WebSVN - NaviCtrl - Diff - Rev 548 and 560


#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 Reserved1;
        u8 SWPatch;
    u8 HardwareError[2];
    u8 HWMajor;
    u8 BL_Firmware;  
    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  WP_OperatingRadius;                 // current WP 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;
// .NCFlags
#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 u8 UART1_Request_ReadPoint;
extern WPL_Store_t WPL_Store;
 
typedef struct
{
        u8 User[128];
        u8 eMail[128];
        u8 Feature[128];
        u8 Expire[11];
        u8 License[16];
} __attribute__((packed)) LicenseS_t; // from FC
extern u8 *LicensePtr;
 
extern u32 NMEA_Interval;// in ms
#define LICENSE_SIZE            480
#define LICENSE_SIZE_TEXT       411
 
#endif //_UART1_H
 

Rev 548	Rev 560
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	#include "waypoints.h"
10		10
11	#define NC_ERROR0_SPI_RX 0x01	11	#define NC_ERROR0_SPI_RX 0x01
12	#define NC_ERROR0_COMPASS_RX 0x02	12	#define NC_ERROR0_COMPASS_RX 0x02
13	#define NC_ERROR0_FC_INCOMPATIBLE 0x04	13	#define NC_ERROR0_FC_INCOMPATIBLE 0x04
14	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08	14	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08
15	#define NC_ERROR0_GPS_RX 0x10	15	#define NC_ERROR0_GPS_RX 0x10
16	#define NC_ERROR0_COMPASS_VALUE 0x20	16	#define NC_ERROR0_COMPASS_VALUE 0x20
17		17
18	typedef struct	18	typedef struct
19	{	19	{
20	u8 SWMajor;	20	u8 SWMajor;
21	u8 SWMinor;	21	u8 SWMinor;
22	u8 ProtoMajor;	22	u8 ProtoMajor;
23	u8 Reserved1;	23	u8 Reserved1;
24	u8 SWPatch;	24	u8 SWPatch;
25	u8 HardwareError[2];	25	u8 HardwareError[2];
26	u8 HWMajor;	26	u8 HWMajor;
27	u8 BL_Firmware;	27	u8 BL_Firmware;
28	u8 Flags;	28	u8 Flags;
29	} __attribute__((packed)) UART_VersionInfo_t;	29	} __attribute__((packed)) UART_VersionInfo_t;
30		30
31	extern UART_VersionInfo_t UART_VersionInfo;	31	extern UART_VersionInfo_t UART_VersionInfo;
32		32
33	//VersionInfo.Flags	33	//VersionInfo.Flags
34	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01	34	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
35	#define NC_VERSION_FLAG_GPS_PRESENT 0x02	35	#define NC_VERSION_FLAG_GPS_PRESENT 0x02
36		36
37	typedef struct	37	typedef struct
38	{	38	{
39	s16 AngleNick; // in 0.1 deg	39	s16 AngleNick; // in 0.1 deg
40	s16 AngleRoll; // in 0.1 deg	40	s16 AngleRoll; // in 0.1 deg
41	s16 Heading; // in 0.1 deg	41	s16 Heading; // in 0.1 deg
42	u8 StickNick;	42	u8 StickNick;
43	u8 StickRoll;	43	u8 StickRoll;
44	u8 StickYaw;	44	u8 StickYaw;
45	u8 StickGas;	45	u8 StickGas;
46	u8 reserve[4];	46	u8 reserve[4];
47	} __attribute__((packed)) Data3D_t;	47	} __attribute__((packed)) Data3D_t;
48		48
49	extern Data3D_t Data3D;	49	extern Data3D_t Data3D;
50		50
51		51
52	extern const u8 ANALOG_LABEL[32][16];	52	extern const u8 ANALOG_LABEL[32][16];
53		53
54	#define AMPEL_FC 0x01	54	#define AMPEL_FC 0x01
55	#define AMPEL_BL 0x02	55	#define AMPEL_BL 0x02
56	#define AMPEL_NC 0x04	56	#define AMPEL_NC 0x04
57	#define AMPEL_COMPASS 0x08	57	#define AMPEL_COMPASS 0x08
58		58
59	typedef struct	59	typedef struct
60	{	60	{
61	u8 StatusGreen;	61	u8 StatusGreen;
62	u8 StatusRed;	62	u8 StatusRed;
63	u16 Analog[32]; // Debugwerte	63	u16 Analog[32]; // Debugwerte
64	} __attribute__((packed)) DebugOut_t;	64	} __attribute__((packed)) DebugOut_t;
65		65
66	extern DebugOut_t DebugOut;	66	extern DebugOut_t DebugOut;
67		67
68	typedef struct	68	typedef struct
69	{	69	{
70	u8 Digital[2];	70	u8 Digital[2];
71	u8 RemoteButtons;	71	u8 RemoteButtons;
72	s8 Nick;	72	s8 Nick;
73	s8 Roll;	73	s8 Roll;
74	s8 Yaw;	74	s8 Yaw;
75	u8 Gas;	75	u8 Gas;
76	s8 Height;	76	s8 Height;
77	u8 free;	77	u8 free;
78	u8 Frame;	78	u8 Frame;
79	u8 Config;	79	u8 Config;
80	} __attribute__((packed)) ExternControl_t;	80	} __attribute__((packed)) ExternControl_t;
81		81
82	extern ExternControl_t ExternControl;	82	extern ExternControl_t ExternControl;
83		83
84	typedef struct	84	typedef struct
85	{	85	{
86	s16 Nick;	86	s16 Nick;
87	s16 Roll;	87	s16 Roll;
88	s16 Compass; // angle between north and head of the MK	88	s16 Compass; // angle between north and head of the MK
89	} __attribute__((packed)) Attitude_t;	89	} __attribute__((packed)) Attitude_t;
90		90
91		91
92	typedef struct	92	typedef struct
93	{	93	{
94	u16 Distance; // distance to target in dm	94	u16 Distance; // distance to target in dm
95	s16 Bearing; // course to target in deg	95	s16 Bearing; // course to target in deg
96	} __attribute__((packed)) GPS_PosDev_t;	96	} __attribute__((packed)) GPS_PosDev_t;
97		97
98	#define NAVIDATA_VERSION 5	98	#define NAVIDATA_VERSION 5
99		99
100	typedef struct	100	typedef struct
101	{	101	{
102	u8 Version; // version of the data structure	102	u8 Version; // version of the data structure
103	GPS_Pos_t CurrentPosition; // see gpspos.h for details	103	GPS_Pos_t CurrentPosition; // see gpspos.h for details
104	GPS_Pos_t TargetPosition;	104	GPS_Pos_t TargetPosition;
105	GPS_PosDev_t TargetPositionDeviation;	105	GPS_PosDev_t TargetPositionDeviation;
106	GPS_Pos_t HomePosition;	106	GPS_Pos_t HomePosition;
107	GPS_PosDev_t HomePositionDeviation;	107	GPS_PosDev_t HomePositionDeviation;
108	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
109	u8 WaypointNumber; // number of stored waypoints	109	u8 WaypointNumber; // number of stored waypoints
110	u8 SatsInUse; // number of satellites used for position solution	110	u8 SatsInUse; // number of satellites used for position solution
111	s16 Altimeter; // hight according to air pressure	111	s16 Altimeter; // hight according to air pressure
112	s16 Variometer; // climb(+) and sink(-) rate	112	s16 Variometer; // climb(+) and sink(-) rate
113	u16 FlyingTime; // in seconds	113	u16 FlyingTime; // in seconds
114	u8 UBat; // Battery Voltage in 0.1 Volts	114	u8 UBat; // Battery Voltage in 0.1 Volts
115	u16 GroundSpeed; // speed over ground in cm/s (2D)	115	u16 GroundSpeed; // speed over ground in cm/s (2D)
116	s16 Heading; // current flight direction in ° as angle to north	116	s16 Heading; // current flight direction in ° as angle to north
117	s16 CompassHeading; // current compass value in °	117	s16 CompassHeading; // current compass value in °
118	s8 AngleNick; // current Nick angle in 1°	118	s8 AngleNick; // current Nick angle in 1°
119	s8 AngleRoll; // current Rick angle in 1°	119	s8 AngleRoll; // current Rick angle in 1°
120	u8 RC_Quality; // RC_Quality	120	u8 RC_Quality; // RC_Quality
121	u8 FCStatusFlags; // Flags from FC	121	u8 FCStatusFlags; // Flags from FC
122	u8 NCFlags; // Flags from NC	122	u8 NCFlags; // Flags from NC
123	u8 Errorcode; // 0 --> okay	123	u8 Errorcode; // 0 --> okay
124	u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m	124	u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m
125	s16 TopSpeed; // velocity in vertical direction in cm/s	125	s16 TopSpeed; // velocity in vertical direction in cm/s
126	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
127	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)	127	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
128	s16 SetpointAltitude; // setpoint for altitude	128	s16 SetpointAltitude; // setpoint for altitude
129	u8 Gas; // for future use	129	u8 Gas; // for future use
130	u16 Current; // actual current in 0.1A steps	130	u16 Current; // actual current in 0.1A steps
131	u16 UsedCapacity; // used capacity in mAh	131	u16 UsedCapacity; // used capacity in mAh
132	} __attribute__((packed)) NaviData_t;	132	} __attribute__((packed)) NaviData_t;
133		133
134	extern NaviData_t NaviData;	134	extern NaviData_t NaviData;
135		135	// .NCFlags
136	#define NC_FLAG_FREE 0x01	136	#define NC_FLAG_FREE 0x01
137	#define NC_FLAG_PH 0x02	137	#define NC_FLAG_PH 0x02
138	#define NC_FLAG_CH 0x04	138	#define NC_FLAG_CH 0x04
139	#define NC_FLAG_RANGE_LIMIT 0x08	139	#define NC_FLAG_RANGE_LIMIT 0x08
140	#define NC_FLAG_NOSERIALLINK 0x10	140	#define NC_FLAG_NOSERIALLINK 0x10
141	#define NC_FLAG_TARGET_REACHED 0x20	141	#define NC_FLAG_TARGET_REACHED 0x20
142	#define NC_FLAG_MANUAL_CONTROL 0x40	142	#define NC_FLAG_MANUAL_CONTROL 0x40
143	#define NC_FLAG_GPS_OK 0x80	143	#define NC_FLAG_GPS_OK 0x80
144		144
145	extern UART_TypeDef *DebugUART;	145	extern UART_TypeDef *DebugUART;
146	extern volatile u8 SerialLinkOkay;	146	extern volatile u8 SerialLinkOkay;
147	extern Buffer_t UART1_tx_buffer;	147	extern Buffer_t UART1_tx_buffer;
148	extern Buffer_t UART1_rx_buffer;	148	extern Buffer_t UART1_rx_buffer;
149		149
150	void UART1_Init(void);	150	void UART1_Init(void);
151	void UART1_Transmit(void);	151	void UART1_Transmit(void);
152	void UART1_TransmitTxData(void);	152	void UART1_TransmitTxData(void);
153	void UART1_ProcessRxData(void);	153	void UART1_ProcessRxData(void);
154		154
155	s16 UART1_Putchar(char c);	155	s16 UART1_Putchar(char c);
156	void UART1_PutString(u8 *s);	156	void UART1_PutString(u8 *s);
157	extern u8 text[]; // globally used text buffer	157	extern u8 text[]; // globally used text buffer
158	extern u8 UART1_Request_SendFollowMe;	158	extern u8 UART1_Request_SendFollowMe;
159	extern u8 LastTransmittedFCStatusFlags2;	159	extern u8 LastTransmittedFCStatusFlags2;
160	extern u8 UART1_Request_ReadPoint;	160	extern u8 UART1_Request_ReadPoint;
161	extern WPL_Store_t WPL_Store;	161	extern WPL_Store_t WPL_Store;
162		162
163	typedef struct	163	typedef struct
164	{	164	{
165	u8 User[128];	165	u8 User[128];
166	u8 eMail[128];	166	u8 eMail[128];
167	u8 Feature[128];	167	u8 Feature[128];
168	u8 Expire[11];	168	u8 Expire[11];
169	u8 License[16];	169	u8 License[16];
170	} __attribute__((packed)) LicenseS_t; // from FC	170	} __attribute__((packed)) LicenseS_t; // from FC
171	extern u8 *LicensePtr;	171	extern u8 *LicensePtr;
172		172
173	extern u32 NMEA_Interval;// in ms	173	extern u32 NMEA_Interval;// in ms
174	#define LICENSE_SIZE 480	174	#define LICENSE_SIZE 480
175	#define LICENSE_SIZE_TEXT 411	175	#define LICENSE_SIZE_TEXT 411
176		176
177	#endif //_UART1_H	177	#endif //_UART1_H
178		178

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(root)/tags/V2.08a/uart1.h @ 793 - Rev 548 → 560