Новый main

Source/Control/Autopilot.cpp

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+#include "Autopilot.h"
+
+DroneStatus MainDrone;

Source/Control/Autopilot.h

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+#pragma once
+
+#ifndef AUTOPILOT_H
+#define AUTOPILOT_H
+
+#include "Protocol.h"
+
+struct DroneStatus
+{
+  bool MainActive = false; // Индикатор снятия с охраны
+  bool AutoPilotActive = false; // Индикатор актив. автопилота
+  bool ManualInputAllowed = false; // Индикатор возможности ручного управления (безопасного)
+  bool AltChangeAllowed = false; // Индикатор возможности смены целевой высоты в режиме удержания позиции
+  bool PointBeginNeed = true; // Индикатор необходимости указания начальной точки
+  bool MissionExecute = false; // Инидикатор выполняется ли миссия
+  
+  bool MotorMoutionTestEnable = false;
+  unsigned char MotorTestId = 0;
+  unsigned long TimeMotorTestEnable = 0;
+  
+  bool NeedSendRawCalibData = false;
+  SENSOR_ID Sensor = SENSOR_ID::ACC;
+  unsigned long TimeLastSend = 0;
+  unsigned long TimeStartSend = 0;
+  bool NeedSaveNewEEPROMData = false;
+  bool EEPROMSaved = false;
+  bool NeedSaveNewFLASHData = false;
+  bool FLASHSaved = false;
+  
+  bool EEPROMInit = false;
+  bool BarInit = false;
+  bool IMUInit = false;
+  bool GPSInit = false;
+  bool TOFInit = false;
+  bool OFInit = false;
+  bool ExternMagInit = false;
+  
+  float AvgEngineThrust = 0.0f;
+  float MaxHeightGroundMode = 5.0f;
+  
+  ENGINE_STATUS engine = ENGINE_STATUS::disable;
+  SYS_MODE Mode = SYS_MODE::manual;
+  STATUS_MODE StatusMode = STATUS_MODE::on_ground;
+  NAV_SYS_MODE Nav = NAV_SYS_MODE::inertial;
+};
+
+extern DroneStatus MainDrone;
+
+#endif

Source/Control/Protocol.cpp

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+#include "Protocol.h"
+

Source/Control/Protocol.h

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+#pragma once
+
+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+#define MAX_LEN_MISSION_NAME 64
+#define MAX_COUNT_MISSION_POINT 100
+
+enum class MESSAGES_ID : unsigned char
+{
+  SysInfo = 1,
+  GyroInfo = 2,
+  AccelInfo = 3,
+  GpsInfo = 4,
+  InertialInfo = 5,
+  BatteryInfo = 6,
+  Ack = 7,
+  StatusCommand = 8,
+  StatusAllCommands = 9,
+  Command = 10,
+  RequestReg = 11,
+  ResponseReg = 12,
+  Auth = 13,
+  OpenKey = 14,
+  MissionCount = 15,
+  MissionItem = 16,
+  MissionItemAck = 17,
+  MissionRequestItem = 18,
+  RequestLastMessage = 19,
+  ConnectionTest = 20,
+  MissionProgress = 21,
+  CountMenuCategories = 32,
+  CategoriesMenu = 33,
+  CategoriesParameters = 34,
+  RawCalibData = 35
+};
+enum class COMMANDS_ID : unsigned char
+{
+  ChangeNav = 1,
+  ChangeSpeed = 2,
+  Land = 3,
+  GoHome = 4,
+  StopEngine = 5,
+  StartEngine = 6,
+  Pause = 7,
+  Continue = 8,
+  GoToGlobal = 9,
+  GoToLocal = 10,
+  MissionStart = 11,
+  SetParameter = 15,
+  ProcessingCalibration = 16,
+  SetCalibrationData = 17,
+  MotorMoutionTest = 18
+};
+enum class ERROR_CODE_COMMAND : unsigned char
+{
+  No_error = 0,
+  Speed_has_already_been_set = 1,
+  Engines_are_already_running = 2,
+  Engines_have_already_been_stopped = 3,
+  UAV_is_already_on_the_ground = 4,
+  UAV_is_already_landing = 5,
+  UAV_is_already_moving = 6,
+  Mission_has_not_been_launched = 7,
+  Mission_is_already_on_pause = 8,
+  Mission_was_not_on_pause = 9,
+  Mission_was_not_launched = 10,
+  This_NavSys_has_already_been_applied = 11,
+  Lost_connection_with_controller = 12,
+  The_command_is_canceled_when_a_new_one_is_received = 13,
+  Error_reading_the_mission_file = 14,
+  Error_validating_the_mission_file = 15,
+  This_attack_event_already_exists = 16,
+  Error_creating_the_configuration_file_moa = 17,
+  Error_saving_the_configuration_file_moa = 18,
+  Error_deleting_the_attack_event = 19,
+  This_attack_event_cannot_be_deleted = 20,
+  This_attack_event_does_not_exist = 21,
+  Gps_not_init = 22,
+};
+enum class SENSOR_ID : unsigned char
+{
+  ACC = 0,
+  IMU_MAG = 1,
+  EXTERNAL_MAG = 2,
+  LEVEL_HOR = 3
+};
+enum class ENGINE_STATUS : unsigned char
+{
+  disable = 0,
+  enable = 1
+};
+enum class STATUS_MODE : unsigned char
+{
+  on_ground = 1,
+  taking_off = 2,
+  fly = 3,
+  landing = 4
+};
+enum class SYS_MODE : unsigned char
+{
+  take_off = 1,
+  land = 2,
+  go_home = 3,
+  auto_mode = 4,
+  hold = 5,
+  manual = 6
+};
+enum class NAV_SYS_MODE : unsigned char
+{
+  inertial = 1,
+  gps = 2,
+  Optical_flow = 3
+};
+enum class EXEC_CODE_COMMAND : unsigned char
+{
+  error = 0,
+  in_progress = 1,
+  completed = 2
+};
+enum class FEASIBILITY_CODE_COMMAND : unsigned char
+{
+  cannot_be_performed = 0,
+  accepted = 1
+};
+enum class DATA_TYPES : unsigned char
+{
+  dt_char = 0,
+  dt_unsigned_char = 1,
+  dt_string = 2,
+  dt_short = 3,
+  dt_bool = 4,
+  dt_unsigned_short = 5,
+  dt_int = 6,
+  dt_unsigned_int = 7,
+  dt_long = 8,
+  dt_unsigned_long = 9,
+  dt_long_long = 10,
+  dt_unsigned_long_long = 11,
+  dt_float_32 = 12,
+  dt_float_64 = 13,
+  dt_unknown = 255
+};
+
+//extern CRITICAL_SECTION ProtoSection;
+
+#pragma pack(push,1)
+
+struct MissionItemData
+{
+  unsigned long long item_number;
+  COMMANDS_ID item_command; // ID команды, может быть: движение к точке, возврат домой, посадка, смена скорости и др.
+  char param1; // резерв
+  float param2; // значение скорости, если в миссии есть команда смены скорости, для других команд - резерв
+  char param3; // резерв
+  float param4; // yaw
+  double param5; // широта
+  double param6; // долгота
+  float param7; // абс. высота
+};
+
+struct MissionMetaData
+{
+  unsigned long long current_item;
+  unsigned long long total_items;
+  bool launch_confidentiality;
+  bool mission_priority;
+  bool fault_tolerence;
+  bool f_start;
+  bool f_pause;
+  unsigned char mission_name_len;
+  char mission_name[MAX_LEN_MISSION_NAME];
+};
+struct MissionItemsData
+{
+  MissionItemData items[MAX_COUNT_MISSION_POINT];
+};
+
+struct EnginePowerInfo
+{
+  unsigned char power; //Текущая нагрузка на мотор от 0 до 100%
+  unsigned int engineSpeed;//Текущие оборты в секунду мотора
+  float current; // Ток потребляемый мотором
+  float voltage; // Напряжение на моторе
+  float temp; // Температура мотора
+
+  static const unsigned char MaxCount = 8;
+};
+
+struct ProtoDataBattery
+{
+  unsigned char perCharge;
+  float voltage;
+  float amperage;
+  float temp;
+  float totalPower;
+  unsigned long long timeRemaining;
+};
+struct ProtoDataSysInfo
+{
+  SYS_MODE mode;
+  STATUS_MODE statusMode;
+  NAV_SYS_MODE navSys;
+  ENGINE_STATUS engineStatus;
+  unsigned char engineCount;
+  float pressureBaro;
+  float tempBaro;
+
+  EnginePowerInfo enginePower[EnginePowerInfo::MaxCount];
+};
+struct ProtoDataGyroInfo
+{
+  float yawGyroVel;
+  float pitchGyroVel;
+  float rollGyroVel;
+};
+struct ProtoDataAccelInfo
+{
+  float yawAccelVel; 
+  float pitchAccelVel; 
+  float rollAccelVel; 
+  float aX; 
+  float aY; 
+  float aZ; 
+  float tempAccel; 
+};
+struct ProtoDataGpsInfo
+{
+  double lat;
+  double lon;
+  float absAlt;
+  float realAlt;
+  float hdop;
+  float vdop;
+  float pdop;
+  float noise;
+  float jamming;
+  unsigned char satVisible;
+  unsigned char satUsed;
+  float speed;
+  unsigned char fixType;
+  unsigned long long timeUTC;
+};
+struct ProtoDataInertialInfo
+{
+  float x;
+  float y;
+  float z;
+  float headingDeg;
+  float speed;
+  float roll;
+  float pitch;
+  float yaw;
+  float rollVel;
+  float pitchVel;
+  float yawVel;
+  float baroAlt;
+};
+
+struct ProtoDataRawCalib
+{
+  SENSOR_ID sensor;
+  float X;
+  float Y;
+  float Z;
+};
+
+struct ParameterData
+{
+  const char* name;
+  void* value;
+  DATA_TYPES type;
+};
+
+#pragma pack(pop)
+
+typedef void (*SendCallback)(void* data, unsigned long size);
+
+void MainInit(SendCallback send);
+bool MainUpdate(unsigned char byte);
+
+void ProtoDataWriteReadBattery(ProtoDataBattery& data, bool read=true);
+void ProtoDataWriteReadSysInfo(ProtoDataSysInfo& data, bool read = true);
+//void ProtoDataWriteReadEngineInfo(EnginePowerInfo data[], unsigned char count, bool read = true);
+void ProtoDataWriteReadGyroInfo(ProtoDataGyroInfo& data, bool read = true);
+void ProtoDataWriteReadAccelInfo(ProtoDataAccelInfo& data, bool read = true);
+void ProtoDataWriteReadGpsInfo(ProtoDataGpsInfo& data, bool read = true);
+void ProtoDataWriteReadInertialInfo(ProtoDataInertialInfo& data, bool read = true);
+void ProtoDataWriteReadRawCalib(ProtoDataRawCalib& data, bool read = true);
+
+void RawCalibData();
+
+extern MissionMetaData ProtoMissionInfo;
+extern MissionItemsData ProtoMissionData;
+
+#endif