WebSVN - NaviCtrl - Blame - Rev 675

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
675	holgerb	18	#define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET);
		19	#define ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET);
		20
62	killagreg	21	typedef struct
92	killagreg	22	{
112	killagreg	23	u8 SWMajor;
		24	u8 SWMinor;
		25	u8 ProtoMajor;
598	holgerb	26	u8 LabelTextCRC;
112	killagreg	27	u8 SWPatch;
454	holgerb	28	u8 HardwareError[2];
		29	u8 HWMajor;
548	holgerb	30	u8 BL_Firmware;
454	holgerb	31	u8 Flags;
161	killagreg	32	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	33
		34	extern UART_VersionInfo_t UART_VersionInfo;
		35
454	holgerb	36	//VersionInfo.Flags
		37	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
		38	#define NC_VERSION_FLAG_GPS_PRESENT 0x02
		39
112	killagreg	40	typedef struct
		41	{
161	killagreg	42	s16 AngleNick; // in 0.1 deg
		43	s16 AngleRoll; // in 0.1 deg
		44	s16 Heading; // in 0.1 deg
358	holgerb	45	u8 StickNick;
		46	u8 StickRoll;
		47	u8 StickYaw;
		48	u8 StickGas;
588	holgerb	49	s16 Altimeter; // in 5cm
		50	u8 reserve[2];
61	holgerb	51	} __attribute__((packed)) Data3D_t;
		52
		53	extern Data3D_t Data3D;
		54
112	killagreg	55
		56	extern const u8 ANALOG_LABEL[32][16];
		57
338	holgerb	58	#define AMPEL_FC 0x01
		59	#define AMPEL_BL 0x02
		60	#define AMPEL_NC 0x04
		61	#define AMPEL_COMPASS 0x08
		62
41	ingob	63	typedef struct
		64	{
338	holgerb	65	u8 StatusGreen;
		66	u8 StatusRed;
41	ingob	67	u16 Analog[32]; // Debugwerte
		68	} __attribute__((packed)) DebugOut_t;
		69
		70	extern DebugOut_t DebugOut;
		71
		72	typedef struct
		73	{
		74	u8 Digital[2];
		75	u8 RemoteButtons;
		76	s8 Nick;
		77	s8 Roll;
		78	s8 Yaw;
		79	u8 Gas;
		80	s8 Height;
		81	u8 free;
		82	u8 Frame;
		83	u8 Config;
		84	} __attribute__((packed)) ExternControl_t;
		85
		86	extern ExternControl_t ExternControl;
		87
		88	typedef struct
		89	{
		90	s16 Nick;
		91	s16 Roll;
		92	s16 Compass; // angle between north and head of the MK
161	killagreg	93	} __attribute__((packed)) Attitude_t;
41	ingob	94
494	killagreg	95
		96	typedef struct
		97	{
89	killagreg	98	u16 Distance; // distance to target in dm
92	killagreg	99	s16 Bearing; // course to target in deg
161	killagreg	100	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	101
294	holgerb	102	#define NAVIDATA_VERSION 5
89	killagreg	103
598	holgerb	104	typedef struct // 85 Bytes
41	ingob	105	{
89	killagreg	106	u8 Version; // version of the data structure
491	killagreg	107	GPS_Pos_t CurrentPosition; // see gpspos.h for details
41	ingob	108	GPS_Pos_t TargetPosition;
		109	GPS_PosDev_t TargetPositionDeviation;
		110	GPS_Pos_t HomePosition;
		111	GPS_PosDev_t HomePositionDeviation;
		112	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		113	u8 WaypointNumber; // number of stored waypoints
89	killagreg	114	u8 SatsInUse; // number of satellites used for position solution
41	ingob	115	s16 Altimeter; // hight according to air pressure
		116	s16 Variometer; // climb(+) and sink(-) rate
		117	u16 FlyingTime; // in seconds
		118	u8 UBat; // Battery Voltage in 0.1 Volts
		119	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	120	s16 Heading; // current flight direction in � as angle to north
		121	s16 CompassHeading; // current compass value in �
41	ingob	122	s8 AngleNick; // current Nick angle in 1�
		123	s8 AngleRoll; // current Rick angle in 1�
		124	u8 RC_Quality; // RC_Quality
255	killagreg	125	u8 FCStatusFlags; // Flags from FC
41	ingob	126	u8 NCFlags; // Flags from NC
		127	u8 Errorcode; // 0 --> okay
532	holgerb	128	u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m
89	killagreg	129	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	130	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
294	holgerb	131	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
161	killagreg	132	s16 SetpointAltitude; // setpoint for altitude
		133	u8 Gas; // for future use
206	killagreg	134	u16 Current; // actual current in 0.1A steps
		135	u16 UsedCapacity; // used capacity in mAh
41	ingob	136	} __attribute__((packed)) NaviData_t;
		137	extern NaviData_t NaviData;
		138
598	holgerb	139	typedef struct // 10 (15 Bytes belegen 27 ASCII-Zeichen)
		140	{
		141	u8 Index; // version of the data structure
		142	s32 ActualLongitude; //
		143	s32 ActualLatitude; //
		144	s16 Altimeter; // hight according to air pressure
		145	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		146	u8 OSDStatusFlags;
		147	u8 reserve1;
		148	u8 reserve2;
		149	} __attribute__((packed)) NaviData_Tiny_t;
		150	extern NaviData_Tiny_t NaviData_Tiny;
		151
		152	#define START_PAYLOAD_DATA 13 //
		153
		154	typedef struct // 11 (24 Bytes belegen 39 ASCII-Zeichen)
		155	{
		156	u8 Index; // version of the data structure
		157	s32 ActualLongitude; //
		158	s32 ActualLatitude; //
		159	s16 Altimeter; // hight according to air pressure
		160	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		161	u8 OSDStatusFlags;
		162	u8 OSDStatusFlags2;
		163	u8 NCFlags; // Flags from NC
		164	u8 ReserveFlags;
		165	u8 Errorcode; // 0 --> okay
		166	u8 SpeakHoTT;
		167	u8 VarioCharacter;
		168	u8 GPS_ModeCharacter;
		169	u8 BL_MinOfMaxPWM;
		170	} __attribute__((packed)) NaviData_Flags_t;
		171	extern NaviData_Flags_t NaviData_Flags;
		172
		173	typedef struct // 12 (27 Bytes belegen 43 ASCII-Zeichen)
		174	{
		175	u8 Index; // version of the data structure
		176	s32 ActualLongitude; //
		177	s32 ActualLatitude; //
		178	s16 Altimeter; // hight according to air pressure
		179	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		180	u8 OSDStatusFlags;
		181	s32 TargetLongitude; //
		182	s32 TargetLatitude; //
		183	s16 TargetAltitude; // hight according to air pressure
		184	u8 RC_Quality; // RC_Quality
		185	u8 reserve;
		186	} __attribute__((packed)) NaviData_Target_t;
		187	extern NaviData_Target_t NaviData_Target;
		188
622	holgerb	189	typedef struct // 13 (30 Bytes belegen 47 ASCII-Zeichen)
598	holgerb	190	{
		191	u8 Index; // version of the data structure
		192	s32 ActualLongitude; //
		193	s32 ActualLatitude; //
		194	s16 Altimeter; // hight according to air pressure
		195	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		196	u8 OSDStatusFlags;
		197	s32 HomeLongitude; //
		198	s32 HomeLatitude; //
		199	s16 HomeAltitude; // hight according to air pressure
		200	u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m
		201	u8 LipoCellCount;
622	holgerb	202	u8 DescendRange; // in [10m]
		203	u8 ManualFlyingRange; // in [10m]
		204	u8 reserve1;
		205	u8 reserve2;
598	holgerb	206	} __attribute__((packed)) NaviData_Home_t;
		207	extern NaviData_Home_t NaviData_Home;
		208
621	holgerb	209	typedef struct // 18 (21 Bytes belegen 35 ASCII-Zeichen)
600	holgerb	210	{
		211	u8 Index; // version of the data structure
		212	s32 ActualLongitude; //
		213	s32 ActualLatitude; //
		214	s16 Altimeter; // hight according to air pressure
		215	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		216	u8 OSDStatusFlags;
609	holgerb	217	s32 Longitude; //
		218	s32 Latitude; //
		219	} __attribute__((packed)) NaviData_Pos_t;
600	holgerb	220
609	holgerb	221	extern NaviData_Pos_t NaviData_Failsafe;
600	holgerb	222
621	holgerb	223	typedef struct // 18 (9 Bytes belegen 19 ASCII-Zeichen)
		224	{
		225	u8 Index; // version of the data structure
		226	s32 Longitude; //
		227	s32 Latitude; //
		228	} __attribute__((packed)) NaviData_Out_t;
		229	extern NaviData_Out_t NaviData_Out1Trigger;
		230
598	holgerb	231	typedef struct // 15 (18 Bytes belegen 31 ASCII-Zeichen)
		232	{
		233	u8 Index; // version of the data structure
		234	s32 ActualLongitude; //
		235	s32 ActualLatitude; //
		236	s16 Altimeter; // hight according to air pressure
		237	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		238	u8 OSDStatusFlags;
		239	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		240	u8 WaypointNumber; // number of stored waypoints
		241	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		242	u8 WP_Eventchannel;
		243	u8 reserve;
		244	} __attribute__((packed)) NaviData_WP_t;
		245	extern NaviData_WP_t NaviData_WP;
		246
		247	typedef struct // 14 (24 Bytes belegen 39 ASCII-Zeichen)
		248	{
		249	u8 Index; // version of the data structure
		250	s32 ActualLongitude; //
		251	s32 ActualLatitude; //
		252	s16 Altimeter; // hight according to air pressure
		253	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		254	u8 OSDStatusFlags;
		255	u16 FlyingTime; // in seconds
		256	u16 DistanceToHome;
		257	u8 HeadingToHome; // in 2� (100 = 200�)
		258	u16 DistanceToTarget;
		259	u8 HeadingToTarget; // in 2� (100 = 200�)
		260	s8 AngleNick; // current Nick angle in 1�
		261	s8 AngleRoll; // current Rick angle in 1�
		262	u8 SatsInUse; // number of satellites used for position solution
		263	} __attribute__((packed)) NaviData_Deviation_t;
		264	extern NaviData_Deviation_t NaviData_Deviation;
		265
		266	typedef struct // 16 (27 Bytes belegen 43 ASCII-Zeichen)
		267	{
		268	u8 Index; // version of the data structure
		269	s32 ActualLongitude; //
		270	s32 ActualLatitude; //
		271	s16 Altimeter; // hight according to air pressure
		272	u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
		273	u8 OSDStatusFlags;
		274	u16 UBat; // Battery Voltage in 0.1 Volts
		275	u16 Current; // actual current in 0.1A steps
		276	u16 UsedCapacity; // used capacity in mAh
		277	s8 Variometer; // climb(+) and sink(-) rate
		278	u8 Heading; // Current moving direction in 2� (100 = 200�)
		279	u8 CompassHeading; // current compass value in 2�
		280	u8 Gas; // for future use
		281	u16 ShutterCounter; // counts every time a Out1 was activated
		282	s16 SetpointAltitude; // setpoint for altitude
		283	} __attribute__((packed)) NaviData_Volatile_t;
		284	extern NaviData_Volatile_t NaviData_Volatile;
		285
		286	#define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80)
		287	#define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10)
		288
		289	// NC calculates
		290	//OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
		291	//OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) \| (FC.StatusFlags2 & ~OSD_FLAG_MASK2);
		292
		293	//calculate Back:
		294	//FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) \| (OSDStatusFlags2 & ~OSD_FLAG_MASK1);
		295	//FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) \| (OSDStatusFlags2 & ~OSD_FLAG_MASK2);
		296
		297
		298	/*
		299	OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
		300	NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT;
		301	NaviData_Flags.VarioCharacter = FromFC_VarioCharacter;
		302	NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter;
		303	NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM;
		304	NaviData_WP.WP_Wventchannel = LogFC_WP_EventChannel;
		305	*/
		306
41	ingob	307	extern UART_TypeDef *DebugUART;
92	killagreg	308	extern volatile u8 SerialLinkOkay;
349	ingob	309	extern Buffer_t UART1_tx_buffer;
380	holgerb	310	extern Buffer_t UART1_rx_buffer;
41	ingob	311
		312	void UART1_Init(void);
		313	void UART1_Transmit(void);
		314	void UART1_TransmitTxData(void);
		315	void UART1_ProcessRxData(void);
		316
110	killagreg	317	s16 UART1_Putchar(char c);
		318	void UART1_PutString(u8 *s);
150	killagreg	319	extern u8 text[]; // globally used text buffer
110	killagreg	320	extern u8 UART1_Request_SendFollowMe;
360	holgerb	321	extern u8 LastTransmittedFCStatusFlags2;
519	holgerb	322	extern u8 UART1_Request_ReadPoint;
495	killagreg	323	extern WPL_Store_t WPL_Store;
598	holgerb	324	extern u8 CalculateDebugLableCrc(void);
626	holgerb	325	extern u8 NaviData_Flags_SpeakHoTT_Processed;
532	holgerb	326
		327	typedef struct
		328	{
		329	u8 User[128];
		330	u8 eMail[128];
		331	u8 Feature[128];
		332	u8 Expire[11];
		333	u8 License[16];
		334	} __attribute__((packed)) LicenseS_t; // from FC
529	holgerb	335	extern u8 *LicensePtr;
495	killagreg	336
460	holgerb	337	extern u32 NMEA_Interval;// in ms
529	holgerb	338	#define LICENSE_SIZE 480
		339	#define LICENSE_SIZE_TEXT 411
460	holgerb	340
41	ingob	341	#endif //_UART1_H

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(root)/tags/V2.14b/uart1.h @ 745 - Rev 675