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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | #ifndef _UART1_H |
| 2 | #define _UART1_H |
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| 3 | |||
| 4 | #define UART_FLIGHTCTRL 0 |
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| 5 | #define UART_MK3MAG 1 |
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| 6 | #define UART_MKGPS 2 |
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| 7 | |||
| 8 | #define TXD_BUFFER_LEN 150 |
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| 9 | #define RXD_BUFFER_LEN 150 |
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| 10 | #define BAUD_RATE 57600 //Baud Rate for the serial interfaces |
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| 11 | |||
| 12 | #include "ubx.h" |
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| 13 | |||
| 61 | holgerb | 14 | typedef struct str_Data3D |
| 15 | { |
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| 16 | s16 Winkel[3]; // nick, roll, compass in 0,1° |
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| 17 | u8 reserve[8]; |
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| 18 | } __attribute__((packed)) Data3D_t; |
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| 19 | |||
| 20 | extern Data3D_t Data3D; |
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| 21 | |||
| 41 | ingob | 22 | typedef struct |
| 23 | { |
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| 24 | u8 Digital[2]; |
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| 25 | u16 Analog[32]; // Debugwerte |
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| 26 | } __attribute__((packed)) DebugOut_t; |
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| 27 | |||
| 28 | extern DebugOut_t DebugOut; |
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| 29 | |||
| 30 | typedef struct |
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| 31 | { |
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| 32 | u8 Digital[2]; |
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| 33 | u8 RemoteButtons; |
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| 34 | s8 Nick; |
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| 35 | s8 Roll; |
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| 36 | s8 Yaw; |
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| 37 | u8 Gas; |
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| 38 | s8 Height; |
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| 39 | u8 free; |
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| 40 | u8 Frame; |
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| 41 | u8 Config; |
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| 42 | } __attribute__((packed)) ExternControl_t; |
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| 43 | |||
| 44 | extern ExternControl_t ExternControl; |
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| 45 | |||
| 46 | typedef struct |
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| 47 | { |
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| 48 | s16 Nick; |
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| 49 | s16 Roll; |
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| 50 | s16 Compass; // angle between north and head of the MK |
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| 51 | } __attribute__((packed)) Attitude_t; |
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| 52 | |||
| 53 | typedef struct |
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| 54 | { |
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| 55 | s16 Distance; // distance to target in cm |
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| 56 | s16 Bearing; // course to target in deg |
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| 57 | } __attribute__((packed)) GPS_PosDev_t; |
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| 58 | |||
| 59 | typedef struct |
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| 60 | { |
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| 61 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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| 62 | GPS_Pos_t TargetPosition; |
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| 63 | GPS_PosDev_t TargetPositionDeviation; |
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| 64 | GPS_Pos_t HomePosition; |
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| 65 | GPS_PosDev_t HomePositionDeviation; |
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| 66 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 67 | u8 WaypointNumber; // number of stored waypoints |
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| 68 | u8 SatsInUse; // no of satellites used for position solution |
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| 69 | s16 Altimeter; // hight according to air pressure |
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| 70 | s16 Variometer; // climb(+) and sink(-) rate |
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| 71 | u16 FlyingTime; // in seconds |
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| 72 | u8 UBat; // Battery Voltage in 0.1 Volts |
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| 73 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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| 74 | s16 Heading; // current flight direction in deg as angle to north |
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| 75 | s16 CompassHeading; // current compass value |
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| 76 | s8 AngleNick; // current Nick angle in 1° |
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| 77 | s8 AngleRoll; // current Rick angle in 1° |
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| 78 | u8 RC_Quality; // RC_Quality |
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| 79 | u8 MKFlags; // Flags from FC |
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| 80 | u8 NCFlags; // Flags from NC |
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| 81 | u8 Errorcode; // 0 --> okay |
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| 82 | u8 Reserve[8]; // for future use |
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| 83 | } __attribute__((packed)) NaviData_t; |
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| 84 | |||
| 85 | extern NaviData_t NaviData; |
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| 86 | extern u8 Request_NaviData; |
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| 87 | |||
| 88 | #define NC_FLAG_FREE 1 |
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| 89 | #define NC_FLAG_PH 2 |
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| 90 | #define NC_FLAG_CH 4 |
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| 91 | #define NC_FLAG_RANGE_LIMIT 8 |
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| 92 | |||
| 93 | typedef struct |
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| 94 | { |
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| 95 | u8 SWMajor; |
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| 96 | u8 SWMinor; |
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| 97 | u8 ProtoMajor; |
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| 98 | u8 ProtoMinor; |
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| 99 | u8 SWPatch; |
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| 100 | u8 Reserved[5]; |
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| 101 | } __attribute__((packed)) UART_VersionInfo_t; |
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| 102 | |||
| 103 | extern volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
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| 104 | extern volatile u8 ReceivedBytes; |
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| 105 | extern volatile u8 rxd_buffer_locked; |
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| 106 | extern UART_TypeDef *DebugUART; |
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| 107 | |||
| 108 | |||
| 109 | void UART1_Init(void); |
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| 110 | void UART1_Transmit(void); |
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| 111 | void UART1_TransmitTxData(void); |
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| 112 | void UART1_ProcessRxData(void); |
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| 113 | |||
| 114 | s16 uart_putchar (char c); |
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| 115 | void SerialPutString(u8 *s); |
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| 116 | extern u8 text[100]; |
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| 54 | killagreg | 117 | extern u32 Request_NaviData_Intervall; // in ms |
| 41 | ingob | 118 | extern u8 Request_SendFollowMe; |
| 119 | #endif //_UART1_H |