LL_HL_comm.h

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/*

Copyright (c) 2011, Ascending Technologies GmbH
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

 * Redistributions of source code must retain the above copyright notice,
   this list of conditions and the following disclaimer.
 * Redistributions in binary form must reproduce the above copyright
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.

 */

#ifndef LL_HL_COMM_
#define LL_HL_COMM_

//system flags
#define SF_PAGE_BIT1                                            0x01
#define SF_PAGE_BIT2                                            0x02
#define SF_SSP_ACK                                                      0x04
#define SF_GPS_NEW                                                      0x08
#define SF_HL_CONTROL_ENABLED                           0x10
#define SF_DIRECT_MOTOR_CONTROL                         0x20
#define SF_WAYPOINT_MODE                                        0x40
#define SF_DIRECT_MOTOR_CONTROL_INDIVIDUAL      0x80
#define SF_SDK_DISABLE_MOTORONOFF_BY_STICK      0x100
#define SF_NEW_SDK                                                      0x8000


//ctrl_flags
//scientific control
#define HL_CTRL_PITCH                   0x01
#define HL_CTRL_ROLL                    0x02
#define HL_CTRL_YAW                     0x04
#define HL_CTRL_THRUST                  0x08
#define HL_CTRL_HEIGHT_ENABLED  0x10
#define HL_CTRL_GPS_ENABLED             0x20

//direct motor control
#define HL_CTRL_MOTORS_ONOFF_BY_RC      0x01


#define WP_CMD_SINGLE_WP_PART1  0x81 //internal use!
#define WP_CMD_SINGLE_WP_PART2  0x82 //internal use!

//Slow Data Channel defines
//declination data [short]
#define SDC_DECLINATION                 0x01
//declination data [short]
#define SDC_INCLINATION                 0x12

//Slow Data Up Channel defines
#define SUDC_NONE                               0x00
//flight time. flighttime in slowDataUpChannelShort
#define SUDC_FLIGHTTIME                 0x01
//set camera type. Cameratype in slowDataUpChannelShort
#define SUDC_SETCAMERA                  0x02
//set payload options. payloadoptions in slowDataUpChannelShort
#define SUDC_SETPAYLOADOPTIONS  0x03
//set camera mount roll angle calibration
#define SUDC_SETCAMERAROLLANGLECALIB 0x04
//set camera mount roll angle calibration and store to eeprom
#define SUDC_SETCAMERAROLLANGLECALIBANDSTORE 0x05
//navigation status
#define SUDC_NAVSTATUS 0x06
//distance to waypoint
#define SUDC_DISTTOWP  0x07
//waypoint ack trigger
#define SUDC_WPACKTRIGGER 0x08

void LL_write_ctrl_data(char);
int HL2LL_write_cycle(void);
inline void SSP_rx_handler_HL(unsigned char);
inline void SSP_data_distribution_HL(void);
struct LL_ATTITUDE_DATA
{
        unsigned short system_flags;    //GPS data acknowledge, etc.

        short angle_pitch;      //angles [deg*100]
        short angle_roll;
        unsigned short angle_yaw;

        short angvel_pitch;     //angular velocities; bias-free [0.015°/s]
        short angvel_roll;
        short angvel_yaw;

                                //<-- 14 bytes @ 1kHz
                                //--> 3x 26 bytes @ 333 Hz
                                //=> total = 40 bytes @ 1 kHz
//-----------------------------PAGE0
        unsigned char RC_data[10];      //8 channels @ 10 bit

        int latitude_best_estimate;     //GPS data fused with all other sensors
        int longitude_best_estimate;
        short acc_x;            //accelerations [mg]
        short acc_y;
        short acc_z;

        unsigned short temp_gyro;
//-----------------------------PAGE1
        unsigned char motor_data[16];   //speed 0..7, PWM 0..7

        short speed_x_best_estimate;
        short speed_y_best_estimate;
        int height;             //height [mm]
        short dheight;          //differentiated height[mm/s]
//------------------------------PAGE2
        short mag_x;
        short mag_y;
        short mag_z;

        short cam_angle_pitch;
        short cam_angle_roll;
        short cam_status;

        short battery_voltage1;
        short battery_voltage2;
        short flightMode;
        short slowDataUpChannelDataShort; //former flight_time
        short cpu_load;
        short status;
        short status2; //Bits 7..1: slowDataUpChannelSelect (7bit) Bit0:flying Bit15..8:active Motors

};

extern struct LL_ATTITUDE_DATA LL_1khz_attitude_data;

struct LL_CONTROL_INPUT
{
        unsigned short system_flags;
                                                        //bit 0: page_select
                                                        //bit 1: reserved (page_select)
                                                        //bit 2: SSP_ack
                                                        //bit 3: GPS new
                                                        //bit 4: HL controller enabled
                                                        //bit 5: 0 -> "scientific" commands
                                                        //       1 -> direct motor commands
                                                        //bit 6: waypoint mode

        unsigned short ctrl_flags;
                                                        //bit 0..3:
                                                        // pitch, roll, yaw, thrust enable bits
                                                        //bit 4: height control enabled
                                                        //bit 5: GPS_control enabled
                                                        //bit 8..15: waypoint command if waypoint mode is active or POI options if POI mode is active

        short pitch, roll, yaw, thrust;                 //"scientific interface"
        unsigned char direct_motor_control[8];          //direct motor commands: pitch, roll, yaw, throttle, 4xDNC
                                                        //or motor 0..7 (Falcon)

                                                        //<-- 20 bytes @ 1kHz
                                                        //--> 2x18 bytes @ 500 Hz
                                                        //=> total = 38 bytes @ 1kHz

        int latitude;                                   //data received from GPS-unit
        int longitude;
        int height;
        short speed_x;
        short speed_y;
        short status;
//-----------------------------

        unsigned short hor_accuracy;
        unsigned short vert_accuracy;
        unsigned short speed_accuracy;
        unsigned short numSV;
        unsigned short heading;
        short battery_voltage_1, battery_voltage_2;     //battery voltage read by HL-ADC [mV]
        unsigned char slowDataChannelSelect; // these three vars define a slow data transfer channel. the select byte defines which data is in the data channel
        unsigned char slowDataChannelDataChar;
        short slowDataChannelDataShort;
};
extern struct LL_CONTROL_INPUT LL_1khz_control_input;



#endif /*LL_HL_COMM_*/