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