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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" |
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 | |
675 | holgerb | 18 | #define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET); |
19 | #define ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET); |
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20 | |||
62 | killagreg | 21 | typedef struct |
92 | killagreg | 22 | { |
112 | killagreg | 23 | u8 SWMajor; |
24 | u8 SWMinor; |
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25 | u8 ProtoMajor; |
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598 | holgerb | 26 | u8 LabelTextCRC; |
112 | killagreg | 27 | u8 SWPatch; |
454 | holgerb | 28 | u8 HardwareError[2]; |
29 | u8 HWMajor; |
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548 | holgerb | 30 | u8 BL_Firmware; |
454 | holgerb | 31 | u8 Flags; |
161 | killagreg | 32 | } __attribute__((packed)) UART_VersionInfo_t; |
112 | killagreg | 33 | |
34 | extern UART_VersionInfo_t UART_VersionInfo; |
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35 | |||
454 | holgerb | 36 | //VersionInfo.Flags |
37 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
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38 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
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39 | |||
112 | killagreg | 40 | typedef struct |
41 | { |
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161 | killagreg | 42 | s16 AngleNick; // in 0.1 deg |
43 | s16 AngleRoll; // in 0.1 deg |
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44 | s16 Heading; // in 0.1 deg |
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358 | holgerb | 45 | u8 StickNick; |
46 | u8 StickRoll; |
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47 | u8 StickYaw; |
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48 | u8 StickGas; |
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739 | holgerb | 49 | s16 Altimeter_5cm; // in 5cm -> devide by 20 to get meters & multiply with 5 to get cm |
588 | holgerb | 50 | u8 reserve[2]; |
61 | holgerb | 51 | } __attribute__((packed)) Data3D_t; |
52 | |||
53 | extern Data3D_t Data3D; |
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54 | |||
112 | killagreg | 55 | |
56 | extern const u8 ANALOG_LABEL[32][16]; |
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57 | |||
338 | holgerb | 58 | #define AMPEL_FC 0x01 |
59 | #define AMPEL_BL 0x02 |
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60 | #define AMPEL_NC 0x04 |
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61 | #define AMPEL_COMPASS 0x08 |
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62 | |||
41 | ingob | 63 | typedef struct |
64 | { |
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338 | holgerb | 65 | u8 StatusGreen; |
66 | u8 StatusRed; |
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41 | ingob | 67 | u16 Analog[32]; // Debugwerte |
68 | } __attribute__((packed)) DebugOut_t; |
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69 | |||
70 | extern DebugOut_t DebugOut; |
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71 | |||
682 | holgerb | 72 | /* |
41 | ingob | 73 | typedef struct |
74 | { |
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75 | u8 Digital[2]; |
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76 | u8 RemoteButtons; |
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77 | s8 Nick; |
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78 | s8 Roll; |
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79 | s8 Yaw; |
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80 | u8 Gas; |
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81 | s8 Height; |
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82 | u8 free; |
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83 | u8 Frame; |
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84 | u8 Config; |
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85 | } __attribute__((packed)) ExternControl_t; |
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682 | holgerb | 86 | */ |
41 | ingob | 87 | |
689 | holgerb | 88 | #define EC_VALID 0x01 // only valid if this is 1 |
89 | #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
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90 | #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
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91 | #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
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92 | #define EC_IGNORE_RC_LOST 0x80 // if 1 -> for Flying without RC-Control |
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682 | holgerb | 93 | |
689 | holgerb | 94 | // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
95 | #define EC2_PH 0x01 // GPS-Mode: PH |
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96 | #define EC2_CH 0x02 // GPS-Mode: CH |
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97 | #define EC2_CAREFREE 0x10 // |
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98 | #define EC2_ALTITUDE 0x20 // |
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99 | #define EC2_AUTOSTART 0x40 // |
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100 | #define EC2_AUTOLAND 0x80 // |
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101 | |||
682 | holgerb | 102 | typedef struct |
103 | { |
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689 | holgerb | 104 | signed char Nick; |
105 | signed char Roll; |
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106 | signed char Gier; |
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107 | signed char Gas; |
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108 | unsigned char Frame; // will return a confirm frame with this value |
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682 | holgerb | 109 | unsigned char Config; |
689 | holgerb | 110 | unsigned char Switches; |
111 | unsigned char Free1; // these two don't need capacity in the ASCII data string |
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112 | unsigned char Free2; |
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682 | holgerb | 113 | } __attribute__((packed)) ExternControl_t; |
41 | ingob | 114 | extern ExternControl_t ExternControl; |
689 | holgerb | 115 | extern u8 NewExternalControlFrame; // flag that sends the Frame to FC |
41 | ingob | 116 | |
689 | holgerb | 117 | #define SERIAL_POTI_START 17 |
118 | #define WP_EVENT_PPM_IN 29 |
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119 | #define PPM_IN_OFF 30 |
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120 | #define PPM_IN_MAX 31 |
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121 | #define PPM_IN_MID 32 |
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41 | ingob | 122 | typedef struct |
123 | { |
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689 | holgerb | 124 | signed char Ch[12]; |
125 | } __attribute__((packed)) SerialChannel_t; |
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126 | extern SerialChannel_t SerialChannel; |
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127 | extern u8 NewSerialChannelFrame; // flag that sends the Frame to FC |
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128 | |||
129 | typedef struct |
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130 | { |
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41 | ingob | 131 | s16 Nick; |
132 | s16 Roll; |
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133 | s16 Compass; // angle between north and head of the MK |
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161 | killagreg | 134 | } __attribute__((packed)) Attitude_t; |
41 | ingob | 135 | |
494 | killagreg | 136 | |
137 | typedef struct |
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138 | { |
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737 | holgerb | 139 | u16 Distance_dm; // distance to target in dm |
92 | killagreg | 140 | s16 Bearing; // course to target in deg |
161 | killagreg | 141 | } __attribute__((packed)) GPS_PosDev_t; |
41 | ingob | 142 | |
294 | holgerb | 143 | #define NAVIDATA_VERSION 5 |
89 | killagreg | 144 | |
789 | holgerb | 145 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
146 | //+ old protocol |
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147 | //+ start abbo communication with: 'O' + Interval [10ms] |
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148 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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149 | typedef struct // 84 Bytes (note: this is the old protocol) |
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41 | ingob | 150 | { |
768 | holgerb | 151 | u8 Version; // version of the data structure = 5 |
491 | killagreg | 152 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
41 | ingob | 153 | GPS_Pos_t TargetPosition; |
154 | GPS_PosDev_t TargetPositionDeviation; |
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155 | GPS_Pos_t HomePosition; |
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156 | GPS_PosDev_t HomePositionDeviation; |
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157 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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158 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 159 | u8 SatsInUse; // number of satellites used for position solution |
739 | holgerb | 160 | s16 Altimeter_5cm; // hight according to air pressure |
41 | ingob | 161 | s16 Variometer; // climb(+) and sink(-) rate |
162 | u16 FlyingTime; // in seconds |
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163 | u8 UBat; // Battery Voltage in 0.1 Volts |
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164 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 165 | s16 Heading; // current flight direction in ° as angle to north |
166 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 167 | s8 AngleNick; // current Nick angle in 1° |
168 | s8 AngleRoll; // current Rick angle in 1° |
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169 | u8 RC_Quality; // RC_Quality |
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789 | holgerb | 170 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
171 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
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41 | ingob | 172 | u8 Errorcode; // 0 --> okay |
532 | holgerb | 173 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
89 | killagreg | 174 | s16 TopSpeed; // velocity in vertical direction in cm/s |
125 | killagreg | 175 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
294 | holgerb | 176 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
161 | killagreg | 177 | s16 SetpointAltitude; // setpoint for altitude |
789 | holgerb | 178 | u8 Gas; // current gas (thrust) |
206 | killagreg | 179 | u16 Current; // actual current in 0.1A steps |
180 | u16 UsedCapacity; // used capacity in mAh |
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768 | holgerb | 181 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
182 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
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41 | ingob | 183 | } __attribute__((packed)) NaviData_t; |
184 | extern NaviData_t NaviData; |
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185 | |||
789 | holgerb | 186 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | //+ New protocol |
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188 | //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes) |
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189 | //+ i.e. 'O'+10+1024 |
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190 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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191 | |||
192 | typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) |
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598 | holgerb | 193 | { |
789 | holgerb | 194 | u8 Index; // Index to identify this data set |
195 | s32 ActualLongitude; // |
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196 | s32 ActualLatitude; // |
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197 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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198 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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199 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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200 | u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc |
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201 | u8 reserve1; |
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598 | holgerb | 202 | } __attribute__((packed)) NaviData_Tiny_t; |
203 | extern NaviData_Tiny_t NaviData_Tiny; |
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204 | |||
205 | #define START_PAYLOAD_DATA 13 // |
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206 | |||
789 | holgerb | 207 | typedef struct // Index:11 (24 Bytes need 39 ASCII-characters) |
598 | holgerb | 208 | { |
789 | holgerb | 209 | u8 Index; // Index to identify this data set |
210 | s32 ActualLongitude; // |
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211 | s32 ActualLatitude; // |
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212 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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213 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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214 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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215 | u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx |
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216 | u8 NCFlags; // Flags from NC |
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217 | u8 ReserveFlags; |
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218 | u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes |
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219 | u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h) |
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220 | u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc) |
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221 | u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc) |
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222 | u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls |
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598 | holgerb | 223 | } __attribute__((packed)) NaviData_Flags_t; |
224 | extern NaviData_Flags_t NaviData_Flags; |
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225 | |||
789 | holgerb | 226 | typedef struct // Index:12 (27 Bytes need 43 ASCII-characters) |
598 | holgerb | 227 | { |
789 | holgerb | 228 | u8 Index; // Index to identify this data set |
229 | s32 ActualLongitude; // |
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230 | s32 ActualLatitude; // |
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231 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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232 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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233 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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234 | s32 TargetLongitude; // |
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235 | s32 TargetLatitude; // |
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236 | s16 TargetAltitude; // hight according to air pressure |
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237 | u8 RC_Quality; // RC_Quality |
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598 | holgerb | 238 | } __attribute__((packed)) NaviData_Target_t; |
239 | extern NaviData_Target_t NaviData_Target; |
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240 | |||
789 | holgerb | 241 | typedef struct // Index:13 (30 Bytes need 47 ASCII-characters) |
242 | { |
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243 | u8 Index; // Index to identify this data set |
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244 | s32 ActualLongitude; // |
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245 | s32 ActualLatitude; // |
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246 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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247 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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248 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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249 | s32 HomeLongitude; // |
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250 | s32 HomeLatitude; // |
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251 | s16 HomeAltitude; // hight according to air pressure |
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252 | u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
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598 | holgerb | 253 | u8 LipoCellCount; |
789 | holgerb | 254 | u8 DescendRange; // in [10m] |
255 | u8 ManualFlyingRange; // in [10m] |
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807 | holgerb | 256 | u8 OSDStatusFlags3; |
622 | holgerb | 257 | u8 reserve1; |
598 | holgerb | 258 | } __attribute__((packed)) NaviData_Home_t; |
259 | extern NaviData_Home_t NaviData_Home; |
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260 | |||
789 | holgerb | 261 | typedef struct // Index:14 (24 Bytes need 39 ASCII-characters) |
600 | holgerb | 262 | { |
789 | holgerb | 263 | u8 Index; // Index to identify this data set |
264 | s32 ActualLongitude; // |
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265 | s32 ActualLatitude; // |
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266 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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267 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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268 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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269 | u16 FlyingTime; // in seconds |
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270 | u16 DistanceToHome; // [10cm] (100 = 10m) |
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271 | u8 HeadingToHome; // in 2° (100 = 200°) |
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272 | u16 DistanceToTarget; // [10cm] (100 = 10m) |
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273 | u8 HeadingToTarget; // in 2° (100 = 200°) |
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274 | s8 AngleNick; // current Nick angle in 1° |
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275 | s8 AngleRoll; // current Rick angle in 1° |
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276 | u8 SatsInUse; // number of satellites used for position solution |
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277 | } __attribute__((packed)) NaviData_Deviation_t; |
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278 | extern NaviData_Deviation_t NaviData_Deviation; |
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600 | holgerb | 279 | |
789 | holgerb | 280 | typedef struct // Index:15 (18 Bytes need 31 ASCII-characters) |
621 | holgerb | 281 | { |
789 | holgerb | 282 | u8 Index; // Index to identify this data set |
283 | s32 ActualLongitude; // |
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284 | s32 ActualLatitude; // |
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285 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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286 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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287 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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288 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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289 | u8 WaypointNumber; // number of stored waypoints |
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290 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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291 | u8 WP_Eventchannel; // the current value of the event channel |
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598 | holgerb | 292 | u8 reserve; |
293 | } __attribute__((packed)) NaviData_WP_t; |
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294 | extern NaviData_WP_t NaviData_WP; |
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295 | |||
789 | holgerb | 296 | typedef struct // Index:16 (27 Bytes need 43 ASCII-characters) |
598 | holgerb | 297 | { |
789 | holgerb | 298 | u8 Index; // Index to identify this data set |
299 | s32 ActualLongitude; // |
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300 | s32 ActualLatitude; // |
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301 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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302 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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303 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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304 | u16 UBat; // Battery Voltage in 0.1 Volts |
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305 | u16 Current; // actual current in 0.1A steps |
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306 | u16 UsedCapacity; // used capacity in mAh |
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307 | s8 Variometer; // climb(+) and sink(-) rate |
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308 | u8 Heading; // Current moving direction in 2° (100 = 200°) |
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309 | u8 CompassHeading; // current compass value in 2° |
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310 | u8 Gas; // current gas (thrust) |
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311 | u16 ShutterCounter; // counts every time a Out1 was activated |
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312 | s16 SetpointAltitude; // setpoint for altitude |
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598 | holgerb | 313 | } __attribute__((packed)) NaviData_Volatile_t; |
314 | extern NaviData_Volatile_t NaviData_Volatile; |
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315 | |||
316 | |||
789 | holgerb | 317 | typedef struct // Index:17 (21 Bytes need 35 ASCII-characters) |
318 | { |
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319 | u8 Index; // Index to identify this data set |
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320 | s32 ActualLongitude; // |
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321 | s32 ActualLatitude; // |
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322 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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323 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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324 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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325 | s32 Longitude; // Failsafe-Position |
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326 | s32 Latitude; // Failsafe-Position |
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327 | } __attribute__((packed)) NaviData_FS_Pos_t; |
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328 | extern NaviData_FS_Pos_t NaviData_Failsafe; |
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598 | holgerb | 329 | |
789 | holgerb | 330 | typedef struct // Index:18 (9 Bytes need 19 ASCII-characters) |
331 | { |
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332 | u8 Index; // Index to identify this data set |
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333 | s32 Longitude; // Trigger Position |
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334 | s32 Latitude; // Trigger Position |
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335 | } __attribute__((packed)) NaviData_Out_t; |
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336 | extern NaviData_Out_t NaviData_Out1Trigger; |
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598 | holgerb | 337 | |
338 | |||
41 | ingob | 339 | extern UART_TypeDef *DebugUART; |
92 | killagreg | 340 | extern volatile u8 SerialLinkOkay; |
349 | ingob | 341 | extern Buffer_t UART1_tx_buffer; |
380 | holgerb | 342 | extern Buffer_t UART1_rx_buffer; |
773 | holgerb | 343 | extern u16 UART1_BaudrateFallbackTimeout; |
41 | ingob | 344 | |
345 | void UART1_Init(void); |
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346 | void UART1_Transmit(void); |
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347 | void UART1_TransmitTxData(void); |
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348 | void UART1_ProcessRxData(void); |
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349 | |||
110 | killagreg | 350 | s16 UART1_Putchar(char c); |
351 | void UART1_PutString(u8 *s); |
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150 | killagreg | 352 | extern u8 text[]; // globally used text buffer |
110 | killagreg | 353 | extern u8 UART1_Request_SendFollowMe; |
360 | holgerb | 354 | extern u8 LastTransmittedFCStatusFlags2; |
519 | holgerb | 355 | extern u8 UART1_Request_ReadPoint; |
495 | killagreg | 356 | extern WPL_Store_t WPL_Store; |
598 | holgerb | 357 | extern u8 CalculateDebugLableCrc(void); |
626 | holgerb | 358 | extern u8 NaviData_Flags_SpeakHoTT_Processed; |
532 | holgerb | 359 | |
772 | ingob | 360 | extern void UART1_Configure(u32 baudrate); |
361 | |||
532 | holgerb | 362 | typedef struct |
363 | { |
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364 | u8 User[128]; |
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365 | u8 eMail[128]; |
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366 | u8 Feature[128]; |
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367 | u8 Expire[11]; |
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368 | u8 License[16]; |
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763 | holgerb | 369 | } __attribute__((packed)) LicenseS_t; |
529 | holgerb | 370 | extern u8 *LicensePtr; |
495 | killagreg | 371 | |
460 | holgerb | 372 | extern u32 NMEA_Interval;// in ms |
529 | holgerb | 373 | #define LICENSE_SIZE 480 |
374 | #define LICENSE_SIZE_TEXT 411 |
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460 | holgerb | 375 | |
41 | ingob | 376 | #endif //_UART1_H |