| 0,0 → 1,101 |
|---|
| #ifndef _UART0_H |
| #define _UART0_H |
| |
| #include "ubx.h" |
| |
| #define RXD_BUFFER_LEN 150 |
| // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| |
| #include <inttypes.h> |
| |
| //Baud rate of the USART |
| #define USART0_BAUD 57600 |
| |
| //Waypoint Types |
| #define POINT_TYPE_INVALID 255 |
| #define POINT_TYPE_WP 0 |
| #define POINT_TYPE_POI 1 |
| |
| |
| |
| extern void USART0_Init (void); |
| extern void USART0_TransmitTxData(void); |
| extern void USART0_ProcessRxData(void); |
| extern int16_t uart_putchar(int8_t c); |
| |
| extern uint8_t PcAccess; |
| extern uint8_t RemotePollDisplayLine; |
| |
| |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint8_t RemoteButtons; |
| int8_t Nick; |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Gas; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |
| } __attribute__((packed)) ExternControl_t; |
| |
| extern ExternControl_t ExternControl; |
| |
| |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } __attribute__((packed)) DebugOut_t; |
| |
| extern DebugOut_t DebugOut; |
| |
| typedef struct |
| { |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| } __attribute__((packed)) UART_VersionInfo_t; |
| |
| /* typedef struct |
| { |
| GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| int16_t Heading; // orientation, future implementation |
| uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| uint8_t Event_Flag; // future implementation |
| uint8_t Index; // index of the current waypoint |
| uint8_t reserve[11]; // reserve |
| } __attribute__((packed)) Waypoint_t; |
| |
| extern Waypoint_t FollowMe; */ |
| |
| typedef struct |
| { |
| GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| int16_t Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
| uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| uint8_t Event_Flag; // future implementation |
| uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| uint8_t Type; // typeof Waypoint |
| uint8_t WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there |
| uint8_t AltitudeRate; // rate to change the setpoint |
| uint8_t Speed; // rate to change the Position |
| uint8_t CamAngle; // Camera servo angle in degree (255 -> POI-Automatic) |
| uint8_t Name[4]; // Name of that point (ASCII) |
| uint8_t reserve[2]; // reserve |
| } __attribute__((packed)) Point_t; |
| |
| extern Point_t FollowMe; |
| |
| extern uint8_t Request_SendFollowMe; |
| |
| #endif //_UART0_H |