0,0 → 1,121 |
#ifndef _UART1_H |
#define _UART1_H |
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#define UART_FLIGHTCTRL 0 |
#define UART_MK3MAG 1 |
#define UART_MKGPS 2 |
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#define TXD_BUFFER_LEN 150 |
#define RXD_BUFFER_LEN 150 |
#define BAUD_RATE 57600 //Baud Rate for the serial interfaces |
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#include "ubx.h" |
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typedef struct |
{ |
s16 AngleNick; // in 0.1 deg |
s16 AngleRoll; // in 0.1 deg |
s16 Heading; // in 0.1 deg |
u8 reserve[8]; |
} __attribute__((packed)) Data3D_t; |
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extern Data3D_t Data3D; |
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typedef struct |
{ |
u8 Digital[2]; |
u16 Analog[32]; // Debugwerte |
} __attribute__((packed)) DebugOut_t; |
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extern DebugOut_t DebugOut; |
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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; |
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extern ExternControl_t ExternControl; |
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typedef struct |
{ |
s16 Nick; |
s16 Roll; |
s16 Compass; // angle between north and head of the MK |
} __attribute__((packed)) Attitude_t; |
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typedef struct |
{ |
s16 Distance; // distance to target in cm |
s16 Bearing; // course to target in deg |
} __attribute__((packed)) GPS_PosDev_t; |
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typedef struct |
{ |
GPS_Pos_t CurrentPosition; // see ubx.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; // no of satellites used for position solution |
s16 Altimeter; // 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 deg as angle to north |
s16 CompassHeading; // current compass value |
s8 AngleNick; // current Nick angle in 1° |
s8 AngleRoll; // current Rick angle in 1° |
u8 RC_Quality; // RC_Quality |
u8 MKFlags; // Flags from FC |
u8 NCFlags; // Flags from NC |
u8 Errorcode; // 0 --> okay |
u8 Reserve[8]; // for future use |
} __attribute__((packed)) NaviData_t; |
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extern NaviData_t NaviData; |
extern u8 Request_NaviData; |
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#define NC_FLAG_FREE 1 |
#define NC_FLAG_PH 2 |
#define NC_FLAG_CH 4 |
#define NC_FLAG_RANGE_LIMIT 8 |
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typedef struct |
{ |
u8 SWMajor; |
u8 SWMinor; |
u8 ProtoMajor; |
u8 ProtoMinor; |
u8 SWPatch; |
u8 Reserved[5]; |
} __attribute__((packed)) UART_VersionInfo_t; |
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extern volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
extern volatile u8 ReceivedBytes; |
extern volatile u8 rxd_buffer_locked; |
extern UART_TypeDef *DebugUART; |
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void UART1_Init(void); |
void UART1_Transmit(void); |
void UART1_TransmitTxData(void); |
void UART1_ProcessRxData(void); |
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s16 uart_putchar (char c); |
void SerialPutString(u8 *s); |
extern u8 text[100]; |
extern u32 Request_NaviData_Intervall; // in ms |
extern u8 Request_SendFollowMe; |
#endif //_UART1_H |