WebSVN - NaviCtrl - Diff - Rev 75 and 89


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#define TXD_BUFFER_LEN  150
#define RXD_BUFFER_LEN  150
#define BAUD_RATE 57600         //Baud Rate for the serial interfaces
 
#include "ubx.h" 
 
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;
 
typedef struct
{
        u8 Digital[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 1 
 
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  MKFlags;                                    // 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  Reserve[5];                                 // for future use
} __attribute__((packed)) NaviData_t;
 
extern NaviData_t NaviData;
extern u8 Request_NaviData;
                                                           
#define NC_FLAG_FREE                    1
#define NC_FLAG_PH                              2
#define NC_FLAG_CH                              4
#define NC_FLAG_RANGE_LIMIT             8
 
typedef struct
{
        u8 SWMajor;
        u8 SWMinor;
        u8 ProtoMajor;
        u8 ProtoMinor;
        u8 SWPatch;
        u8 Reserved[5];
}  __attribute__((packed)) UART_VersionInfo_t;
 
extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
extern volatile u8 ReceivedBytes;
extern volatile u8 rxd_buffer_locked;
extern UART_TypeDef *DebugUART;
 
 
void UART1_Init(void);
void UART1_Transmit(void);
void UART1_TransmitTxData(void);
void UART1_ProcessRxData(void);
 
s16 uart_putchar (char c);
void SerialPutString(u8 *s);
extern u8 text[100];
extern u32 Request_NaviData_Intervall; // in ms
extern u8 Request_SendFollowMe;
#endif //_UART1_H
 

Rev 75	Rev 89
1	#ifndef _UART1_H	1	#ifndef _UART1_H
2	#define _UART1_H	2	#define _UART1_H
3		3
4	#define UART_FLIGHTCTRL 0	4	#define UART_FLIGHTCTRL 0
5	#define UART_MK3MAG 1	5	#define UART_MK3MAG 1
6	#define UART_MKGPS 2	6	#define UART_MKGPS 2
7		7
8	#define TXD_BUFFER_LEN 150	8	#define TXD_BUFFER_LEN 150
9	#define RXD_BUFFER_LEN 150	9	#define RXD_BUFFER_LEN 150
10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces	10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces
11		11
12	#include "ubx.h"	12	#include "ubx.h"
13		13
14	typedef struct	14	typedef struct
15	{	15	{
16	s16 AngleNick; // in 0.1 deg	16	s16 AngleNick; // in 0.1 deg
17	s16 AngleRoll; // in 0.1 deg	17	s16 AngleRoll; // in 0.1 deg
18	s16 Heading; // in 0.1 deg	18	s16 Heading; // in 0.1 deg
19	u8 reserve[8];	19	u8 reserve[8];
20	} __attribute__((packed)) Data3D_t;	20	} __attribute__((packed)) Data3D_t;
21		21
22	extern Data3D_t Data3D;	22	extern Data3D_t Data3D;
23		23
24	typedef struct	24	typedef struct
25	{	25	{
26	u8 Digital[2];	26	u8 Digital[2];
27	u16 Analog[32]; // Debugwerte	27	u16 Analog[32]; // Debugwerte
28	} __attribute__((packed)) DebugOut_t;	28	} __attribute__((packed)) DebugOut_t;
29		29
30	extern DebugOut_t DebugOut;	30	extern DebugOut_t DebugOut;
31		31
32	typedef struct	32	typedef struct
33	{	33	{
34	u8 Digital[2];	34	u8 Digital[2];
35	u8 RemoteButtons;	35	u8 RemoteButtons;
36	s8 Nick;	36	s8 Nick;
37	s8 Roll;	37	s8 Roll;
38	s8 Yaw;	38	s8 Yaw;
39	u8 Gas;	39	u8 Gas;
40	s8 Height;	40	s8 Height;
41	u8 free;	41	u8 free;
42	u8 Frame;	42	u8 Frame;
43	u8 Config;	43	u8 Config;
44	} __attribute__((packed)) ExternControl_t;	44	} __attribute__((packed)) ExternControl_t;
45		45
46	extern ExternControl_t ExternControl;	46	extern ExternControl_t ExternControl;
47		47
48	typedef struct	48	typedef struct
49	{	49	{
50	s16 Nick;	50	s16 Nick;
51	s16 Roll;	51	s16 Roll;
52	s16 Compass; // angle between north and head of the MK	52	s16 Compass; // angle between north and head of the MK
53	} __attribute__((packed)) Attitude_t;	53	} __attribute__((packed)) Attitude_t;
54		54
55	typedef struct	55	typedef struct
56	{	56	{
57	s16 Distance; // distance to target in cm	57	u16 Distance; // distance to target in dm
58	s16 Bearing; // course to target in deg	58	s16 Bearing; // course to target in deg
59	} __attribute__((packed)) GPS_PosDev_t;	59	} __attribute__((packed)) GPS_PosDev_t;
-		60
-		61	#define NAVIDATA_VERSION 1
60		62
61	typedef struct	63	typedef struct
-		64	{
62	{	65	u8 Version; // version of the data structure
63	GPS_Pos_t CurrentPosition; // see ubx.h for details	66	GPS_Pos_t CurrentPosition; // see ubx.h for details
64	GPS_Pos_t TargetPosition;	67	GPS_Pos_t TargetPosition;
65	GPS_PosDev_t TargetPositionDeviation;	68	GPS_PosDev_t TargetPositionDeviation;
66	GPS_Pos_t HomePosition;	69	GPS_Pos_t HomePosition;
67	GPS_PosDev_t HomePositionDeviation;	70	GPS_PosDev_t HomePositionDeviation;
68	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	71	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
69	u8 WaypointNumber; // number of stored waypoints	72	u8 WaypointNumber; // number of stored waypoints
70	u8 SatsInUse; // no of satellites used for position solution	73	u8 SatsInUse; // number of satellites used for position solution
71	s16 Altimeter; // hight according to air pressure	74	s16 Altimeter; // hight according to air pressure
72	s16 Variometer; // climb(+) and sink(-) rate	75	s16 Variometer; // climb(+) and sink(-) rate
73	u16 FlyingTime; // in seconds	76	u16 FlyingTime; // in seconds
74	u8 UBat; // Battery Voltage in 0.1 Volts	77	u8 UBat; // Battery Voltage in 0.1 Volts
75	u16 GroundSpeed; // speed over ground in cm/s (2D)	78	u16 GroundSpeed; // speed over ground in cm/s (2D)
76	s16 Heading; // current flight direction in deg as angle to north	79	s16 Heading; // current flight direction in ° as angle to north
77	s16 CompassHeading; // current compass value	80	s16 CompassHeading; // current compass value in °
78	s8 AngleNick; // current Nick angle in 1°	81	s8 AngleNick; // current Nick angle in 1°
79	s8 AngleRoll; // current Rick angle in 1°	82	s8 AngleRoll; // current Rick angle in 1°
80	u8 RC_Quality; // RC_Quality	83	u8 RC_Quality; // RC_Quality
81	u8 MKFlags; // Flags from FC	84	u8 MKFlags; // Flags from FC
82	u8 NCFlags; // Flags from NC	85	u8 NCFlags; // Flags from NC
83	u8 Errorcode; // 0 --> okay	86	u8 Errorcode; // 0 --> okay
84	u8 OperatingRadius; // current operation radius around the Home Position in m	87	u8 OperatingRadius; // current operation radius around the Home Position in m
-		88	s16 TopSpeed; // velocity in vertical direction in cm/s
85	u8 Reserve[7]; // for future use	89	u8 Reserve[5]; // for future use
86	} __attribute__((packed)) NaviData_t;	90	} __attribute__((packed)) NaviData_t;
87		91
88	extern NaviData_t NaviData;	92	extern NaviData_t NaviData;
89	extern u8 Request_NaviData;	93	extern u8 Request_NaviData;
90		94
91	#define NC_FLAG_FREE 1	95	#define NC_FLAG_FREE 1
92	#define NC_FLAG_PH 2	96	#define NC_FLAG_PH 2
93	#define NC_FLAG_CH 4	97	#define NC_FLAG_CH 4
94	#define NC_FLAG_RANGE_LIMIT 8	98	#define NC_FLAG_RANGE_LIMIT 8
95		99
96	typedef struct	100	typedef struct
97	{	101	{
98	u8 SWMajor;	102	u8 SWMajor;
99	u8 SWMinor;	103	u8 SWMinor;
100	u8 ProtoMajor;	104	u8 ProtoMajor;
101	u8 ProtoMinor;	105	u8 ProtoMinor;
102	u8 SWPatch;	106	u8 SWPatch;
103	u8 Reserved[5];	107	u8 Reserved[5];
104	} __attribute__((packed)) UART_VersionInfo_t;	108	} __attribute__((packed)) UART_VersionInfo_t;
105		109
106	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];	110	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
107	extern volatile u8 ReceivedBytes;	111	extern volatile u8 ReceivedBytes;
108	extern volatile u8 rxd_buffer_locked;	112	extern volatile u8 rxd_buffer_locked;
109	extern UART_TypeDef *DebugUART;	113	extern UART_TypeDef *DebugUART;
110		114
111		115
112	void UART1_Init(void);	116	void UART1_Init(void);
113	void UART1_Transmit(void);	117	void UART1_Transmit(void);
114	void UART1_TransmitTxData(void);	118	void UART1_TransmitTxData(void);
115	void UART1_ProcessRxData(void);	119	void UART1_ProcessRxData(void);
116		120
117	s16 uart_putchar (char c);	121	s16 uart_putchar (char c);
118	void SerialPutString(u8 *s);	122	void SerialPutString(u8 *s);
119	extern u8 text[100];	123	extern u8 text[100];
120	extern u32 Request_NaviData_Intervall; // in ms	124	extern u32 Request_NaviData_Intervall; // in ms
121	extern u8 Request_SendFollowMe;	125	extern u8 Request_SendFollowMe;
122	#endif //_UART1_H	126	#endif //_UART1_H
123		127

Subversion Repositories NaviCtrl

(root)/tags/V2.10d/uart1.h @ 648 - Rev 75 → 89