WebSVN - NaviCtrl - Diff - Rev 54 and 61 - /tags/V2.07b


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#define TXD_BUFFER_LEN  150
#define RXD_BUFFER_LEN  150
#define BAUD_RATE 57600         //Baud Rate for the serial interfaces
 
#include "ubx.h" 
 
typedef struct str_Data3D
{
   s16 Winkel[3]; // nick, roll, compass in 0,1°
   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
{
        s16 Distance;                                   // distance to target in cm
        s16 Bearing;                                    // course to target in deg      
}  __attribute__((packed)) GPS_PosDev_t;
 
typedef struct
{
        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;                                  // no 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 deg as angle to north
        s16     CompassHeading;                         // current compass value
        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  Reserve[8];                                 // for future use
} __attribute__((packed)) NaviData_t;
 
extern NaviData_t NaviData;
extern u8 Request_NaviData;
 
#define NC_FLAG_FREE                    1
#define NC_FLAG_PH                              2
#define NC_FLAG_CH                              4
#define NC_FLAG_RANGE_LIMIT             8
 
typedef struct
{
        u8 SWMajor;
        u8 SWMinor;
        u8 ProtoMajor;
        u8 ProtoMinor;
        u8 SWPatch;
        u8 Reserved[5];
}  __attribute__((packed)) UART_VersionInfo_t;
 
extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
extern volatile u8 ReceivedBytes;
extern volatile u8 rxd_buffer_locked;
extern UART_TypeDef *DebugUART;
 
 
void UART1_Init(void);
void UART1_Transmit(void);
void UART1_TransmitTxData(void);
void UART1_ProcessRxData(void);
 
s16 uart_putchar (char c);
void SerialPutString(u8 *s);
extern u8 text[100];
extern u32 Request_NaviData_Intervall; // in ms
extern u8 Request_SendFollowMe;
#endif //_UART1_H
 

Rev 54	Rev 61
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	#define TXD_BUFFER_LEN 150	8	#define TXD_BUFFER_LEN 150
9	#define RXD_BUFFER_LEN 150	9	#define RXD_BUFFER_LEN 150
10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces	10	#define BAUD_RATE 57600 //Baud Rate for the serial interfaces
11		11
12	#include "ubx.h"	12	#include "ubx.h"
-		13
-		14	typedef struct str_Data3D
-		15	{
-		16	s16 Winkel[3]; // nick, roll, compass in 0,1°
-		17	u8 reserve[8];
-		18	} __attribute__((packed)) Data3D_t;
-		19
-		20	extern Data3D_t Data3D;
13		21
14	typedef struct	22	typedef struct
15	{	23	{
16	u8 Digital[2];	24	u8 Digital[2];
17	u16 Analog[32]; // Debugwerte	25	u16 Analog[32]; // Debugwerte
18	} __attribute__((packed)) DebugOut_t;	26	} __attribute__((packed)) DebugOut_t;
19		27
20	extern DebugOut_t DebugOut;	28	extern DebugOut_t DebugOut;
21		29
22	typedef struct	30	typedef struct
23	{	31	{
24	u8 Digital[2];	32	u8 Digital[2];
25	u8 RemoteButtons;	33	u8 RemoteButtons;
26	s8 Nick;	34	s8 Nick;
27	s8 Roll;	35	s8 Roll;
28	s8 Yaw;	36	s8 Yaw;
29	u8 Gas;	37	u8 Gas;
30	s8 Height;	38	s8 Height;
31	u8 free;	39	u8 free;
32	u8 Frame;	40	u8 Frame;
33	u8 Config;	41	u8 Config;
34	} __attribute__((packed)) ExternControl_t;	42	} __attribute__((packed)) ExternControl_t;
35		43
36	extern ExternControl_t ExternControl;	44	extern ExternControl_t ExternControl;
37		45
38	typedef struct	46	typedef struct
39	{	47	{
40	s16 Nick;	48	s16 Nick;
41	s16 Roll;	49	s16 Roll;
42	s16 Compass; // angle between north and head of the MK	50	s16 Compass; // angle between north and head of the MK
43	} __attribute__((packed)) Attitude_t;	51	} __attribute__((packed)) Attitude_t;
44		52
45	typedef struct	53	typedef struct
46	{	54	{
47	s16 Distance; // distance to target in cm	55	s16 Distance; // distance to target in cm
48	s16 Bearing; // course to target in deg	56	s16 Bearing; // course to target in deg
49	} __attribute__((packed)) GPS_PosDev_t;	57	} __attribute__((packed)) GPS_PosDev_t;
50		58
51	typedef struct	59	typedef struct
52	{	60	{
53	GPS_Pos_t CurrentPosition; // see ubx.h for details	61	GPS_Pos_t CurrentPosition; // see ubx.h for details
54	GPS_Pos_t TargetPosition;	62	GPS_Pos_t TargetPosition;
55	GPS_PosDev_t TargetPositionDeviation;	63	GPS_PosDev_t TargetPositionDeviation;
56	GPS_Pos_t HomePosition;	64	GPS_Pos_t HomePosition;
57	GPS_PosDev_t HomePositionDeviation;	65	GPS_PosDev_t HomePositionDeviation;
58	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	66	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
59	u8 WaypointNumber; // number of stored waypoints	67	u8 WaypointNumber; // number of stored waypoints
60	u8 SatsInUse; // no of satellites used for position solution	68	u8 SatsInUse; // no of satellites used for position solution
61	s16 Altimeter; // hight according to air pressure	69	s16 Altimeter; // hight according to air pressure
62	s16 Variometer; // climb(+) and sink(-) rate	70	s16 Variometer; // climb(+) and sink(-) rate
63	u16 FlyingTime; // in seconds	71	u16 FlyingTime; // in seconds
64	u8 UBat; // Battery Voltage in 0.1 Volts	72	u8 UBat; // Battery Voltage in 0.1 Volts
65	u16 GroundSpeed; // speed over ground in cm/s (2D)	73	u16 GroundSpeed; // speed over ground in cm/s (2D)
66	s16 Heading; // current flight direction in deg as angle to north	74	s16 Heading; // current flight direction in deg as angle to north
67	s16 CompassHeading; // current compass value	75	s16 CompassHeading; // current compass value
68	s8 AngleNick; // current Nick angle in 1°	76	s8 AngleNick; // current Nick angle in 1°
69	s8 AngleRoll; // current Rick angle in 1°	77	s8 AngleRoll; // current Rick angle in 1°
70	u8 RC_Quality; // RC_Quality	78	u8 RC_Quality; // RC_Quality
71	u8 MKFlags; // Flags from FC	79	u8 MKFlags; // Flags from FC
72	u8 NCFlags; // Flags from NC	80	u8 NCFlags; // Flags from NC
73	u8 Errorcode; // 0 --> okay	81	u8 Errorcode; // 0 --> okay
74	u8 Reserve[8]; // for future use	82	u8 Reserve[8]; // for future use
75	} __attribute__((packed)) NaviData_t;	83	} __attribute__((packed)) NaviData_t;
76		84
77	extern NaviData_t NaviData;	85	extern NaviData_t NaviData;
78	extern u8 Request_NaviData;	86	extern u8 Request_NaviData;
79		87
80	#define NC_FLAG_FREE 1	88	#define NC_FLAG_FREE 1
81	#define NC_FLAG_PH 2	89	#define NC_FLAG_PH 2
82	#define NC_FLAG_CH 4	90	#define NC_FLAG_CH 4
83	#define NC_FLAG_RANGE_LIMIT 8	91	#define NC_FLAG_RANGE_LIMIT 8
84		92
85	typedef struct	93	typedef struct
86	{	94	{
87	u8 SWMajor;	95	u8 SWMajor;
88	u8 SWMinor;	96	u8 SWMinor;
89	u8 ProtoMajor;	97	u8 ProtoMajor;
90	u8 ProtoMinor;	98	u8 ProtoMinor;
91	u8 SWPatch;	99	u8 SWPatch;
92	u8 Reserved[5];	100	u8 Reserved[5];
93	} __attribute__((packed)) UART_VersionInfo_t;	101	} __attribute__((packed)) UART_VersionInfo_t;
94		102
95	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];	103	extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
96	extern volatile u8 ReceivedBytes;	104	extern volatile u8 ReceivedBytes;
97	extern volatile u8 rxd_buffer_locked;	105	extern volatile u8 rxd_buffer_locked;
98	extern UART_TypeDef *DebugUART;	106	extern UART_TypeDef *DebugUART;
99		107
100		108
101	void UART1_Init(void);	109	void UART1_Init(void);
102	void UART1_Transmit(void);	110	void UART1_Transmit(void);
103	void UART1_TransmitTxData(void);	111	void UART1_TransmitTxData(void);
104	void UART1_ProcessRxData(void);	112	void UART1_ProcessRxData(void);
105		113
106	s16 uart_putchar (char c);	114	s16 uart_putchar (char c);
107	void SerialPutString(u8 *s);	115	void SerialPutString(u8 *s);
108	extern u8 text[100];	116	extern u8 text[100];
109	extern u32 Request_NaviData_Intervall; // in ms	117	extern u32 Request_NaviData_Intervall; // in ms
110	extern u8 Request_SendFollowMe;	118	extern u8 Request_SendFollowMe;
111	#endif //_UART1_H	119	#endif //_UART1_H
112		120

Subversion Repositories NaviCtrl

(root)/tags/V2.07b_Beta/uart1.h @ 870 - Rev 54 → 61