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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 | |||
92 | killagreg | 12 | #include "ubx.h" |
41 | ingob | 13 | |
62 | killagreg | 14 | typedef struct |
92 | killagreg | 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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92 | killagreg | 19 | u8 reserve[8]; |
61 | holgerb | 20 | } __attribute__((packed)) Data3D_t; |
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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89 | killagreg | 57 | u16 Distance; // distance to target in dm |
92 | killagreg | 58 | s16 Bearing; // course to target in deg |
41 | ingob | 59 | } __attribute__((packed)) GPS_PosDev_t; |
60 | |||
92 | killagreg | 61 | #define NAVIDATA_VERSION 1 |
89 | killagreg | 62 | |
41 | ingob | 63 | typedef struct |
64 | { |
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89 | killagreg | 65 | u8 Version; // version of the data structure |
41 | ingob | 66 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
67 | GPS_Pos_t TargetPosition; |
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68 | GPS_PosDev_t TargetPositionDeviation; |
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69 | GPS_Pos_t HomePosition; |
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70 | GPS_PosDev_t HomePositionDeviation; |
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71 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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72 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 73 | u8 SatsInUse; // number of satellites used for position solution |
41 | ingob | 74 | s16 Altimeter; // hight according to air pressure |
75 | s16 Variometer; // climb(+) and sink(-) rate |
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76 | u16 FlyingTime; // in seconds |
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77 | u8 UBat; // Battery Voltage in 0.1 Volts |
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78 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 79 | s16 Heading; // current flight direction in ° as angle to north |
80 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 81 | s8 AngleNick; // current Nick angle in 1° |
82 | s8 AngleRoll; // current Rick angle in 1° |
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83 | u8 RC_Quality; // RC_Quality |
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84 | u8 MKFlags; // Flags from FC |
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85 | u8 NCFlags; // Flags from NC |
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86 | u8 Errorcode; // 0 --> okay |
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73 | killagreg | 87 | u8 OperatingRadius; // current operation radius around the Home Position in m |
89 | killagreg | 88 | s16 TopSpeed; // velocity in vertical direction in cm/s |
92 | killagreg | 89 | u16 TargetHoldTime; // time in ms to stay at the given target, counts down to 0 if target has been reached |
90 | u8 Reserve[3]; // for future use |
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41 | ingob | 91 | } __attribute__((packed)) NaviData_t; |
92 | |||
93 | extern NaviData_t NaviData; |
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94 | extern u8 Request_NaviData; |
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95 | |||
92 | killagreg | 96 | #define NC_FLAG_FREE 0x01 |
97 | #define NC_FLAG_PH 0x02 |
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98 | #define NC_FLAG_CH 0x04 |
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99 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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100 | #define NC_FLAG_NOSERIALLINK 0x10 |
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101 | #define NC_FLAG_TARGET_REACHED 0x20 |
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102 | #define NC_FLAG_7 0x40 |
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103 | #define NC_FLAG_8 0x80 |
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41 | ingob | 104 | |
105 | extern UART_TypeDef *DebugUART; |
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92 | killagreg | 106 | extern volatile u8 SerialLinkOkay; |
41 | ingob | 107 | |
92 | killagreg | 108 | |
41 | ingob | 109 | void UART1_Init(void); |
110 | void UART1_Transmit(void); |
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111 | void UART1_TransmitTxData(void); |
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112 | void UART1_ProcessRxData(void); |
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113 | |||
114 | s16 uart_putchar (char c); |
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115 | void SerialPutString(u8 *s); |
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92 | killagreg | 116 | extern u8 text[100]; // globally used text buffer |
41 | ingob | 117 | extern u8 Request_SendFollowMe; |
118 | #endif //_UART1_H |