Subversion Repositories FlightCtrl

#ifndef _UART_H

#define _UART_H

#define printf_P(format, args...)   _printf_P(&uart_putchar, format , ## args)

#define printf(format, args...)     _printf_P(&uart_putchar, PSTR(format) , ## args)

void BearbeiteRxDaten(void);

extern unsigned char DebugGetAnforderung;

extern unsigned volatile char ReceiverUpdateModeActive;

extern unsigned volatile char UebertragungAbgeschlossen;

extern unsigned volatile char PC_DebugTimeout;

extern unsigned volatile char NeueKoordinateEmpfangen;

extern unsigned volatile char PC_MotortestActive;

extern unsigned char MeineSlaveAdresse;

extern unsigned char PcZugriff;

extern unsigned char RemotePollDisplayLine;

extern unsigned volatile char RxdBuffer[];

extern int Debug_Timer,Kompass_Timer;

extern void UART_Init (void);

extern void  uart_putchar (char c);

//extern void boot_program_page (uint32_t page, uint8_t *buf);

extern void DatenUebertragung(void);

extern void Uart1Init(void);

extern void BearbeiteRxDaten(void);

extern unsigned char MotorTest[16];

extern unsigned char SwitchMultiplexerToUpdate; // the Uart-Multiplexer on the FC V3.0

extern unsigned char SerialChannelDataOkay; // timeout

extern unsigned int Baudrate_100;

struct str_DebugOut

{

 unsigned char Status[2];

 signed int Analog[32];    // Debugwerte

};

extern struct str_DebugOut    DebugOut;

struct str_WinkelOut

{

   signed int  Winkel[2];

 unsigned char UserParameter[2];

 unsigned char CalcState;

 unsigned char Orientation;

};

extern struct str_WinkelOut  WinkelOut;

struct str_Data3D

{

   signed int  Winkel[3]; // nick, roll, compass in 0,1°

   signed char Centroid[3];

//   signed char reserve[5];

unsigned int AccZ;

signed char reserve[3];

};

extern struct str_Data3D Data3D;

/*

struct str_ExternControl

{

 unsigned char Digital[2];

 unsigned char RemoteTasten;

 signed char   Nick;

 signed char   Roll;

 signed char   Gier;

 unsigned char Gas;

 signed char   Hight;

 unsigned char free;

 unsigned char Frame;

 unsigned char Config;

};

extern struct str_ExternControl   ExternControl;

*/

#define EC_VALID                                0x01 // only valid if this is 1

#define EC_GAS_ADD                              0x02 // if 1 -> use the GAS Value not as MAX

#define EC_ONLY_IF_MOTOR_OFF    0x10 // use these Stick Positions only if the motors are not running -> Claibrate etc.

#define EC_USE_SWITCH                   0x20 // if 1 -> use the Switches for further control

#define EC_IGNORE_RC_STICK              0x40 // direct control (do nor add to RC-Stick)

#define EC_IGNORE_RC_LOST               0x80 // if 1 -> for Flying without RC-Control 

// defines for ExternalControl.Switches -> control GPS Modes etc. -> Attention: only if(Config & EC_USE_SWITCH)

#define EC2_PH                          0x01 // GPS-Mode: PH

#define EC2_CH                          0x02 // GPS-Mode: CH

#define EC2_CAREFREE            0x10 // 

#define EC2_ALTITUDE            0x20 // 

#define EC2_AUTOSTART           0x40 // 

#define EC2_AUTOLAND            0x80 // 

struct str_ExternControl

{

 signed char Nick;

 signed char Roll;

 signed char Gier;

 signed char Gas;

 unsigned char Frame; // will return a confirm frame with this value

 unsigned char Config;

 unsigned char Switches;

 unsigned char Free1; // these two don't need capacity in the ASCII data string

 unsigned char Free2;

};

extern struct str_ExternControl ExternalControl;

extern unsigned char ExternalControlTimeout;

// FC hardware errors

// bitmask for VersionInfo.HardwareError[0]

#define FC_ERROR0_GYRO_NICK     0x01

#define FC_ERROR0_GYRO_ROLL     0x02

#define FC_ERROR0_GYRO_YAW              0x04

#define FC_ERROR0_ACC_NICK              0x08

#define FC_ERROR0_ACC_ROLL              0x10

#define FC_ERROR0_ACC_TOP               0x20

#define FC_ERROR0_PRESSURE              0x40

#define FC_ERROR0_CAREFREE              0x80

// bitmask for VersionInfo.HardwareError[1]

#define FC_ERROR1_I2C                   0x01

#define FC_ERROR1_BL_MISSING    0x02

#define FC_ERROR1_SPI_RX                0x04

#define FC_ERROR1_PPM                   0x08

#define FC_ERROR1_MIXER                 0x10

#define FC_ERROR1_RC_VOLTAGE    0x20

#define FC_ERROR1_ACC_NOT_CAL   0x40

#define FC_ERROR1_RES3                  0x80

// for FlightCtrl

//VersionInfo.Flags

#define FC_VERSION_FLAG_NC_PRESENT           0x01

// for NaviCtrl

#define NC_VERSION_FLAG_MK3MAG_PRESENT       0x01

struct str_VersionInfo

{

  unsigned char SWMajor;

  unsigned char SWMinor;

  unsigned char ProtoMajor;

  unsigned char LabelTextCRC;

  unsigned char SWPatch;

  unsigned char HardwareError[2];

  unsigned char HWMajor;

  unsigned char BL_Firmware;  

  unsigned char Flags;

};

extern struct str_VersionInfo VersionInfo;

#define MAX_BD_RATES 11

extern const unsigned int BAUDRATES[MAX_BD_RATES];

//#define USART0_BAUD 9600

//#define USART0_BAUD 14400

//#define USART0_BAUD 28800

//#define USART0_BAUD 38400

#define USART0_BAUD 57600

#endif //_UART_H