add firmware

utils/prot_head.h

@@ -0,0 +1,318 @@
+#pragma once
+
+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,
+
+  CountMenuCategories = 32,
+  CategoriesMenu = 33,
+  CategoriesParameters = 34,
+
+	//Ping = 200, // :)
+	//Pong = 201, // :]
+};
+enum class COMMANDS_NAME : unsigned char
+{
+  ChangeNav = 1,
+  ChangeSpeed = 2,
+  Land = 3,
+  GoHome = 4,
+  StopEngine = 5,
+  StartEngine = 6,
+  Pause = 7,
+  Continue = 8,
+  GoToGlobal = 9,
+  GoToLocal = 10,
+  
+  SetParameter = 15,
+};
+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
+};
+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
+};
+
+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
+};
+
+#pragma pack(push,1)
+
+const unsigned short MaxLength = 256;
+const unsigned char Global_stx = 0xAA;
+//?????? ?????????
+struct HeaderBegin
+{
+  unsigned char stx;
+  unsigned short len1; //Len header + payload (message) 
+  unsigned short len2; //Len header + payload (message)
+  unsigned char crc; // CRC MESSAGE
+  unsigned char data[0]; // Message
+  //---
+  bool CheckCRC();
+  void SetCRC();
+};
+// ????????? ?????????
+struct HeaderMessages
+{
+  MESSAGES_ID msgId;
+  unsigned char srcId;
+  unsigned char dstId;
+  unsigned char len;
+  unsigned long long timeusec;
+  unsigned char data[0];
+};
+struct CommandObj
+{
+	COMMANDS_NAME commandId;
+	unsigned char data[0];
+};
+//???????? ???????? ????????? ? ??????? ?? ???
+struct PayloadBatteryInfo
+{
+  unsigned char perCharge;
+  float voltage;
+  float amperage;
+  float temp;
+  float totalPower;
+  unsigned long long timeRemaining;
+};
+// ????????? ? ??????? ?? ??????? ??????
+struct EnginePowerInfo
+{
+	unsigned char power; //??????? ???????? ?? ????? ?? 0 ?? 100%
+	unsigned int engineSpeed;//??????? ?????? ? ??????? ??????
+	float current; // ??? ???????????? ???????
+	float voltage; // ?????????? ?? ??????
+	float temp; // ??????????? ??????
+
+};
+struct PayloadSysInfo // ???????? ???????? ? ??????? ? ???????? ????
+{
+	SYS_MODE mode; //??????? ????? ?????? (????? - 1, ??????? - 2, ????? ??????????????? ???????? ????? - 3, ????? ??????????? ?????? - 4, ???????? - 5)
+	STATUS_MODE statusMode; //??????? ?????? ????? (?? ????? (on ground) - 1, ????? ?????? (TakingOff) - 2, ????? (In air) - 3, ??????????? (Landing) - 4)
+	NAV_SYS_MODE navSys; // ??????? ???????????? ??????? ????????? (GPS\???\Optical Flow) ??? - 1, GPS - 2, Optical Flow - 3
+	ENGINE_STATUS engineStatus; // ??????? ????????? ???????. ???? - 0, ??? - 1.
+	unsigned char engineCount; // ?????????? ?????????? ?? ????
+	float pressureBaro; //??????????? ????????
+	float tempBaro; // ??????????? ???. ?????
+	EnginePowerInfo enginePower[0];
+};
+struct PayloadGyroInfo // ???????? ???????? ? ??????? ?? ?????????
+{
+	float yawGyroVel; // ??????? ???????? ????????? ???? ???????? (? ??? ????? ??????????? ???\??)
+	float pitchGyroVel; // ??????? ???????? ????????? ???? ??????? (? ??? ????? ??????????? ???\??)
+	float rollGyroVel; // ??????? ???????? ????????? ???? ?????  (? ??? ????? ??????????? ???\??)
+};
+struct PayloadAccelInfo // ???????? ???????? ????????? ? ??????? ?? ?????????????
+{
+	float yawAccelVel; // ??????? ????????? ????????? ???? ???????? (Z)
+	float pitchAccelVel; // ??????? ????????? ????????? ???? ??????? (Y)
+	float rollAccelVel; // ??????? ????????? ????????? ???? ????? (X)
+	float aX; // ????????? ?? X (?\?^2)
+	float aY; // ????????? ?? ? (?\?^2)
+	float aZ; // ????????? ?? Z (?\?^2)
+	float tempAccel; //??????????? ?????????????
+};
+struct PayloadGpsInfo // ???????? ???????? ????????? ? ??????? ?? GPS ???????
+{
+	float lat; //
+	float 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; // NO_GPS - 0, NO_FIX - 1, 2D_FIX - 2, 3D_FIX - 3, DGPS - 4, RTK_FLOAT - 5, RTK_FIXED - 6, STATIC - 7, PPP - 8
+	unsigned long long timeUTC; // UTC - GPS
+};
+struct PayloadInertialInfo // ???????? ???????? ? ??????? ?? ???????????? ??????? ?????????
+{
+	float x; // ?????????? X (?? ????????? ??????? ?????????)
+	float y; // ?????????? Y (?? ????????? ??????? ?????????)
+	float z; // ?????????? ?????? (?? ????????? ??????? ?????????)
+	float headingDeg; // ??????? ??????????? ???????? ???? ???????????? ??????
+	float speed; // ???????? ???? (?????????? ?? ?? GPS)
+	float roll; // ??????? ???? ????? ? ????????
+	float pitch; // ??????? ???? ??????? ? ????????
+	float yaw; // ??????? ???? ???????? ? ????????
+	float rollVel; // ???????? ?? ??????????? ????? ?\? (? ??????????? ??? Y)
+	float pitchVel; // ???????? ?? ??????????? ??????? ?\? (? ??????????? ??? ?)
+	float yawVel; // ???????? ?? ??????????? ???????? ?\? (? ??????????? ??? Z)
+	float baroAlt; // ?????? ? ?????? ?? ?????????
+};
+//???????? ???????? ????????? ? ??????? ? ????????? ???????
+struct PayloadCommandAck
+{
+	COMMANDS_NAME commandId;
+	FEASIBILITY_CODE_COMMAND status; // 0 - ?? ????? ???? ????????? (??????????? ??? ??????), 1 - ???????
+	ERROR_CODE_COMMAND errorCode;
+};
+struct PayloadStatusCommand
+{
+	COMMANDS_NAME commandId;
+	EXEC_CODE_COMMAND executionCode; // 0 - ?????? ??? ?????????? ,1 - ??????????? ,2 - ????????? ???????.
+	ERROR_CODE_COMMAND errorCode;
+};
+// ???????? ???????? ??????? ??? ????? ???????? ??????
+struct PayloadCommandChangeSpeed
+{
+	float speed;
+};
+// ???????? ???????? ??????? ??? ????? ??????? ???. ???. ???????.
+struct PayloadCommandChangeNav
+{
+	unsigned char nav_id; // Inertial - 1, GPS = 2, Oprical_Flow = 3
+};
+// ???????? ???????? ??????? ??? ??????????? ? ????? ?? ?????????? ???????????
+struct PayloadCommandGoToGlobal
+{
+	float lat;
+	float lon;
+	float abs_alt;
+	float speed;
+};
+// ???????? ???????? ??????? ??? ??????????? ? ????? ?? ????????? ???????????
+struct PayloadCommandGoToLocal
+{
+	float x;
+	float y;
+	float z;
+	float speed;
+};
+
+struct PayloadCountMenuCategories
+{
+	unsigned char countCategories;
+	unsigned char data[0];
+};
+
+struct MenuCategori
+{
+	unsigned char id;
+	unsigned char len_name;
+	unsigned char count_param;
+	char name[0];
+};
+
+struct PayloadMenuCategories
+{
+	unsigned char countCategories;
+	unsigned char categories[0];
+};
+
+struct PayloadCategoriesParameters
+{
+	unsigned char cat_id;
+	unsigned char param_id;
+	unsigned char param_name_len;
+	unsigned char param_len;
+	DATA_TYPES param_type_code;
+	char param_data[0];
+};
+
+struct PayloadCommandSetParameter
+{
+	unsigned char cat_id;
+	unsigned char param_id;
+	DATA_TYPES param_type_code;
+	unsigned char param_len;
+	char param_data[0];
+};
+
+#pragma pack(pop)