WebSVN - NaviCtrl - Diff - Rev 349 and 358


#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[5];
} __attribute__((packed)) UART_VersionInfo_t;
 
extern UART_VersionInfo_t UART_VersionInfo;
 
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 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  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;
 
 
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;
#endif //_UART1_H
 

Rev 349	Rev 358
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[5];	24	u8 HardwareError[5];
25	} __attribute__((packed)) UART_VersionInfo_t;	25	} __attribute__((packed)) UART_VersionInfo_t;
26		26
27	extern UART_VersionInfo_t UART_VersionInfo;	27	extern UART_VersionInfo_t UART_VersionInfo;
28		28
29	typedef struct	29	typedef struct
30	{	30	{
31	s16 AngleNick; // in 0.1 deg	31	s16 AngleNick; // in 0.1 deg
32	s16 AngleRoll; // in 0.1 deg	32	s16 AngleRoll; // in 0.1 deg
33	s16 Heading; // in 0.1 deg	33	s16 Heading; // in 0.1 deg
-		34	u8 StickNick;
-		35	u8 StickRoll;
-		36	u8 StickYaw;
-		37	u8 StickGas;
34	u8 reserve[8];	38	u8 reserve[4];
35	} __attribute__((packed)) Data3D_t;	39	} __attribute__((packed)) Data3D_t;
36		40
37	extern Data3D_t Data3D;	41	extern Data3D_t Data3D;
38		42
39		43
40	extern const u8 ANALOG_LABEL[32][16];	44	extern const u8 ANALOG_LABEL[32][16];
41		45
42	#define AMPEL_FC 0x01	46	#define AMPEL_FC 0x01
43	#define AMPEL_BL 0x02	47	#define AMPEL_BL 0x02
44	#define AMPEL_NC 0x04	48	#define AMPEL_NC 0x04
45	#define AMPEL_COMPASS 0x08	49	#define AMPEL_COMPASS 0x08
46		50
47	typedef struct	51	typedef struct
48	{	52	{
49	u8 StatusGreen;	53	u8 StatusGreen;
50	u8 StatusRed;	54	u8 StatusRed;
51	u16 Analog[32]; // Debugwerte	55	u16 Analog[32]; // Debugwerte
52	} __attribute__((packed)) DebugOut_t;	56	} __attribute__((packed)) DebugOut_t;
53		57
54	extern DebugOut_t DebugOut;	58	extern DebugOut_t DebugOut;
55		59
56	typedef struct	60	typedef struct
57	{	61	{
58	u8 Digital[2];	62	u8 Digital[2];
59	u8 RemoteButtons;	63	u8 RemoteButtons;
60	s8 Nick;	64	s8 Nick;
61	s8 Roll;	65	s8 Roll;
62	s8 Yaw;	66	s8 Yaw;
63	u8 Gas;	67	u8 Gas;
64	s8 Height;	68	s8 Height;
65	u8 free;	69	u8 free;
66	u8 Frame;	70	u8 Frame;
67	u8 Config;	71	u8 Config;
68	} __attribute__((packed)) ExternControl_t;	72	} __attribute__((packed)) ExternControl_t;
69		73
70	extern ExternControl_t ExternControl;	74	extern ExternControl_t ExternControl;
71		75
72	typedef struct	76	typedef struct
73	{	77	{
74	s16 Nick;	78	s16 Nick;
75	s16 Roll;	79	s16 Roll;
76	s16 Compass; // angle between north and head of the MK	80	s16 Compass; // angle between north and head of the MK
77	} __attribute__((packed)) Attitude_t;	81	} __attribute__((packed)) Attitude_t;
78		82
79	typedef struct	83	typedef struct
80	{	84	{
81	u16 Distance; // distance to target in dm	85	u16 Distance; // distance to target in dm
82	s16 Bearing; // course to target in deg	86	s16 Bearing; // course to target in deg
83	} __attribute__((packed)) GPS_PosDev_t;	87	} __attribute__((packed)) GPS_PosDev_t;
84		88
85	#define NAVIDATA_VERSION 5	89	#define NAVIDATA_VERSION 5
86		90
87	typedef struct	91	typedef struct
88	{	92	{
89	u8 Version; // version of the data structure	93	u8 Version; // version of the data structure
90	GPS_Pos_t CurrentPosition; // see ubx.h for details	94	GPS_Pos_t CurrentPosition; // see ubx.h for details
91	GPS_Pos_t TargetPosition;	95	GPS_Pos_t TargetPosition;
92	GPS_PosDev_t TargetPositionDeviation;	96	GPS_PosDev_t TargetPositionDeviation;
93	GPS_Pos_t HomePosition;	97	GPS_Pos_t HomePosition;
94	GPS_PosDev_t HomePositionDeviation;	98	GPS_PosDev_t HomePositionDeviation;
95	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	99	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
96	u8 WaypointNumber; // number of stored waypoints	100	u8 WaypointNumber; // number of stored waypoints
97	u8 SatsInUse; // number of satellites used for position solution	101	u8 SatsInUse; // number of satellites used for position solution
98	s16 Altimeter; // hight according to air pressure	102	s16 Altimeter; // hight according to air pressure
99	s16 Variometer; // climb(+) and sink(-) rate	103	s16 Variometer; // climb(+) and sink(-) rate
100	u16 FlyingTime; // in seconds	104	u16 FlyingTime; // in seconds
101	u8 UBat; // Battery Voltage in 0.1 Volts	105	u8 UBat; // Battery Voltage in 0.1 Volts
102	u16 GroundSpeed; // speed over ground in cm/s (2D)	106	u16 GroundSpeed; // speed over ground in cm/s (2D)
103	s16 Heading; // current flight direction in ° as angle to north	107	s16 Heading; // current flight direction in ° as angle to north
104	s16 CompassHeading; // current compass value in °	108	s16 CompassHeading; // current compass value in °
105	s8 AngleNick; // current Nick angle in 1°	109	s8 AngleNick; // current Nick angle in 1°
106	s8 AngleRoll; // current Rick angle in 1°	110	s8 AngleRoll; // current Rick angle in 1°
107	u8 RC_Quality; // RC_Quality	111	u8 RC_Quality; // RC_Quality
108	u8 FCStatusFlags; // Flags from FC	112	u8 FCStatusFlags; // Flags from FC
109	u8 NCFlags; // Flags from NC	113	u8 NCFlags; // Flags from NC
110	u8 Errorcode; // 0 --> okay	114	u8 Errorcode; // 0 --> okay
111	u8 OperatingRadius; // current operation radius around the Home Position in m	115	u8 OperatingRadius; // current operation radius around the Home Position in m
112	s16 TopSpeed; // velocity in vertical direction in cm/s	116	s16 TopSpeed; // velocity in vertical direction in cm/s
113	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	117	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
114	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)	118	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
115	s16 SetpointAltitude; // setpoint for altitude	119	s16 SetpointAltitude; // setpoint for altitude
116	u8 Gas; // for future use	120	u8 Gas; // for future use
117	u16 Current; // actual current in 0.1A steps	121	u16 Current; // actual current in 0.1A steps
118	u16 UsedCapacity; // used capacity in mAh	122	u16 UsedCapacity; // used capacity in mAh
119	} __attribute__((packed)) NaviData_t;	123	} __attribute__((packed)) NaviData_t;
120		124
121	extern NaviData_t NaviData;	125	extern NaviData_t NaviData;
122		126
123	#define NC_FLAG_FREE 0x01	127	#define NC_FLAG_FREE 0x01
124	#define NC_FLAG_PH 0x02	128	#define NC_FLAG_PH 0x02
125	#define NC_FLAG_CH 0x04	129	#define NC_FLAG_CH 0x04
126	#define NC_FLAG_RANGE_LIMIT 0x08	130	#define NC_FLAG_RANGE_LIMIT 0x08
127	#define NC_FLAG_NOSERIALLINK 0x10	131	#define NC_FLAG_NOSERIALLINK 0x10
128	#define NC_FLAG_TARGET_REACHED 0x20	132	#define NC_FLAG_TARGET_REACHED 0x20
129	#define NC_FLAG_MANUAL_CONTROL 0x40	133	#define NC_FLAG_MANUAL_CONTROL 0x40
130	#define NC_FLAG_GPS_OK 0x80	134	#define NC_FLAG_GPS_OK 0x80
131		135
132	extern UART_TypeDef *DebugUART;	136	extern UART_TypeDef *DebugUART;
133	extern volatile u8 SerialLinkOkay;	137	extern volatile u8 SerialLinkOkay;
134	extern Buffer_t UART1_tx_buffer;	138	extern Buffer_t UART1_tx_buffer;
135		139
136		140
137	void UART1_Init(void);	141	void UART1_Init(void);
138	void UART1_Transmit(void);	142	void UART1_Transmit(void);
139	void UART1_TransmitTxData(void);	143	void UART1_TransmitTxData(void);
140	void UART1_ProcessRxData(void);	144	void UART1_ProcessRxData(void);
141		145
142	s16 UART1_Putchar(char c);	146	s16 UART1_Putchar(char c);
143	void UART1_PutString(u8 *s);	147	void UART1_PutString(u8 *s);
144	extern u8 text[]; // globally used text buffer	148	extern u8 text[]; // globally used text buffer
145	extern u8 UART1_Request_SendFollowMe;	149	extern u8 UART1_Request_SendFollowMe;
146	#endif //_UART1_H	150	#endif //_UART1_H
147		151

Subversion Repositories NaviCtrl

(root)/tags/V2.14a/uart1.h @ 741 - Rev 349 → 358