WebSVN - NaviCtrl - Blame - Rev 588

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;
548	holgerb	23	u8 Reserved1;
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
41	ingob	101	typedef struct
		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
		135	extern NaviData_t NaviData;
560	holgerb	136	// .NCFlags
92	killagreg	137	#define NC_FLAG_FREE 0x01
		138	#define NC_FLAG_PH 0x02
		139	#define NC_FLAG_CH 0x04
		140	#define NC_FLAG_RANGE_LIMIT 0x08
		141	#define NC_FLAG_NOSERIALLINK 0x10
		142	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	143	#define NC_FLAG_MANUAL_CONTROL 0x40
254	killagreg	144	#define NC_FLAG_GPS_OK 0x80
41	ingob	145
		146	extern UART_TypeDef *DebugUART;
92	killagreg	147	extern volatile u8 SerialLinkOkay;
349	ingob	148	extern Buffer_t UART1_tx_buffer;
380	holgerb	149	extern Buffer_t UART1_rx_buffer;
41	ingob	150
		151	void UART1_Init(void);
		152	void UART1_Transmit(void);
		153	void UART1_TransmitTxData(void);
		154	void UART1_ProcessRxData(void);
		155
110	killagreg	156	s16 UART1_Putchar(char c);
		157	void UART1_PutString(u8 *s);
150	killagreg	158	extern u8 text[]; // globally used text buffer
110	killagreg	159	extern u8 UART1_Request_SendFollowMe;
360	holgerb	160	extern u8 LastTransmittedFCStatusFlags2;
519	holgerb	161	extern u8 UART1_Request_ReadPoint;
495	killagreg	162	extern WPL_Store_t WPL_Store;
532	holgerb	163
		164	typedef struct
		165	{
		166	u8 User[128];
		167	u8 eMail[128];
		168	u8 Feature[128];
		169	u8 Expire[11];
		170	u8 License[16];
		171	} __attribute__((packed)) LicenseS_t; // from FC
529	holgerb	172	extern u8 *LicensePtr;
495	killagreg	173
460	holgerb	174	extern u32 NMEA_Interval;// in ms
529	holgerb	175	#define LICENSE_SIZE 480
		176	#define LICENSE_SIZE_TEXT 411
460	holgerb	177
41	ingob	178	#endif //_UART1_H

Subversion Repositories NaviCtrl

(root)/tags/V2.14a/uart1.h @ 811 - Rev 588