WebSVN - NaviCtrl - Diff - Rev 101 and 110


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
 
 
 
 
#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
{
        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;
extern u8 Request_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 101	Rev 110
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		-
8	#define TXD_BUFFER_LEN 150	-
9	#define RXD_BUFFER_LEN 150	-
10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces	-
11		7
12	#include "ubx.h"	8	#include "ubx.h"
13		9
14	typedef struct	10	typedef struct
15	{	11	{
16	s16 AngleNick; // in 0.1 deg	12	s16 AngleNick; // in 0.1 deg
17	s16 AngleRoll; // in 0.1 deg	13	s16 AngleRoll; // in 0.1 deg
18	s16 Heading; // in 0.1 deg	14	s16 Heading; // in 0.1 deg
19	u8 reserve[8];	15	u8 reserve[8];
20	} __attribute__((packed)) Data3D_t;	16	} __attribute__((packed)) Data3D_t;
21		17
22	extern Data3D_t Data3D;	18	extern Data3D_t Data3D;
23		19
24	typedef struct	20	typedef struct
25	{	21	{
26	u8 Digital[2];	22	u8 Digital[2];
27	u16 Analog[32]; // Debugwerte	23	u16 Analog[32]; // Debugwerte
28	} __attribute__((packed)) DebugOut_t;	24	} __attribute__((packed)) DebugOut_t;
29		25
30	extern DebugOut_t DebugOut;	26	extern DebugOut_t DebugOut;
31		27
32	typedef struct	28	typedef struct
33	{	29	{
34	u8 Digital[2];	30	u8 Digital[2];
35	u8 RemoteButtons;	31	u8 RemoteButtons;
36	s8 Nick;	32	s8 Nick;
37	s8 Roll;	33	s8 Roll;
38	s8 Yaw;	34	s8 Yaw;
39	u8 Gas;	35	u8 Gas;
40	s8 Height;	36	s8 Height;
41	u8 free;	37	u8 free;
42	u8 Frame;	38	u8 Frame;
43	u8 Config;	39	u8 Config;
44	} __attribute__((packed)) ExternControl_t;	40	} __attribute__((packed)) ExternControl_t;
45		41
46	extern ExternControl_t ExternControl;	42	extern ExternControl_t ExternControl;
47		43
48	typedef struct	44	typedef struct
49	{	45	{
50	s16 Nick;	46	s16 Nick;
51	s16 Roll;	47	s16 Roll;
52	s16 Compass; // angle between north and head of the MK	48	s16 Compass; // angle between north and head of the MK
53	} __attribute__((packed)) Attitude_t;	49	} __attribute__((packed)) Attitude_t;
54		50
55	typedef struct	51	typedef struct
56	{	52	{
57	u16 Distance; // distance to target in dm	53	u16 Distance; // distance to target in dm
58	s16 Bearing; // course to target in deg	54	s16 Bearing; // course to target in deg
59	} __attribute__((packed)) GPS_PosDev_t;	55	} __attribute__((packed)) GPS_PosDev_t;
60		56
61	#define NAVIDATA_VERSION 1	57	#define NAVIDATA_VERSION 1
62		58
63	typedef struct	59	typedef struct
64	{	60	{
65	u8 Version; // version of the data structure	61	u8 Version; // version of the data structure
66	GPS_Pos_t CurrentPosition; // see ubx.h for details	62	GPS_Pos_t CurrentPosition; // see ubx.h for details
67	GPS_Pos_t TargetPosition;	63	GPS_Pos_t TargetPosition;
68	GPS_PosDev_t TargetPositionDeviation;	64	GPS_PosDev_t TargetPositionDeviation;
69	GPS_Pos_t HomePosition;	65	GPS_Pos_t HomePosition;
70	GPS_PosDev_t HomePositionDeviation;	66	GPS_PosDev_t HomePositionDeviation;
71	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	67	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
72	u8 WaypointNumber; // number of stored waypoints	68	u8 WaypointNumber; // number of stored waypoints
73	u8 SatsInUse; // number of satellites used for position solution	69	u8 SatsInUse; // number of satellites used for position solution
74	s16 Altimeter; // hight according to air pressure	70	s16 Altimeter; // hight according to air pressure
75	s16 Variometer; // climb(+) and sink(-) rate	71	s16 Variometer; // climb(+) and sink(-) rate
76	u16 FlyingTime; // in seconds	72	u16 FlyingTime; // in seconds
77	u8 UBat; // Battery Voltage in 0.1 Volts	73	u8 UBat; // Battery Voltage in 0.1 Volts
78	u16 GroundSpeed; // speed over ground in cm/s (2D)	74	u16 GroundSpeed; // speed over ground in cm/s (2D)
79	s16 Heading; // current flight direction in ° as angle to north	75	s16 Heading; // current flight direction in ° as angle to north
80	s16 CompassHeading; // current compass value in °	76	s16 CompassHeading; // current compass value in °
81	s8 AngleNick; // current Nick angle in 1°	77	s8 AngleNick; // current Nick angle in 1°
82	s8 AngleRoll; // current Rick angle in 1°	78	s8 AngleRoll; // current Rick angle in 1°
83	u8 RC_Quality; // RC_Quality	79	u8 RC_Quality; // RC_Quality
84	u8 MKFlags; // Flags from FC	80	u8 MKFlags; // Flags from FC
85	u8 NCFlags; // Flags from NC	81	u8 NCFlags; // Flags from NC
86	u8 Errorcode; // 0 --> okay	82	u8 Errorcode; // 0 --> okay
87	u8 OperatingRadius; // current operation radius around the Home Position in m	83	u8 OperatingRadius; // current operation radius around the Home Position in m
88	s16 TopSpeed; // velocity in vertical direction in cm/s	84	s16 TopSpeed; // velocity in vertical direction in cm/s
89	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	85	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
90	u8 Reserve[4]; // for future use	86	u8 Reserve[4]; // for future use
91	} __attribute__((packed)) NaviData_t;	87	} __attribute__((packed)) NaviData_t;
92		88
93	extern NaviData_t NaviData;	89	extern NaviData_t NaviData;
94	extern u8 Request_NaviData;	90	extern u8 Request_NaviData;
95		91
96	#define NC_FLAG_FREE 0x01	92	#define NC_FLAG_FREE 0x01
97	#define NC_FLAG_PH 0x02	93	#define NC_FLAG_PH 0x02
98	#define NC_FLAG_CH 0x04	94	#define NC_FLAG_CH 0x04
99	#define NC_FLAG_RANGE_LIMIT 0x08	95	#define NC_FLAG_RANGE_LIMIT 0x08
100	#define NC_FLAG_NOSERIALLINK 0x10	96	#define NC_FLAG_NOSERIALLINK 0x10
101	#define NC_FLAG_TARGET_REACHED 0x20	97	#define NC_FLAG_TARGET_REACHED 0x20
102	#define NC_FLAG_MANUAL_CONTROL 0x40	98	#define NC_FLAG_MANUAL_CONTROL 0x40
103	#define NC_FLAG_8 0x80	99	#define NC_FLAG_8 0x80
104		100
105	extern UART_TypeDef *DebugUART;	101	extern UART_TypeDef *DebugUART;
106	extern volatile u8 SerialLinkOkay;	102	extern volatile u8 SerialLinkOkay;
107		103
108		104
109	void UART1_Init(void);	105	void UART1_Init(void);
110	void UART1_Transmit(void);	106	void UART1_Transmit(void);
111	void UART1_TransmitTxData(void);	107	void UART1_TransmitTxData(void);
112	void UART1_ProcessRxData(void);	108	void UART1_ProcessRxData(void);
113		109
114	s16 uart_putchar (char c);	110	s16 UART1_Putchar(char c);
115	void SerialPutString(u8 *s);	111	void UART1_PutString(u8 *s);
116	extern u8 text[100]; // globally used text buffer	112	extern u8 text[100]; // globally used text buffer
117	extern u8 Request_SendFollowMe;	113	extern u8 UART1_Request_SendFollowMe;
118	#endif //_UART1_H	114	#endif //_UART1_H
119		115

Subversion Repositories NaviCtrl

(root)/tags/V2.07b_Beta/uart1.h @ 702 - Rev 101 → 110