main.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 MAIN_H_
#define MAIN_H_

extern void mainloop(void);
extern void timer0ISR(void);


volatile unsigned int GPS_timeout;
volatile char SYSTEM_initialized;

#define BATTERY_WARNING_VOLTAGE 10600   //10.6V
#define BAT_DIV 6//(BATTERY_WARNING_VOLTAGE-10000)/100

//#define GPS_BEEP      //warning if GPS has no lock
#define ERROR_BEEP  //sensor calibration errors signaled by buzzer
#define INIT_BEEP       //double beep during system initialization

#define ControllerCyclesPerSecond       1000

#define OFF 0
#define ON  1

#define NORMAL 0


//packet descriptors
#define PD_IMURAWDATA       0x01
#define PD_LLSTATUS             0x02
#define PD_IMUCALCDATA      0x03
#define PD_HLSTATUS             0x04

#define PD_CTRLOUT                      0x11
#define PD_FLIGHTPARAMS     0x12
#define PD_CTRLCOMMANDS         0x13
#define PD_CTRLINTERNAL         0x14
#define PD_RCDATA               0x15
#define PD_CTRLSTATUS           0x16

#define PD_WAYPOINT             0x20
#define PD_CURRENTWAY           0x21
#define PD_NMEADATA             0x22
#define PD_GPSDATA                      0x23

#define PD_CAMERACOMMANDS       0x30
#define PD_RO_ALL_DATA          0x90


//system status defines for buzzer handling
#define FM_COMPASS_FAILURE                      0x10
#define FM_CALIBRATION_ERROR            0x100
#define FM_CALIBRATION_ERROR_GYROS      0x200
#define FM_CALIBRATION_ERROR_ACC        0x400
#define FM_ADC_STARTUP_ERROR        0x800
#define FM_MAG_FIELD_STRENGTH_ERROR 0x4000
#define FM_MAG_INCLINATION_ERROR        0x8000



struct IMU_CALCDATA {
//angles derived by integration of gyro_outputs, drift compensated by data fusion; -90000..+90000 pitch(nick) and roll, 0..360000 yaw; 1000 = 1 degree
    int angle_nick;
    int angle_roll;
    int angle_yaw;

//angular velocities, 16 bit values, bias free, 1 LSB = 0.0154 °/s (=> 64.8 = 1 °/s)
    int angvel_nick;
    int angvel_roll;
    int angvel_yaw;

//acc-sensor outputs, calibrated: -10000..+10000 = -1g..+1g, body frame coordinate system
    short acc_x_calib;
    short acc_y_calib;
    short acc_z_calib;

//horizontal / vertical accelerations: -10000..+10000 = -1g..+1g
    short acc_x;
    short acc_y;
    short acc_z;

//reference angles derived by accelerations only: -90000..+90000; 1000 = 1 degree
    int acc_angle_nick;
    int acc_angle_roll;

//total acceleration measured (10000 = 1g)
    int acc_absolute_value;

//magnetic field sensors output, offset free and scaled; units not determined, as only the direction of the field vector is taken into account
    int Hx;
    int Hy;
    int Hz;

//compass reading: angle reference for angle_yaw: 0..360000; 1000 = 1 degree
    int mag_heading;

//pseudo speed measurements: integrated accelerations, pulled towards zero; units unknown; used for short-term position stabilization
    int speed_x;
    int speed_y;
    int speed_z;

//height in mm (after data fusion)
    int height;

//diff. height in mm/s (after data fusion)
    int dheight;

//diff. height measured by the pressure sensor [mm/s]
    int dheight_reference;

//height measured by the pressure sensor [mm]
    int height_reference;
};
extern struct IMU_CALCDATA IMU_CalcData, IMU_CalcData_tmp;



#endif /*MAIN_H_*/