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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1704 | - | 1 | #ifndef _UART0_H |
| 2 | #define _UART0_H |
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| 3 | |||
| 4 | #include "ubx.h" |
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| 5 | |||
| 6 | #define RXD_BUFFER_LEN 150 |
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| 7 | // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
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| 8 | #define TXD_BUFFER_LEN 150 |
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| 9 | #define RXD_BUFFER_LEN 150 |
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| 10 | |||
| 11 | #include <inttypes.h> |
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| 12 | |||
| 13 | //Baud rate of the USART |
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| 14 | #define USART0_BAUD 57600 |
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| 15 | |||
| 16 | //Waypoint Types |
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| 17 | #define POINT_TYPE_INVALID 255 |
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| 18 | #define POINT_TYPE_WP 0 |
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| 19 | #define POINT_TYPE_POI 1 |
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| 20 | |||
| 21 | |||
| 22 | |||
| 23 | extern void USART0_Init (void); |
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| 24 | extern void USART0_TransmitTxData(void); |
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| 25 | extern void USART0_ProcessRxData(void); |
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| 26 | extern int16_t uart_putchar(int8_t c); |
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| 27 | |||
| 28 | extern uint8_t PcAccess; |
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| 29 | extern uint8_t RemotePollDisplayLine; |
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| 30 | |||
| 31 | |||
| 32 | typedef struct |
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| 33 | { |
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| 34 | uint8_t Digital[2]; |
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| 35 | uint8_t RemoteButtons; |
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| 36 | int8_t Nick; |
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| 37 | int8_t Roll; |
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| 38 | int8_t Yaw; |
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| 39 | uint8_t Gas; |
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| 40 | int8_t Height; |
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| 41 | uint8_t free; |
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| 42 | uint8_t Frame; |
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| 43 | uint8_t Config; |
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| 44 | } __attribute__((packed)) ExternControl_t; |
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| 45 | |||
| 46 | extern ExternControl_t ExternControl; |
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| 47 | |||
| 48 | |||
| 49 | typedef struct |
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| 50 | { |
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| 51 | uint8_t Digital[2]; |
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| 52 | uint16_t Analog[32]; // Debugvalues |
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| 53 | } __attribute__((packed)) DebugOut_t; |
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| 54 | |||
| 55 | extern DebugOut_t DebugOut; |
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| 56 | |||
| 57 | typedef struct |
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| 58 | { |
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| 59 | uint8_t SWMajor; |
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| 60 | uint8_t SWMinor; |
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| 61 | uint8_t ProtoMajor; |
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| 62 | uint8_t ProtoMinor; |
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| 63 | uint8_t SWPatch; |
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| 64 | uint8_t Reserved[5]; |
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| 65 | } __attribute__((packed)) UART_VersionInfo_t; |
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| 66 | |||
| 67 | /* typedef struct |
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| 68 | { |
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| 69 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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| 70 | int16_t Heading; // orientation, future implementation |
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| 71 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
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| 72 | 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 |
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| 73 | uint8_t Event_Flag; // future implementation |
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| 74 | uint8_t Index; // index of the current waypoint |
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| 75 | uint8_t reserve[11]; // reserve |
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| 76 | } __attribute__((packed)) Waypoint_t; |
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| 77 | |||
| 78 | extern Waypoint_t FollowMe; */ |
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| 79 | |||
| 80 | typedef struct |
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| 81 | { |
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| 82 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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| 83 | int16_t Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
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| 84 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
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| 85 | 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 |
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| 86 | uint8_t Event_Flag; // future implementation |
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| 87 | uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
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| 88 | uint8_t Type; // typeof Waypoint |
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| 89 | uint8_t WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there |
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| 90 | uint8_t AltitudeRate; // rate to change the setpoint |
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| 91 | uint8_t Speed; // rate to change the Position |
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| 92 | uint8_t CamAngle; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 93 | uint8_t Name[4]; // Name of that point (ASCII) |
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| 94 | uint8_t reserve[2]; // reserve |
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| 95 | } __attribute__((packed)) Point_t; |
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| 96 | |||
| 97 | extern Point_t FollowMe; |
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| 98 | |||
| 99 | extern uint8_t Request_SendFollowMe; |
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| 100 | |||
| 101 | #endif //_UART0_H |