION_2 0x10
//#
//# 19.06.2014 OG
//# - chg: Aktualisiert: struct Point_t (aus Quelle: NaviCtrl V2.06f/waypoints.h - Revision 546)
//#
//# 12.02.2014 OG
//# - del: die alten defines bzgl. MKVERSIONnnn und mk_param_struct_t entfernt
//#
//# 02.12.2013 Cebra
//# - add: #define MKVERSION201f, Erweiterung für FC201f
//#
//# 21.10.2013 Cebra
//# - add: #define MKVERSION201a, Erweiterung für FC201a
//#
//# 26.06.2013 OG
//# - chg: "0.91f" -> "0.91f/l"
//#
//# 13.06.2013 OG
//# - chg: "0.90j" -> "0.90h/j"
//# - chg: Code-Layout
//#
//# 05.06.2013 Cebra
//# - chg: Anpassungen an FC091c
//#
//# 03.06.2013 Cebra
//# - chg: #define Fehler beseitigt
//#
//# 30.05.2013 Cebra
//# - add: #define MKVERSION091a, Erweiterung für FC091a
//#
//# 13.05.2013 Cebra
//# - add: #define MKVERSION090h // wegen GPS-Zeitausgabe NC
//#
//# 11.05.2013 OG
//# - add: DateTime_t
//#
//# 20.03.2013 OG
//# - add: BLData_t (http://www.mikrokopter.de/ucwiki/en/SerialCommands/BLDataStruct)
//############################################################################
#ifndef _MK_DATA_STRUCTS_H
#define _MK_DATA_STRUCTS_H
#include "main.h"
//##################################################################################
//##################################################################################
#define u8 uint8_t
#define s8 int8_t
#define u16 uint16_t
#define s16 int16_t
#define u32 uint32_t
#define s32 int32_t
#define NUMBER_OF_DEBUG_DATAS 32
#define ANALOG_NAME_LENGTH 16
// Version of supported serial protocol
#define MIN_VERSION 7
#define MAX_VERSION 10
// Setting index
#define SETTING_1 1
#define SETTING_2 2
#define SETTING_3 3
#define SETTING_4 4
#define SETTING_5 5
#define SETTING_CURRENT 0xff
// MikroKopter defines
// taken from
// FC Software eeprom.h
//
//GlobalConfig3 aus FC/eeprom.h
#define CFG3_NO_SDCARD_NO_START 0x01
#define CFG3_DPH_MAX_RADIUS 0x02
#define CFG3_VARIO_FAILSAFE 0x04
#define CFG3_MOTOR_SWITCH_MODE 0x08 //FC0.88L 7.5.12
#define CFG3_NO_GPSFIX_NO_START 0x10 //FC0.88L 7.5.12
#define CFG3_USE_NC_FOR_OUT1 0x20
#define CFG3_SPEAK_ALL 0x40
#define CFG3_SERVO_NICK_COMP_OFF 0x80
//GlobalConfig
#define CFG_HOEHENREGELUNG 0x01
#define CFG_HOEHEN_SCHALTER 0x02
#define CFG_HEADING_HOLD 0x04
#define CFG_KOMPASS_AKTIV 0x08
#define CFG_KOMPASS_FIX 0x10
#define CFG_GPS_AKTIV 0x20
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
#define CFG_DREHRATEN_BEGRENZER 0x80
//Bitconfig MAsk
#define CFG_LOOP_OBEN 0x01
#define CFG_LOOP_UNTEN 0x02
#define CFG_LOOP_LINKS 0x04
#define CFG_LOOP_RECHTS 0x08
#define CFG_MOTOR_BLINK1 0x10
#define CFG_MOTOR_OFF_LED1 0x20
#define CFG_MOTOR_OFF_LED2 0x40
#define CFG_MOTOR_BLINK2 0x80
// ServoCompInvert, FC0.89 entfällt und geändert s.u.
//#define SVNick 0x01
//#define SVRoll 0x02
//#define SVRelMov 0x04
//ab FC 209a (26.1.2015 cebra)
// bitcoding for EE_Parameter.ServoCompInvert
#define SERVO_NICK_INV 0x01
#define SERVO_ROLL_INV 0x02
#define SERVO_RELATIVE 0x04 // direct poti control or relative moving of the servo value
#define CH_DIRECTION_1 0x08
#define CH_DIRECTION_2 0x10
//CH Orientation ServoBits 0x10 0x08
// --> no change 0 0
// --> front to starting point 0 1
// --> rear to to starting point 1 0
//-> start orientation 1 1
// ExtraConfig
#define CFG2_HEIGHT_LIMIT 0x01
#define CFG2_VARIO_BEEP 0x02
#define CFG_SENSITIVE_RC 0x04 // 26.1.2015 entfällt ab FC 209a, cebra
#define CFG_3_3V_REFERENCE 0x08
#define CFG_NO_RCOFF_BEEPING 0x10
#define CFG_GPS_AID 0x20
#define CFG_LEARNABLE_CAREFREE 0x40
#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80
// bit mask for ParamSet.Config0
#define CFG0_AIRPRESS_SENSOR 0x01
#define CFG0_HEIGHT_SWITCH 0x02
#define CFG0_HEADING_HOLD 0x04
#define CFG0_COMPASS_ACTIVE 0x08
#define CFG0_COMPASS_FIX 0x10
#define CFG0_GPS_ACTIVE 0x20
#define CFG0_AXIS_COUPLING_ACTIVE 0x40
#define CFG0_ROTARY_RATE_LIMITER 0x80
// defines for the receiver selection
#define RECEIVER_PPM 0
#define RECEIVER_SPEKTRUM 1
#define RECEIVER_SPEKTRUM_HI_RES 2
#define RECEIVER_SPEKTRUM_LOW_RES 3
#define RECEIVER_JETI 4
#define RECEIVER_ACT_DSL 5
#define RECEIVER_HOTT 6
#define RECEIVER_SBUS 7
#define RECEIVER_MLINK 8 //FC2.11 16.7.2015 CB
#define RECEIVER_USER 9 //FC2.11 16.7.2015 CB
#define RECEIVER_UNKNOWN 0xFF
// MikroKopter Flags
// taken from
// http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
//alt 0.86
//#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
// FC_StatusFlags 0.88
#define FC_STATUS_MOTOR_RUN 0x01
#define FC_STATUS_FLY 0x02
#define FC_STATUS_CALIBRATE 0x04
#define FC_STATUS_START 0x08
#define FC_STATUS_EMERGENCY_LANDING 0x10
#define FC_STATUS_LOWBAT 0x20
#define FC_STATUS_VARIO_TRIM_UP 0x40
#define FC_STATUS_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
// NaviCtrl Flags
// taken from
// http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%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_GPS_OK 0x80
typedef struct
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char ProtoMinor;
unsigned char SWPatch;
unsigned char HardwareError[5];
} __attribute__((packed)) Version_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 // 0.86
{
uint8_t Digital[2];
// NC: unsigned; FC: signed !!!!
int16_t Analog[32]; // Debugvalues
} __attribute__((packed)) DebugData_t;
//******************************************************************
// uart1.h NC 0.87, zur Zeit hier nicht verwendet 28.01.2012 CB
#define AMPEL_FC 0x01
#define AMPEL_BL 0x02
#define AMPEL_NC 0x04
#define AMPEL_COMPASS 0x08
typedef struct //0.87
{
u8 StatusGreen;
u8 StatusRed;
u16 Analog[32]; // Debugwerte
} __attribute__((packed)) DebugOut_t;
//******************************************************************
// NaviCtrl OSD Structs
// portions taken and adapted from
// http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
//
typedef struct //NC uart1.h
{
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;
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;
typedef struct
{
u16 Distance; // distance to target in cm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
//----------------------------
// aus NC waypoint.h
//
// AKTUALISIERT: 18.06.2014 OG
//
// Anmerkung 18.06.2014 OG
// "Name" hinzugefuegt - das gibt es
// seit dem 23.03.2012!
//----------------------------
typedef struct
{
GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
u8 Event_Flag; // future implementation
u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
u8 Type; // typeof Waypoint
u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there
u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s
u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s
u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)
u8 Name[4]; // Name of that point (ASCII)
u8 reserve[2]; // reserve
} __attribute__((packed)) Point_t;
//----------------------------
// aus NC waypoint.h
// VERALTET! 18.06.2014 OG
//----------------------------
/*
typedef struct
{
GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
u8 Event_Flag; // future implementation
u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
u8 Type; // typeof Waypoint
u8 WP_EventChannelValue; //
u8 AltitudeRate; // rate to change the setpoint
u8 Speed; // rate to change the Position
u8 CamAngle; // Camera servo angle
u8 reserve[6]; // reserve
} __attribute__((packed)) Point_t;
*/
// NaviCtrl struct
// taken from
// http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
//
#define NAVIDATA_VERSION 5
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 Roll angle in 1
u8 RC_Quality; // RC_Quality
u8 FCStatusFlags; // 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 FCStatusFlags2; // StatusFlags2 (since version 5 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;
typedef struct
{
uint8_t Version; // the version of the BL (0 = old)
uint8_t SetPoint; // written by attitude controller
uint8_t SetPointLowerBits; // for higher Resolution of new BLs
uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present
uint8_t ReadMode; // select data to read
// the following bytes must be exactly in that order!
uint8_t Current; // in 0.1 A steps, read back from BL
uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in �C
} __attribute__((packed)) MotorData_t;
typedef struct
{
uint8_t Revision; // must be BL_REVISION
uint8_t SetMask; // settings mask
uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit
uint8_t CurrentLimit; // current limit in A
uint8_t TempLimit; // in �C
uint8_t CurrentScaling; // scaling factor for current measurement
uint8_t BitConfig; // see defines above
uint8_t crc; // checksum
} __attribute__((packed)) BLConfig_t;
//##############################################################################
//# Datenstruktur von ehemals mk_param_struct_t jetzt via mk/paramset.c !
//##############################################################################
//-------------------------------------
// 20.03.2013 OG: BLData_t
// aus: http://www.mikrokopter.de/ucwiki/en/SerialCommands/BLDataStruct
//-------------------------------------
typedef struct
{
unsigned char Index; // address of BL-Ctrl
unsigned char Current; // in 0.1 A steps, read back from BL
unsigned char Temperature; // old BL-Ctrl will return a 255 here, the new version (>= V2.0) the temp. in °C
unsigned char MaxPWM; // EVENTUELL: read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
unsigned char Status; // EVENTUELL: 7 bit for I2C error counter, highest bit indicates if motor is present
} BLData_t;
//-------------------------------------
// 11.05.2013 OG: DateTime_t
// aus: NC v0.30g timer1.h
//-------------------------------------
typedef struct{
u16 Year;
u8 Month;
u8 Day;
u8 Hour;
u8 Min;
u8 Sec;
u16 mSec;
u8 Valid;
} DateTime_t;
#endif