| 0,0 → 1,139 |
|---|
| #ifndef _UART1_H |
| #define _UART1_H |
| |
| #define UART_FLIGHTCTRL 0 |
| #define UART_MK3MAG 1 |
| #define UART_MKGPS 2 |
| |
| #include "ubx.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 |
| |
| typedef struct |
| { |
| u8 SWMajor; |
| u8 SWMinor; |
| u8 ProtoMajor; |
| u8 ProtoMinor; |
| u8 SWPatch; |
| u8 HardwareError[5]; |
| } __attribute__((packed)) UART_VersionInfo_t; |
| |
| extern UART_VersionInfo_t UART_VersionInfo; |
| |
| typedef struct |
| { |
| s16 AngleNick; // in 0.1 deg |
| s16 AngleRoll; // in 0.1 deg |
| s16 Heading; // in 0.1 deg |
| u8 reserve[8]; |
| } __attribute__((packed)) Data3D_t; |
| |
| extern Data3D_t Data3D; |
| |
| |
| extern const u8 ANALOG_LABEL[32][16]; |
| |
| typedef struct |
| { |
| u8 Status[2]; |
| 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; |
| |
| extern ExternControl_t ExternControl; |
| |
| typedef struct |
| { |
| s16 Nick; |
| s16 Roll; |
| s16 Compass; // angle between north and head of the MK |
| } __attribute__((packed)) Attitude_t; |
| |
| typedef struct |
| { |
| u16 Distance; // distance to target in dm |
| s16 Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| |
| #define NAVIDATA_VERSION 5 |
| |
| typedef struct |
| { |
| u8 Version; // version of the data structure |
| GPS_Pos_t CurrentPosition; // see ubx.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; // 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 |
| u8 NCFlags; // Flags from NC |
| u8 Errorcode; // 0 --> okay |
| u8 OperatingRadius; // current 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; // for future use |
| u16 Current; // actual current in 0.1A steps |
| u16 UsedCapacity; // used capacity in mAh |
| } __attribute__((packed)) NaviData_t; |
| |
| extern NaviData_t NaviData; |
| |
| #define NC_FLAG_FREE 0x01 |
| #define NC_FLAG_PH 0x02 |
| #define NC_FLAG_CH 0x04 |
| #define NC_FLAG_RANGE_LIMIT 0x08 |
| #define NC_FLAG_NOSERIALLINK 0x10 |
| #define NC_FLAG_TARGET_REACHED 0x20 |
| #define NC_FLAG_MANUAL_CONTROL 0x40 |
| #define NC_FLAG_GPS_OK 0x80 |
| |
| extern UART_TypeDef *DebugUART; |
| extern volatile u8 SerialLinkOkay; |
| |
| |
| 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; |
| #endif //_UART1_H |