WebSVN - NaviCtrl - Diff - Rev 225 and 231


#ifndef _UART1_H
#define _UART1_H
 
#define UART_FLIGHTCTRL 0
#define UART_MK3MAG     1
#define UART_MKGPS      2
 
#include "ubx.h"
 
 
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 reserve[8];
} __attribute__((packed)) Data3D_t;
 
extern Data3D_t Data3D;
 
 
extern const u8 ANALOG_LABEL[32][16];
 
typedef struct
{
        u8 Status[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
{
        u16 Distance;                                   // distance to target in dm
        s16 Bearing;                                    // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
#define NAVIDATA_VERSION 4
 
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  FCFlags;                                    // 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  RC_RSSI;                                    // Receiver signal strength (since version 2 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_8                               0x80
 
extern UART_TypeDef *DebugUART;
extern volatile u8 SerialLinkOkay;
 
 
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 225	Rev 231
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		10
11	typedef struct	11	typedef struct
12	{	12	{
13	u8 SWMajor;	13	u8 SWMajor;
14	u8 SWMinor;	14	u8 SWMinor;
15	u8 ProtoMajor;	15	u8 ProtoMajor;
16	u8 ProtoMinor;	16	u8 ProtoMinor;
17	u8 SWPatch;	17	u8 SWPatch;
18	u8 Reserved[5];	18	u8 HardwareError[5];
19	} __attribute__((packed)) UART_VersionInfo_t;	19	} __attribute__((packed)) UART_VersionInfo_t;
20		20
21	extern UART_VersionInfo_t UART_VersionInfo;	21	extern UART_VersionInfo_t UART_VersionInfo;
22		-
23		22
24	typedef struct	23	typedef struct
25	{	24	{
26	s16 AngleNick; // in 0.1 deg	25	s16 AngleNick; // in 0.1 deg
27	s16 AngleRoll; // in 0.1 deg	26	s16 AngleRoll; // in 0.1 deg
28	s16 Heading; // in 0.1 deg	27	s16 Heading; // in 0.1 deg
29	u8 reserve[8];	28	u8 reserve[8];
30	} __attribute__((packed)) Data3D_t;	29	} __attribute__((packed)) Data3D_t;
31		30
32	extern Data3D_t Data3D;	31	extern Data3D_t Data3D;
33		32
34		33
35	extern const u8 ANALOG_LABEL[32][16];	34	extern const u8 ANALOG_LABEL[32][16];
36		35
37	typedef struct	36	typedef struct
38	{	37	{
39	u8 Digital[2];	38	u8 Status[2];
40	u16 Analog[32]; // Debugwerte	39	u16 Analog[32]; // Debugwerte
41	} __attribute__((packed)) DebugOut_t;	40	} __attribute__((packed)) DebugOut_t;
42		41
43	extern DebugOut_t DebugOut;	42	extern DebugOut_t DebugOut;
44		43
45	typedef struct	44	typedef struct
46	{	45	{
47	u8 Digital[2];	46	u8 Digital[2];
48	u8 RemoteButtons;	47	u8 RemoteButtons;
49	s8 Nick;	48	s8 Nick;
50	s8 Roll;	49	s8 Roll;
51	s8 Yaw;	50	s8 Yaw;
52	u8 Gas;	51	u8 Gas;
53	s8 Height;	52	s8 Height;
54	u8 free;	53	u8 free;
55	u8 Frame;	54	u8 Frame;
56	u8 Config;	55	u8 Config;
57	} __attribute__((packed)) ExternControl_t;	56	} __attribute__((packed)) ExternControl_t;
58		57
59	extern ExternControl_t ExternControl;	58	extern ExternControl_t ExternControl;
60		59
61	typedef struct	60	typedef struct
62	{	61	{
63	s16 Nick;	62	s16 Nick;
64	s16 Roll;	63	s16 Roll;
65	s16 Compass; // angle between north and head of the MK	64	s16 Compass; // angle between north and head of the MK
66	} __attribute__((packed)) Attitude_t;	65	} __attribute__((packed)) Attitude_t;
67		66
68	typedef struct	67	typedef struct
69	{	68	{
70	u16 Distance; // distance to target in dm	69	u16 Distance; // distance to target in dm
71	s16 Bearing; // course to target in deg	70	s16 Bearing; // course to target in deg
72	} __attribute__((packed)) GPS_PosDev_t;	71	} __attribute__((packed)) GPS_PosDev_t;
73		72
74	#define NAVIDATA_VERSION 4	73	#define NAVIDATA_VERSION 4
75		74
76	typedef struct	75	typedef struct
77	{	76	{
78	u8 Version; // version of the data structure	77	u8 Version; // version of the data structure
79	GPS_Pos_t CurrentPosition; // see ubx.h for details	78	GPS_Pos_t CurrentPosition; // see ubx.h for details
80	GPS_Pos_t TargetPosition;	79	GPS_Pos_t TargetPosition;
81	GPS_PosDev_t TargetPositionDeviation;	80	GPS_PosDev_t TargetPositionDeviation;
82	GPS_Pos_t HomePosition;	81	GPS_Pos_t HomePosition;
83	GPS_PosDev_t HomePositionDeviation;	82	GPS_PosDev_t HomePositionDeviation;
84	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	83	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
85	u8 WaypointNumber; // number of stored waypoints	84	u8 WaypointNumber; // number of stored waypoints
86	u8 SatsInUse; // number of satellites used for position solution	85	u8 SatsInUse; // number of satellites used for position solution
87	s16 Altimeter; // hight according to air pressure	86	s16 Altimeter; // hight according to air pressure
88	s16 Variometer; // climb(+) and sink(-) rate	87	s16 Variometer; // climb(+) and sink(-) rate
89	u16 FlyingTime; // in seconds	88	u16 FlyingTime; // in seconds
90	u8 UBat; // Battery Voltage in 0.1 Volts	89	u8 UBat; // Battery Voltage in 0.1 Volts
91	u16 GroundSpeed; // speed over ground in cm/s (2D)	90	u16 GroundSpeed; // speed over ground in cm/s (2D)
92	s16 Heading; // current flight direction in ° as angle to north	91	s16 Heading; // current flight direction in ° as angle to north
93	s16 CompassHeading; // current compass value in °	92	s16 CompassHeading; // current compass value in °
94	s8 AngleNick; // current Nick angle in 1°	93	s8 AngleNick; // current Nick angle in 1°
95	s8 AngleRoll; // current Rick angle in 1°	94	s8 AngleRoll; // current Rick angle in 1°
96	u8 RC_Quality; // RC_Quality	95	u8 RC_Quality; // RC_Quality
97	u8 FCFlags; // Flags from FC	96	u8 FCFlags; // Flags from FC
98	u8 NCFlags; // Flags from NC	97	u8 NCFlags; // Flags from NC
99	u8 Errorcode; // 0 --> okay	98	u8 Errorcode; // 0 --> okay
100	u8 OperatingRadius; // current operation radius around the Home Position in m	99	u8 OperatingRadius; // current operation radius around the Home Position in m
101	s16 TopSpeed; // velocity in vertical direction in cm/s	100	s16 TopSpeed; // velocity in vertical direction in cm/s
102	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	101	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
103	u8 RC_RSSI; // Receiver signal strength (since version 2 added)	102	u8 RC_RSSI; // Receiver signal strength (since version 2 added)
104	s16 SetpointAltitude; // setpoint for altitude	103	s16 SetpointAltitude; // setpoint for altitude
105	u8 Gas; // for future use	104	u8 Gas; // for future use
106	u16 Current; // actual current in 0.1A steps	105	u16 Current; // actual current in 0.1A steps
107	u16 UsedCapacity; // used capacity in mAh	106	u16 UsedCapacity; // used capacity in mAh
108	} __attribute__((packed)) NaviData_t;	107	} __attribute__((packed)) NaviData_t;
109		108
110	extern NaviData_t NaviData;	109	extern NaviData_t NaviData;
111		110
112	#define NC_FLAG_FREE 0x01	111	#define NC_FLAG_FREE 0x01
113	#define NC_FLAG_PH 0x02	112	#define NC_FLAG_PH 0x02
114	#define NC_FLAG_CH 0x04	113	#define NC_FLAG_CH 0x04
115	#define NC_FLAG_RANGE_LIMIT 0x08	114	#define NC_FLAG_RANGE_LIMIT 0x08
116	#define NC_FLAG_NOSERIALLINK 0x10	115	#define NC_FLAG_NOSERIALLINK 0x10
117	#define NC_FLAG_TARGET_REACHED 0x20	116	#define NC_FLAG_TARGET_REACHED 0x20
118	#define NC_FLAG_MANUAL_CONTROL 0x40	117	#define NC_FLAG_MANUAL_CONTROL 0x40
119	#define NC_FLAG_8 0x80	118	#define NC_FLAG_8 0x80
120		119
121	extern UART_TypeDef *DebugUART;	120	extern UART_TypeDef *DebugUART;
122	extern volatile u8 SerialLinkOkay;	121	extern volatile u8 SerialLinkOkay;
123		122
124		123
125	void UART1_Init(void);	124	void UART1_Init(void);
126	void UART1_Transmit(void);	125	void UART1_Transmit(void);
127	void UART1_TransmitTxData(void);	126	void UART1_TransmitTxData(void);
128	void UART1_ProcessRxData(void);	127	void UART1_ProcessRxData(void);
129		128
130	s16 UART1_Putchar(char c);	129	s16 UART1_Putchar(char c);
131	void UART1_PutString(u8 *s);	130	void UART1_PutString(u8 *s);
132	extern u8 text[]; // globally used text buffer	131	extern u8 text[]; // globally used text buffer
133	extern u8 UART1_Request_SendFollowMe;	132	extern u8 UART1_Request_SendFollowMe;
134	#endif //_UART1_H	133	#endif //_UART1_H
135		134

Subversion Repositories NaviCtrl

(root)/tags/V2.14c/uart1.h @ 935 - Rev 225 → 231