Subversion Repositories NaviCtrl

#ifndef _UART1_H

#define _UART1_H

#define UART_FLIGHTCTRL 0

#define UART_MK3MAG     1

#define UART_MKGPS      2

#include "ubx.h"

#include "waypoints.h"

#define NC_ERROR0_SPI_RX                                0x01

#define NC_ERROR0_COMPASS_RX                    0x02

#define NC_ERROR0_FC_INCOMPATIBLE               0x04

#define NC_ERROR0_COMPASS_INCOMPATIBLE  0x08

#define NC_ERROR0_GPS_RX                                0x10

#define NC_ERROR0_COMPASS_VALUE                 0x20

#define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET);

#define  ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET);

extern u32 Uart1Baudrate;

#define MAX_BD_RATES 11

extern const u32 BAUDRATES[MAX_BD_RATES];

extern u8 FromKopterToolFlags[7];

#define FLAG_ALTIMETER_M                                0x01

typedef struct

{

        u8 SWMajor;

        u8 SWMinor;

        u8 ProtoMajor;

        u8 LabelTextCRC;

        u8 SWPatch;

    u8 HardwareError[2];

    u8 HWMajor;

    u8 BL_Firmware;  

    u8 Flags;

} __attribute__((packed)) UART_VersionInfo_t;

extern UART_VersionInfo_t UART_VersionInfo;

//VersionInfo.Flags

#define NC_VERSION_FLAG_MK3MAG_PRESENT      0x01

#define NC_VERSION_FLAG_GPS_PRESENT             0x02

typedef struct

{

        s16 AngleNick;  // in 0.1 deg

        s16 AngleRoll;   // in 0.1 deg

        s16 Heading;    // in 0.1 deg

    u8 StickNick;

    u8 StickRoll;

    u8 StickYaw;

    u8 StickGas;

        s16 Altimeter_5cm; // in 5cm -> devide by 20 to get meters & multiply with 5 to get cm

        u8 reserve[2];

} __attribute__((packed)) Data3D_t;

extern Data3D_t Data3D;

extern const u8 ANALOG_LABEL[32][16];

#define AMPEL_FC                0x01

#define AMPEL_BL                0x02

#define AMPEL_NC                0x04

#define AMPEL_COMPASS   0x08

typedef struct

{

        u8 StatusGreen;

        u8 StatusRed;

        u16 Analog[32];    // Debugwerte

} __attribute__((packed)) DebugOut_t;

extern DebugOut_t DebugOut;

/*

typedef struct

{

        u8      Digital[2];

        u8      RemoteButtons;

        s8      Nick;

        s8      Roll;

        s8      Yaw;

        u8      Gas;

        s8      Height;

        u8      free;

        u8      Frame;

        u8      Config;

} __attribute__((packed)) ExternControl_t;

*/

#define EC_VALID                                0x01 // only valid if this is 1

#define EC_GAS_ADD                              0x02 // if 1 -> use the GAS Value not as MAX

#define EC_ONLY_IF_MOTOR_OFF    0x10 // use these Stick Positions only if the motors are not running -> Claibrate etc.

#define EC_USE_SWITCH                   0x20 // if 1 -> use the Switches for further control

#define EC_IGNORE_RC_STICK              0x40 // direct control (do nor add to RC-Stick)

#define EC_IGNORE_RC_LOST               0x80 // if 1 -> for Flying without RC-Control 

// defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH)

#define EC2_PH                          0x01 // GPS-Mode: PH

#define EC2_CH                          0x02 // GPS-Mode: CH

#define EC2_CAREFREE            0x10 // 

#define EC2_ALTITUDE            0x20 // 

#define EC2_AUTOSTART           0x40 // 

#define EC2_AUTOLAND            0x80 // 

typedef struct

{

 signed char Nick;

 signed char Roll;

 signed char Gier;

 signed char Gas;

 unsigned char Frame; // will return a confirm frame with this value

 unsigned char Config;

 unsigned char Switches;

 unsigned char Free1; // these two don't need capacity in the ASCII data string

 unsigned char Free2;

} __attribute__((packed)) ExternControl_t;

extern ExternControl_t ExternControl;

extern u8 NewExternalControlFrame; // flag that sends the Frame to FC

extern u8 FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch; // answer from FC

#define SERIAL_POTI_START 17

#define WP_EVENT_PPM_IN   29

#define PPM_IN_OFF        30

#define PPM_IN_MAX        31

#define PPM_IN_MID        32

typedef struct

{

 signed char   Ch[12];

} __attribute__((packed)) SerialChannel_t;

extern SerialChannel_t SerialChannel;

extern u8 NewSerialChannelFrame; // flag that sends the Frame to FC

typedef struct

{

        s16 Nick;

        s16 Roll;

        s16 Compass;                                    // angle between north and head of the MK

} __attribute__((packed)) Attitude_t;

typedef struct

{

        u16 Distance_dm;                                        // distance to target in dm

        s16 Bearing;                                    // course to target in deg

} __attribute__((packed)) GPS_PosDev_t;

#define NAVIDATA_VERSION 5

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ old protocol

//+ start abbo communication with: 'O' + Interval [10ms] 

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

typedef struct   // 84 Bytes    (note: this is the old protocol)

{

        u8 Version;                                             // version of the data structure = 5 

        GPS_Pos_t CurrentPosition;              // see gpspos.h for details

        GPS_Pos_t TargetPosition;

        GPS_PosDev_t TargetPositionDeviation;

        GPS_Pos_t HomePosition;

        GPS_PosDev_t HomePositionDeviation;

        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1

        u8  WaypointNumber;                             // number of stored waypoints

        u8  SatsInUse;                                  // number of satellites used for position solution

        s16 Altimeter_5cm;                              // hight according to air pressure

        s16 Variometer;                                 // climb(+) and sink(-) rate

        u16 FlyingTime;                                 // in seconds

        u8  UBat;                                               // Battery Voltage in 0.1 Volts

        u16 GroundSpeed;                                // speed over ground in cm/s (2D)

        s16 Heading;                                    // current flight direction in ° as angle to north

        s16     CompassHeading;                         // current compass value in °

        s8  AngleNick;                                  // current Nick angle in 1°

        s8  AngleRoll;                                  // current Rick angle in 1°

        u8  RC_Quality;                                 // RC_Quality

        u8  FCStatusFlags;                              // Flags from FC see main.c FC_STATUS_xxx

        u8  NCFlags;                                    // Flags from NC see main.h NC_FLAG_xxx

        u8  Errorcode;                                  // 0 --> okay

        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m

        s16 TopSpeed;                                   // velocity in vertical direction in cm/s

        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached

        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)

        s16 SetpointAltitude_5cm;               // setpoint for altitude

        u8  Gas;                                                // current gas (thrust)

        u16 Current;                                    // actual current in 0.1A steps

        u16 UsedCapacity;                               // used capacity in mAh

        u8 reserve1;                                    // to fit into 84 bytes (must be divisible by 3) 

        u8 reserve2;                                    // to fit into 84 bytes (must be divisible by 3)

} __attribute__((packed)) NaviData_t;

extern NaviData_t NaviData;

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ New protocol

//+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes)

//+ i.e. 'O'+10+1024

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) -> 7+(x/3)*4

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u8 CamCtrlChar;                 // Status from a connected CamCtrl unit: 'R' = REC  'c' = Ready  '!' = Error  ...etc

u8 reserve1;                     

} __attribute__((packed)) NaviData_Tiny_t;

extern NaviData_Tiny_t NaviData_Tiny;

#define START_PAYLOAD_DATA  13  // 

typedef struct  // Index:11 (24 Bytes need 39 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u8 OSDStatusFlags2;             // see main.h for definitions OSD_FLAG2_xxx

        u8  NCFlags;                    // Flags from NC

u8 ReserveFlags;

        u8  Errorcode;                  // 0 --> okay  see http://wiki.mikrokopter.de/ErrorCodes

        u8 SpeakHoTT;                   // voice output SPEAK_xxx (see spi_slave.h)

        u8 VarioCharacter;              // display as ascii character ('+' = 'climb' etc)

        u8 GPS_ModeCharacter;   // display as ascii character ('H' = 'Home' etc)

        u8 BL_MinOfMaxPWM;              // status byte of the BL-Ctrls

} __attribute__((packed)) NaviData_Flags_t;

extern NaviData_Flags_t NaviData_Flags;

typedef struct  // Index:12  (27 Bytes need 43 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        s32 TargetLongitude;    // 

        s32 TargetLatitude;             // 

        s16 TargetAltitude;     // hight according to air pressure

        u8  RC_Quality;                 // RC_Quality

} __attribute__((packed)) NaviData_Target_t;

extern NaviData_Target_t NaviData_Target;

typedef struct  // Index:13  (30 Bytes need 47 ASCII-characters)

{                                          

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        s32 HomeLongitude;              // 

        s32 HomeLatitude;               // 

        s16 HomeAltitude;               // hight according to air pressure

        u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m

        u8 LipoCellCount;

        u8 DescendRange;                // in [10m]

        u8 ManualFlyingRange;   // in [10m]

        u8 OSDStatusFlags3;

u8 reserve1;

} __attribute__((packed)) NaviData_Home_t;

extern NaviData_Home_t NaviData_Home;

typedef struct   // Index:14    (24 Bytes need 39 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u16 FlyingTime;                 // in seconds

        u16 DistanceToHome;             // [10cm] (100 = 10m)

        u8  HeadingToHome;              // in 2° (100 = 200°)

        u16 DistanceToTarget;   // [10cm] (100 = 10m)   

        u8  HeadingToTarget;    // in 2° (100 = 200°)

        s8  AngleNick;                  // current Nick angle in 1°

        s8  AngleRoll;                  // current Rick angle in 1°

        u8  SatsInUse;                  // number of satellites used for position solution

} __attribute__((packed)) NaviData_Deviation_t;

extern NaviData_Deviation_t NaviData_Deviation;

typedef struct // Index:15 (18 Bytes need 31 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8  GroundSpeed;                // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u8  WaypointIndex;              // index of current waypoints running from 0 to WaypointNumber-1

        u8  WaypointNumber;             // number of stored waypoints

        u8  TargetHoldTime;             // time in s to stay at the given target, counts down to 0 if target has been reached

        u8 WP_Eventchannel;             // the current value of the event channel

u8 reserve;

} __attribute__((packed)) NaviData_WP_t;

extern NaviData_WP_t NaviData_WP;

typedef struct // Index:16  (27 Bytes need 43 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u16 UBat;                               // Battery Voltage in 0.1 Volts

        u16 Current;                    // actual current in 0.1A steps

        u16 UsedCapacity;               // used capacity in mAh

        s8  Variometer;                 // climb(+) and sink(-) rate

        u8  Heading;                    // Current moving direction in 2° (100 = 200°)

        u8      CompassHeading;         // current compass value in 2°

        u8  Gas;                                // current gas (thrust)

        u16 ShutterCounter;             // counts every time a Out1 was activated

        s16 SetpointAltitude;   // setpoint for altitude

} __attribute__((packed)) NaviData_Volatile_t;

extern NaviData_Volatile_t NaviData_Volatile;

typedef struct  // Index:17  (21 Bytes need 35 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        s32 Longitude;                  // Failsafe-Position

        s32 Latitude;                   // Failsafe-Position

} __attribute__((packed)) NaviData_FS_Pos_t;

extern NaviData_FS_Pos_t NaviData_Failsafe;

typedef struct // Index:18  (9 Bytes need 19 ASCII-characters)

{

        u8 Index;                               // Index to identify this data set

        s32 Longitude;                  // Trigger Position

        s32 Latitude;                   // Trigger Position

} __attribute__((packed)) NaviData_Out_t;

extern NaviData_Out_t NaviData_Out1Trigger;

typedef struct  // Index:19  (36 Bytes need 55 ASCII-characters) -> 7+(x/3)*4

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u8 HoTT_DisplayText[21];

        u8 HoTT_TextLevel;          // Level of the Message: 0 = Nothing special; 1 = OEM-Name ;  2 = Waypoint Data ; 3 = Simulation ; 4 = "Calibrate"  ; 5 = "Load&Safe" ; 6 = "Setting name"  ; 7-10 = Error

        u8 MagnetField;                 // 100% = okay

} __attribute__((packed)) NaviData_HoTT_Text_t;

extern NaviData_HoTT_Text_t NaviData_HoTT_Text;

typedef struct // Index:20 (15 Bytes need 27 ASCII-characters) -> 7+(x/3)*4      -> sending only if LaserCtrl is connected

{

        u8 Index;                               // Index to identify this data set

        s32 ActualLongitude;    // 

        s32 ActualLatitude;             // 

        s16 Altimeter_5cm_or_m; // hight -> devide by 20 to get meters & multiply with 5 to get cm or in meters in the new protocol

        u8 GroundSpeed;                 // speed over ground in 10cm/s (2D) (255 = 91km/h)

        u8 OSDStatusFlags;              // see main.h for definitions OSD_FLAG_xxx

        u16 Distance;

} __attribute__((packed)) NaviData_Laser_t;

extern NaviData_Laser_t NaviData_Laser;

typedef struct

{

 u8 ComingHomeAltitude;

 u8 FailsafeAltitude;

 u8 TriggerMask;                        // Trigger Bitmask

 u8 Flags;                              // 0x01  = Ignore RC lost (Lizenz feature!) -  default aus

 u8 reserved[32];

} __attribute__((packed)) WP_MissionParameter_t;

extern WP_MissionParameter_t WP_MissionParameter;

#define MISSION_IGNORE_RC_LOST          0x01

#define MISSION_TRIGGER_DELAY           0x02

#define MISSION_DATA_RECEIVED           0x80    // wird bei Empfang auf Eins gesetzt

/*

NaviMaxFlyingRange

NaviDescendRange

FailSafeTime -> ignore RC-Lost

AutoPhotoAtitudes

FailSafeAltitude -> Bei Punkt?

J16Bitmask

*/

extern UART_TypeDef *DebugUART;

extern volatile u8 SerialLinkOkay;

extern Buffer_t UART1_tx_buffer;

extern Buffer_t UART1_rx_buffer;

extern u16 UART1_BaudrateFallbackTimeout;

void UART1_Init(void);

void UART1_Transmit(void);

void UART1_TransmitTxData(void);

void UART1_ProcessRxData(void);

s16  UART1_Putchar(char c);

void UART1_PutString(u8 *s);

extern u8 text[]; // globally used text buffer

extern u8 UART1_Request_SendFollowMe;

extern u8 LastTransmittedFCStatusFlags2;

extern u8 UART1_Request_ReadPoint;

extern WPL_Store_t WPL_Store;

extern u8 CalculateDebugLableCrc(void);

extern u8 NaviData_Flags_SpeakHoTT_Processed;

extern u8 FTP_Mode;                                             // PC initiates FTP-Mode

extern void UART1_Configure(u32 baudrate);

extern void GetBaudrateFromSdCard(u32 oldBd);

typedef struct

{

        u8 User[128];

        u8 eMail[128];

        u8 Feature[128];

        u8 Expire[11];

        u8 License[16];

} __attribute__((packed)) LicenseS_t;

extern u8 *LicensePtr;

extern u32 NMEA_Interval;// in ms

#define LICENSE_SIZE            480

#define LICENSE_SIZE_TEXT       411

#endif //_UART1_H