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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 | |||
92 | killagreg | 8 | #include "ubx.h" |
41 | ingob | 9 | |
62 | killagreg | 10 | typedef struct |
92 | killagreg | 11 | { |
62 | killagreg | 12 | s16 AngleNick; // in 0.1 deg |
13 | s16 AngleRoll; // in 0.1 deg |
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14 | s16 Heading; // in 0.1 deg |
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92 | killagreg | 15 | u8 reserve[8]; |
61 | holgerb | 16 | } __attribute__((packed)) Data3D_t; |
17 | |||
18 | extern Data3D_t Data3D; |
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19 | |||
41 | ingob | 20 | typedef struct |
21 | { |
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22 | u8 Digital[2]; |
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23 | u16 Analog[32]; // Debugwerte |
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24 | } __attribute__((packed)) DebugOut_t; |
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25 | |||
26 | extern DebugOut_t DebugOut; |
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27 | |||
28 | typedef struct |
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29 | { |
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30 | u8 Digital[2]; |
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31 | u8 RemoteButtons; |
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32 | s8 Nick; |
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33 | s8 Roll; |
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34 | s8 Yaw; |
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35 | u8 Gas; |
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36 | s8 Height; |
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37 | u8 free; |
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38 | u8 Frame; |
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39 | u8 Config; |
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40 | } __attribute__((packed)) ExternControl_t; |
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41 | |||
42 | extern ExternControl_t ExternControl; |
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43 | |||
44 | typedef struct |
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45 | { |
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46 | s16 Nick; |
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47 | s16 Roll; |
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48 | s16 Compass; // angle between north and head of the MK |
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49 | } __attribute__((packed)) Attitude_t; |
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50 | |||
51 | typedef struct |
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52 | { |
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89 | killagreg | 53 | u16 Distance; // distance to target in dm |
92 | killagreg | 54 | s16 Bearing; // course to target in deg |
41 | ingob | 55 | } __attribute__((packed)) GPS_PosDev_t; |
56 | |||
92 | killagreg | 57 | #define NAVIDATA_VERSION 1 |
89 | killagreg | 58 | |
41 | ingob | 59 | typedef struct |
60 | { |
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89 | killagreg | 61 | u8 Version; // version of the data structure |
41 | ingob | 62 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
63 | GPS_Pos_t TargetPosition; |
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64 | GPS_PosDev_t TargetPositionDeviation; |
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65 | GPS_Pos_t HomePosition; |
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66 | GPS_PosDev_t HomePositionDeviation; |
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67 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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68 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 69 | u8 SatsInUse; // number of satellites used for position solution |
41 | ingob | 70 | s16 Altimeter; // hight according to air pressure |
71 | s16 Variometer; // climb(+) and sink(-) rate |
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72 | u16 FlyingTime; // in seconds |
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73 | u8 UBat; // Battery Voltage in 0.1 Volts |
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74 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 75 | s16 Heading; // current flight direction in ° as angle to north |
76 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 77 | s8 AngleNick; // current Nick angle in 1° |
78 | s8 AngleRoll; // current Rick angle in 1° |
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79 | u8 RC_Quality; // RC_Quality |
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80 | u8 MKFlags; // Flags from FC |
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81 | u8 NCFlags; // Flags from NC |
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82 | u8 Errorcode; // 0 --> okay |
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73 | killagreg | 83 | u8 OperatingRadius; // current operation radius around the Home Position in m |
89 | killagreg | 84 | s16 TopSpeed; // velocity in vertical direction in cm/s |
97 | killagreg | 85 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
86 | u8 Reserve[4]; // for future use |
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41 | ingob | 87 | } __attribute__((packed)) NaviData_t; |
88 | |||
89 | extern NaviData_t NaviData; |
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90 | extern u8 Request_NaviData; |
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91 | |||
92 | killagreg | 92 | #define NC_FLAG_FREE 0x01 |
93 | #define NC_FLAG_PH 0x02 |
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94 | #define NC_FLAG_CH 0x04 |
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95 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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96 | #define NC_FLAG_NOSERIALLINK 0x10 |
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97 | #define NC_FLAG_TARGET_REACHED 0x20 |
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101 | holgerb | 98 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
92 | killagreg | 99 | #define NC_FLAG_8 0x80 |
41 | ingob | 100 | |
101 | extern UART_TypeDef *DebugUART; |
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92 | killagreg | 102 | extern volatile u8 SerialLinkOkay; |
41 | ingob | 103 | |
92 | killagreg | 104 | |
41 | ingob | 105 | void UART1_Init(void); |
106 | void UART1_Transmit(void); |
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107 | void UART1_TransmitTxData(void); |
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108 | void UART1_ProcessRxData(void); |
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109 | |||
110 | killagreg | 110 | s16 UART1_Putchar(char c); |
111 | void UART1_PutString(u8 *s); |
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92 | killagreg | 112 | extern u8 text[100]; // globally used text buffer |
110 | killagreg | 113 | extern u8 UART1_Request_SendFollowMe; |
41 | ingob | 114 | #endif //_UART1_H |