WebSVN - NaviCtrl - Diff - Rev 92 and 97


#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
{
   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;
 
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
{
        u16 Distance;                                   // distance to target in dm
        s16 Bearing;                                    // course to target in deg
}  __attribute__((packed)) GPS_PosDev_t;
 
#define NAVIDATA_VERSION 1
 
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  MKFlags;                                    // 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  Reserve[4];                                 // for future use
} __attribute__((packed)) NaviData_t;
 
extern NaviData_t NaviData;
extern u8 Request_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_7                               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 uart_putchar (char c);
void SerialPutString(u8 *s);
extern u8 text[100]; // globally used text buffer
extern u8 Request_SendFollowMe;
#endif //_UART1_H
 

Rev 92	Rev 97
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		13
14	typedef struct	14	typedef struct
15	{	15	{
16	s16 AngleNick; // in 0.1 deg	16	s16 AngleNick; // in 0.1 deg
17	s16 AngleRoll; // in 0.1 deg	17	s16 AngleRoll; // in 0.1 deg
18	s16 Heading; // in 0.1 deg	18	s16 Heading; // in 0.1 deg
19	u8 reserve[8];	19	u8 reserve[8];
20	} __attribute__((packed)) Data3D_t;	20	} __attribute__((packed)) Data3D_t;
21		21
22	extern Data3D_t Data3D;	22	extern Data3D_t Data3D;
23		23
24	typedef struct	24	typedef struct
25	{	25	{
26	u8 Digital[2];	26	u8 Digital[2];
27	u16 Analog[32]; // Debugwerte	27	u16 Analog[32]; // Debugwerte
28	} __attribute__((packed)) DebugOut_t;	28	} __attribute__((packed)) DebugOut_t;
29		29
30	extern DebugOut_t DebugOut;	30	extern DebugOut_t DebugOut;
31		31
32	typedef struct	32	typedef struct
33	{	33	{
34	u8 Digital[2];	34	u8 Digital[2];
35	u8 RemoteButtons;	35	u8 RemoteButtons;
36	s8 Nick;	36	s8 Nick;
37	s8 Roll;	37	s8 Roll;
38	s8 Yaw;	38	s8 Yaw;
39	u8 Gas;	39	u8 Gas;
40	s8 Height;	40	s8 Height;
41	u8 free;	41	u8 free;
42	u8 Frame;	42	u8 Frame;
43	u8 Config;	43	u8 Config;
44	} __attribute__((packed)) ExternControl_t;	44	} __attribute__((packed)) ExternControl_t;
45		45
46	extern ExternControl_t ExternControl;	46	extern ExternControl_t ExternControl;
47		47
48	typedef struct	48	typedef struct
49	{	49	{
50	s16 Nick;	50	s16 Nick;
51	s16 Roll;	51	s16 Roll;
52	s16 Compass; // angle between north and head of the MK	52	s16 Compass; // angle between north and head of the MK
53	} __attribute__((packed)) Attitude_t;	53	} __attribute__((packed)) Attitude_t;
54		54
55	typedef struct	55	typedef struct
56	{	56	{
57	u16 Distance; // distance to target in dm	57	u16 Distance; // distance to target in dm
58	s16 Bearing; // course to target in deg	58	s16 Bearing; // course to target in deg
59	} __attribute__((packed)) GPS_PosDev_t;	59	} __attribute__((packed)) GPS_PosDev_t;
60		60
61	#define NAVIDATA_VERSION 1	61	#define NAVIDATA_VERSION 1
62		62
63	typedef struct	63	typedef struct
64	{	64	{
65	u8 Version; // version of the data structure	65	u8 Version; // version of the data structure
66	GPS_Pos_t CurrentPosition; // see ubx.h for details	66	GPS_Pos_t CurrentPosition; // see ubx.h for details
67	GPS_Pos_t TargetPosition;	67	GPS_Pos_t TargetPosition;
68	GPS_PosDev_t TargetPositionDeviation;	68	GPS_PosDev_t TargetPositionDeviation;
69	GPS_Pos_t HomePosition;	69	GPS_Pos_t HomePosition;
70	GPS_PosDev_t HomePositionDeviation;	70	GPS_PosDev_t HomePositionDeviation;
71	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1	71	u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
72	u8 WaypointNumber; // number of stored waypoints	72	u8 WaypointNumber; // number of stored waypoints
73	u8 SatsInUse; // number of satellites used for position solution	73	u8 SatsInUse; // number of satellites used for position solution
74	s16 Altimeter; // hight according to air pressure	74	s16 Altimeter; // hight according to air pressure
75	s16 Variometer; // climb(+) and sink(-) rate	75	s16 Variometer; // climb(+) and sink(-) rate
76	u16 FlyingTime; // in seconds	76	u16 FlyingTime; // in seconds
77	u8 UBat; // Battery Voltage in 0.1 Volts	77	u8 UBat; // Battery Voltage in 0.1 Volts
78	u16 GroundSpeed; // speed over ground in cm/s (2D)	78	u16 GroundSpeed; // speed over ground in cm/s (2D)
79	s16 Heading; // current flight direction in ° as angle to north	79	s16 Heading; // current flight direction in ° as angle to north
80	s16 CompassHeading; // current compass value in °	80	s16 CompassHeading; // current compass value in °
81	s8 AngleNick; // current Nick angle in 1°	81	s8 AngleNick; // current Nick angle in 1°
82	s8 AngleRoll; // current Rick angle in 1°	82	s8 AngleRoll; // current Rick angle in 1°
83	u8 RC_Quality; // RC_Quality	83	u8 RC_Quality; // RC_Quality
84	u8 MKFlags; // Flags from FC	84	u8 MKFlags; // Flags from FC
85	u8 NCFlags; // Flags from NC	85	u8 NCFlags; // Flags from NC
86	u8 Errorcode; // 0 --> okay	86	u8 Errorcode; // 0 --> okay
87	u8 OperatingRadius; // current operation radius around the Home Position in m	87	u8 OperatingRadius; // current operation radius around the Home Position in m
88	s16 TopSpeed; // velocity in vertical direction in cm/s	88	s16 TopSpeed; // velocity in vertical direction in cm/s
89	u16 TargetHoldTime; // time in ms to stay at the given target, counts down to 0 if target has been reached	89	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
90	u8 Reserve[3]; // for future use	90	u8 Reserve[4]; // for future use
91	} __attribute__((packed)) NaviData_t;	91	} __attribute__((packed)) NaviData_t;
92		92
93	extern NaviData_t NaviData;	93	extern NaviData_t NaviData;
94	extern u8 Request_NaviData;	94	extern u8 Request_NaviData;
95		95
96	#define NC_FLAG_FREE 0x01	96	#define NC_FLAG_FREE 0x01
97	#define NC_FLAG_PH 0x02	97	#define NC_FLAG_PH 0x02
98	#define NC_FLAG_CH 0x04	98	#define NC_FLAG_CH 0x04
99	#define NC_FLAG_RANGE_LIMIT 0x08	99	#define NC_FLAG_RANGE_LIMIT 0x08
100	#define NC_FLAG_NOSERIALLINK 0x10	100	#define NC_FLAG_NOSERIALLINK 0x10
101	#define NC_FLAG_TARGET_REACHED 0x20	101	#define NC_FLAG_TARGET_REACHED 0x20
102	#define NC_FLAG_7 0x40	102	#define NC_FLAG_7 0x40
103	#define NC_FLAG_8 0x80	103	#define NC_FLAG_8 0x80
104		104
105	extern UART_TypeDef *DebugUART;	105	extern UART_TypeDef *DebugUART;
106	extern volatile u8 SerialLinkOkay;	106	extern volatile u8 SerialLinkOkay;
107		107
108		108
109	void UART1_Init(void);	109	void UART1_Init(void);
110	void UART1_Transmit(void);	110	void UART1_Transmit(void);
111	void UART1_TransmitTxData(void);	111	void UART1_TransmitTxData(void);
112	void UART1_ProcessRxData(void);	112	void UART1_ProcessRxData(void);
113		113
114	s16 uart_putchar (char c);	114	s16 uart_putchar (char c);
115	void SerialPutString(u8 *s);	115	void SerialPutString(u8 *s);
116	extern u8 text[100]; // globally used text buffer	116	extern u8 text[100]; // globally used text buffer
117	extern u8 Request_SendFollowMe;	117	extern u8 Request_SendFollowMe;
118	#endif //_UART1_H	118	#endif //_UART1_H
119		119

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(root)/tags/V2.14d/uart1.h @ 916 - Rev 92 → 97