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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 426 | killagreg | 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 | |||
| 17 | extern void USART0_Init (void); |
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| 18 | extern void USART0_TransmitTxData(void); |
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| 19 | extern void USART0_ProcessRxData(void); |
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| 20 | extern int16_t uart_putchar(int8_t c); |
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| 21 | |||
| 22 | extern uint8_t PcAccess; |
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| 23 | extern uint8_t RemotePollDisplayLine; |
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| 24 | |||
| 25 | |||
| 26 | typedef struct |
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| 27 | { |
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| 28 | uint8_t Digital[2]; |
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| 29 | uint8_t RemoteButtons; |
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| 30 | int8_t Nick; |
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| 31 | int8_t Roll; |
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| 32 | int8_t Yaw; |
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| 33 | uint8_t Gas; |
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| 34 | int8_t Height; |
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| 35 | uint8_t free; |
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| 36 | uint8_t Frame; |
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| 37 | uint8_t Config; |
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| 38 | } __attribute__((packed)) ExternControl_t; |
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| 39 | |||
| 40 | extern ExternControl_t ExternControl; |
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| 41 | |||
| 42 | |||
| 43 | typedef struct |
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| 44 | { |
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| 45 | uint8_t Digital[2]; |
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| 46 | uint16_t Analog[32]; // Debugvalues |
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| 47 | } __attribute__((packed)) DebugOut_t; |
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| 48 | |||
| 49 | extern DebugOut_t DebugOut; |
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| 50 | |||
| 51 | typedef struct |
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| 52 | { |
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| 53 | uint8_t SWMajor; |
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| 54 | uint8_t SWMinor; |
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| 55 | uint8_t ProtoMajor; |
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| 56 | uint8_t ProtoMinor; |
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| 57 | uint8_t SWPatch; |
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| 58 | uint8_t Reserved[5]; |
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| 59 | } __attribute__((packed)) UART_VersionInfo_t; |
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| 60 | |||
| 61 | typedef struct |
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| 62 | { |
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| 63 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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| 64 | int16_t Heading; // orientation, future implementation |
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| 65 | 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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| 66 | 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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| 67 | uint8_t Event_Flag; // future implementation |
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| 691 | killagreg | 68 | uint8_t Index; // index of the current waypoint |
| 69 | uint8_t reserve[11]; // reserve |
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| 426 | killagreg | 70 | } __attribute__((packed)) Waypoint_t; |
| 71 | |||
| 72 | extern Waypoint_t FollowMe; |
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| 73 | extern uint8_t Request_SendFollowMe; |
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| 74 | |||
| 75 | #endif //_UART0_H |