WebSVN - NaviCtrl - Diff - Rev 160 and 161


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#include "ubx.h"
 
 
typedef struct
{
        u8 SWMajor;
        u8 SWMinor;
        u8 ProtoMajor;
        u8 ProtoMinor;
        u8 SWPatch;
        u8 Reserved[5];
} __attribute__((packed)) UART_VersionInfo_t;
 
extern UART_VersionInfo_t UART_VersionInfo;
 
 
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;
 
 
extern const u8 ANALOG_LABEL[32][16];
 
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
{
        u16 Distance;                                   // distance to target in dm
        s16 Bearing;                                    // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
#define NAVIDATA_VERSION 2
 
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  MKFlags;                                    // 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  RC_RSSI;                                    // Receiver signal strength (since version 2 added)
        s16 SetpointAltitude;                   // setpoint for altitude
        u8  Gas;                                                // for future use
} __attribute__((packed)) NaviData_t;
 
extern NaviData_t NaviData;
 
#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_8                               0x80
 
extern UART_TypeDef *DebugUART;
extern volatile u8 SerialLinkOkay;
 
 
void UART1_Init(void);
void UART1_Transmit(void);
void UART1_TransmitTxData(void);
void UART1_ProcessRxData(void);
 
s16  UART1_Putchar(char c);
void UART1_PutString(u8 *s);
extern u8 text[]; // globally used text buffer
extern u8 UART1_Request_SendFollowMe;
#endif //_UART1_H
 

Rev 160	Rev 161
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 Reserved[5];	18	u8 Reserved[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		23
24	typedef struct	24	typedef struct
25	{	25	{
26	s16 AngleNick; // in 0.1 deg	26	s16 AngleNick; // in 0.1 deg
27	s16 AngleRoll; // in 0.1 deg	27	s16 AngleRoll; // in 0.1 deg
28	s16 Heading; // in 0.1 deg	28	s16 Heading; // in 0.1 deg
29	u8 reserve[8];	29	u8 reserve[8];
30	} __attribute__((packed)) Data3D_t;	30	} __attribute__((packed)) Data3D_t;
31		31
32	extern Data3D_t Data3D;	32	extern Data3D_t Data3D;
33		33
34		34
35	extern const u8 ANALOG_LABEL[32][16];	35	extern const u8 ANALOG_LABEL[32][16];
36		36
37	typedef struct	37	typedef struct
38	{	38	{
39	u8 Digital[2];	39	u8 Digital[2];
40	u16 Analog[32]; // Debugwerte	40	u16 Analog[32]; // Debugwerte
41	} __attribute__((packed)) DebugOut_t;	41	} __attribute__((packed)) DebugOut_t;
42		42
43	extern DebugOut_t DebugOut;	43	extern DebugOut_t DebugOut;
44		44
45	typedef struct	45	typedef struct
46	{	46	{
47	u8 Digital[2];	47	u8 Digital[2];
48	u8 RemoteButtons;	48	u8 RemoteButtons;
49	s8 Nick;	49	s8 Nick;
50	s8 Roll;	50	s8 Roll;
51	s8 Yaw;	51	s8 Yaw;
52	u8 Gas;	52	u8 Gas;
53	s8 Height;	53	s8 Height;
54	u8 free;	54	u8 free;
55	u8 Frame;	55	u8 Frame;
56	u8 Config;	56	u8 Config;
57	} __attribute__((packed)) ExternControl_t;	57	} __attribute__((packed)) ExternControl_t;
58		58
59	extern ExternControl_t ExternControl;	59	extern ExternControl_t ExternControl;
60		60
61	typedef struct	61	typedef struct
62	{	62	{
63	s16 Nick;	63	s16 Nick;
64	s16 Roll;	64	s16 Roll;
65	s16 Compass; // angle between north and head of the MK	65	s16 Compass; // angle between north and head of the MK
66	} __attribute__((packed)) Attitude_t;	66	} __attribute__((packed)) Attitude_t;
67		67
68	typedef struct	68	typedef struct
69	{	69	{
70	u16 Distance; // distance to target in dm	70	u16 Distance; // distance to target in dm
71	s16 Bearing; // course to target in deg	71	s16 Bearing; // course to target in deg
72	} __attribute__((packed)) GPS_PosDev_t;	72	} __attribute__((packed)) GPS_PosDev_t;
73		73
74	#define NAVIDATA_VERSION 2	74	#define NAVIDATA_VERSION 2
75		75
76	typedef struct	76	typedef struct
77	{	77	{
78	u8 Version; // version of the data structure	78	u8 Version; // version of the data structure
79	GPS_Pos_t CurrentPosition; // see ubx.h for details	79	GPS_Pos_t CurrentPosition; // see ubx.h for details
80	GPS_Pos_t TargetPosition;	80	GPS_Pos_t TargetPosition;
81	GPS_PosDev_t TargetPositionDeviation;	81	GPS_PosDev_t TargetPositionDeviation;
82	GPS_Pos_t HomePosition;	82	GPS_Pos_t HomePosition;
83	GPS_PosDev_t HomePositionDeviation;	83	GPS_PosDev_t HomePositionDeviation;
84	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	84	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
85	u8 WaypointNumber; // number of stored waypoints	85	u8 WaypointNumber; // number of stored waypoints
86	u8 SatsInUse; // number of satellites used for position solution	86	u8 SatsInUse; // number of satellites used for position solution
87	s16 Altimeter; // hight according to air pressure	87	s16 Altimeter; // hight according to air pressure
88	s16 Variometer; // climb(+) and sink(-) rate	88	s16 Variometer; // climb(+) and sink(-) rate
89	u16 FlyingTime; // in seconds	89	u16 FlyingTime; // in seconds
90	u8 UBat; // Battery Voltage in 0.1 Volts	90	u8 UBat; // Battery Voltage in 0.1 Volts
91	u16 GroundSpeed; // speed over ground in cm/s (2D)	91	u16 GroundSpeed; // speed over ground in cm/s (2D)
92	s16 Heading; // current flight direction in ° as angle to north	92	s16 Heading; // current flight direction in ° as angle to north
93	s16 CompassHeading; // current compass value in °	93	s16 CompassHeading; // current compass value in °
94	s8 AngleNick; // current Nick angle in 1°	94	s8 AngleNick; // current Nick angle in 1°
95	s8 AngleRoll; // current Rick angle in 1°	95	s8 AngleRoll; // current Rick angle in 1°
96	u8 RC_Quality; // RC_Quality	96	u8 RC_Quality; // RC_Quality
97	u8 MKFlags; // Flags from FC	97	u8 MKFlags; // Flags from FC
98	u8 NCFlags; // Flags from NC	98	u8 NCFlags; // Flags from NC
99	u8 Errorcode; // 0 --> okay	99	u8 Errorcode; // 0 --> okay
100	u8 OperatingRadius; // current operation radius around the Home Position in m	100	u8 OperatingRadius; // current operation radius around the Home Position in m
101	s16 TopSpeed; // velocity in vertical direction in cm/s	101	s16 TopSpeed; // velocity in vertical direction in cm/s
102	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	102	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
103	u8 RC_RSSI; // Receiver signal strength (since version 2 added)	103	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
104	s16 SetpointAltitude; // setpoint for altitude	104	s16 SetpointAltitude; // setpoint for altitude
105	u8 Gas; // for future use	105	u8 Gas; // for future use
106	} __attribute__((packed)) NaviData_t;	106	} __attribute__((packed)) NaviData_t;
107		107
108	extern NaviData_t NaviData;	108	extern NaviData_t NaviData;
109		109
110	#define NC_FLAG_FREE 0x01	110	#define NC_FLAG_FREE 0x01
111	#define NC_FLAG_PH 0x02	111	#define NC_FLAG_PH 0x02
112	#define NC_FLAG_CH 0x04	112	#define NC_FLAG_CH 0x04
113	#define NC_FLAG_RANGE_LIMIT 0x08	113	#define NC_FLAG_RANGE_LIMIT 0x08
114	#define NC_FLAG_NOSERIALLINK 0x10	114	#define NC_FLAG_NOSERIALLINK 0x10
115	#define NC_FLAG_TARGET_REACHED 0x20	115	#define NC_FLAG_TARGET_REACHED 0x20
116	#define NC_FLAG_MANUAL_CONTROL 0x40	116	#define NC_FLAG_MANUAL_CONTROL 0x40
117	#define NC_FLAG_8 0x80	117	#define NC_FLAG_8 0x80
118		118
119	extern UART_TypeDef *DebugUART;	119	extern UART_TypeDef *DebugUART;
120	extern volatile u8 SerialLinkOkay;	120	extern volatile u8 SerialLinkOkay;
121		121
122		122
123	void UART1_Init(void);	123	void UART1_Init(void);
124	void UART1_Transmit(void);	124	void UART1_Transmit(void);
125	void UART1_TransmitTxData(void);	125	void UART1_TransmitTxData(void);
126	void UART1_ProcessRxData(void);	126	void UART1_ProcessRxData(void);
127		127
128	s16 UART1_Putchar(char c);	128	s16 UART1_Putchar(char c);
129	void UART1_PutString(u8 *s);	129	void UART1_PutString(u8 *s);
130	extern u8 text[]; // globally used text buffer	130	extern u8 text[]; // globally used text buffer
131	extern u8 UART1_Request_SendFollowMe;	131	extern u8 UART1_Request_SendFollowMe;
132	#endif //_UART1_H	132	#endif //_UART1_H
133		133

Subversion Repositories NaviCtrl

(root)/tags/V0.30h/uart1.h @ 668 - Rev 160 → 161