WebSVN - NaviCtrl - Blame - Rev 682

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"
495	killagreg	9	#include "waypoints.h"
41	ingob	10
256	killagreg	11	#define NC_ERROR0_SPI_RX 0x01
		12	#define NC_ERROR0_COMPASS_RX 0x02
		13	#define NC_ERROR0_FC_INCOMPATIBLE 0x04
		14	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08
		15	#define NC_ERROR0_GPS_RX 0x10
		16	#define NC_ERROR0_COMPASS_VALUE 0x20
156	killagreg	17
675	holgerb	18	#define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET);
		19	#define ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET);
		20
62	killagreg	21	typedef struct
92	killagreg	22	{
112	killagreg	23	u8 SWMajor;
		24	u8 SWMinor;
		25	u8 ProtoMajor;
598	holgerb	26	u8 LabelTextCRC;
112	killagreg	27	u8 SWPatch;
454	holgerb	28	u8 HardwareError[2];
		29	u8 HWMajor;
548	holgerb	30	u8 BL_Firmware;
454	holgerb	31	u8 Flags;
161	killagreg	32	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	33
		34	extern UART_VersionInfo_t UART_VersionInfo;
		35
454	holgerb	36	//VersionInfo.Flags
		37	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
		38	#define NC_VERSION_FLAG_GPS_PRESENT 0x02
		39
112	killagreg	40	typedef struct
		41	{
161	killagreg	42	s16 AngleNick; // in 0.1 deg
		43	s16 AngleRoll; // in 0.1 deg
		44	s16 Heading; // in 0.1 deg
358	holgerb	45	u8 StickNick;
		46	u8 StickRoll;
		47	u8 StickYaw;
		48	u8 StickGas;
588	holgerb	49	s16 Altimeter; // in 5cm
		50	u8 reserve[2];
61	holgerb	51	} __attribute__((packed)) Data3D_t;
		52
		53	extern Data3D_t Data3D;
		54
112	killagreg	55
		56	extern const u8 ANALOG_LABEL[32][16];
		57
338	holgerb	58	#define AMPEL_FC 0x01
		59	#define AMPEL_BL 0x02
		60	#define AMPEL_NC 0x04
		61	#define AMPEL_COMPASS 0x08
		62
41	ingob	63	typedef struct
		64	{
338	holgerb	65	u8 StatusGreen;
		66	u8 StatusRed;
41	ingob	67	u16 Analog[32]; // Debugwerte
		68	} __attribute__((packed)) DebugOut_t;
		69
		70	extern DebugOut_t DebugOut;
		71
682	holgerb	72	/*
41	ingob	73	typedef struct
		74	{
		75	u8 Digital[2];
		76	u8 RemoteButtons;
		77	s8 Nick;
		78	s8 Roll;
		79	s8 Yaw;
		80	u8 Gas;
		81	s8 Height;
		82	u8 free;
		83	u8 Frame;
		84	u8 Config;
		85	} __attribute__((packed)) ExternControl_t;
682	holgerb	86	*/
41	ingob	87
682	holgerb	88	// defines for ExternalControl.Config
		89	#define EC_VALID 0x01 // only valid if this is 1
		90	#define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX
		91	#define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control
		92
		93	typedef struct
		94	{
		95	signed char Nick;
		96	signed char Roll;
		97	signed char Gier;
		98	signed char Gas;
		99	unsigned char Frame; // will return a confirm frame with this value
		100	unsigned char Config;
		101	unsigned char free;
		102	} __attribute__((packed)) ExternControl_t;
		103
41	ingob	104	extern ExternControl_t ExternControl;
		105
		106	typedef struct
		107	{
		108	s16 Nick;
		109	s16 Roll;
		110	s16 Compass; // angle between north and head of the MK
161	killagreg	111	} __attribute__((packed)) Attitude_t;
41	ingob	112
494	killagreg	113
		114	typedef struct
		115	{
89	killagreg	116	u16 Distance; // distance to target in dm
92	killagreg	117	s16 Bearing; // course to target in deg
161	killagreg	118	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	119
294	holgerb	120	#define NAVIDATA_VERSION 5
89	killagreg	121
598	holgerb	122	typedef struct // 85 Bytes
41	ingob	123	{
89	killagreg	124	u8 Version; // version of the data structure
491	killagreg	125	GPS_Pos_t CurrentPosition; // see gpspos.h for details
41	ingob	126	GPS_Pos_t TargetPosition;
		127	GPS_PosDev_t TargetPositionDeviation;
		128	GPS_Pos_t HomePosition;
		129	GPS_PosDev_t HomePositionDeviation;
		130	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		131	u8 WaypointNumber; // number of stored waypoints
89	killagreg	132	u8 SatsInUse; // number of satellites used for position solution
41	ingob	133	s16 Altimeter; // hight according to air pressure
		134	s16 Variometer; // climb(+) and sink(-) rate
		135	u16 FlyingTime; // in seconds
		136	u8 UBat; // Battery Voltage in 0.1 Volts
		137	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	138	s16 Heading; // current flight direction in � as angle to north
		139	s16 CompassHeading; // current compass value in �
41	ingob	140	s8 AngleNick; // current Nick angle in 1�
		141	s8 AngleRoll; // current Rick angle in 1�
		142	u8 RC_Quality; // RC_Quality
255	killagreg	143	u8 FCStatusFlags; // Flags from FC
41	ingob	144	u8 NCFlags; // Flags from NC
		145	u8 Errorcode; // 0 --> okay
532	holgerb	146	u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m
89	killagreg	147	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	148	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
294	holgerb	149	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
161	killagreg	150	s16 SetpointAltitude; // setpoint for altitude
		151	u8 Gas; // for future use
206	killagreg	152	u16 Current; // actual current in 0.1A steps
		153	u16 UsedCapacity; // used capacity in mAh
41	ingob	154	} __attribute__((packed)) NaviData_t;
		155	extern NaviData_t NaviData;
		156
598	holgerb	157	typedef struct // 10 (15 Bytes belegen 27 ASCII-Zeichen)
		158	{
		159	u8 Index; // version of the data structure
		160	s32 ActualLongitude; //
		161	s32 ActualLatitude; //
		162	s16 Altimeter; // hight according to air pressure
		163	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		164	u8 OSDStatusFlags;
		165	u8 reserve1;
		166	u8 reserve2;
		167	} __attribute__((packed)) NaviData_Tiny_t;
		168	extern NaviData_Tiny_t NaviData_Tiny;
		169
		170	#define START_PAYLOAD_DATA 13 //
		171
		172	typedef struct // 11 (24 Bytes belegen 39 ASCII-Zeichen)
		173	{
		174	u8 Index; // version of the data structure
		175	s32 ActualLongitude; //
		176	s32 ActualLatitude; //
		177	s16 Altimeter; // hight according to air pressure
		178	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		179	u8 OSDStatusFlags;
		180	u8 OSDStatusFlags2;
		181	u8 NCFlags; // Flags from NC
		182	u8 ReserveFlags;
		183	u8 Errorcode; // 0 --> okay
		184	u8 SpeakHoTT;
		185	u8 VarioCharacter;
		186	u8 GPS_ModeCharacter;
		187	u8 BL_MinOfMaxPWM;
		188	} __attribute__((packed)) NaviData_Flags_t;
		189	extern NaviData_Flags_t NaviData_Flags;
		190
		191	typedef struct // 12 (27 Bytes belegen 43 ASCII-Zeichen)
		192	{
		193	u8 Index; // version of the data structure
		194	s32 ActualLongitude; //
		195	s32 ActualLatitude; //
		196	s16 Altimeter; // hight according to air pressure
		197	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		198	u8 OSDStatusFlags;
		199	s32 TargetLongitude; //
		200	s32 TargetLatitude; //
		201	s16 TargetAltitude; // hight according to air pressure
		202	u8 RC_Quality; // RC_Quality
		203	u8 reserve;
		204	} __attribute__((packed)) NaviData_Target_t;
		205	extern NaviData_Target_t NaviData_Target;
		206
622	holgerb	207	typedef struct // 13 (30 Bytes belegen 47 ASCII-Zeichen)
598	holgerb	208	{
		209	u8 Index; // version of the data structure
		210	s32 ActualLongitude; //
		211	s32 ActualLatitude; //
		212	s16 Altimeter; // hight according to air pressure
		213	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		214	u8 OSDStatusFlags;
		215	s32 HomeLongitude; //
		216	s32 HomeLatitude; //
		217	s16 HomeAltitude; // hight according to air pressure
		218	u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m
		219	u8 LipoCellCount;
622	holgerb	220	u8 DescendRange; // in [10m]
		221	u8 ManualFlyingRange; // in [10m]
		222	u8 reserve1;
		223	u8 reserve2;
598	holgerb	224	} __attribute__((packed)) NaviData_Home_t;
		225	extern NaviData_Home_t NaviData_Home;
		226
621	holgerb	227	typedef struct // 18 (21 Bytes belegen 35 ASCII-Zeichen)
600	holgerb	228	{
		229	u8 Index; // version of the data structure
		230	s32 ActualLongitude; //
		231	s32 ActualLatitude; //
		232	s16 Altimeter; // hight according to air pressure
		233	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		234	u8 OSDStatusFlags;
609	holgerb	235	s32 Longitude; //
		236	s32 Latitude; //
		237	} __attribute__((packed)) NaviData_Pos_t;
600	holgerb	238
609	holgerb	239	extern NaviData_Pos_t NaviData_Failsafe;
600	holgerb	240
621	holgerb	241	typedef struct // 18 (9 Bytes belegen 19 ASCII-Zeichen)
		242	{
		243	u8 Index; // version of the data structure
		244	s32 Longitude; //
		245	s32 Latitude; //
		246	} __attribute__((packed)) NaviData_Out_t;
		247	extern NaviData_Out_t NaviData_Out1Trigger;
		248
598	holgerb	249	typedef struct // 15 (18 Bytes belegen 31 ASCII-Zeichen)
		250	{
		251	u8 Index; // version of the data structure
		252	s32 ActualLongitude; //
		253	s32 ActualLatitude; //
		254	s16 Altimeter; // hight according to air pressure
		255	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		256	u8 OSDStatusFlags;
		257	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		258	u8 WaypointNumber; // number of stored waypoints
		259	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		260	u8 WP_Eventchannel;
		261	u8 reserve;
		262	} __attribute__((packed)) NaviData_WP_t;
		263	extern NaviData_WP_t NaviData_WP;
		264
		265	typedef struct // 14 (24 Bytes belegen 39 ASCII-Zeichen)
		266	{
		267	u8 Index; // version of the data structure
		268	s32 ActualLongitude; //
		269	s32 ActualLatitude; //
		270	s16 Altimeter; // hight according to air pressure
		271	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		272	u8 OSDStatusFlags;
		273	u16 FlyingTime; // in seconds
		274	u16 DistanceToHome;
		275	u8 HeadingToHome; // in 2� (100 = 200�)
		276	u16 DistanceToTarget;
		277	u8 HeadingToTarget; // in 2� (100 = 200�)
		278	s8 AngleNick; // current Nick angle in 1�
		279	s8 AngleRoll; // current Rick angle in 1�
		280	u8 SatsInUse; // number of satellites used for position solution
		281	} __attribute__((packed)) NaviData_Deviation_t;
		282	extern NaviData_Deviation_t NaviData_Deviation;
		283
		284	typedef struct // 16 (27 Bytes belegen 43 ASCII-Zeichen)
		285	{
		286	u8 Index; // version of the data structure
		287	s32 ActualLongitude; //
		288	s32 ActualLatitude; //
		289	s16 Altimeter; // hight according to air pressure
		290	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		291	u8 OSDStatusFlags;
		292	u16 UBat; // Battery Voltage in 0.1 Volts
		293	u16 Current; // actual current in 0.1A steps
		294	u16 UsedCapacity; // used capacity in mAh
		295	s8 Variometer; // climb(+) and sink(-) rate
		296	u8 Heading; // Current moving direction in 2� (100 = 200�)
		297	u8 CompassHeading; // current compass value in 2�
		298	u8 Gas; // for future use
		299	u16 ShutterCounter; // counts every time a Out1 was activated
		300	s16 SetpointAltitude; // setpoint for altitude
		301	} __attribute__((packed)) NaviData_Volatile_t;
		302	extern NaviData_Volatile_t NaviData_Volatile;
		303
		304	#define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80)
		305	#define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10)
		306
		307	// NC calculates
		308	//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
		309	//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) \| (FC.StatusFlags2 & ~OSD_FLAG_MASK2);
		310
		311	//calculate Back:
		312	//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) \| (OSDStatusFlags2 & ~OSD_FLAG_MASK1);
		313	//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) \| (OSDStatusFlags2 & ~OSD_FLAG_MASK2);
		314
		315
		316	/*
		317	OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
		318	NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT;
		319	NaviData_Flags.VarioCharacter = FromFC_VarioCharacter;
		320	NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter;
		321	NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM;
		322	NaviData_WP.WP_Wventchannel = LogFC_WP_EventChannel;
		323	*/
		324
41	ingob	325	extern UART_TypeDef *DebugUART;
92	killagreg	326	extern volatile u8 SerialLinkOkay;
349	ingob	327	extern Buffer_t UART1_tx_buffer;
380	holgerb	328	extern Buffer_t UART1_rx_buffer;
41	ingob	329
		330	void UART1_Init(void);
		331	void UART1_Transmit(void);
		332	void UART1_TransmitTxData(void);
		333	void UART1_ProcessRxData(void);
		334
110	killagreg	335	s16 UART1_Putchar(char c);
		336	void UART1_PutString(u8 *s);
150	killagreg	337	extern u8 text[]; // globally used text buffer
110	killagreg	338	extern u8 UART1_Request_SendFollowMe;
360	holgerb	339	extern u8 LastTransmittedFCStatusFlags2;
519	holgerb	340	extern u8 UART1_Request_ReadPoint;
495	killagreg	341	extern WPL_Store_t WPL_Store;
598	holgerb	342	extern u8 CalculateDebugLableCrc(void);
626	holgerb	343	extern u8 NaviData_Flags_SpeakHoTT_Processed;
532	holgerb	344
		345	typedef struct
		346	{
		347	u8 User[128];
		348	u8 eMail[128];
		349	u8 Feature[128];
		350	u8 Expire[11];
		351	u8 License[16];
		352	} __attribute__((packed)) LicenseS_t; // from FC
529	holgerb	353	extern u8 *LicensePtr;
495	killagreg	354
460	holgerb	355	extern u32 NMEA_Interval;// in ms
529	holgerb	356	#define LICENSE_SIZE 480
		357	#define LICENSE_SIZE_TEXT 411
460	holgerb	358
41	ingob	359	#endif //_UART1_H

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(root)/tags/V2.14e/uart1.h @ 758 - Rev 682