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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 | |
256 | killagreg | 10 | #define NC_ERROR0_SPI_RX 0x01 |
11 | #define NC_ERROR0_COMPASS_RX 0x02 |
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12 | #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
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13 | #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
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14 | #define NC_ERROR0_GPS_RX 0x10 |
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15 | #define NC_ERROR0_COMPASS_VALUE 0x20 |
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156 | killagreg | 16 | |
62 | killagreg | 17 | typedef struct |
92 | killagreg | 18 | { |
112 | killagreg | 19 | u8 SWMajor; |
20 | u8 SWMinor; |
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21 | u8 ProtoMajor; |
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22 | u8 ProtoMinor; |
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23 | u8 SWPatch; |
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454 | holgerb | 24 | u8 HardwareError[2]; |
25 | u8 HWMajor; |
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26 | u8 reserved2; |
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27 | u8 Flags; |
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161 | killagreg | 28 | } __attribute__((packed)) UART_VersionInfo_t; |
112 | killagreg | 29 | |
30 | extern UART_VersionInfo_t UART_VersionInfo; |
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31 | |||
454 | holgerb | 32 | //VersionInfo.Flags |
33 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
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34 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
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35 | |||
112 | killagreg | 36 | typedef struct |
37 | { |
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161 | killagreg | 38 | s16 AngleNick; // in 0.1 deg |
39 | s16 AngleRoll; // in 0.1 deg |
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40 | s16 Heading; // in 0.1 deg |
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358 | holgerb | 41 | u8 StickNick; |
42 | u8 StickRoll; |
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43 | u8 StickYaw; |
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44 | u8 StickGas; |
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45 | u8 reserve[4]; |
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61 | holgerb | 46 | } __attribute__((packed)) Data3D_t; |
47 | |||
48 | extern Data3D_t Data3D; |
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49 | |||
112 | killagreg | 50 | |
51 | extern const u8 ANALOG_LABEL[32][16]; |
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52 | |||
338 | holgerb | 53 | #define AMPEL_FC 0x01 |
54 | #define AMPEL_BL 0x02 |
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55 | #define AMPEL_NC 0x04 |
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56 | #define AMPEL_COMPASS 0x08 |
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57 | |||
41 | ingob | 58 | typedef struct |
59 | { |
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338 | holgerb | 60 | u8 StatusGreen; |
61 | u8 StatusRed; |
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41 | ingob | 62 | u16 Analog[32]; // Debugwerte |
63 | } __attribute__((packed)) DebugOut_t; |
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64 | |||
65 | extern DebugOut_t DebugOut; |
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66 | |||
67 | typedef struct |
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68 | { |
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69 | u8 Digital[2]; |
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70 | u8 RemoteButtons; |
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71 | s8 Nick; |
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72 | s8 Roll; |
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73 | s8 Yaw; |
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74 | u8 Gas; |
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75 | s8 Height; |
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76 | u8 free; |
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77 | u8 Frame; |
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78 | u8 Config; |
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79 | } __attribute__((packed)) ExternControl_t; |
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80 | |||
81 | extern ExternControl_t ExternControl; |
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82 | |||
83 | typedef struct |
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84 | { |
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85 | s16 Nick; |
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86 | s16 Roll; |
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87 | s16 Compass; // angle between north and head of the MK |
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161 | killagreg | 88 | } __attribute__((packed)) Attitude_t; |
41 | ingob | 89 | |
90 | typedef struct |
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91 | { |
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89 | killagreg | 92 | u16 Distance; // distance to target in dm |
92 | killagreg | 93 | s16 Bearing; // course to target in deg |
161 | killagreg | 94 | } __attribute__((packed)) GPS_PosDev_t; |
41 | ingob | 95 | |
294 | holgerb | 96 | #define NAVIDATA_VERSION 5 |
89 | killagreg | 97 | |
41 | ingob | 98 | typedef struct |
99 | { |
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89 | killagreg | 100 | u8 Version; // version of the data structure |
41 | ingob | 101 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
102 | GPS_Pos_t TargetPosition; |
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103 | GPS_PosDev_t TargetPositionDeviation; |
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104 | GPS_Pos_t HomePosition; |
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105 | GPS_PosDev_t HomePositionDeviation; |
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106 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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107 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 108 | u8 SatsInUse; // number of satellites used for position solution |
41 | ingob | 109 | s16 Altimeter; // hight according to air pressure |
110 | s16 Variometer; // climb(+) and sink(-) rate |
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111 | u16 FlyingTime; // in seconds |
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112 | u8 UBat; // Battery Voltage in 0.1 Volts |
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113 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 114 | s16 Heading; // current flight direction in ° as angle to north |
115 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 116 | s8 AngleNick; // current Nick angle in 1° |
117 | s8 AngleRoll; // current Rick angle in 1° |
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118 | u8 RC_Quality; // RC_Quality |
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255 | killagreg | 119 | u8 FCStatusFlags; // Flags from FC |
41 | ingob | 120 | u8 NCFlags; // Flags from NC |
121 | u8 Errorcode; // 0 --> okay |
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161 | killagreg | 122 | u8 OperatingRadius; // current operation radius around the Home Position in m |
89 | killagreg | 123 | s16 TopSpeed; // velocity in vertical direction in cm/s |
125 | killagreg | 124 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
294 | holgerb | 125 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
161 | killagreg | 126 | s16 SetpointAltitude; // setpoint for altitude |
127 | u8 Gas; // for future use |
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206 | killagreg | 128 | u16 Current; // actual current in 0.1A steps |
129 | u16 UsedCapacity; // used capacity in mAh |
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41 | ingob | 130 | } __attribute__((packed)) NaviData_t; |
131 | |||
132 | extern NaviData_t NaviData; |
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133 | |||
92 | killagreg | 134 | #define NC_FLAG_FREE 0x01 |
135 | #define NC_FLAG_PH 0x02 |
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136 | #define NC_FLAG_CH 0x04 |
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137 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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138 | #define NC_FLAG_NOSERIALLINK 0x10 |
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139 | #define NC_FLAG_TARGET_REACHED 0x20 |
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101 | holgerb | 140 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
254 | killagreg | 141 | #define NC_FLAG_GPS_OK 0x80 |
41 | ingob | 142 | |
143 | extern UART_TypeDef *DebugUART; |
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92 | killagreg | 144 | extern volatile u8 SerialLinkOkay; |
349 | ingob | 145 | extern Buffer_t UART1_tx_buffer; |
380 | holgerb | 146 | extern Buffer_t UART1_rx_buffer; |
41 | ingob | 147 | |
148 | void UART1_Init(void); |
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149 | void UART1_Transmit(void); |
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150 | void UART1_TransmitTxData(void); |
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151 | void UART1_ProcessRxData(void); |
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152 | |||
110 | killagreg | 153 | s16 UART1_Putchar(char c); |
154 | void UART1_PutString(u8 *s); |
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150 | killagreg | 155 | extern u8 text[]; // globally used text buffer |
110 | killagreg | 156 | extern u8 UART1_Request_SendFollowMe; |
360 | holgerb | 157 | extern u8 LastTransmittedFCStatusFlags2; |
41 | ingob | 158 | #endif //_UART1_H |