WebSVN - NaviCtrl - Diff - Rev 110 and 112


#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 1
 
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  Reserve[4];                                 // 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[100]; // globally used text buffer
extern u8 UART1_Request_SendFollowMe;
#endif //_UART1_H
 

Rev 110	Rev 112
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	typedef struct	10	typedef struct
11	{	11	{
-		12	u8 SWMajor;
-		13	u8 SWMinor;
-		14	u8 ProtoMajor;
-		15	u8 ProtoMinor;
-		16	u8 SWPatch;
-		17	u8 Reserved[5];
-		18	} __attribute__((packed)) UART_VersionInfo_t;
-		19
-		20	extern UART_VersionInfo_t UART_VersionInfo;
-		21
-		22
-		23	typedef struct
-		24	{
12	s16 AngleNick; // in 0.1 deg	25	s16 AngleNick; // in 0.1 deg
13	s16 AngleRoll; // in 0.1 deg	26	s16 AngleRoll; // in 0.1 deg
14	s16 Heading; // in 0.1 deg	27	s16 Heading; // in 0.1 deg
15	u8 reserve[8];	28	u8 reserve[8];
16	} __attribute__((packed)) Data3D_t;	29	} __attribute__((packed)) Data3D_t;
17		30
18	extern Data3D_t Data3D;	31	extern Data3D_t Data3D;
-		32
-		33
-		34	extern const u8 ANALOG_LABEL[32][16];
19		35
20	typedef struct	36	typedef struct
21	{	37	{
22	u8 Digital[2];	38	u8 Digital[2];
23	u16 Analog[32]; // Debugwerte	39	u16 Analog[32]; // Debugwerte
24	} __attribute__((packed)) DebugOut_t;	40	} __attribute__((packed)) DebugOut_t;
25		41
26	extern DebugOut_t DebugOut;	42	extern DebugOut_t DebugOut;
27		43
28	typedef struct	44	typedef struct
29	{	45	{
30	u8 Digital[2];	46	u8 Digital[2];
31	u8 RemoteButtons;	47	u8 RemoteButtons;
32	s8 Nick;	48	s8 Nick;
33	s8 Roll;	49	s8 Roll;
34	s8 Yaw;	50	s8 Yaw;
35	u8 Gas;	51	u8 Gas;
36	s8 Height;	52	s8 Height;
37	u8 free;	53	u8 free;
38	u8 Frame;	54	u8 Frame;
39	u8 Config;	55	u8 Config;
40	} __attribute__((packed)) ExternControl_t;	56	} __attribute__((packed)) ExternControl_t;
41		57
42	extern ExternControl_t ExternControl;	58	extern ExternControl_t ExternControl;
43		59
44	typedef struct	60	typedef struct
45	{	61	{
46	s16 Nick;	62	s16 Nick;
47	s16 Roll;	63	s16 Roll;
48	s16 Compass; // angle between north and head of the MK	64	s16 Compass; // angle between north and head of the MK
49	} __attribute__((packed)) Attitude_t;	65	} __attribute__((packed)) Attitude_t;
50		66
51	typedef struct	67	typedef struct
52	{	68	{
53	u16 Distance; // distance to target in dm	69	u16 Distance; // distance to target in dm
54	s16 Bearing; // course to target in deg	70	s16 Bearing; // course to target in deg
55	} __attribute__((packed)) GPS_PosDev_t;	71	} __attribute__((packed)) GPS_PosDev_t;
56		72
57	#define NAVIDATA_VERSION 1	73	#define NAVIDATA_VERSION 1
58		74
59	typedef struct	75	typedef struct
60	{	76	{
61	u8 Version; // version of the data structure	77	u8 Version; // version of the data structure
62	GPS_Pos_t CurrentPosition; // see ubx.h for details	78	GPS_Pos_t CurrentPosition; // see ubx.h for details
63	GPS_Pos_t TargetPosition;	79	GPS_Pos_t TargetPosition;
64	GPS_PosDev_t TargetPositionDeviation;	80	GPS_PosDev_t TargetPositionDeviation;
65	GPS_Pos_t HomePosition;	81	GPS_Pos_t HomePosition;
66	GPS_PosDev_t HomePositionDeviation;	82	GPS_PosDev_t HomePositionDeviation;
67	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
68	u8 WaypointNumber; // number of stored waypoints	84	u8 WaypointNumber; // number of stored waypoints
69	u8 SatsInUse; // number of satellites used for position solution	85	u8 SatsInUse; // number of satellites used for position solution
70	s16 Altimeter; // hight according to air pressure	86	s16 Altimeter; // hight according to air pressure
71	s16 Variometer; // climb(+) and sink(-) rate	87	s16 Variometer; // climb(+) and sink(-) rate
72	u16 FlyingTime; // in seconds	88	u16 FlyingTime; // in seconds
73	u8 UBat; // Battery Voltage in 0.1 Volts	89	u8 UBat; // Battery Voltage in 0.1 Volts
74	u16 GroundSpeed; // speed over ground in cm/s (2D)	90	u16 GroundSpeed; // speed over ground in cm/s (2D)
75	s16 Heading; // current flight direction in ° as angle to north	91	s16 Heading; // current flight direction in ° as angle to north
76	s16 CompassHeading; // current compass value in °	92	s16 CompassHeading; // current compass value in °
77	s8 AngleNick; // current Nick angle in 1°	93	s8 AngleNick; // current Nick angle in 1°
78	s8 AngleRoll; // current Rick angle in 1°	94	s8 AngleRoll; // current Rick angle in 1°
79	u8 RC_Quality; // RC_Quality	95	u8 RC_Quality; // RC_Quality
80	u8 MKFlags; // Flags from FC	96	u8 MKFlags; // Flags from FC
81	u8 NCFlags; // Flags from NC	97	u8 NCFlags; // Flags from NC
82	u8 Errorcode; // 0 --> okay	98	u8 Errorcode; // 0 --> okay
83	u8 OperatingRadius; // current operation radius around the Home Position in m	99	u8 OperatingRadius; // current operation radius around the Home Position in m
84	s16 TopSpeed; // velocity in vertical direction in cm/s	100	s16 TopSpeed; // velocity in vertical direction in cm/s
85	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
86	u8 Reserve[4]; // for future use	102	u8 Reserve[4]; // for future use
87	} __attribute__((packed)) NaviData_t;	103	} __attribute__((packed)) NaviData_t;
88		104
89	extern NaviData_t NaviData;	105	extern NaviData_t NaviData;
90	extern u8 Request_NaviData;	-
91		106
92	#define NC_FLAG_FREE 0x01	107	#define NC_FLAG_FREE 0x01
93	#define NC_FLAG_PH 0x02	108	#define NC_FLAG_PH 0x02
94	#define NC_FLAG_CH 0x04	109	#define NC_FLAG_CH 0x04
95	#define NC_FLAG_RANGE_LIMIT 0x08	110	#define NC_FLAG_RANGE_LIMIT 0x08
96	#define NC_FLAG_NOSERIALLINK 0x10	111	#define NC_FLAG_NOSERIALLINK 0x10
97	#define NC_FLAG_TARGET_REACHED 0x20	112	#define NC_FLAG_TARGET_REACHED 0x20
98	#define NC_FLAG_MANUAL_CONTROL 0x40	113	#define NC_FLAG_MANUAL_CONTROL 0x40
99	#define NC_FLAG_8 0x80	114	#define NC_FLAG_8 0x80
100		115
101	extern UART_TypeDef *DebugUART;	116	extern UART_TypeDef *DebugUART;
102	extern volatile u8 SerialLinkOkay;	117	extern volatile u8 SerialLinkOkay;
103		118
104		119
105	void UART1_Init(void);	120	void UART1_Init(void);
106	void UART1_Transmit(void);	121	void UART1_Transmit(void);
107	void UART1_TransmitTxData(void);	122	void UART1_TransmitTxData(void);
108	void UART1_ProcessRxData(void);	123	void UART1_ProcessRxData(void);
109		124
110	s16 UART1_Putchar(char c);	125	s16 UART1_Putchar(char c);
111	void UART1_PutString(u8 *s);	126	void UART1_PutString(u8 *s);
112	extern u8 text[100]; // globally used text buffer	127	extern u8 text[100]; // globally used text buffer
113	extern u8 UART1_Request_SendFollowMe;	128	extern u8 UART1_Request_SendFollowMe;
114	#endif //_UART1_H	129	#endif //_UART1_H
115		130

Subversion Repositories NaviCtrl

(root)/tags/V2.00a/uart1.h @ 811 - Rev 110 → 112