WebSVN - NaviCtrl - Diff - Rev 460 and 491


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#include "ubx.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 u32 NMEA_Interval;// in ms
 
#endif //_UART1_H
 

Rev 460	Rev 491
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		9
10	#define NC_ERROR0_SPI_RX 0x01	10	#define NC_ERROR0_SPI_RX 0x01
11	#define NC_ERROR0_COMPASS_RX 0x02	11	#define NC_ERROR0_COMPASS_RX 0x02
12	#define NC_ERROR0_FC_INCOMPATIBLE 0x04	12	#define NC_ERROR0_FC_INCOMPATIBLE 0x04
13	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08	13	#define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08
14	#define NC_ERROR0_GPS_RX 0x10	14	#define NC_ERROR0_GPS_RX 0x10
15	#define NC_ERROR0_COMPASS_VALUE 0x20	15	#define NC_ERROR0_COMPASS_VALUE 0x20
16		16
17	typedef struct	17	typedef struct
18	{	18	{
19	u8 SWMajor;	19	u8 SWMajor;
20	u8 SWMinor;	20	u8 SWMinor;
21	u8 ProtoMajor;	21	u8 ProtoMajor;
22	u8 ProtoMinor;	22	u8 ProtoMinor;
23	u8 SWPatch;	23	u8 SWPatch;
24	u8 HardwareError[2];	24	u8 HardwareError[2];
25	u8 HWMajor;	25	u8 HWMajor;
26	u8 reserved2;	26	u8 reserved2;
27	u8 Flags;	27	u8 Flags;
28	} __attribute__((packed)) UART_VersionInfo_t;	28	} __attribute__((packed)) UART_VersionInfo_t;
29		29
30	extern UART_VersionInfo_t UART_VersionInfo;	30	extern UART_VersionInfo_t UART_VersionInfo;
31		31
32	//VersionInfo.Flags	32	//VersionInfo.Flags
33	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01	33	#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
34	#define NC_VERSION_FLAG_GPS_PRESENT 0x02	34	#define NC_VERSION_FLAG_GPS_PRESENT 0x02
35		35
36	typedef struct	36	typedef struct
37	{	37	{
38	s16 AngleNick; // in 0.1 deg	38	s16 AngleNick; // in 0.1 deg
39	s16 AngleRoll; // in 0.1 deg	39	s16 AngleRoll; // in 0.1 deg
40	s16 Heading; // in 0.1 deg	40	s16 Heading; // in 0.1 deg
41	u8 StickNick;	41	u8 StickNick;
42	u8 StickRoll;	42	u8 StickRoll;
43	u8 StickYaw;	43	u8 StickYaw;
44	u8 StickGas;	44	u8 StickGas;
45	u8 reserve[4];	45	u8 reserve[4];
46	} __attribute__((packed)) Data3D_t;	46	} __attribute__((packed)) Data3D_t;
47		47
48	extern Data3D_t Data3D;	48	extern Data3D_t Data3D;
49		49
50		50
51	extern const u8 ANALOG_LABEL[32][16];	51	extern const u8 ANALOG_LABEL[32][16];
52		52
53	#define AMPEL_FC 0x01	53	#define AMPEL_FC 0x01
54	#define AMPEL_BL 0x02	54	#define AMPEL_BL 0x02
55	#define AMPEL_NC 0x04	55	#define AMPEL_NC 0x04
56	#define AMPEL_COMPASS 0x08	56	#define AMPEL_COMPASS 0x08
57		57
58	typedef struct	58	typedef struct
59	{	59	{
60	u8 StatusGreen;	60	u8 StatusGreen;
61	u8 StatusRed;	61	u8 StatusRed;
62	u16 Analog[32]; // Debugwerte	62	u16 Analog[32]; // Debugwerte
63	} __attribute__((packed)) DebugOut_t;	63	} __attribute__((packed)) DebugOut_t;
64		64
65	extern DebugOut_t DebugOut;	65	extern DebugOut_t DebugOut;
66		66
67	typedef struct	67	typedef struct
68	{	68	{
69	u8 Digital[2];	69	u8 Digital[2];
70	u8 RemoteButtons;	70	u8 RemoteButtons;
71	s8 Nick;	71	s8 Nick;
72	s8 Roll;	72	s8 Roll;
73	s8 Yaw;	73	s8 Yaw;
74	u8 Gas;	74	u8 Gas;
75	s8 Height;	75	s8 Height;
76	u8 free;	76	u8 free;
77	u8 Frame;	77	u8 Frame;
78	u8 Config;	78	u8 Config;
79	} __attribute__((packed)) ExternControl_t;	79	} __attribute__((packed)) ExternControl_t;
80		80
81	extern ExternControl_t ExternControl;	81	extern ExternControl_t ExternControl;
82		82
83	typedef struct	83	typedef struct
84	{	84	{
85	s16 Nick;	85	s16 Nick;
86	s16 Roll;	86	s16 Roll;
87	s16 Compass; // angle between north and head of the MK	87	s16 Compass; // angle between north and head of the MK
88	} __attribute__((packed)) Attitude_t;	88	} __attribute__((packed)) Attitude_t;
89		89
90	typedef struct	90	typedef struct
91	{	91	{
92	u16 Distance; // distance to target in dm	92	u16 Distance; // distance to target in dm
93	s16 Bearing; // course to target in deg	93	s16 Bearing; // course to target in deg
94	} __attribute__((packed)) GPS_PosDev_t;	94	} __attribute__((packed)) GPS_PosDev_t;
95		95
96	#define NAVIDATA_VERSION 5	96	#define NAVIDATA_VERSION 5
97		97
98	typedef struct	98	typedef struct
99	{	99	{
100	u8 Version; // version of the data structure	100	u8 Version; // version of the data structure
101	GPS_Pos_t CurrentPosition; // see ubx.h for details	101	GPS_Pos_t CurrentPosition; // see gpspos.h for details
102	GPS_Pos_t TargetPosition;	102	GPS_Pos_t TargetPosition;
103	GPS_PosDev_t TargetPositionDeviation;	103	GPS_PosDev_t TargetPositionDeviation;
104	GPS_Pos_t HomePosition;	104	GPS_Pos_t HomePosition;
105	GPS_PosDev_t HomePositionDeviation;	105	GPS_PosDev_t HomePositionDeviation;
106	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	106	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
107	u8 WaypointNumber; // number of stored waypoints	107	u8 WaypointNumber; // number of stored waypoints
108	u8 SatsInUse; // number of satellites used for position solution	108	u8 SatsInUse; // number of satellites used for position solution
109	s16 Altimeter; // hight according to air pressure	109	s16 Altimeter; // hight according to air pressure
110	s16 Variometer; // climb(+) and sink(-) rate	110	s16 Variometer; // climb(+) and sink(-) rate
111	u16 FlyingTime; // in seconds	111	u16 FlyingTime; // in seconds
112	u8 UBat; // Battery Voltage in 0.1 Volts	112	u8 UBat; // Battery Voltage in 0.1 Volts
113	u16 GroundSpeed; // speed over ground in cm/s (2D)	113	u16 GroundSpeed; // speed over ground in cm/s (2D)
114	s16 Heading; // current flight direction in ° as angle to north	114	s16 Heading; // current flight direction in ° as angle to north
115	s16 CompassHeading; // current compass value in °	115	s16 CompassHeading; // current compass value in °
116	s8 AngleNick; // current Nick angle in 1°	116	s8 AngleNick; // current Nick angle in 1°
117	s8 AngleRoll; // current Rick angle in 1°	117	s8 AngleRoll; // current Rick angle in 1°
118	u8 RC_Quality; // RC_Quality	118	u8 RC_Quality; // RC_Quality
119	u8 FCStatusFlags; // Flags from FC	119	u8 FCStatusFlags; // Flags from FC
120	u8 NCFlags; // Flags from NC	120	u8 NCFlags; // Flags from NC
121	u8 Errorcode; // 0 --> okay	121	u8 Errorcode; // 0 --> okay
122	u8 OperatingRadius; // current operation radius around the Home Position in m	122	u8 OperatingRadius; // current operation radius around the Home Position in m
123	s16 TopSpeed; // velocity in vertical direction in cm/s	123	s16 TopSpeed; // velocity in vertical direction in cm/s
124	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	124	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
125	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)	125	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
126	s16 SetpointAltitude; // setpoint for altitude	126	s16 SetpointAltitude; // setpoint for altitude
127	u8 Gas; // for future use	127	u8 Gas; // for future use
128	u16 Current; // actual current in 0.1A steps	128	u16 Current; // actual current in 0.1A steps
129	u16 UsedCapacity; // used capacity in mAh	129	u16 UsedCapacity; // used capacity in mAh
130	} __attribute__((packed)) NaviData_t;	130	} __attribute__((packed)) NaviData_t;
131		131
132	extern NaviData_t NaviData;	132	extern NaviData_t NaviData;
133		133
134	#define NC_FLAG_FREE 0x01	134	#define NC_FLAG_FREE 0x01
135	#define NC_FLAG_PH 0x02	135	#define NC_FLAG_PH 0x02
136	#define NC_FLAG_CH 0x04	136	#define NC_FLAG_CH 0x04
137	#define NC_FLAG_RANGE_LIMIT 0x08	137	#define NC_FLAG_RANGE_LIMIT 0x08
138	#define NC_FLAG_NOSERIALLINK 0x10	138	#define NC_FLAG_NOSERIALLINK 0x10
139	#define NC_FLAG_TARGET_REACHED 0x20	139	#define NC_FLAG_TARGET_REACHED 0x20
140	#define NC_FLAG_MANUAL_CONTROL 0x40	140	#define NC_FLAG_MANUAL_CONTROL 0x40
141	#define NC_FLAG_GPS_OK 0x80	141	#define NC_FLAG_GPS_OK 0x80
142		142
143	extern UART_TypeDef *DebugUART;	143	extern UART_TypeDef *DebugUART;
144	extern volatile u8 SerialLinkOkay;	144	extern volatile u8 SerialLinkOkay;
145	extern Buffer_t UART1_tx_buffer;	145	extern Buffer_t UART1_tx_buffer;
146	extern Buffer_t UART1_rx_buffer;	146	extern Buffer_t UART1_rx_buffer;
147		147
148	void UART1_Init(void);	148	void UART1_Init(void);
149	void UART1_Transmit(void);	149	void UART1_Transmit(void);
150	void UART1_TransmitTxData(void);	150	void UART1_TransmitTxData(void);
151	void UART1_ProcessRxData(void);	151	void UART1_ProcessRxData(void);
152		152
153	s16 UART1_Putchar(char c);	153	s16 UART1_Putchar(char c);
154	void UART1_PutString(u8 *s);	154	void UART1_PutString(u8 *s);
155	extern u8 text[]; // globally used text buffer	155	extern u8 text[]; // globally used text buffer
156	extern u8 UART1_Request_SendFollowMe;	156	extern u8 UART1_Request_SendFollowMe;
157	extern u8 LastTransmittedFCStatusFlags2;	157	extern u8 LastTransmittedFCStatusFlags2;
158		158
159	extern u32 NMEA_Interval;// in ms	159	extern u32 NMEA_Interval;// in ms
160		160
161	#endif //_UART1_H	161	#endif //_UART1_H
162		162

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(root)/tags/V2.12a/uart1.h @ 874 - Rev 460 → 491