WebSVN - NaviCtrl - Blame - Rev 632

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

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(root)/tags/V2.10b/uart1.h @ 633 - Rev 632