main.h

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#ifndef MAIN_H_
#define MAIN_H_

#include "util.h"

extern void mainloop(void);
extern void timer0ISR(void);
extern void timer1ISR(void);

volatile unsigned int GPS_timeout;
extern unsigned int GPS_cnt_trigger[4];
unsigned char GPS_init_status;

void calibrate(void);

//#define BATTERY_WARNING_VOLTAGE 10700   //10500 mV, for newer batteries with flatter discharging characteristic, such as TP 5000
#define BATTERY_WARNING_VOLTAGE 10000   //9800 mV
#define BAT_DIV 10//(BATTERY_WARNING_VOLTAGE-9000)/100

#define TRIGGER_SERVO_ACTIVE    1800
#define TRIGGER_SERVO_INACTIVE  3600
#define CAMER_OFFSET_HUMMINGBIRD        63000

#define ControllerCyclesPerSecond       1000

//defines for VP_CAMREMOTE (in �s)
#define VP_SHOOT                                2000
#define VP_LENSCLOSE_SLEEP              1900
#define VP_REFOCUS_LOCKFOCUS    1800
#define VP_ZOOM_IN                              1700
#define VP_ZOOM_OUT                             1600
#define VP_NEXT_PROFILE                 1500
#define VP_PREVIOUS_PROFILE             1400
#define VP_SHUTTER_SPEED_INC    1300
#define VP_SHUTTER_SPEED_DEC    1200
#define VP_APERTURE_INC                 1100
#define VP_APERTURE_DEC                 1000

#define OFF 0
#define ON  1

#define NORMAL 0

//reconfigure GPS if needed
#define GPS_STARTUP                     0
#define GPS_NEEDS_CONFIGURATION 1
#define GPS_IS_CONFIGURED               2
#define GPS_CONFIG_ERROR                3

//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 CAM_TRIGGERED           0x04

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, raw values [16 bit], bias free, in 0.0154 �/s (=> 64.8 = 1 �/s)
    int angvel_nick;
    int angvel_roll;
    int angvel_yaw;

//acc-sensor outputs, calibrated: -10000..+10000 = -1g..+1g
    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;

struct IMU_RAWDATA {
//pressure sensor 24-bit value, not scaled but bias free
        int pressure;

//16-bit gyro readings; 32768 = 2.5V
    short gyro_x;
        short gyro_y;
        short gyro_z;

//10-bit magnetic field sensor readings
    short mag_x;
        short mag_y;
        short mag_z;

//16-bit accelerometer readings
    short acc_x;
        short acc_y;
    short acc_z;

//16-bit temperature measurement using yaw-gyro internal sensor
        unsigned short temp_gyro;

//16-bit temperature measurement using ADC internal sensor
        unsigned int temp_ADC;
};

extern struct IMU_RAWDATA IMU_RawData;


struct SYSTEM_PERMANENT_DATA
{
        unsigned int total_uptime;
        unsigned int total_flighttime;
        unsigned int onoff_cycles;
        unsigned int number_of_flights;
        unsigned int chksum;
};
extern struct SYSTEM_PERMANENT_DATA SYSTEM_Permanent_Data;

#endif /*MAIN_H_*/