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1 | #ifndef _UART1_H |
1 | #ifndef _UART1_H |
2 | #define _UART1_H |
2 | #define _UART1_H |
3 | 3 | ||
4 | #define UART_FLIGHTCTRL 0 |
4 | #define UART_FLIGHTCTRL 0 |
5 | #define UART_MK3MAG 1 |
5 | #define UART_MK3MAG 1 |
6 | #define UART_MKGPS 2 |
6 | #define UART_MKGPS 2 |
7 | 7 | ||
8 | #include "ubx.h" |
8 | #include "ubx.h" |
9 | 9 | ||
10 | 10 | ||
11 | typedef struct |
11 | typedef struct |
12 | { |
12 | { |
13 | u8 SWMajor; |
13 | u8 SWMajor; |
14 | u8 SWMinor; |
14 | u8 SWMinor; |
15 | u8 ProtoMajor; |
15 | u8 ProtoMajor; |
16 | u8 ProtoMinor; |
16 | u8 ProtoMinor; |
17 | u8 SWPatch; |
17 | u8 SWPatch; |
18 | u8 HardwareError[5]; |
18 | u8 HardwareError[5]; |
19 | } __attribute__((packed)) UART_VersionInfo_t; |
19 | } __attribute__((packed)) UART_VersionInfo_t; |
20 | 20 | ||
21 | extern UART_VersionInfo_t UART_VersionInfo; |
21 | extern UART_VersionInfo_t UART_VersionInfo; |
22 | 22 | ||
23 | typedef struct |
23 | typedef struct |
24 | { |
24 | { |
25 | s16 AngleNick; // in 0.1 deg |
25 | s16 AngleNick; // in 0.1 deg |
26 | s16 AngleRoll; // in 0.1 deg |
26 | s16 AngleRoll; // in 0.1 deg |
27 | s16 Heading; // in 0.1 deg |
27 | s16 Heading; // in 0.1 deg |
28 | u8 reserve[8]; |
28 | u8 reserve[8]; |
29 | } __attribute__((packed)) Data3D_t; |
29 | } __attribute__((packed)) Data3D_t; |
30 | 30 | ||
31 | extern Data3D_t Data3D; |
31 | extern Data3D_t Data3D; |
32 | 32 | ||
33 | 33 | ||
34 | extern const u8 ANALOG_LABEL[32][16]; |
34 | extern const u8 ANALOG_LABEL[32][16]; |
35 | 35 | ||
36 | typedef struct |
36 | typedef struct |
37 | { |
37 | { |
38 | u8 Status[2]; |
38 | u8 Status[2]; |
39 | u16 Analog[32]; // Debugwerte |
39 | u16 Analog[32]; // Debugwerte |
40 | } __attribute__((packed)) DebugOut_t; |
40 | } __attribute__((packed)) DebugOut_t; |
41 | 41 | ||
42 | extern DebugOut_t DebugOut; |
42 | extern DebugOut_t DebugOut; |
43 | 43 | ||
44 | typedef struct |
44 | typedef struct |
45 | { |
45 | { |
46 | u8 Digital[2]; |
46 | u8 Digital[2]; |
47 | u8 RemoteButtons; |
47 | u8 RemoteButtons; |
48 | s8 Nick; |
48 | s8 Nick; |
49 | s8 Roll; |
49 | s8 Roll; |
50 | s8 Yaw; |
50 | s8 Yaw; |
51 | u8 Gas; |
51 | u8 Gas; |
52 | s8 Height; |
52 | s8 Height; |
53 | u8 free; |
53 | u8 free; |
54 | u8 Frame; |
54 | u8 Frame; |
55 | u8 Config; |
55 | u8 Config; |
56 | } __attribute__((packed)) ExternControl_t; |
56 | } __attribute__((packed)) ExternControl_t; |
57 | 57 | ||
58 | extern ExternControl_t ExternControl; |
58 | extern ExternControl_t ExternControl; |
59 | 59 | ||
60 | typedef struct |
60 | typedef struct |
61 | { |
61 | { |
62 | s16 Nick; |
62 | s16 Nick; |
63 | s16 Roll; |
63 | s16 Roll; |
64 | s16 Compass; // angle between north and head of the MK |
64 | s16 Compass; // angle between north and head of the MK |
65 | } __attribute__((packed)) Attitude_t; |
65 | } __attribute__((packed)) Attitude_t; |
66 | 66 | ||
67 | typedef struct |
67 | typedef struct |
68 | { |
68 | { |
69 | u16 Distance; // distance to target in dm |
69 | u16 Distance; // distance to target in dm |
70 | s16 Bearing; // course to target in deg |
70 | s16 Bearing; // course to target in deg |
71 | } __attribute__((packed)) GPS_PosDev_t; |
71 | } __attribute__((packed)) GPS_PosDev_t; |
72 | 72 | ||
73 | #define NAVIDATA_VERSION 4 |
73 | #define NAVIDATA_VERSION 4 |
74 | 74 | ||
75 | typedef struct |
75 | typedef struct |
76 | { |
76 | { |
77 | u8 Version; // version of the data structure |
77 | u8 Version; // version of the data structure |
78 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
78 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
79 | GPS_Pos_t TargetPosition; |
79 | GPS_Pos_t TargetPosition; |
80 | GPS_PosDev_t TargetPositionDeviation; |
80 | GPS_PosDev_t TargetPositionDeviation; |
81 | GPS_Pos_t HomePosition; |
81 | GPS_Pos_t HomePosition; |
82 | GPS_PosDev_t HomePositionDeviation; |
82 | GPS_PosDev_t HomePositionDeviation; |
83 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
83 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
84 | u8 WaypointNumber; // number of stored waypoints |
84 | u8 WaypointNumber; // number of stored waypoints |
85 | u8 SatsInUse; // number of satellites used for position solution |
85 | u8 SatsInUse; // number of satellites used for position solution |
86 | s16 Altimeter; // hight according to air pressure |
86 | s16 Altimeter; // hight according to air pressure |
87 | s16 Variometer; // climb(+) and sink(-) rate |
87 | s16 Variometer; // climb(+) and sink(-) rate |
88 | u16 FlyingTime; // in seconds |
88 | u16 FlyingTime; // in seconds |
89 | u8 UBat; // Battery Voltage in 0.1 Volts |
89 | u8 UBat; // Battery Voltage in 0.1 Volts |
90 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
90 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
91 | s16 Heading; // current flight direction in ° as angle to north |
91 | s16 Heading; // current flight direction in ° as angle to north |
92 | s16 CompassHeading; // current compass value in ° |
92 | s16 CompassHeading; // current compass value in ° |
93 | s8 AngleNick; // current Nick angle in 1° |
93 | s8 AngleNick; // current Nick angle in 1° |
94 | s8 AngleRoll; // current Rick angle in 1° |
94 | s8 AngleRoll; // current Rick angle in 1° |
95 | u8 RC_Quality; // RC_Quality |
95 | u8 RC_Quality; // RC_Quality |
96 | u8 FCFlags; // Flags from FC |
96 | u8 FCStatusFlags; // Flags from FC |
97 | u8 NCFlags; // Flags from NC |
97 | u8 NCFlags; // Flags from NC |
98 | u8 Errorcode; // 0 --> okay |
98 | u8 Errorcode; // 0 --> okay |
99 | u8 OperatingRadius; // current operation radius around the Home Position in m |
99 | u8 OperatingRadius; // current operation radius around the Home Position in m |
100 | s16 TopSpeed; // velocity in vertical direction in cm/s |
100 | s16 TopSpeed; // velocity in vertical direction in cm/s |
101 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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) |
102 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
103 | s16 SetpointAltitude; // setpoint for altitude |
103 | s16 SetpointAltitude; // setpoint for altitude |
104 | u8 Gas; // for future use |
104 | u8 Gas; // for future use |
105 | u16 Current; // actual current in 0.1A steps |
105 | u16 Current; // actual current in 0.1A steps |
106 | u16 UsedCapacity; // used capacity in mAh |
106 | u16 UsedCapacity; // used capacity in mAh |
107 | } __attribute__((packed)) NaviData_t; |
107 | } __attribute__((packed)) NaviData_t; |
108 | 108 | ||
109 | extern NaviData_t NaviData; |
109 | extern NaviData_t NaviData; |
110 | 110 | ||
111 | #define NC_FLAG_FREE 0x01 |
111 | #define NC_FLAG_FREE 0x01 |
112 | #define NC_FLAG_PH 0x02 |
112 | #define NC_FLAG_PH 0x02 |
113 | #define NC_FLAG_CH 0x04 |
113 | #define NC_FLAG_CH 0x04 |
114 | #define NC_FLAG_RANGE_LIMIT 0x08 |
114 | #define NC_FLAG_RANGE_LIMIT 0x08 |
115 | #define NC_FLAG_NOSERIALLINK 0x10 |
115 | #define NC_FLAG_NOSERIALLINK 0x10 |
116 | #define NC_FLAG_TARGET_REACHED 0x20 |
116 | #define NC_FLAG_TARGET_REACHED 0x20 |
117 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
117 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
118 | #define NC_FLAG_GPS_OK 0x80 |
118 | #define NC_FLAG_GPS_OK 0x80 |
119 | 119 | ||
120 | extern UART_TypeDef *DebugUART; |
120 | extern UART_TypeDef *DebugUART; |
121 | extern volatile u8 SerialLinkOkay; |
121 | extern volatile u8 SerialLinkOkay; |
122 | 122 | ||
123 | 123 | ||
124 | void UART1_Init(void); |
124 | void UART1_Init(void); |
125 | void UART1_Transmit(void); |
125 | void UART1_Transmit(void); |
126 | void UART1_TransmitTxData(void); |
126 | void UART1_TransmitTxData(void); |
127 | void UART1_ProcessRxData(void); |
127 | void UART1_ProcessRxData(void); |
128 | 128 | ||
129 | s16 UART1_Putchar(char c); |
129 | s16 UART1_Putchar(char c); |
130 | void UART1_PutString(u8 *s); |
130 | void UART1_PutString(u8 *s); |
131 | extern u8 text[]; // globally used text buffer |
131 | extern u8 text[]; // globally used text buffer |
132 | extern u8 UART1_Request_SendFollowMe; |
132 | extern u8 UART1_Request_SendFollowMe; |
133 | #endif //_UART1_H |
133 | #endif //_UART1_H |
134 | 134 |