WebSVN - NaviCtrl - Diff - Rev 494 and 495


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#include "ubx.h"
#include "waypoints.h"
 
#define NC_ERROR0_SPI_RX                                0x01
#define NC_ERROR0_COMPASS_RX                    0x02
#define NC_ERROR0_FC_INCOMPATIBLE               0x04
#define NC_ERROR0_COMPASS_INCOMPATIBLE  0x08
#define NC_ERROR0_GPS_RX                                0x10
#define NC_ERROR0_COMPASS_VALUE                 0x20
 
typedef struct
{
        u8 SWMajor;
        u8 SWMinor;
        u8 ProtoMajor;
        u8 ProtoMinor;
        u8 SWPatch;
    u8 HardwareError[2];
    u8 HWMajor;
    u8 reserved2;  
    u8 Flags;
} __attribute__((packed)) UART_VersionInfo_t;
 
extern UART_VersionInfo_t UART_VersionInfo;
 
//VersionInfo.Flags
#define NC_VERSION_FLAG_MK3MAG_PRESENT      0x01
#define NC_VERSION_FLAG_GPS_PRESENT             0x02
 
typedef struct
{
        s16 AngleNick;  // in 0.1 deg
        s16 AngleRoll;   // in 0.1 deg
        s16 Heading;    // in 0.1 deg
    u8 StickNick;
    u8 StickRoll;
    u8 StickYaw;
    u8 StickGas;
        u8 reserve[4];
} __attribute__((packed)) Data3D_t;
 
extern Data3D_t Data3D;
 
 
extern const u8 ANALOG_LABEL[32][16];
 
#define AMPEL_FC                0x01
#define AMPEL_BL                0x02
#define AMPEL_NC                0x04
#define AMPEL_COMPASS   0x08
 
typedef struct
{
        u8 StatusGreen;
        u8 StatusRed;
        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 5
 
typedef struct
{
        u8 Version;                                             // version of the data structure
        GPS_Pos_t CurrentPosition;              // see gpspos.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  FCStatusFlags;                              // 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  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
        s16 SetpointAltitude;                   // setpoint for altitude
        u8  Gas;                                                // for future use
        u16 Current;                                    // actual current in 0.1A steps
        u16 UsedCapacity;                               // used capacity in mAh
} __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_GPS_OK                  0x80
 
extern UART_TypeDef *DebugUART;
extern volatile u8 SerialLinkOkay;
extern Buffer_t UART1_tx_buffer;
extern Buffer_t UART1_rx_buffer;
 
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;
extern u8 LastTransmittedFCStatusFlags2;
 
extern WPL_Store_t WPL_Store;
 
extern u32 NMEA_Interval;// in ms
 
#endif //_UART1_H
 

Rev 494	Rev 495
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

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(root)/tags/V2.07b_Beta/uart1.h @ 702 - Rev 494 → 495