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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
256	killagreg	10	#define NC_ERROR0_SPI_RX 0x01
		11	#define NC_ERROR0_COMPASS_RX 0x02
		12	#define NC_ERROR0_FC_INCOMPATIBLE 0x04
		13	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08
		14	#define NC_ERROR0_GPS_RX 0x10
		15	#define NC_ERROR0_COMPASS_VALUE 0x20
156	killagreg	16
62	killagreg	17	typedef struct
92	killagreg	18	{
112	killagreg	19	u8 SWMajor;
		20	u8 SWMinor;
		21	u8 ProtoMajor;
		22	u8 ProtoMinor;
		23	u8 SWPatch;
231	holgerb	24	u8 HardwareError[5];
161	killagreg	25	} __attribute__((packed)) UART_VersionInfo_t;
112	killagreg	26
		27	extern UART_VersionInfo_t UART_VersionInfo;
		28
		29	typedef struct
		30	{
161	killagreg	31	s16 AngleNick; // in 0.1 deg
		32	s16 AngleRoll; // in 0.1 deg
		33	s16 Heading; // in 0.1 deg
		34	u8 reserve[8];
61	holgerb	35	} __attribute__((packed)) Data3D_t;
		36
		37	extern Data3D_t Data3D;
		38
112	killagreg	39
		40	extern const u8 ANALOG_LABEL[32][16];
		41
41	ingob	42	typedef struct
		43	{
231	holgerb	44	u8 Status[2];
41	ingob	45	u16 Analog[32]; // Debugwerte
		46	} __attribute__((packed)) DebugOut_t;
		47
		48	extern DebugOut_t DebugOut;
		49
		50	typedef struct
		51	{
		52	u8 Digital[2];
		53	u8 RemoteButtons;
		54	s8 Nick;
		55	s8 Roll;
		56	s8 Yaw;
		57	u8 Gas;
		58	s8 Height;
		59	u8 free;
		60	u8 Frame;
		61	u8 Config;
		62	} __attribute__((packed)) ExternControl_t;
		63
		64	extern ExternControl_t ExternControl;
		65
		66	typedef struct
		67	{
		68	s16 Nick;
		69	s16 Roll;
		70	s16 Compass; // angle between north and head of the MK
161	killagreg	71	} __attribute__((packed)) Attitude_t;
41	ingob	72
		73	typedef struct
		74	{
89	killagreg	75	u16 Distance; // distance to target in dm
92	killagreg	76	s16 Bearing; // course to target in deg
161	killagreg	77	} __attribute__((packed)) GPS_PosDev_t;
41	ingob	78
225	killagreg	79	#define NAVIDATA_VERSION 4
89	killagreg	80
41	ingob	81	typedef struct
		82	{
89	killagreg	83	u8 Version; // version of the data structure
41	ingob	84	GPS_Pos_t CurrentPosition; // see ubx.h for details
		85	GPS_Pos_t TargetPosition;
		86	GPS_PosDev_t TargetPositionDeviation;
		87	GPS_Pos_t HomePosition;
		88	GPS_PosDev_t HomePositionDeviation;
		89	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		90	u8 WaypointNumber; // number of stored waypoints
89	killagreg	91	u8 SatsInUse; // number of satellites used for position solution
41	ingob	92	s16 Altimeter; // hight according to air pressure
		93	s16 Variometer; // climb(+) and sink(-) rate
		94	u16 FlyingTime; // in seconds
		95	u8 UBat; // Battery Voltage in 0.1 Volts
		96	u16 GroundSpeed; // speed over ground in cm/s (2D)
89	killagreg	97	s16 Heading; // current flight direction in � as angle to north
		98	s16 CompassHeading; // current compass value in �
41	ingob	99	s8 AngleNick; // current Nick angle in 1�
		100	s8 AngleRoll; // current Rick angle in 1�
		101	u8 RC_Quality; // RC_Quality
255	killagreg	102	u8 FCStatusFlags; // Flags from FC
41	ingob	103	u8 NCFlags; // Flags from NC
		104	u8 Errorcode; // 0 --> okay
161	killagreg	105	u8 OperatingRadius; // current operation radius around the Home Position in m
89	killagreg	106	s16 TopSpeed; // velocity in vertical direction in cm/s
125	killagreg	107	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		108	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
161	killagreg	109	s16 SetpointAltitude; // setpoint for altitude
		110	u8 Gas; // for future use
206	killagreg	111	u16 Current; // actual current in 0.1A steps
		112	u16 UsedCapacity; // used capacity in mAh
41	ingob	113	} __attribute__((packed)) NaviData_t;
		114
		115	extern NaviData_t NaviData;
		116
92	killagreg	117	#define NC_FLAG_FREE 0x01
		118	#define NC_FLAG_PH 0x02
		119	#define NC_FLAG_CH 0x04
		120	#define NC_FLAG_RANGE_LIMIT 0x08
		121	#define NC_FLAG_NOSERIALLINK 0x10
		122	#define NC_FLAG_TARGET_REACHED 0x20
101	holgerb	123	#define NC_FLAG_MANUAL_CONTROL 0x40
254	killagreg	124	#define NC_FLAG_GPS_OK 0x80
41	ingob	125
		126	extern UART_TypeDef *DebugUART;
92	killagreg	127	extern volatile u8 SerialLinkOkay;
41	ingob	128
92	killagreg	129
41	ingob	130	void UART1_Init(void);
		131	void UART1_Transmit(void);
		132	void UART1_TransmitTxData(void);
		133	void UART1_ProcessRxData(void);
		134
110	killagreg	135	s16 UART1_Putchar(char c);
		136	void UART1_PutString(u8 *s);
150	killagreg	137	extern u8 text[]; // globally used text buffer
110	killagreg	138	extern u8 UART1_Request_SendFollowMe;
41	ingob	139	#endif //_UART1_H

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