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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 | #include "waypoints.h" |
|
9 | 10 | ||
10 | #define NC_ERROR0_SPI_RX 0x01 |
11 | #define NC_ERROR0_SPI_RX 0x01 |
11 | #define NC_ERROR0_COMPASS_RX 0x02 |
12 | #define NC_ERROR0_COMPASS_RX 0x02 |
12 | #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
13 | #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
13 | #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
14 | #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
14 | #define NC_ERROR0_GPS_RX 0x10 |
15 | #define NC_ERROR0_GPS_RX 0x10 |
15 | #define NC_ERROR0_COMPASS_VALUE 0x20 |
16 | #define NC_ERROR0_COMPASS_VALUE 0x20 |
16 | 17 | ||
17 | typedef struct |
18 | typedef struct |
18 | { |
19 | { |
19 | u8 SWMajor; |
20 | u8 SWMajor; |
20 | u8 SWMinor; |
21 | u8 SWMinor; |
21 | u8 ProtoMajor; |
22 | u8 ProtoMajor; |
22 | u8 ProtoMinor; |
23 | u8 ProtoMinor; |
23 | u8 SWPatch; |
24 | u8 SWPatch; |
24 | u8 HardwareError[2]; |
25 | u8 HardwareError[2]; |
25 | u8 HWMajor; |
26 | u8 HWMajor; |
26 | u8 reserved2; |
27 | u8 reserved2; |
27 | u8 Flags; |
28 | u8 Flags; |
28 | } __attribute__((packed)) UART_VersionInfo_t; |
29 | } __attribute__((packed)) UART_VersionInfo_t; |
29 | 30 | ||
30 | extern UART_VersionInfo_t UART_VersionInfo; |
31 | extern UART_VersionInfo_t UART_VersionInfo; |
31 | 32 | ||
32 | //VersionInfo.Flags |
33 | //VersionInfo.Flags |
33 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
34 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
34 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
35 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
35 | 36 | ||
36 | typedef struct |
37 | typedef struct |
37 | { |
38 | { |
38 | s16 AngleNick; // in 0.1 deg |
39 | s16 AngleNick; // in 0.1 deg |
39 | s16 AngleRoll; // in 0.1 deg |
40 | s16 AngleRoll; // in 0.1 deg |
40 | s16 Heading; // in 0.1 deg |
41 | s16 Heading; // in 0.1 deg |
41 | u8 StickNick; |
42 | u8 StickNick; |
42 | u8 StickRoll; |
43 | u8 StickRoll; |
43 | u8 StickYaw; |
44 | u8 StickYaw; |
44 | u8 StickGas; |
45 | u8 StickGas; |
45 | u8 reserve[4]; |
46 | u8 reserve[4]; |
46 | } __attribute__((packed)) Data3D_t; |
47 | } __attribute__((packed)) Data3D_t; |
47 | 48 | ||
48 | extern Data3D_t Data3D; |
49 | extern Data3D_t Data3D; |
49 | 50 | ||
50 | 51 | ||
51 | extern const u8 ANALOG_LABEL[32][16]; |
52 | extern const u8 ANALOG_LABEL[32][16]; |
52 | 53 | ||
53 | #define AMPEL_FC 0x01 |
54 | #define AMPEL_FC 0x01 |
54 | #define AMPEL_BL 0x02 |
55 | #define AMPEL_BL 0x02 |
55 | #define AMPEL_NC 0x04 |
56 | #define AMPEL_NC 0x04 |
56 | #define AMPEL_COMPASS 0x08 |
57 | #define AMPEL_COMPASS 0x08 |
57 | 58 | ||
58 | typedef struct |
59 | typedef struct |
59 | { |
60 | { |
60 | u8 StatusGreen; |
61 | u8 StatusGreen; |
61 | u8 StatusRed; |
62 | u8 StatusRed; |
62 | u16 Analog[32]; // Debugwerte |
63 | u16 Analog[32]; // Debugwerte |
63 | } __attribute__((packed)) DebugOut_t; |
64 | } __attribute__((packed)) DebugOut_t; |
64 | 65 | ||
65 | extern DebugOut_t DebugOut; |
66 | extern DebugOut_t DebugOut; |
66 | 67 | ||
67 | typedef struct |
68 | typedef struct |
68 | { |
69 | { |
69 | u8 Digital[2]; |
70 | u8 Digital[2]; |
70 | u8 RemoteButtons; |
71 | u8 RemoteButtons; |
71 | s8 Nick; |
72 | s8 Nick; |
72 | s8 Roll; |
73 | s8 Roll; |
73 | s8 Yaw; |
74 | s8 Yaw; |
74 | u8 Gas; |
75 | u8 Gas; |
75 | s8 Height; |
76 | s8 Height; |
76 | u8 free; |
77 | u8 free; |
77 | u8 Frame; |
78 | u8 Frame; |
78 | u8 Config; |
79 | u8 Config; |
79 | } __attribute__((packed)) ExternControl_t; |
80 | } __attribute__((packed)) ExternControl_t; |
80 | 81 | ||
81 | extern ExternControl_t ExternControl; |
82 | extern ExternControl_t ExternControl; |
82 | 83 | ||
83 | typedef struct |
84 | typedef struct |
84 | { |
85 | { |
85 | s16 Nick; |
86 | s16 Nick; |
86 | s16 Roll; |
87 | s16 Roll; |
87 | s16 Compass; // angle between north and head of the MK |
88 | s16 Compass; // angle between north and head of the MK |
88 | } __attribute__((packed)) Attitude_t; |
89 | } __attribute__((packed)) Attitude_t; |
89 | - | ||
90 | #define WPL_STORE_TYPE_REL 0 |
- | |
91 | #define WPL_STORE_TYPE_ABS 1 |
- | |
92 | typedef struct |
- | |
93 | { |
- | |
94 | u8 Index; |
- | |
95 | u8 Type; |
- | |
96 | u8 reserved[8]; |
- | |
97 | s8 Name[12]; |
- | |
98 | } __attribute__((packed)) WPL_Store_t; |
90 | |
99 | 91 | ||
100 | typedef struct |
92 | typedef struct |
101 | { |
93 | { |
102 | u16 Distance; // distance to target in dm |
94 | u16 Distance; // distance to target in dm |
103 | s16 Bearing; // course to target in deg |
95 | s16 Bearing; // course to target in deg |
104 | } __attribute__((packed)) GPS_PosDev_t; |
96 | } __attribute__((packed)) GPS_PosDev_t; |
105 | 97 | ||
106 | #define NAVIDATA_VERSION 5 |
98 | #define NAVIDATA_VERSION 5 |
107 | 99 | ||
108 | typedef struct |
100 | typedef struct |
109 | { |
101 | { |
110 | u8 Version; // version of the data structure |
102 | u8 Version; // version of the data structure |
111 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
103 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
112 | GPS_Pos_t TargetPosition; |
104 | GPS_Pos_t TargetPosition; |
113 | GPS_PosDev_t TargetPositionDeviation; |
105 | GPS_PosDev_t TargetPositionDeviation; |
114 | GPS_Pos_t HomePosition; |
106 | GPS_Pos_t HomePosition; |
115 | GPS_PosDev_t HomePositionDeviation; |
107 | GPS_PosDev_t HomePositionDeviation; |
116 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
108 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
117 | u8 WaypointNumber; // number of stored waypoints |
109 | u8 WaypointNumber; // number of stored waypoints |
118 | u8 SatsInUse; // number of satellites used for position solution |
110 | u8 SatsInUse; // number of satellites used for position solution |
119 | s16 Altimeter; // hight according to air pressure |
111 | s16 Altimeter; // hight according to air pressure |
120 | s16 Variometer; // climb(+) and sink(-) rate |
112 | s16 Variometer; // climb(+) and sink(-) rate |
121 | u16 FlyingTime; // in seconds |
113 | u16 FlyingTime; // in seconds |
122 | u8 UBat; // Battery Voltage in 0.1 Volts |
114 | u8 UBat; // Battery Voltage in 0.1 Volts |
123 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
115 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
124 | s16 Heading; // current flight direction in ° as angle to north |
116 | s16 Heading; // current flight direction in ° as angle to north |
125 | s16 CompassHeading; // current compass value in ° |
117 | s16 CompassHeading; // current compass value in ° |
126 | s8 AngleNick; // current Nick angle in 1° |
118 | s8 AngleNick; // current Nick angle in 1° |
127 | s8 AngleRoll; // current Rick angle in 1° |
119 | s8 AngleRoll; // current Rick angle in 1° |
128 | u8 RC_Quality; // RC_Quality |
120 | u8 RC_Quality; // RC_Quality |
129 | u8 FCStatusFlags; // Flags from FC |
121 | u8 FCStatusFlags; // Flags from FC |
130 | u8 NCFlags; // Flags from NC |
122 | u8 NCFlags; // Flags from NC |
131 | u8 Errorcode; // 0 --> okay |
123 | u8 Errorcode; // 0 --> okay |
132 | u8 OperatingRadius; // current operation radius around the Home Position in m |
124 | u8 OperatingRadius; // current operation radius around the Home Position in m |
133 | s16 TopSpeed; // velocity in vertical direction in cm/s |
125 | s16 TopSpeed; // velocity in vertical direction in cm/s |
134 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
126 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
135 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
127 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
136 | s16 SetpointAltitude; // setpoint for altitude |
128 | s16 SetpointAltitude; // setpoint for altitude |
137 | u8 Gas; // for future use |
129 | u8 Gas; // for future use |
138 | u16 Current; // actual current in 0.1A steps |
130 | u16 Current; // actual current in 0.1A steps |
139 | u16 UsedCapacity; // used capacity in mAh |
131 | u16 UsedCapacity; // used capacity in mAh |
140 | } __attribute__((packed)) NaviData_t; |
132 | } __attribute__((packed)) NaviData_t; |
141 | 133 | ||
142 | extern NaviData_t NaviData; |
134 | extern NaviData_t NaviData; |
143 | 135 | ||
144 | #define NC_FLAG_FREE 0x01 |
136 | #define NC_FLAG_FREE 0x01 |
145 | #define NC_FLAG_PH 0x02 |
137 | #define NC_FLAG_PH 0x02 |
146 | #define NC_FLAG_CH 0x04 |
138 | #define NC_FLAG_CH 0x04 |
147 | #define NC_FLAG_RANGE_LIMIT 0x08 |
139 | #define NC_FLAG_RANGE_LIMIT 0x08 |
148 | #define NC_FLAG_NOSERIALLINK 0x10 |
140 | #define NC_FLAG_NOSERIALLINK 0x10 |
149 | #define NC_FLAG_TARGET_REACHED 0x20 |
141 | #define NC_FLAG_TARGET_REACHED 0x20 |
150 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
142 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
151 | #define NC_FLAG_GPS_OK 0x80 |
143 | #define NC_FLAG_GPS_OK 0x80 |
152 | 144 | ||
153 | extern UART_TypeDef *DebugUART; |
145 | extern UART_TypeDef *DebugUART; |
154 | extern volatile u8 SerialLinkOkay; |
146 | extern volatile u8 SerialLinkOkay; |
155 | extern Buffer_t UART1_tx_buffer; |
147 | extern Buffer_t UART1_tx_buffer; |
156 | extern Buffer_t UART1_rx_buffer; |
148 | extern Buffer_t UART1_rx_buffer; |
157 | 149 | ||
158 | void UART1_Init(void); |
150 | void UART1_Init(void); |
159 | void UART1_Transmit(void); |
151 | void UART1_Transmit(void); |
160 | void UART1_TransmitTxData(void); |
152 | void UART1_TransmitTxData(void); |
161 | void UART1_ProcessRxData(void); |
153 | void UART1_ProcessRxData(void); |
162 | 154 | ||
163 | s16 UART1_Putchar(char c); |
155 | s16 UART1_Putchar(char c); |
164 | void UART1_PutString(u8 *s); |
156 | void UART1_PutString(u8 *s); |
165 | extern u8 text[]; // globally used text buffer |
157 | extern u8 text[]; // globally used text buffer |
166 | extern u8 UART1_Request_SendFollowMe; |
158 | extern u8 UART1_Request_SendFollowMe; |
167 | extern u8 LastTransmittedFCStatusFlags2; |
159 | extern u8 LastTransmittedFCStatusFlags2; |
- | 160 | ||
- | 161 | extern WPL_Store_t WPL_Store; |
|
168 | 162 | ||
169 | extern u32 NMEA_Interval;// in ms |
163 | extern u32 NMEA_Interval;// in ms |
170 | 164 | ||
171 | #endif //_UART1_H |
165 | #endif //_UART1_H |
172 | 166 |