0,0 → 1,151 |
#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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#include "ubx.h" |
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#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 |
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typedef struct |
{ |
u8 SWMajor; |
u8 SWMinor; |
u8 ProtoMajor; |
u8 ProtoMinor; |
u8 SWPatch; |
u8 HardwareError[5]; |
} __attribute__((packed)) UART_VersionInfo_t; |
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extern UART_VersionInfo_t UART_VersionInfo; |
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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 StickNick; |
u8 StickRoll; |
u8 StickYaw; |
u8 StickGas; |
u8 reserve[4]; |
} __attribute__((packed)) Data3D_t; |
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extern Data3D_t Data3D; |
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extern const u8 ANALOG_LABEL[32][16]; |
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#define AMPEL_FC 0x01 |
#define AMPEL_BL 0x02 |
#define AMPEL_NC 0x04 |
#define AMPEL_COMPASS 0x08 |
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typedef struct |
{ |
u8 StatusGreen; |
u8 StatusRed; |
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 |
{ |
u16 Distance; // distance to target in dm |
s16 Bearing; // course to target in deg |
} __attribute__((packed)) GPS_PosDev_t; |
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#define NAVIDATA_VERSION 5 |
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typedef struct |
{ |
u8 Version; // version of the data structure |
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; // number 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 ° 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 |
u8 NCFlags; // Flags from NC |
u8 Errorcode; // 0 --> okay |
u8 OperatingRadius; // current 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; // setpoint for altitude |
u8 Gas; // for future use |
u16 Current; // actual current in 0.1A steps |
u16 UsedCapacity; // used capacity in mAh |
} __attribute__((packed)) NaviData_t; |
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extern NaviData_t NaviData; |
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#define NC_FLAG_FREE 0x01 |
#define NC_FLAG_PH 0x02 |
#define NC_FLAG_CH 0x04 |
#define NC_FLAG_RANGE_LIMIT 0x08 |
#define NC_FLAG_NOSERIALLINK 0x10 |
#define NC_FLAG_TARGET_REACHED 0x20 |
#define NC_FLAG_MANUAL_CONTROL 0x40 |
#define NC_FLAG_GPS_OK 0x80 |
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extern UART_TypeDef *DebugUART; |
extern volatile u8 SerialLinkOkay; |
extern Buffer_t UART1_tx_buffer; |
extern Buffer_t UART1_rx_buffer; |
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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 UART1_Putchar(char c); |
void UART1_PutString(u8 *s); |
extern u8 text[]; // globally used text buffer |
extern u8 UART1_Request_SendFollowMe; |
extern u8 LastTransmittedFCStatusFlags2; |
#endif //_UART1_H |