WebSVN - NaviCtrl - Blame - Rev 89 - /tags/V0.28n/uart1.h

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
		8	#define TXD_BUFFER_LEN 150
		9	#define RXD_BUFFER_LEN 150
		10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces
		11
		12	#include "ubx.h"
		13
62	killagreg	14	typedef struct
61	holgerb	15	{
62	killagreg	16	s16 AngleNick; // in 0.1 deg
		17	s16 AngleRoll; // in 0.1 deg
		18	s16 Heading; // in 0.1 deg
61	holgerb	19	u8 reserve[8];
		20	} __attribute__((packed)) Data3D_t;
		21
		22	extern Data3D_t Data3D;
		23
41	ingob	24	typedef struct
		25	{
		26	u8 Digital[2];
		27	u16 Analog[32]; // Debugwerte
		28	} __attribute__((packed)) DebugOut_t;
		29
		30	extern DebugOut_t DebugOut;
		31
		32	typedef struct
		33	{
		34	u8 Digital[2];
		35	u8 RemoteButtons;
		36	s8 Nick;
		37	s8 Roll;
		38	s8 Yaw;
		39	u8 Gas;
		40	s8 Height;
		41	u8 free;
		42	u8 Frame;
		43	u8 Config;
		44	} __attribute__((packed)) ExternControl_t;
		45
		46	extern ExternControl_t ExternControl;
		47
		48	typedef struct
		49	{
		50	s16 Nick;
		51	s16 Roll;
		52	s16 Compass; // angle between north and head of the MK
		53	} __attribute__((packed)) Attitude_t;
		54
		55	typedef struct
		56	{
89	killagreg	57	u16 Distance; // distance to target in dm
41	ingob	58	s16 Bearing; // course to target in deg
		59	} __attribute__((packed)) GPS_PosDev_t;
		60
89	killagreg	61	#define NAVIDATA_VERSION 1
		62
41	ingob	63	typedef struct
		64	{
89	killagreg	65	u8 Version; // version of the data structure
41	ingob	66	GPS_Pos_t CurrentPosition; // see ubx.h for details
		67	GPS_Pos_t TargetPosition;
		68	GPS_PosDev_t TargetPositionDeviation;
		69	GPS_Pos_t HomePosition;
		70	GPS_PosDev_t HomePositionDeviation;
		71	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		72	u8 WaypointNumber; // number of stored waypoints
89	killagreg	73	u8 SatsInUse; // number of satellites used for position solution
41	ingob	74	s16 Altimeter; // hight according to air pressure
		75	s16 Variometer; // climb(+) and sink(-) rate
		76	u16 FlyingTime; // in seconds
		77	u8 UBat; // Battery Voltage in 0.1 Volts
		78	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	79	s16 Heading; // current flight direction in � as angle to north
		80	s16 CompassHeading; // current compass value in �
41	ingob	81	s8 AngleNick; // current Nick angle in 1�
		82	s8 AngleRoll; // current Rick angle in 1�
		83	u8 RC_Quality; // RC_Quality
		84	u8 MKFlags; // Flags from FC
		85	u8 NCFlags; // Flags from NC
		86	u8 Errorcode; // 0 --> okay
73	killagreg	87	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	88	s16 TopSpeed; // velocity in vertical direction in cm/s
		89	u8 Reserve[5]; // for future use
41	ingob	90	} __attribute__((packed)) NaviData_t;
		91
		92	extern NaviData_t NaviData;
		93	extern u8 Request_NaviData;
75	holgerb	94
41	ingob	95	#define NC_FLAG_FREE 1
		96	#define NC_FLAG_PH 2
		97	#define NC_FLAG_CH 4
		98	#define NC_FLAG_RANGE_LIMIT 8
		99
		100	typedef struct
		101	{
		102	u8 SWMajor;
		103	u8 SWMinor;
		104	u8 ProtoMajor;
		105	u8 ProtoMinor;
		106	u8 SWPatch;
		107	u8 Reserved[5];
		108	} __attribute__((packed)) UART_VersionInfo_t;
		109
		110	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
		111	extern volatile u8 ReceivedBytes;
		112	extern volatile u8 rxd_buffer_locked;
		113	extern UART_TypeDef *DebugUART;
		114
		115
		116	void UART1_Init(void);
		117	void UART1_Transmit(void);
		118	void UART1_TransmitTxData(void);
		119	void UART1_ProcessRxData(void);
		120
		121	s16 uart_putchar (char c);
		122	void SerialPutString(u8 *s);
		123	extern u8 text[100];
54	killagreg	124	extern u32 Request_NaviData_Intervall; // in ms
41	ingob	125	extern u8 Request_SendFollowMe;
		126	#endif //_UART1_H

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