| 0,0 → 1,338 |
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| #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 |
| |
| 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; // in 5cm |
| 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; |
| |
| 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 // 85 Bytes |
| { |
| u8 Version; // version of the data structure |
| 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; // 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 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; // 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; |
| |
| typedef struct // 10 (15 Bytes belegen 27 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| u8 reserve1; |
| u8 reserve2; |
| } __attribute__((packed)) NaviData_Tiny_t; |
| extern NaviData_Tiny_t NaviData_Tiny; |
| |
| #define START_PAYLOAD_DATA 13 // |
| |
| typedef struct // 11 (24 Bytes belegen 39 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| u8 OSDStatusFlags2; |
| u8 NCFlags; // Flags from NC |
| u8 ReserveFlags; |
| u8 Errorcode; // 0 --> okay |
| u8 SpeakHoTT; |
| u8 VarioCharacter; |
| u8 GPS_ModeCharacter; |
| u8 BL_MinOfMaxPWM; |
| } __attribute__((packed)) NaviData_Flags_t; |
| extern NaviData_Flags_t NaviData_Flags; |
| |
| typedef struct // 12 (27 Bytes belegen 43 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| s32 TargetLongitude; // |
| s32 TargetLatitude; // |
| s16 TargetAltitude; // hight according to air pressure |
| u8 RC_Quality; // RC_Quality |
| u8 reserve; |
| } __attribute__((packed)) NaviData_Target_t; |
| extern NaviData_Target_t NaviData_Target; |
| |
| typedef struct // 13 (30 Bytes belegen 47 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| 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 reserve1; |
| u8 reserve2; |
| } __attribute__((packed)) NaviData_Home_t; |
| extern NaviData_Home_t NaviData_Home; |
| |
| typedef struct // 18 (21 Bytes belegen 35 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| s32 Longitude; // |
| s32 Latitude; // |
| } __attribute__((packed)) NaviData_Pos_t; |
| |
| extern NaviData_Pos_t NaviData_Failsafe; |
| |
| typedef struct // 18 (9 Bytes belegen 19 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 Longitude; // |
| s32 Latitude; // |
| } __attribute__((packed)) NaviData_Out_t; |
| extern NaviData_Out_t NaviData_Out1Trigger; |
| |
| typedef struct // 15 (18 Bytes belegen 31 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| 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; |
| u8 reserve; |
| } __attribute__((packed)) NaviData_WP_t; |
| extern NaviData_WP_t NaviData_WP; |
| |
| typedef struct // 14 (24 Bytes belegen 39 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| u16 FlyingTime; // in seconds |
| u16 DistanceToHome; |
| u8 HeadingToHome; // in 2° (100 = 200°) |
| u16 DistanceToTarget; |
| 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 // 16 (27 Bytes belegen 43 ASCII-Zeichen) |
| { |
| u8 Index; // version of the data structure |
| s32 ActualLongitude; // |
| s32 ActualLatitude; // |
| s16 Altimeter; // hight according to air pressure |
| u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
| u8 OSDStatusFlags; |
| 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; // for future use |
| 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; |
| |
| #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
| #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
| |
| // NC calculates |
| //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
| //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
| |
| //calculate Back: |
| //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
| //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
| |
| |
| /* |
| OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
| NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
| NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
| NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
| NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| NaviData_WP.WP_Wventchannel = LogFC_WP_EventChannel; |
| */ |
| |
| extern UART_TypeDef *DebugUART; |
| extern volatile u8 SerialLinkOkay; |
| extern Buffer_t UART1_tx_buffer; |
| extern Buffer_t UART1_rx_buffer; |
| |
| 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; |
| |
| typedef struct |
| { |
| u8 User[128]; |
| u8 eMail[128]; |
| u8 Feature[128]; |
| u8 Expire[11]; |
| u8 License[16]; |
| } __attribute__((packed)) LicenseS_t; // from FC |
| extern u8 *LicensePtr; |
| |
| extern u32 NMEA_Interval;// in ms |
| #define LICENSE_SIZE 480 |
| #define LICENSE_SIZE_TEXT 411 |
| |
| #endif //_UART1_H |