WebSVN - NaviCtrl - Diff - Rev 61 and 62


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#define TXD_BUFFER_LEN  150
#define RXD_BUFFER_LEN  150
#define BAUD_RATE 57600         //Baud Rate for the serial interfaces
 
#include "ubx.h" 
 
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;
 
extern Data3D_t Data3D;
 
typedef struct
{
        u8 Digital[2];
        u16 Analog[32];    // Debugwerte
} __attribute__((packed)) DebugOut_t;
 
extern DebugOut_t DebugOut;
 
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;
 
extern ExternControl_t ExternControl;
 
typedef struct
{
        s16 Nick;
        s16 Roll;
        s16 Compass;                                    // angle between north and head of the MK
}  __attribute__((packed)) Attitude_t;
 
typedef struct
{
        s16 Distance;                                   // distance to target in cm
        s16 Bearing;                                    // course to target in deg      
}  __attribute__((packed)) GPS_PosDev_t;
 
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;
 
extern NaviData_t NaviData;
extern u8 Request_NaviData;
 
#define NC_FLAG_FREE                    1
#define NC_FLAG_PH                              2
#define NC_FLAG_CH                              4
#define NC_FLAG_RANGE_LIMIT             8
 
typedef struct
{
        u8 SWMajor;
        u8 SWMinor;
        u8 ProtoMajor;
        u8 ProtoMinor;
        u8 SWPatch;
        u8 Reserved[5];
}  __attribute__((packed)) UART_VersionInfo_t;
 
extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
extern volatile u8 ReceivedBytes;
extern volatile u8 rxd_buffer_locked;
extern UART_TypeDef *DebugUART;
 
 
void UART1_Init(void);
void UART1_Transmit(void);
void UART1_TransmitTxData(void);
void UART1_ProcessRxData(void);
 
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
 

Rev 61	Rev 62
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	#define TXD_BUFFER_LEN 150	8	#define TXD_BUFFER_LEN 150
9	#define RXD_BUFFER_LEN 150	9	#define RXD_BUFFER_LEN 150
10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces	10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces
11		11
12	#include "ubx.h"	12	#include "ubx.h"
13		13
14	typedef struct str_Data3D	14	typedef struct
-		15	{
15	{	16	s16 AngleNick; // in 0.1 deg
-		17	s16 AngleRoll; // in 0.1 deg
16	s16 Winkel[3]; // nick, roll, compass in 0,1°	18	s16 Heading; // in 0.1 deg
17	u8 reserve[8];	19	u8 reserve[8];
18	} __attribute__((packed)) Data3D_t;	20	} __attribute__((packed)) Data3D_t;
19		21
20	extern Data3D_t Data3D;	22	extern Data3D_t Data3D;
21		23
22	typedef struct	24	typedef struct
23	{	25	{
24	u8 Digital[2];	26	u8 Digital[2];
25	u16 Analog[32]; // Debugwerte	27	u16 Analog[32]; // Debugwerte
26	} __attribute__((packed)) DebugOut_t;	28	} __attribute__((packed)) DebugOut_t;
27		29
28	extern DebugOut_t DebugOut;	30	extern DebugOut_t DebugOut;
29		31
30	typedef struct	32	typedef struct
31	{	33	{
32	u8 Digital[2];	34	u8 Digital[2];
33	u8 RemoteButtons;	35	u8 RemoteButtons;
34	s8 Nick;	36	s8 Nick;
35	s8 Roll;	37	s8 Roll;
36	s8 Yaw;	38	s8 Yaw;
37	u8 Gas;	39	u8 Gas;
38	s8 Height;	40	s8 Height;
39	u8 free;	41	u8 free;
40	u8 Frame;	42	u8 Frame;
41	u8 Config;	43	u8 Config;
42	} __attribute__((packed)) ExternControl_t;	44	} __attribute__((packed)) ExternControl_t;
43		45
44	extern ExternControl_t ExternControl;	46	extern ExternControl_t ExternControl;
45		47
46	typedef struct	48	typedef struct
47	{	49	{
48	s16 Nick;	50	s16 Nick;
49	s16 Roll;	51	s16 Roll;
50	s16 Compass; // angle between north and head of the MK	52	s16 Compass; // angle between north and head of the MK
51	} __attribute__((packed)) Attitude_t;	53	} __attribute__((packed)) Attitude_t;
52		54
53	typedef struct	55	typedef struct
54	{	56	{
55	s16 Distance; // distance to target in cm	57	s16 Distance; // distance to target in cm
56	s16 Bearing; // course to target in deg	58	s16 Bearing; // course to target in deg
57	} __attribute__((packed)) GPS_PosDev_t;	59	} __attribute__((packed)) GPS_PosDev_t;
58		60
59	typedef struct	61	typedef struct
60	{	62	{
61	GPS_Pos_t CurrentPosition; // see ubx.h for details	63	GPS_Pos_t CurrentPosition; // see ubx.h for details
62	GPS_Pos_t TargetPosition;	64	GPS_Pos_t TargetPosition;
63	GPS_PosDev_t TargetPositionDeviation;	65	GPS_PosDev_t TargetPositionDeviation;
64	GPS_Pos_t HomePosition;	66	GPS_Pos_t HomePosition;
65	GPS_PosDev_t HomePositionDeviation;	67	GPS_PosDev_t HomePositionDeviation;
66	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	68	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
67	u8 WaypointNumber; // number of stored waypoints	69	u8 WaypointNumber; // number of stored waypoints
68	u8 SatsInUse; // no of satellites used for position solution	70	u8 SatsInUse; // no of satellites used for position solution
69	s16 Altimeter; // hight according to air pressure	71	s16 Altimeter; // hight according to air pressure
70	s16 Variometer; // climb(+) and sink(-) rate	72	s16 Variometer; // climb(+) and sink(-) rate
71	u16 FlyingTime; // in seconds	73	u16 FlyingTime; // in seconds
72	u8 UBat; // Battery Voltage in 0.1 Volts	74	u8 UBat; // Battery Voltage in 0.1 Volts
73	u16 GroundSpeed; // speed over ground in cm/s (2D)	75	u16 GroundSpeed; // speed over ground in cm/s (2D)
74	s16 Heading; // current flight direction in deg as angle to north	76	s16 Heading; // current flight direction in deg as angle to north
75	s16 CompassHeading; // current compass value	77	s16 CompassHeading; // current compass value
76	s8 AngleNick; // current Nick angle in 1°	78	s8 AngleNick; // current Nick angle in 1°
77	s8 AngleRoll; // current Rick angle in 1°	79	s8 AngleRoll; // current Rick angle in 1°
78	u8 RC_Quality; // RC_Quality	80	u8 RC_Quality; // RC_Quality
79	u8 MKFlags; // Flags from FC	81	u8 MKFlags; // Flags from FC
80	u8 NCFlags; // Flags from NC	82	u8 NCFlags; // Flags from NC
81	u8 Errorcode; // 0 --> okay	83	u8 Errorcode; // 0 --> okay
82	u8 Reserve[8]; // for future use	84	u8 Reserve[8]; // for future use
83	} __attribute__((packed)) NaviData_t;	85	} __attribute__((packed)) NaviData_t;
84		86
85	extern NaviData_t NaviData;	87	extern NaviData_t NaviData;
86	extern u8 Request_NaviData;	88	extern u8 Request_NaviData;
87		89
88	#define NC_FLAG_FREE 1	90	#define NC_FLAG_FREE 1
89	#define NC_FLAG_PH 2	91	#define NC_FLAG_PH 2
90	#define NC_FLAG_CH 4	92	#define NC_FLAG_CH 4
91	#define NC_FLAG_RANGE_LIMIT 8	93	#define NC_FLAG_RANGE_LIMIT 8
92		94
93	typedef struct	95	typedef struct
94	{	96	{
95	u8 SWMajor;	97	u8 SWMajor;
96	u8 SWMinor;	98	u8 SWMinor;
97	u8 ProtoMajor;	99	u8 ProtoMajor;
98	u8 ProtoMinor;	100	u8 ProtoMinor;
99	u8 SWPatch;	101	u8 SWPatch;
100	u8 Reserved[5];	102	u8 Reserved[5];
101	} __attribute__((packed)) UART_VersionInfo_t;	103	} __attribute__((packed)) UART_VersionInfo_t;
102		104
103	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];	105	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
104	extern volatile u8 ReceivedBytes;	106	extern volatile u8 ReceivedBytes;
105	extern volatile u8 rxd_buffer_locked;	107	extern volatile u8 rxd_buffer_locked;
106	extern UART_TypeDef *DebugUART;	108	extern UART_TypeDef *DebugUART;
107		109
108		110
109	void UART1_Init(void);	111	void UART1_Init(void);
110	void UART1_Transmit(void);	112	void UART1_Transmit(void);
111	void UART1_TransmitTxData(void);	113	void UART1_TransmitTxData(void);
112	void UART1_ProcessRxData(void);	114	void UART1_ProcessRxData(void);
113		115
114	s16 uart_putchar (char c);	116	s16 uart_putchar (char c);
115	void SerialPutString(u8 *s);	117	void SerialPutString(u8 *s);
116	extern u8 text[100];	118	extern u8 text[100];
117	extern u32 Request_NaviData_Intervall; // in ms	119	extern u32 Request_NaviData_Intervall; // in ms
118	extern u8 Request_SendFollowMe;	120	extern u8 Request_SendFollowMe;
119	#endif //_UART1_H	121	#endif //_UART1_H
120		122

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(root)/tags/V0.26b/uart1.h @ 920 - Rev 61 → 62