DJI NAZA-M controller (remote controller side) see: https://developer.mbed.org/users/okini3939/notebook/drone/
Dependencies: NECnfc SpiOLED USBHost mbed
drone.h@0:9f11e7a30865, 2016-05-19 (annotated)
- Committer:
- okini3939
- Date:
- Thu May 19 09:03:44 2016 +0000
- Revision:
- 0:9f11e7a30865
1st build;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
okini3939 | 0:9f11e7a30865 | 1 | |
okini3939 | 0:9f11e7a30865 | 2 | #define DATA_TYPE_AIR 1 |
okini3939 | 0:9f11e7a30865 | 3 | #define DATA_TYPE_GROUND 2 |
okini3939 | 0:9f11e7a30865 | 4 | |
okini3939 | 0:9f11e7a30865 | 5 | struct AirData { |
okini3939 | 0:9f11e7a30865 | 6 | uint8_t magic[4]; |
okini3939 | 0:9f11e7a30865 | 7 | int16_t seq; |
okini3939 | 0:9f11e7a30865 | 8 | int16_t type; |
okini3939 | 0:9f11e7a30865 | 9 | int16_t aileron; // Right stick/L-R |
okini3939 | 0:9f11e7a30865 | 10 | int16_t elevator; // Left stick/D-U |
okini3939 | 0:9f11e7a30865 | 11 | int16_t throttle; // Right stick/D-U |
okini3939 | 0:9f11e7a30865 | 12 | int16_t rudder; // Left stick/L-R |
okini3939 | 0:9f11e7a30865 | 13 | int16_t analog1; |
okini3939 | 0:9f11e7a30865 | 14 | int16_t analog2; |
okini3939 | 0:9f11e7a30865 | 15 | int16_t sw1; |
okini3939 | 0:9f11e7a30865 | 16 | int16_t sw2; |
okini3939 | 0:9f11e7a30865 | 17 | int16_t flags; |
okini3939 | 0:9f11e7a30865 | 18 | uint8_t sum; |
okini3939 | 0:9f11e7a30865 | 19 | } __attribute__((packed)); |
okini3939 | 0:9f11e7a30865 | 20 | |
okini3939 | 0:9f11e7a30865 | 21 | struct GroundData { |
okini3939 | 0:9f11e7a30865 | 22 | uint8_t magic[4]; |
okini3939 | 0:9f11e7a30865 | 23 | int16_t seq; |
okini3939 | 0:9f11e7a30865 | 24 | int16_t type; |
okini3939 | 0:9f11e7a30865 | 25 | int16_t uptime; |
okini3939 | 0:9f11e7a30865 | 26 | int16_t battery; |
okini3939 | 0:9f11e7a30865 | 27 | int16_t current; |
okini3939 | 0:9f11e7a30865 | 28 | int32_t amphour; |
okini3939 | 0:9f11e7a30865 | 29 | int16_t distance1, distance2; |
okini3939 | 0:9f11e7a30865 | 30 | uint8_t gps[60]; |
okini3939 | 0:9f11e7a30865 | 31 | uint8_t compass[10]; |
okini3939 | 0:9f11e7a30865 | 32 | uint8_t sum; |
okini3939 | 0:9f11e7a30865 | 33 | } __attribute__((packed)); |
okini3939 | 0:9f11e7a30865 | 34 | |
okini3939 | 0:9f11e7a30865 | 35 | struct Status { |
okini3939 | 0:9f11e7a30865 | 36 | int gps_date, gps_time, gps_lat, gps_lng, gps_h; |
okini3939 | 0:9f11e7a30865 | 37 | int gps_sat, gps_type, gps_flg, gps_lost; |
okini3939 | 0:9f11e7a30865 | 38 | int compass_x, compass_y, compass_z, compass; |
okini3939 | 0:9f11e7a30865 | 39 | int uptime, battery, current, amphour; |
okini3939 | 0:9f11e7a30865 | 40 | int distance1, distance2; |
okini3939 | 0:9f11e7a30865 | 41 | }; |
okini3939 | 0:9f11e7a30865 | 42 | |
okini3939 | 0:9f11e7a30865 | 43 | void recvRf (struct GroundData *recv_data, int rssi); |
okini3939 | 0:9f11e7a30865 | 44 | int sendRf (struct AirData *send_data); |
okini3939 | 0:9f11e7a30865 | 45 | void pollRf (); |
okini3939 | 0:9f11e7a30865 | 46 | int initRf (); |
okini3939 | 0:9f11e7a30865 | 47 | |
okini3939 | 0:9f11e7a30865 | 48 | void parseGps (uint8_t *buf); |
okini3939 | 0:9f11e7a30865 | 49 | void parseCompass (uint8_t *buf); |
okini3939 | 0:9f11e7a30865 | 50 | |
okini3939 | 0:9f11e7a30865 | 51 | void initGps (); |
okini3939 | 0:9f11e7a30865 | 52 | |
okini3939 | 0:9f11e7a30865 | 53 | void log (); |
okini3939 | 0:9f11e7a30865 | 54 | int initMsd (); |
okini3939 | 0:9f11e7a30865 | 55 |