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| Rev 231 | Rev 333 | ||
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| 1 | #ifndef _UART0_H |
1 | #ifndef _UART0_H |
| 2 | #define _UART0_H |
2 | #define _UART0_H |
| - | 3 | ||
| - | 4 | #include "ubx.h" |
|
| 3 | 5 | ||
| 4 | #define RXD_BUFFER_LEN 150 |
6 | #define RXD_BUFFER_LEN 150 |
| 5 | // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
7 | // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
| 6 | #define TXD_BUFFER_LEN 150 |
8 | #define TXD_BUFFER_LEN 150 |
| 7 | #define RXD_BUFFER_LEN 150 |
9 | #define RXD_BUFFER_LEN 150 |
| 8 | 10 | ||
| 9 | #include <inttypes.h> |
11 | #include <inttypes.h> |
| 10 | 12 | ||
| 11 | //Baud rate of the USART |
13 | //Baud rate of the USART |
| 12 | #define USART0_BAUD 57600 |
14 | #define USART0_BAUD 57600 |
| 13 | 15 | ||
| 14 | 16 | ||
| 15 | extern void USART0_Init (void); |
17 | extern void USART0_Init (void); |
| 16 | extern void USART0_TransmitTxData(void); |
18 | extern void USART0_TransmitTxData(void); |
| 17 | extern void USART0_ProcessRxData(void); |
19 | extern void USART0_ProcessRxData(void); |
| 18 | extern int16_t uart_putchar(int8_t c); |
20 | extern int16_t uart_putchar(int8_t c); |
| 19 | 21 | ||
| 20 | extern uint8_t PcAccess; |
22 | extern uint8_t PcAccess; |
| 21 | extern uint8_t RemotePollDisplayLine; |
23 | extern uint8_t RemotePollDisplayLine; |
| 22 | 24 | ||
| 23 | typedef struct |
25 | typedef struct |
| 24 | { |
26 | { |
| 25 | uint8_t Digital[2]; |
27 | uint8_t Digital[2]; |
| 26 | uint8_t RemoteButtons; |
28 | uint8_t RemoteButtons; |
| 27 | int8_t Nick; |
29 | int8_t Nick; |
| 28 | int8_t Roll; |
30 | int8_t Roll; |
| 29 | int8_t Yaw; |
31 | int8_t Yaw; |
| 30 | uint8_t Gas; |
32 | uint8_t Gas; |
| 31 | int8_t Height; |
33 | int8_t Height; |
| 32 | uint8_t free; |
34 | uint8_t free; |
| 33 | uint8_t Frame; |
35 | uint8_t Frame; |
| 34 | uint8_t Config; |
36 | uint8_t Config; |
| 35 | } __attribute__((packed)) ExternControl_t; |
37 | } __attribute__((packed)) ExternControl_t; |
| 36 | 38 | ||
| 37 | extern ExternControl_t ExternControl; |
39 | extern ExternControl_t ExternControl; |
| 38 | 40 | ||
| 39 | 41 | ||
| 40 | typedef struct |
42 | typedef struct |
| 41 | { |
43 | { |
| 42 | uint8_t Digital[2]; |
44 | uint8_t Digital[2]; |
| 43 | uint16_t Analog[32]; // Debugvalues |
45 | uint16_t Analog[32]; // Debugvalues |
| 44 | } __attribute__((packed)) DebugOut_t; |
46 | } __attribute__((packed)) DebugOut_t; |
| 45 | 47 | ||
| 46 | extern DebugOut_t DebugOut; |
48 | extern DebugOut_t DebugOut; |
| 47 | 49 | ||
| 48 | typedef struct |
50 | typedef struct |
| 49 | { |
51 | { |
| 50 | uint8_t SWMajor; |
52 | uint8_t SWMajor; |
| 51 | uint8_t SWMinor; |
53 | uint8_t SWMinor; |
| 52 | uint8_t ProtoMajor; |
54 | uint8_t ProtoMajor; |
| 53 | uint8_t ProtoMinor; |
55 | uint8_t ProtoMinor; |
| 54 | uint8_t SWPatch; |
56 | uint8_t SWPatch; |
| 55 | uint8_t Reserved[5]; |
57 | uint8_t Reserved[5]; |
| 56 | } __attribute__((packed)) UART_VersionInfo_t; |
58 | } __attribute__((packed)) UART_VersionInfo_t; |
| - | 59 | ||
| - | 60 | typedef struct |
|
| - | 61 | { |
|
| - | 62 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
|
| - | 63 | int16_t Heading; // orientation, future implementation |
|
| - | 64 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
|
| - | 65 | uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
|
| - | 66 | uint8_t Event_Flag; // future implementation |
|
| - | 67 | uint8_t reserve[12]; // reserve |
|
| - | 68 | } __attribute__((packed)) Waypoint_t; |
|
| - | 69 | ||
| - | 70 | extern Waypoint_t FollowMe; |
|
| 57 | 71 | extern uint8_t Request_SendFollowMe; |
|
| 58 | 72 | ||
| 59 | #endif //_UART0_H |
73 | #endif //_UART0_H |
| 60 | 74 | ||