Rev 62 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | #ifndef _UART1_H |
| 2 | #define _UART1_H |
||
| 3 | |||
| 4 | #define UART_FLIGHTCTRL 0 |
||
| 5 | #define UART_MK3MAG 1 |
||
| 6 | #define UART_MKGPS 2 |
||
| 7 | |||
| 8 | #define TXD_BUFFER_LEN 150 |
||
| 9 | #define RXD_BUFFER_LEN 150 |
||
| 10 | #define BAUD_RATE 57600 //Baud Rate for the serial interfaces |
||
| 11 | |||
| 12 | #include "ubx.h" |
||
| 13 | |||
| 62 | killagreg | 14 | typedef struct |
| 61 | holgerb | 15 | { |
| 62 | killagreg | 16 | s16 AngleNick; // in 0.1 deg |
| 17 | s16 AngleRoll; // in 0.1 deg |
||
| 18 | s16 Heading; // in 0.1 deg |
||
| 61 | holgerb | 19 | u8 reserve[8]; |
| 20 | } __attribute__((packed)) Data3D_t; |
||
| 21 | |||
| 22 | extern Data3D_t Data3D; |
||
| 23 | |||
| 41 | ingob | 24 | typedef struct |
| 25 | { |
||
| 26 | u8 Digital[2]; |
||
| 27 | u16 Analog[32]; // Debugwerte |
||
| 28 | } __attribute__((packed)) DebugOut_t; |
||
| 29 | |||
| 30 | extern DebugOut_t DebugOut; |
||
| 31 | |||
| 32 | typedef struct |
||
| 33 | { |
||
| 34 | u8 Digital[2]; |
||
| 35 | u8 RemoteButtons; |
||
| 36 | s8 Nick; |
||
| 37 | s8 Roll; |
||
| 38 | s8 Yaw; |
||
| 39 | u8 Gas; |
||
| 40 | s8 Height; |
||
| 41 | u8 free; |
||
| 42 | u8 Frame; |
||
| 43 | u8 Config; |
||
| 44 | } __attribute__((packed)) ExternControl_t; |
||
| 45 | |||
| 46 | extern ExternControl_t ExternControl; |
||
| 47 | |||
| 48 | typedef struct |
||
| 49 | { |
||
| 50 | s16 Nick; |
||
| 51 | s16 Roll; |
||
| 52 | s16 Compass; // angle between north and head of the MK |
||
| 53 | } __attribute__((packed)) Attitude_t; |
||
| 54 | |||
| 55 | typedef struct |
||
| 56 | { |
||
| 57 | s16 Distance; // distance to target in cm |
||
| 58 | s16 Bearing; // course to target in deg |
||
| 59 | } __attribute__((packed)) GPS_PosDev_t; |
||
| 60 | |||
| 61 | typedef struct |
||
| 62 | { |
||
| 63 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
||
| 64 | GPS_Pos_t TargetPosition; |
||
| 65 | GPS_PosDev_t TargetPositionDeviation; |
||
| 66 | GPS_Pos_t HomePosition; |
||
| 67 | GPS_PosDev_t HomePositionDeviation; |
||
| 68 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
||
| 69 | u8 WaypointNumber; // number of stored waypoints |
||
| 70 | u8 SatsInUse; // no of satellites used for position solution |
||
| 71 | s16 Altimeter; // hight according to air pressure |
||
| 72 | s16 Variometer; // climb(+) and sink(-) rate |
||
| 73 | u16 FlyingTime; // in seconds |
||
| 74 | u8 UBat; // Battery Voltage in 0.1 Volts |
||
| 75 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
||
| 76 | s16 Heading; // current flight direction in deg as angle to north |
||
| 77 | s16 CompassHeading; // current compass value |
||
| 78 | s8 AngleNick; // current Nick angle in 1° |
||
| 79 | s8 AngleRoll; // current Rick angle in 1° |
||
| 80 | u8 RC_Quality; // RC_Quality |
||
| 81 | u8 MKFlags; // Flags from FC |
||
| 82 | u8 NCFlags; // Flags from NC |
||
| 83 | u8 Errorcode; // 0 --> okay |
||
| 84 | u8 Reserve[8]; // for future use |
||
| 85 | } __attribute__((packed)) NaviData_t; |
||
| 86 | |||
| 87 | extern NaviData_t NaviData; |
||
| 88 | extern u8 Request_NaviData; |
||
| 89 | |||
| 90 | #define NC_FLAG_FREE 1 |
||
| 91 | #define NC_FLAG_PH 2 |
||
| 92 | #define NC_FLAG_CH 4 |
||
| 93 | #define NC_FLAG_RANGE_LIMIT 8 |
||
| 94 | |||
| 95 | typedef struct |
||
| 96 | { |
||
| 97 | u8 SWMajor; |
||
| 98 | u8 SWMinor; |
||
| 99 | u8 ProtoMajor; |
||
| 100 | u8 ProtoMinor; |
||
| 101 | u8 SWPatch; |
||
| 102 | u8 Reserved[5]; |
||
| 103 | } __attribute__((packed)) UART_VersionInfo_t; |
||
| 104 | |||
| 105 | extern volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
||
| 106 | extern volatile u8 ReceivedBytes; |
||
| 107 | extern volatile u8 rxd_buffer_locked; |
||
| 108 | extern UART_TypeDef *DebugUART; |
||
| 109 | |||
| 110 | |||
| 111 | void UART1_Init(void); |
||
| 112 | void UART1_Transmit(void); |
||
| 113 | void UART1_TransmitTxData(void); |
||
| 114 | void UART1_ProcessRxData(void); |
||
| 115 | |||
| 116 | s16 uart_putchar (char c); |
||
| 117 | void SerialPutString(u8 *s); |
||
| 118 | extern u8 text[100]; |
||
| 54 | killagreg | 119 | extern u32 Request_NaviData_Intervall; // in ms |
| 41 | ingob | 120 | extern u8 Request_SendFollowMe; |
| 121 | #endif //_UART1_H |