WebSVN - NaviCtrl - Blame - Rev 110

Rev	Author	Line No.	Line
41	ingob	1	#ifndef _UART1_H
		2	#define _UART1_H
		3
		4	#define UART_FLIGHTCTRL 0
		5	#define UART_MK3MAG 1
		6	#define UART_MKGPS 2
		7
92	killagreg	8	#include "ubx.h"
41	ingob	9
62	killagreg	10	typedef struct
92	killagreg	11	{
62	killagreg	12	s16 AngleNick; // in 0.1 deg
		13	s16 AngleRoll; // in 0.1 deg
		14	s16 Heading; // in 0.1 deg
92	killagreg	15	u8 reserve[8];
61	holgerb	16	} __attribute__((packed)) Data3D_t;
		17
		18	extern Data3D_t Data3D;
		19
41	ingob	20	typedef struct
		21	{
		22	u8 Digital[2];
		23	u16 Analog[32]; // Debugwerte
		24	} __attribute__((packed)) DebugOut_t;
		25
		26	extern DebugOut_t DebugOut;
		27
		28	typedef struct
		29	{
		30	u8 Digital[2];
		31	u8 RemoteButtons;
		32	s8 Nick;
		33	s8 Roll;
		34	s8 Yaw;
		35	u8 Gas;
		36	s8 Height;
		37	u8 free;
		38	u8 Frame;
		39	u8 Config;
		40	} __attribute__((packed)) ExternControl_t;
		41
		42	extern ExternControl_t ExternControl;
		43
		44	typedef struct
		45	{
		46	s16 Nick;
		47	s16 Roll;
		48	s16 Compass; // angle between north and head of the MK
		49	} __attribute__((packed)) Attitude_t;
		50
		51	typedef struct
		52	{
89	killagreg	53	u16 Distance; // distance to target in dm
92	killagreg	54	s16 Bearing; // course to target in deg
41	ingob	55	} __attribute__((packed)) GPS_PosDev_t;
		56
92	killagreg	57	#define NAVIDATA_VERSION 1
89	killagreg	58
41	ingob	59	typedef struct
		60	{
89	killagreg	61	u8 Version; // version of the data structure
41	ingob	62	GPS_Pos_t CurrentPosition; // see ubx.h for details
		63	GPS_Pos_t TargetPosition;
		64	GPS_PosDev_t TargetPositionDeviation;
		65	GPS_Pos_t HomePosition;
		66	GPS_PosDev_t HomePositionDeviation;
		67	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		68	u8 WaypointNumber; // number of stored waypoints
89	killagreg	69	u8 SatsInUse; // number of satellites used for position solution
41	ingob	70	s16 Altimeter; // hight according to air pressure
		71	s16 Variometer; // climb(+) and sink(-) rate
		72	u16 FlyingTime; // in seconds
		73	u8 UBat; // Battery Voltage in 0.1 Volts
		74	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	75	s16 Heading; // current flight direction in � as angle to north
		76	s16 CompassHeading; // current compass value in �
41	ingob	77	s8 AngleNick; // current Nick angle in 1�
		78	s8 AngleRoll; // current Rick angle in 1�
		79	u8 RC_Quality; // RC_Quality
		80	u8 MKFlags; // Flags from FC
		81	u8 NCFlags; // Flags from NC
		82	u8 Errorcode; // 0 --> okay
73	killagreg	83	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	84	s16 TopSpeed; // velocity in vertical direction in cm/s
97	killagreg	85	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		86	u8 Reserve[4]; // for future use
41	ingob	87	} __attribute__((packed)) NaviData_t;
		88
		89	extern NaviData_t NaviData;
		90	extern u8 Request_NaviData;
		91
92	killagreg	92	#define NC_FLAG_FREE 0x01
		93	#define NC_FLAG_PH 0x02
		94	#define NC_FLAG_CH 0x04
		95	#define NC_FLAG_RANGE_LIMIT 0x08
		96	#define NC_FLAG_NOSERIALLINK 0x10
		97	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	98	#define NC_FLAG_MANUAL_CONTROL 0x40
92	killagreg	99	#define NC_FLAG_8 0x80
41	ingob	100
		101	extern UART_TypeDef *DebugUART;
92	killagreg	102	extern volatile u8 SerialLinkOkay;
41	ingob	103
92	killagreg	104
41	ingob	105	void UART1_Init(void);
		106	void UART1_Transmit(void);
		107	void UART1_TransmitTxData(void);
		108	void UART1_ProcessRxData(void);
		109
110	killagreg	110	s16 UART1_Putchar(char c);
		111	void UART1_PutString(u8 *s);
92	killagreg	112	extern u8 text[100]; // globally used text buffer
110	killagreg	113	extern u8 UART1_Request_SendFollowMe;
41	ingob	114	#endif //_UART1_H

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