| 0,0 → 1,432 |
|---|
| #ifndef _UART1_H |
| #define _UART1_H |
| |
| #define UART_FLIGHTCTRL 0 |
| #define UART_MK3MAG 1 |
| #define UART_MKGPS 2 |
| |
| #include "ubx.h" |
| #include "waypoints.h" |
| |
| #define NC_ERROR0_SPI_RX 0x01 |
| #define NC_ERROR0_COMPASS_RX 0x02 |
| #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
| #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
| #define NC_ERROR0_GPS_RX 0x10 |
| #define NC_ERROR0_COMPASS_VALUE 0x20 |
| |
| #define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET); |
| #define ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET); |
| extern u32 Uart1Baudrate; |
| |
| #define MAX_BD_RATES 11 |
| extern const u32 BAUDRATES[MAX_BD_RATES]; |
| |
| typedef struct |
| { |
| u8 SWMajor; |
| u8 SWMinor; |
| u8 ProtoMajor; |
| u8 LabelTextCRC; |
| u8 SWPatch; |
| u8 HardwareError[2]; |
| u8 HWMajor; |
| u8 BL_Firmware; |
| u8 Flags; |
| } __attribute__((packed)) UART_VersionInfo_t; |
| |
| extern UART_VersionInfo_t UART_VersionInfo; |
| |
| //VersionInfo.Flags |
| #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
| #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
| |
| typedef struct |
| { |
| s16 AngleNick; // in 0.1 deg |
| s16 AngleRoll; // in 0.1 deg |
| s16 Heading; // in 0.1 deg |
| u8 StickNick; |
| u8 StickRoll; |
| u8 StickYaw; |
| u8 StickGas; |
| s16 Altimeter_5cm; // in 5cm -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 reserve[2]; |
| } __attribute__((packed)) Data3D_t; |
| |
| extern Data3D_t Data3D; |
| |
| |
| extern const u8 ANALOG_LABEL[32][16]; |
| |
| #define AMPEL_FC 0x01 |
| #define AMPEL_BL 0x02 |
| #define AMPEL_NC 0x04 |
| #define AMPEL_COMPASS 0x08 |
| |
| typedef struct |
| { |
| u8 StatusGreen; |
| u8 StatusRed; |
| u16 Analog[32]; // Debugwerte |
| } __attribute__((packed)) DebugOut_t; |
| |
| extern DebugOut_t DebugOut; |
| |
| /* |
| typedef struct |
| { |
| u8 Digital[2]; |
| u8 RemoteButtons; |
| s8 Nick; |
| s8 Roll; |
| s8 Yaw; |
| u8 Gas; |
| s8 Height; |
| u8 free; |
| u8 Frame; |
| u8 Config; |
| } __attribute__((packed)) ExternControl_t; |
| */ |
| |
| #define EC_VALID 0x01 // only valid if this is 1 |
| #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
| #define EC_ONLY_IF_MOTOR_OFF 0x10 // use these Stick Positions only if the motors are not running -> Claibrate etc. |
| #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
| #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
| #define EC_IGNORE_RC_LOST 0x80 // if 1 -> for Flying without RC-Control |
| |
| // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
| #define EC2_PH 0x01 // GPS-Mode: PH |
| #define EC2_CH 0x02 // GPS-Mode: CH |
| #define EC2_CAREFREE 0x10 // |
| #define EC2_ALTITUDE 0x20 // |
| #define EC2_AUTOSTART 0x40 // |
| #define EC2_AUTOLAND 0x80 // |
| |
| typedef struct |
| { |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| signed char Gas; |
| unsigned char Frame; // will return a confirm frame with this value |
| unsigned char Config; |
| unsigned char Switches; |
| unsigned char Free1; // these two don't need capacity in the ASCII data string |
| unsigned char Free2; |
| } __attribute__((packed)) ExternControl_t; |
| extern ExternControl_t ExternControl; |
| extern u8 NewExternalControlFrame; // flag that sends the Frame to FC |
| extern u8 FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch; // answer from FC |
| |
| #define SERIAL_POTI_START 17 |
| #define WP_EVENT_PPM_IN 29 |
| #define PPM_IN_OFF 30 |
| #define PPM_IN_MAX 31 |
| #define PPM_IN_MID 32 |
| typedef struct |
| { |
| signed char Ch[12]; |
| } __attribute__((packed)) SerialChannel_t; |
| extern SerialChannel_t SerialChannel; |
| extern u8 NewSerialChannelFrame; // flag that sends the Frame to FC |
| |
| typedef struct |
| { |
| s16 Nick; |
| s16 Roll; |
| s16 Compass; // angle between north and head of the MK |
| } __attribute__((packed)) Attitude_t; |
| |
| |
| typedef struct |
| { |
| u16 Distance_dm; // distance to target in dm |
| s16 Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| |
| #define NAVIDATA_VERSION 5 |
| |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ old protocol |
| //+ start abbo communication with: 'O' + Interval [10ms] |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| typedef struct // 84 Bytes (note: this is the old protocol) |
| { |
| u8 Version; // version of the data structure = 5 |
| GPS_Pos_t CurrentPosition; // see gpspos.h for details |
| GPS_Pos_t TargetPosition; |
| GPS_PosDev_t TargetPositionDeviation; |
| GPS_Pos_t HomePosition; |
| GPS_PosDev_t HomePositionDeviation; |
| u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| u8 WaypointNumber; // number of stored waypoints |
| u8 SatsInUse; // number of satellites used for position solution |
| s16 Altimeter_5cm; // hight according to air pressure |
| s16 Variometer; // climb(+) and sink(-) rate |
| u16 FlyingTime; // in seconds |
| u8 UBat; // Battery Voltage in 0.1 Volts |
| u16 GroundSpeed; // speed over ground in cm/s (2D) |
| s16 Heading; // current flight direction in ° as angle to north |
| s16 CompassHeading; // current compass value in ° |
| s8 AngleNick; // current Nick angle in 1° |
| s8 AngleRoll; // current Rick angle in 1° |
| u8 RC_Quality; // RC_Quality |
| u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
| u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
| u8 Errorcode; // 0 --> okay |
| u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
| s16 TopSpeed; // velocity in vertical direction in cm/s |
| u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
| s16 SetpointAltitude; // setpoint for altitude |
| u8 Gas; // current gas (thrust) |
| u16 Current; // actual current in 0.1A steps |
| u16 UsedCapacity; // used capacity in mAh |
| u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
| u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
| } __attribute__((packed)) NaviData_t; |
| extern NaviData_t NaviData; |
| |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ New protocol |
| //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes) |
| //+ i.e. 'O'+10+1024 |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) -> 7+(x/3)*4 |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc |
| u8 reserve1; |
| } __attribute__((packed)) NaviData_Tiny_t; |
| extern NaviData_Tiny_t NaviData_Tiny; |
| |
| #define START_PAYLOAD_DATA 13 // |
| |
| typedef struct // Index:11 (24 Bytes need 39 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx |
| u8 NCFlags; // Flags from NC |
| u8 ReserveFlags; |
| u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes |
| u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h) |
| u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc) |
| u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc) |
| u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls |
| } __attribute__((packed)) NaviData_Flags_t; |
| extern NaviData_Flags_t NaviData_Flags; |
| |
| typedef struct // Index:12 (27 Bytes need 43 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| s32 TargetLongitude; // |
| s32 TargetLatitude; // |
| s16 TargetAltitude; // hight according to air pressure |
| u8 RC_Quality; // RC_Quality |
| } __attribute__((packed)) NaviData_Target_t; |
| extern NaviData_Target_t NaviData_Target; |
| |
| typedef struct // Index:13 (30 Bytes need 47 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| s32 HomeLongitude; // |
| s32 HomeLatitude; // |
| s16 HomeAltitude; // hight according to air pressure |
| u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
| u8 LipoCellCount; |
| u8 DescendRange; // in [10m] |
| u8 ManualFlyingRange; // in [10m] |
| u8 OSDStatusFlags3; |
| u8 reserve1; |
| } __attribute__((packed)) NaviData_Home_t; |
| extern NaviData_Home_t NaviData_Home; |
| |
| typedef struct // Index:14 (24 Bytes need 39 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u16 FlyingTime; // in seconds |
| u16 DistanceToHome; // [10cm] (100 = 10m) |
| u8 HeadingToHome; // in 2° (100 = 200°) |
| u16 DistanceToTarget; // [10cm] (100 = 10m) |
| u8 HeadingToTarget; // in 2° (100 = 200°) |
| s8 AngleNick; // current Nick angle in 1° |
| s8 AngleRoll; // current Rick angle in 1° |
| u8 SatsInUse; // number of satellites used for position solution |
| } __attribute__((packed)) NaviData_Deviation_t; |
| extern NaviData_Deviation_t NaviData_Deviation; |
| |
| typedef struct // Index:15 (18 Bytes need 31 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| u8 WaypointNumber; // number of stored waypoints |
| u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| u8 WP_Eventchannel; // the current value of the event channel |
| u8 reserve; |
| } __attribute__((packed)) NaviData_WP_t; |
| extern NaviData_WP_t NaviData_WP; |
| |
| typedef struct // Index:16 (27 Bytes need 43 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u16 UBat; // Battery Voltage in 0.1 Volts |
| u16 Current; // actual current in 0.1A steps |
| u16 UsedCapacity; // used capacity in mAh |
| s8 Variometer; // climb(+) and sink(-) rate |
| u8 Heading; // Current moving direction in 2° (100 = 200°) |
| u8 CompassHeading; // current compass value in 2° |
| u8 Gas; // current gas (thrust) |
| u16 ShutterCounter; // counts every time a Out1 was activated |
| s16 SetpointAltitude; // setpoint for altitude |
| } __attribute__((packed)) NaviData_Volatile_t; |
| extern NaviData_Volatile_t NaviData_Volatile; |
| |
| |
| typedef struct // Index:17 (21 Bytes need 35 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| s32 Longitude; // Failsafe-Position |
| s32 Latitude; // Failsafe-Position |
| } __attribute__((packed)) NaviData_FS_Pos_t; |
| extern NaviData_FS_Pos_t NaviData_Failsafe; |
| |
| typedef struct // Index:18 (9 Bytes need 19 ASCII-characters) |
| { |
| u8 Index; // Index to identify this data set |
| s32 Longitude; // Trigger Position |
| s32 Latitude; // Trigger Position |
| } __attribute__((packed)) NaviData_Out_t; |
| extern NaviData_Out_t NaviData_Out1Trigger; |
| |
| |
| typedef struct // Index:19 (36 Bytes need 55 ASCII-characters) -> 7+(x/3)*4 |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u8 HoTT_DisplayText[21]; |
| u8 HoTT_TextLevel; // Level of the Message: 0 = Nothing special; 1 = OEM-Name ; 2 = Waypoint Data ; 3 = Simulation ; 4 = "Calibrate" ; 5 = "Load&Safe" ; 6 = "Setting name" ; 7-10 = Error |
| u8 MagnetField; // 100% = okay |
| } __attribute__((packed)) NaviData_HoTT_Text_t; |
| extern NaviData_HoTT_Text_t NaviData_HoTT_Text; |
| |
| typedef struct // Index:20 (15 Bytes need 27 ASCII-characters) -> 7+(x/3)*4 -> sending only if LaserCtrl is connected |
| { |
| u8 Index; // Index to identify this data set |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
| u16 Distance; |
| } __attribute__((packed)) NaviData_Laser_t; |
| extern NaviData_Laser_t NaviData_Laser; |
| |
| typedef struct |
| { |
| u8 ComingHomeAltitude; |
| u8 FailsafeAltitude; |
| u8 TriggerMask; // Trigger Bitmask |
| u8 Flags; // 0x01 = Ignore RC lost (Lizenz feature!) - default aus |
| u8 reserved[32]; |
| } __attribute__((packed)) WP_MissionParameter_t; |
| extern WP_MissionParameter_t WP_MissionParameter; |
| |
| #define MISSION_IGNORE_RC_LOST 0x01 |
| #define MISSION_TRIGGER_DELAY 0x02 |
| |
| |
| /* |
| NaviMaxFlyingRange |
| NaviDescendRange |
| FailSafeTime -> ignore RC-Lost |
| AutoPhotoAtitudes |
| FailSafeAltitude -> Bei Punkt? |
| J16Bitmask |
| */ |
| |
| extern UART_TypeDef *DebugUART; |
| extern volatile u8 SerialLinkOkay; |
| extern Buffer_t UART1_tx_buffer; |
| extern Buffer_t UART1_rx_buffer; |
| extern u16 UART1_BaudrateFallbackTimeout; |
| |
| void UART1_Init(void); |
| void UART1_Transmit(void); |
| void UART1_TransmitTxData(void); |
| void UART1_ProcessRxData(void); |
| |
| s16 UART1_Putchar(char c); |
| void UART1_PutString(u8 *s); |
| extern u8 text[]; // globally used text buffer |
| extern u8 UART1_Request_SendFollowMe; |
| extern u8 LastTransmittedFCStatusFlags2; |
| extern u8 UART1_Request_ReadPoint; |
| extern WPL_Store_t WPL_Store; |
| extern u8 CalculateDebugLableCrc(void); |
| extern u8 NaviData_Flags_SpeakHoTT_Processed; |
| |
| extern void UART1_Configure(u32 baudrate); |
| extern void GetBaudrateFromSdCard(u32 oldBd); |
| |
| typedef struct |
| { |
| u8 User[128]; |
| u8 eMail[128]; |
| u8 Feature[128]; |
| u8 Expire[11]; |
| u8 License[16]; |
| } __attribute__((packed)) LicenseS_t; |
| extern u8 *LicensePtr; |
| |
| extern u32 NMEA_Interval;// in ms |
| #define LICENSE_SIZE 480 |
| #define LICENSE_SIZE_TEXT 411 |
| |
| #endif //_UART1_H |