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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
92	killagreg	8	#include "ubx.h"
41	ingob	9
156	killagreg	10
62	killagreg	11	typedef struct
92	killagreg	12	{
112	killagreg	13	u8 SWMajor;
		14	u8 SWMinor;
		15	u8 ProtoMajor;
		16	u8 ProtoMinor;
		17	u8 SWPatch;
231	holgerb	18	u8 HardwareError[5];
161	killagreg	19	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	20
		21	extern UART_VersionInfo_t UART_VersionInfo;
		22
		23	typedef struct
		24	{
161	killagreg	25	s16 AngleNick; // in 0.1 deg
		26	s16 AngleRoll; // in 0.1 deg
		27	s16 Heading; // in 0.1 deg
		28	u8 reserve[8];
61	holgerb	29	} __attribute__((packed)) Data3D_t;
		30
		31	extern Data3D_t Data3D;
		32
112	killagreg	33
		34	extern const u8 ANALOG_LABEL[32][16];
		35
41	ingob	36	typedef struct
		37	{
231	holgerb	38	u8 Status[2];
41	ingob	39	u16 Analog[32]; // Debugwerte
		40	} __attribute__((packed)) DebugOut_t;
		41
		42	extern DebugOut_t DebugOut;
		43
		44	typedef struct
		45	{
		46	u8 Digital[2];
		47	u8 RemoteButtons;
		48	s8 Nick;
		49	s8 Roll;
		50	s8 Yaw;
		51	u8 Gas;
		52	s8 Height;
		53	u8 free;
		54	u8 Frame;
		55	u8 Config;
		56	} __attribute__((packed)) ExternControl_t;
		57
		58	extern ExternControl_t ExternControl;
		59
		60	typedef struct
		61	{
		62	s16 Nick;
		63	s16 Roll;
		64	s16 Compass; // angle between north and head of the MK
161	killagreg	65	} __attribute__((packed)) Attitude_t;
41	ingob	66
		67	typedef struct
		68	{
89	killagreg	69	u16 Distance; // distance to target in dm
92	killagreg	70	s16 Bearing; // course to target in deg
161	killagreg	71	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	72
225	killagreg	73	#define NAVIDATA_VERSION 4
89	killagreg	74
41	ingob	75	typedef struct
		76	{
89	killagreg	77	u8 Version; // version of the data structure
41	ingob	78	GPS_Pos_t CurrentPosition; // see ubx.h for details
		79	GPS_Pos_t TargetPosition;
		80	GPS_PosDev_t TargetPositionDeviation;
		81	GPS_Pos_t HomePosition;
		82	GPS_PosDev_t HomePositionDeviation;
		83	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		84	u8 WaypointNumber; // number of stored waypoints
89	killagreg	85	u8 SatsInUse; // number of satellites used for position solution
41	ingob	86	s16 Altimeter; // hight according to air pressure
		87	s16 Variometer; // climb(+) and sink(-) rate
		88	u16 FlyingTime; // in seconds
		89	u8 UBat; // Battery Voltage in 0.1 Volts
		90	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	91	s16 Heading; // current flight direction in � as angle to north
		92	s16 CompassHeading; // current compass value in �
41	ingob	93	s8 AngleNick; // current Nick angle in 1�
		94	s8 AngleRoll; // current Rick angle in 1�
		95	u8 RC_Quality; // RC_Quality
199	killagreg	96	u8 FCFlags; // Flags from FC
41	ingob	97	u8 NCFlags; // Flags from NC
		98	u8 Errorcode; // 0 --> okay
161	killagreg	99	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	100	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	101	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		102	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
161	killagreg	103	s16 SetpointAltitude; // setpoint for altitude
		104	u8 Gas; // for future use
206	killagreg	105	u16 Current; // actual current in 0.1A steps
		106	u16 UsedCapacity; // used capacity in mAh
41	ingob	107	} __attribute__((packed)) NaviData_t;
		108
		109	extern NaviData_t NaviData;
		110
92	killagreg	111	#define NC_FLAG_FREE 0x01
		112	#define NC_FLAG_PH 0x02
		113	#define NC_FLAG_CH 0x04
		114	#define NC_FLAG_RANGE_LIMIT 0x08
		115	#define NC_FLAG_NOSERIALLINK 0x10
		116	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	117	#define NC_FLAG_MANUAL_CONTROL 0x40
92	killagreg	118	#define NC_FLAG_8 0x80
41	ingob	119
		120	extern UART_TypeDef *DebugUART;
92	killagreg	121	extern volatile u8 SerialLinkOkay;
41	ingob	122
92	killagreg	123
41	ingob	124	void UART1_Init(void);
		125	void UART1_Transmit(void);
		126	void UART1_TransmitTxData(void);
		127	void UART1_ProcessRxData(void);
		128
110	killagreg	129	s16 UART1_Putchar(char c);
		130	void UART1_PutString(u8 *s);
150	killagreg	131	extern u8 text[]; // globally used text buffer
110	killagreg	132	extern u8 UART1_Request_SendFollowMe;
41	ingob	133	#endif //_UART1_H

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