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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" |
495 | killagreg | 9 | #include "waypoints.h" |
41 | ingob | 10 | |
256 | killagreg | 11 | #define NC_ERROR0_SPI_RX 0x01 |
12 | #define NC_ERROR0_COMPASS_RX 0x02 |
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13 | #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
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14 | #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
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15 | #define NC_ERROR0_GPS_RX 0x10 |
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16 | #define NC_ERROR0_COMPASS_VALUE 0x20 |
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156 | killagreg | 17 | |
62 | killagreg | 18 | typedef struct |
92 | killagreg | 19 | { |
112 | killagreg | 20 | u8 SWMajor; |
21 | u8 SWMinor; |
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22 | u8 ProtoMajor; |
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598 | holgerb | 23 | u8 LabelTextCRC; |
112 | killagreg | 24 | u8 SWPatch; |
454 | holgerb | 25 | u8 HardwareError[2]; |
26 | u8 HWMajor; |
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548 | holgerb | 27 | u8 BL_Firmware; |
454 | holgerb | 28 | u8 Flags; |
161 | killagreg | 29 | } __attribute__((packed)) UART_VersionInfo_t; |
112 | killagreg | 30 | |
31 | extern UART_VersionInfo_t UART_VersionInfo; |
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32 | |||
454 | holgerb | 33 | //VersionInfo.Flags |
34 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
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35 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
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36 | |||
112 | killagreg | 37 | typedef struct |
38 | { |
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161 | killagreg | 39 | s16 AngleNick; // in 0.1 deg |
40 | s16 AngleRoll; // in 0.1 deg |
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41 | s16 Heading; // in 0.1 deg |
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358 | holgerb | 42 | u8 StickNick; |
43 | u8 StickRoll; |
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44 | u8 StickYaw; |
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45 | u8 StickGas; |
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588 | holgerb | 46 | s16 Altimeter; // in 5cm |
47 | u8 reserve[2]; |
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61 | holgerb | 48 | } __attribute__((packed)) Data3D_t; |
49 | |||
50 | extern Data3D_t Data3D; |
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51 | |||
112 | killagreg | 52 | |
53 | extern const u8 ANALOG_LABEL[32][16]; |
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54 | |||
338 | holgerb | 55 | #define AMPEL_FC 0x01 |
56 | #define AMPEL_BL 0x02 |
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57 | #define AMPEL_NC 0x04 |
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58 | #define AMPEL_COMPASS 0x08 |
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59 | |||
41 | ingob | 60 | typedef struct |
61 | { |
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338 | holgerb | 62 | u8 StatusGreen; |
63 | u8 StatusRed; |
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41 | ingob | 64 | u16 Analog[32]; // Debugwerte |
65 | } __attribute__((packed)) DebugOut_t; |
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66 | |||
67 | extern DebugOut_t DebugOut; |
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68 | |||
69 | typedef struct |
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70 | { |
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71 | u8 Digital[2]; |
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72 | u8 RemoteButtons; |
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73 | s8 Nick; |
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74 | s8 Roll; |
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75 | s8 Yaw; |
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76 | u8 Gas; |
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77 | s8 Height; |
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78 | u8 free; |
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79 | u8 Frame; |
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80 | u8 Config; |
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81 | } __attribute__((packed)) ExternControl_t; |
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82 | |||
83 | extern ExternControl_t ExternControl; |
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84 | |||
85 | typedef struct |
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86 | { |
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87 | s16 Nick; |
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88 | s16 Roll; |
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89 | s16 Compass; // angle between north and head of the MK |
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161 | killagreg | 90 | } __attribute__((packed)) Attitude_t; |
41 | ingob | 91 | |
494 | killagreg | 92 | |
93 | typedef struct |
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94 | { |
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89 | killagreg | 95 | u16 Distance; // distance to target in dm |
92 | killagreg | 96 | s16 Bearing; // course to target in deg |
161 | killagreg | 97 | } __attribute__((packed)) GPS_PosDev_t; |
41 | ingob | 98 | |
294 | holgerb | 99 | #define NAVIDATA_VERSION 5 |
89 | killagreg | 100 | |
598 | holgerb | 101 | typedef struct // 85 Bytes |
41 | ingob | 102 | { |
89 | killagreg | 103 | u8 Version; // version of the data structure |
491 | killagreg | 104 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
41 | ingob | 105 | GPS_Pos_t TargetPosition; |
106 | GPS_PosDev_t TargetPositionDeviation; |
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107 | GPS_Pos_t HomePosition; |
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108 | GPS_PosDev_t HomePositionDeviation; |
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109 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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110 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 111 | u8 SatsInUse; // number of satellites used for position solution |
41 | ingob | 112 | s16 Altimeter; // hight according to air pressure |
113 | s16 Variometer; // climb(+) and sink(-) rate |
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114 | u16 FlyingTime; // in seconds |
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115 | u8 UBat; // Battery Voltage in 0.1 Volts |
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116 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 117 | s16 Heading; // current flight direction in ° as angle to north |
118 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 119 | s8 AngleNick; // current Nick angle in 1° |
120 | s8 AngleRoll; // current Rick angle in 1° |
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121 | u8 RC_Quality; // RC_Quality |
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255 | killagreg | 122 | u8 FCStatusFlags; // Flags from FC |
41 | ingob | 123 | u8 NCFlags; // Flags from NC |
124 | u8 Errorcode; // 0 --> okay |
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532 | holgerb | 125 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
89 | killagreg | 126 | s16 TopSpeed; // velocity in vertical direction in cm/s |
125 | killagreg | 127 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
294 | holgerb | 128 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
161 | killagreg | 129 | s16 SetpointAltitude; // setpoint for altitude |
130 | u8 Gas; // for future use |
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206 | killagreg | 131 | u16 Current; // actual current in 0.1A steps |
132 | u16 UsedCapacity; // used capacity in mAh |
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41 | ingob | 133 | } __attribute__((packed)) NaviData_t; |
134 | extern NaviData_t NaviData; |
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135 | |||
598 | holgerb | 136 | typedef struct // 10 (15 Bytes belegen 27 ASCII-Zeichen) |
137 | { |
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138 | u8 Index; // version of the data structure |
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139 | s32 ActualLongitude; // |
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140 | s32 ActualLatitude; // |
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141 | s16 Altimeter; // hight according to air pressure |
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142 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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143 | u8 OSDStatusFlags; |
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144 | u8 reserve1; |
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145 | u8 reserve2; |
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146 | } __attribute__((packed)) NaviData_Tiny_t; |
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147 | extern NaviData_Tiny_t NaviData_Tiny; |
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148 | |||
149 | #define START_PAYLOAD_DATA 13 // |
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150 | |||
151 | typedef struct // 11 (24 Bytes belegen 39 ASCII-Zeichen) |
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152 | { |
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153 | u8 Index; // version of the data structure |
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154 | s32 ActualLongitude; // |
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155 | s32 ActualLatitude; // |
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156 | s16 Altimeter; // hight according to air pressure |
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157 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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158 | u8 OSDStatusFlags; |
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159 | u8 OSDStatusFlags2; |
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160 | u8 NCFlags; // Flags from NC |
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161 | u8 ReserveFlags; |
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162 | u8 Errorcode; // 0 --> okay |
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163 | u8 SpeakHoTT; |
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164 | u8 VarioCharacter; |
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165 | u8 GPS_ModeCharacter; |
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166 | u8 BL_MinOfMaxPWM; |
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167 | } __attribute__((packed)) NaviData_Flags_t; |
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168 | extern NaviData_Flags_t NaviData_Flags; |
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169 | |||
170 | typedef struct // 12 (27 Bytes belegen 43 ASCII-Zeichen) |
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171 | { |
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172 | u8 Index; // version of the data structure |
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173 | s32 ActualLongitude; // |
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174 | s32 ActualLatitude; // |
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175 | s16 Altimeter; // hight according to air pressure |
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176 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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177 | u8 OSDStatusFlags; |
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178 | s32 TargetLongitude; // |
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179 | s32 TargetLatitude; // |
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180 | s16 TargetAltitude; // hight according to air pressure |
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181 | u8 RC_Quality; // RC_Quality |
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182 | u8 reserve; |
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183 | } __attribute__((packed)) NaviData_Target_t; |
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184 | extern NaviData_Target_t NaviData_Target; |
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185 | |||
186 | typedef struct // 13 (27 Bytes belegen 43 ASCII-Zeichen) |
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187 | { |
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188 | u8 Index; // version of the data structure |
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189 | s32 ActualLongitude; // |
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190 | s32 ActualLatitude; // |
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191 | s16 Altimeter; // hight according to air pressure |
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192 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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193 | u8 OSDStatusFlags; |
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194 | s32 HomeLongitude; // |
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195 | s32 HomeLatitude; // |
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196 | s16 HomeAltitude; // hight according to air pressure |
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197 | u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
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198 | u8 LipoCellCount; |
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199 | u8 reserve; |
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200 | } __attribute__((packed)) NaviData_Home_t; |
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201 | extern NaviData_Home_t NaviData_Home; |
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202 | |||
621 | holgerb | 203 | typedef struct // 18 (21 Bytes belegen 35 ASCII-Zeichen) |
600 | holgerb | 204 | { |
205 | u8 Index; // version of the data structure |
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206 | s32 ActualLongitude; // |
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207 | s32 ActualLatitude; // |
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208 | s16 Altimeter; // hight according to air pressure |
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209 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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210 | u8 OSDStatusFlags; |
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609 | holgerb | 211 | s32 Longitude; // |
212 | s32 Latitude; // |
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213 | } __attribute__((packed)) NaviData_Pos_t; |
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600 | holgerb | 214 | |
609 | holgerb | 215 | extern NaviData_Pos_t NaviData_Failsafe; |
600 | holgerb | 216 | |
621 | holgerb | 217 | typedef struct // 18 (9 Bytes belegen 19 ASCII-Zeichen) |
218 | { |
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219 | u8 Index; // version of the data structure |
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220 | s32 Longitude; // |
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221 | s32 Latitude; // |
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222 | } __attribute__((packed)) NaviData_Out_t; |
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223 | extern NaviData_Out_t NaviData_Out1Trigger; |
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224 | |||
598 | holgerb | 225 | typedef struct // 15 (18 Bytes belegen 31 ASCII-Zeichen) |
226 | { |
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227 | u8 Index; // version of the data structure |
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228 | s32 ActualLongitude; // |
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229 | s32 ActualLatitude; // |
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230 | s16 Altimeter; // hight according to air pressure |
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231 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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232 | u8 OSDStatusFlags; |
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233 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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234 | u8 WaypointNumber; // number of stored waypoints |
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235 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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236 | u8 WP_Eventchannel; |
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237 | u8 reserve; |
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238 | } __attribute__((packed)) NaviData_WP_t; |
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239 | extern NaviData_WP_t NaviData_WP; |
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240 | |||
241 | typedef struct // 14 (24 Bytes belegen 39 ASCII-Zeichen) |
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242 | { |
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243 | u8 Index; // version of the data structure |
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244 | s32 ActualLongitude; // |
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245 | s32 ActualLatitude; // |
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246 | s16 Altimeter; // hight according to air pressure |
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247 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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248 | u8 OSDStatusFlags; |
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249 | u16 FlyingTime; // in seconds |
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250 | u16 DistanceToHome; |
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251 | u8 HeadingToHome; // in 2° (100 = 200°) |
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252 | u16 DistanceToTarget; |
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253 | u8 HeadingToTarget; // in 2° (100 = 200°) |
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254 | s8 AngleNick; // current Nick angle in 1° |
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255 | s8 AngleRoll; // current Rick angle in 1° |
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256 | u8 SatsInUse; // number of satellites used for position solution |
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257 | } __attribute__((packed)) NaviData_Deviation_t; |
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258 | extern NaviData_Deviation_t NaviData_Deviation; |
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259 | |||
260 | typedef struct // 16 (27 Bytes belegen 43 ASCII-Zeichen) |
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261 | { |
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262 | u8 Index; // version of the data structure |
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263 | s32 ActualLongitude; // |
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264 | s32 ActualLatitude; // |
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265 | s16 Altimeter; // hight according to air pressure |
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266 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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267 | u8 OSDStatusFlags; |
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268 | u16 UBat; // Battery Voltage in 0.1 Volts |
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269 | u16 Current; // actual current in 0.1A steps |
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270 | u16 UsedCapacity; // used capacity in mAh |
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271 | s8 Variometer; // climb(+) and sink(-) rate |
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272 | u8 Heading; // Current moving direction in 2° (100 = 200°) |
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273 | u8 CompassHeading; // current compass value in 2° |
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274 | u8 Gas; // for future use |
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275 | u16 ShutterCounter; // counts every time a Out1 was activated |
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276 | s16 SetpointAltitude; // setpoint for altitude |
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277 | } __attribute__((packed)) NaviData_Volatile_t; |
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278 | extern NaviData_Volatile_t NaviData_Volatile; |
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279 | |||
280 | #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
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281 | #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
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282 | |||
283 | // NC calculates |
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284 | //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
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285 | //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
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286 | |||
287 | //calculate Back: |
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288 | //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
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289 | //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
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290 | |||
291 | |||
292 | /* |
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293 | OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
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294 | NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
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295 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
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296 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
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297 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
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298 | NaviData_WP.WP_Wventchannel = LogFC_WP_EventChannel; |
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299 | */ |
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300 | |||
41 | ingob | 301 | extern UART_TypeDef *DebugUART; |
92 | killagreg | 302 | extern volatile u8 SerialLinkOkay; |
349 | ingob | 303 | extern Buffer_t UART1_tx_buffer; |
380 | holgerb | 304 | extern Buffer_t UART1_rx_buffer; |
41 | ingob | 305 | |
306 | void UART1_Init(void); |
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307 | void UART1_Transmit(void); |
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308 | void UART1_TransmitTxData(void); |
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309 | void UART1_ProcessRxData(void); |
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310 | |||
110 | killagreg | 311 | s16 UART1_Putchar(char c); |
312 | void UART1_PutString(u8 *s); |
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150 | killagreg | 313 | extern u8 text[]; // globally used text buffer |
110 | killagreg | 314 | extern u8 UART1_Request_SendFollowMe; |
360 | holgerb | 315 | extern u8 LastTransmittedFCStatusFlags2; |
519 | holgerb | 316 | extern u8 UART1_Request_ReadPoint; |
495 | killagreg | 317 | extern WPL_Store_t WPL_Store; |
598 | holgerb | 318 | extern u8 CalculateDebugLableCrc(void); |
532 | holgerb | 319 | |
320 | typedef struct |
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321 | { |
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322 | u8 User[128]; |
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323 | u8 eMail[128]; |
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324 | u8 Feature[128]; |
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325 | u8 Expire[11]; |
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326 | u8 License[16]; |
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327 | } __attribute__((packed)) LicenseS_t; // from FC |
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529 | holgerb | 328 | extern u8 *LicensePtr; |
495 | killagreg | 329 | |
460 | holgerb | 330 | extern u32 NMEA_Interval;// in ms |
529 | holgerb | 331 | #define LICENSE_SIZE 480 |
332 | #define LICENSE_SIZE_TEXT 411 |
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460 | holgerb | 333 | |
41 | ingob | 334 | #endif //_UART1_H |