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| Rev | Author | Line No. | Line |
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| 1198 | - | 1 | |
| 2 | /****************************************************************/ |
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| 3 | /* */ |
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| 4 | /* NG-Video 5,8GHz */ |
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| 5 | /* */ |
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| 6 | /* Copyright (C) 2011 - gebad */ |
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| 7 | /* */ |
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| 8 | /* This code is distributed under the GNU Public License */ |
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| 9 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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| 10 | /* */ |
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| 11 | /****************************************************************/ |
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| 12 | |||
| 13 | #ifndef USART_H_ |
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| 14 | #define USART_H_ |
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| 15 | |||
| 16 | #define TRACKING_RSSI 1 |
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| 17 | #define TRACKING_GPS 2 |
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| 18 | #define TRACKING_MKCOCKPIT 3 |
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| 19 | |||
| 20 | #define RXD_BUFFER_SIZE 150 //Puffergröße in Byte |
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| 21 | #define TXD_BUFFER_SIZE 20 |
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| 22 | #define ANY_ADDRESS 0 |
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| 23 | #define FC_ADDRESS 1 |
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| 24 | #define NC_ADDRESS 2 |
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| 25 | |||
| 26 | #define FC_FLAG_MOTOR_RUN 0x01 |
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| 27 | #define FC_FLAG_FLY 0x02 |
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| 28 | #define FC_FLAG_CALIBRATE 0x04 |
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| 29 | #define FC_FLAG_MOTOR_START 0x08 |
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| 30 | |||
| 31 | #define NC_FLAG_GPS_OK 0x80 |
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| 32 | |||
| 33 | #define RX_TIMEOUT 420 // 420 * 0.5ms interval (16bit-Timer 2) |
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| 34 | #define RX_TIME_OLD 3 * RX_TIMEOUT // Grenze, Datensatz viel zu alt |
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| 35 | #define RX_TIME_END 20* RX_TIMEOUT // Zählerbegrenzung und lipo speichern |
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| 36 | |||
| 37 | //volatile unsigned char buffercounter; |
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| 38 | |||
| 39 | //char data_decode[RXD_BUFFER_SIZE]; |
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| 40 | volatile uint16_t rx_timeout; |
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| 41 | |||
| 42 | void USART_Init(unsigned int baud); |
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| 43 | void USART_send_Str(char *str ); |
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| 44 | uint8_t rx_line_decode(char rx_ID); |
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| 45 | //void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len); |
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| 46 | |||
| 47 | // Orginal H&I MK-Software |
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| 48 | typedef struct |
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| 49 | { |
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| 50 | int32_t Longitude; // in 1E-7 deg |
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| 51 | int32_t Latitude; // in 1E-7 deg |
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| 52 | int32_t Altitude; // in mm |
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| 53 | uint8_t Status; // validity of data |
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| 54 | } __attribute__((packed)) GPS_Pos_t; |
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| 55 | |||
| 56 | typedef struct |
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| 57 | { |
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| 58 | uint16_t Distance; // distance to target in dm |
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| 59 | int16_t Bearing; // course to target in deg |
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| 60 | } __attribute__((packed)) GPS_PosDev_t; |
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| 61 | |||
| 62 | typedef struct |
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| 63 | { |
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| 64 | uint8_t Version; // version of the data structure |
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| 65 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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| 66 | GPS_Pos_t TargetPosition; |
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| 67 | GPS_PosDev_t TargetPositionDeviation; |
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| 68 | GPS_Pos_t HomePosition; |
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| 69 | GPS_PosDev_t HomePositionDeviation; |
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| 70 | uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 71 | uint8_t WaypointNumber; // number of stored waypoints |
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| 72 | uint8_t SatsInUse; // number of satellites used for position solution |
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| 73 | int16_t Altimeter; // hight according to air pressure |
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| 74 | int16_t Variometer; // climb(+) and sink(-) rate |
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| 75 | uint16_t FlyingTime; // in seconds |
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| 76 | uint8_t UBat; // Battery Voltage in 0.1 Volts |
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| 77 | uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
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| 78 | int16_t Heading; // current flight direction in ° as angle to north |
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| 79 | int16_t CompassHeading; // current compass value in ° |
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| 80 | int8_t AngleNick; // current Nick angle in 1° |
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| 81 | int8_t AngleRoll; // current Roll angle in 1° |
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| 82 | uint8_t RC_Quality; // RC_Quality |
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| 83 | uint8_t FCStatusFlags; // Flags from FC |
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| 84 | uint8_t NCFlags; // Flags from NC |
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| 85 | uint8_t Errorcode; // 0 --> okay |
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| 86 | uint8_t OperatingRadius; // current operation radius around the Home Position in m |
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| 87 | int16_t TopSpeed; // velocity in vertical direction in cm/s |
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| 88 | uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 89 | uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
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| 90 | int16_t SetpointAltitude; // setpoint for altitude |
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| 91 | uint8_t Gas; // for future use |
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| 92 | uint16_t Current; // actual current in 0.1A steps |
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| 93 | uint16_t UsedCapacity; // used capacity in mAh |
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| 94 | } __attribute__((packed)) NaviData_t; |
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| 95 | |||
| 96 | typedef union |
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| 97 | { |
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| 98 | char data_decode[RXD_BUFFER_SIZE]; |
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| 99 | NaviData_t navi_data; |
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| 100 | } MK_t; |
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| 101 | |||
| 102 | MK_t MK; |
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| 103 | |||
| 104 | typedef struct |
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| 105 | { |
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| 106 | double Home_Lon; |
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| 107 | double Home_Lat; |
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| 108 | int32_t Home_Lon_7; // in 1E-7 deg |
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| 109 | int32_t Home_Lat_7; // in 1E-7 deg |
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| 110 | int32_t Home_Alt; // in mm |
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| 111 | int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading |
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| 112 | } HomePos_t; |
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| 113 | |||
| 114 | HomePos_t MK_pos;// steht hier nur wegen Vermeidung Compiler-Warnung |
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| 115 | uint8_t wi232RX; // Statusflag für Empfangszeichen auf lcd |
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| 116 | |||
| 117 | void USART_RX_Mode(uint8_t tracking); |
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| 118 | uint8_t Get_Pololu_cmd(char *ptrOut, uint8_t ptrIn); |
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| 119 | |||
| 120 | #endif /* USART_H_ */ |
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| 121 |