WebSVN - NaviCtrl - Blame - Rev 344

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
256	killagreg	10	#define NC_ERROR0_SPI_RX 0x01
		11	#define NC_ERROR0_COMPASS_RX 0x02
		12	#define NC_ERROR0_FC_INCOMPATIBLE 0x04
		13	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08
		14	#define NC_ERROR0_GPS_RX 0x10
		15	#define NC_ERROR0_COMPASS_VALUE 0x20
156	killagreg	16
62	killagreg	17	typedef struct
92	killagreg	18	{
112	killagreg	19	u8 SWMajor;
		20	u8 SWMinor;
		21	u8 ProtoMajor;
		22	u8 ProtoMinor;
		23	u8 SWPatch;
231	holgerb	24	u8 HardwareError[5];
161	killagreg	25	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	26
		27	extern UART_VersionInfo_t UART_VersionInfo;
		28
		29	typedef struct
		30	{
161	killagreg	31	s16 AngleNick; // in 0.1 deg
		32	s16 AngleRoll; // in 0.1 deg
		33	s16 Heading; // in 0.1 deg
		34	u8 reserve[8];
61	holgerb	35	} __attribute__((packed)) Data3D_t;
		36
		37	extern Data3D_t Data3D;
		38
112	killagreg	39
		40	extern const u8 ANALOG_LABEL[32][16];
		41
338	holgerb	42	#define AMPEL_FC 0x01
		43	#define AMPEL_BL 0x02
		44	#define AMPEL_NC 0x04
		45	#define AMPEL_COMPASS 0x08
		46
41	ingob	47	typedef struct
		48	{
338	holgerb	49	u8 StatusGreen;
		50	u8 StatusRed;
41	ingob	51	u16 Analog[32]; // Debugwerte
		52	} __attribute__((packed)) DebugOut_t;
		53
		54	extern DebugOut_t DebugOut;
		55
		56	typedef struct
		57	{
		58	u8 Digital[2];
		59	u8 RemoteButtons;
		60	s8 Nick;
		61	s8 Roll;
		62	s8 Yaw;
		63	u8 Gas;
		64	s8 Height;
		65	u8 free;
		66	u8 Frame;
		67	u8 Config;
		68	} __attribute__((packed)) ExternControl_t;
		69
		70	extern ExternControl_t ExternControl;
		71
		72	typedef struct
		73	{
		74	s16 Nick;
		75	s16 Roll;
		76	s16 Compass; // angle between north and head of the MK
161	killagreg	77	} __attribute__((packed)) Attitude_t;
41	ingob	78
		79	typedef struct
		80	{
89	killagreg	81	u16 Distance; // distance to target in dm
92	killagreg	82	s16 Bearing; // course to target in deg
161	killagreg	83	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	84
294	holgerb	85	#define NAVIDATA_VERSION 5
89	killagreg	86
41	ingob	87	typedef struct
		88	{
89	killagreg	89	u8 Version; // version of the data structure
41	ingob	90	GPS_Pos_t CurrentPosition; // see ubx.h for details
		91	GPS_Pos_t TargetPosition;
		92	GPS_PosDev_t TargetPositionDeviation;
		93	GPS_Pos_t HomePosition;
		94	GPS_PosDev_t HomePositionDeviation;
		95	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		96	u8 WaypointNumber; // number of stored waypoints
89	killagreg	97	u8 SatsInUse; // number of satellites used for position solution
41	ingob	98	s16 Altimeter; // hight according to air pressure
		99	s16 Variometer; // climb(+) and sink(-) rate
		100	u16 FlyingTime; // in seconds
		101	u8 UBat; // Battery Voltage in 0.1 Volts
		102	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	103	s16 Heading; // current flight direction in � as angle to north
		104	s16 CompassHeading; // current compass value in �
41	ingob	105	s8 AngleNick; // current Nick angle in 1�
		106	s8 AngleRoll; // current Rick angle in 1�
		107	u8 RC_Quality; // RC_Quality
255	killagreg	108	u8 FCStatusFlags; // Flags from FC
41	ingob	109	u8 NCFlags; // Flags from NC
		110	u8 Errorcode; // 0 --> okay
161	killagreg	111	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	112	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	113	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
294	holgerb	114	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
161	killagreg	115	s16 SetpointAltitude; // setpoint for altitude
		116	u8 Gas; // for future use
206	killagreg	117	u16 Current; // actual current in 0.1A steps
		118	u16 UsedCapacity; // used capacity in mAh
41	ingob	119	} __attribute__((packed)) NaviData_t;
		120
		121	extern NaviData_t NaviData;
		122
92	killagreg	123	#define NC_FLAG_FREE 0x01
		124	#define NC_FLAG_PH 0x02
		125	#define NC_FLAG_CH 0x04
		126	#define NC_FLAG_RANGE_LIMIT 0x08
		127	#define NC_FLAG_NOSERIALLINK 0x10
		128	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	129	#define NC_FLAG_MANUAL_CONTROL 0x40
254	killagreg	130	#define NC_FLAG_GPS_OK 0x80
41	ingob	131
		132	extern UART_TypeDef *DebugUART;
92	killagreg	133	extern volatile u8 SerialLinkOkay;
41	ingob	134
92	killagreg	135
41	ingob	136	void UART1_Init(void);
		137	void UART1_Transmit(void);
		138	void UART1_TransmitTxData(void);
		139	void UART1_ProcessRxData(void);
		140
110	killagreg	141	s16 UART1_Putchar(char c);
		142	void UART1_PutString(u8 *s);
150	killagreg	143	extern u8 text[]; // globally used text buffer
110	killagreg	144	extern u8 UART1_Request_SendFollowMe;
41	ingob	145	#endif //_UART1_H

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(root)/tags/V0.26e/uart1.h @ 811 - Rev 344