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