WebSVN - NaviCtrl - Blame - Rev 481

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;
454	holgerb	24	u8 HardwareError[2];
		25	u8 HWMajor;
		26	u8 reserved2;
		27	u8 Flags;
161	killagreg	28	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	29
		30	extern UART_VersionInfo_t UART_VersionInfo;
		31
454	holgerb	32	//VersionInfo.Flags
		33	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
		34	#define NC_VERSION_FLAG_GPS_PRESENT 0x02
		35
112	killagreg	36	typedef struct
		37	{
161	killagreg	38	s16 AngleNick; // in 0.1 deg
		39	s16 AngleRoll; // in 0.1 deg
		40	s16 Heading; // in 0.1 deg
358	holgerb	41	u8 StickNick;
		42	u8 StickRoll;
		43	u8 StickYaw;
		44	u8 StickGas;
		45	u8 reserve[4];
61	holgerb	46	} __attribute__((packed)) Data3D_t;
		47
		48	extern Data3D_t Data3D;
		49
112	killagreg	50
		51	extern const u8 ANALOG_LABEL[32][16];
		52
338	holgerb	53	#define AMPEL_FC 0x01
		54	#define AMPEL_BL 0x02
		55	#define AMPEL_NC 0x04
		56	#define AMPEL_COMPASS 0x08
		57
41	ingob	58	typedef struct
		59	{
338	holgerb	60	u8 StatusGreen;
		61	u8 StatusRed;
41	ingob	62	u16 Analog[32]; // Debugwerte
		63	} __attribute__((packed)) DebugOut_t;
		64
		65	extern DebugOut_t DebugOut;
		66
		67	typedef struct
		68	{
		69	u8 Digital[2];
		70	u8 RemoteButtons;
		71	s8 Nick;
		72	s8 Roll;
		73	s8 Yaw;
		74	u8 Gas;
		75	s8 Height;
		76	u8 free;
		77	u8 Frame;
		78	u8 Config;
		79	} __attribute__((packed)) ExternControl_t;
		80
		81	extern ExternControl_t ExternControl;
		82
		83	typedef struct
		84	{
		85	s16 Nick;
		86	s16 Roll;
		87	s16 Compass; // angle between north and head of the MK
161	killagreg	88	} __attribute__((packed)) Attitude_t;
41	ingob	89
		90	typedef struct
		91	{
89	killagreg	92	u16 Distance; // distance to target in dm
92	killagreg	93	s16 Bearing; // course to target in deg
161	killagreg	94	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	95
294	holgerb	96	#define NAVIDATA_VERSION 5
89	killagreg	97
41	ingob	98	typedef struct
		99	{
89	killagreg	100	u8 Version; // version of the data structure
41	ingob	101	GPS_Pos_t CurrentPosition; // see ubx.h for details
		102	GPS_Pos_t TargetPosition;
		103	GPS_PosDev_t TargetPositionDeviation;
		104	GPS_Pos_t HomePosition;
		105	GPS_PosDev_t HomePositionDeviation;
		106	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		107	u8 WaypointNumber; // number of stored waypoints
89	killagreg	108	u8 SatsInUse; // number of satellites used for position solution
41	ingob	109	s16 Altimeter; // hight according to air pressure
		110	s16 Variometer; // climb(+) and sink(-) rate
		111	u16 FlyingTime; // in seconds
		112	u8 UBat; // Battery Voltage in 0.1 Volts
		113	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	114	s16 Heading; // current flight direction in � as angle to north
		115	s16 CompassHeading; // current compass value in �
41	ingob	116	s8 AngleNick; // current Nick angle in 1�
		117	s8 AngleRoll; // current Rick angle in 1�
		118	u8 RC_Quality; // RC_Quality
255	killagreg	119	u8 FCStatusFlags; // Flags from FC
41	ingob	120	u8 NCFlags; // Flags from NC
		121	u8 Errorcode; // 0 --> okay
161	killagreg	122	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	123	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	124	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
294	holgerb	125	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
161	killagreg	126	s16 SetpointAltitude; // setpoint for altitude
		127	u8 Gas; // for future use
206	killagreg	128	u16 Current; // actual current in 0.1A steps
		129	u16 UsedCapacity; // used capacity in mAh
41	ingob	130	} __attribute__((packed)) NaviData_t;
		131
		132	extern NaviData_t NaviData;
		133
92	killagreg	134	#define NC_FLAG_FREE 0x01
		135	#define NC_FLAG_PH 0x02
		136	#define NC_FLAG_CH 0x04
		137	#define NC_FLAG_RANGE_LIMIT 0x08
		138	#define NC_FLAG_NOSERIALLINK 0x10
		139	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	140	#define NC_FLAG_MANUAL_CONTROL 0x40
254	killagreg	141	#define NC_FLAG_GPS_OK 0x80
41	ingob	142
		143	extern UART_TypeDef *DebugUART;
92	killagreg	144	extern volatile u8 SerialLinkOkay;
349	ingob	145	extern Buffer_t UART1_tx_buffer;
380	holgerb	146	extern Buffer_t UART1_rx_buffer;
41	ingob	147
		148	void UART1_Init(void);
		149	void UART1_Transmit(void);
		150	void UART1_TransmitTxData(void);
		151	void UART1_ProcessRxData(void);
		152
110	killagreg	153	s16 UART1_Putchar(char c);
		154	void UART1_PutString(u8 *s);
150	killagreg	155	extern u8 text[]; // globally used text buffer
110	killagreg	156	extern u8 UART1_Request_SendFollowMe;
360	holgerb	157	extern u8 LastTransmittedFCStatusFlags2;
460	holgerb	158
		159	extern u32 NMEA_Interval;// in ms
		160
41	ingob	161	#endif //_UART1_H

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(root)/tags/V2.02a/uart1.h @ 811 - Rev 481