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Line 84... | Line 84... | ||
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 |
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89 | u8 Reserve[5]; // for future use |
90 | u8 Reserve[3]; // for future use |
90 | } __attribute__((packed)) NaviData_t; |
91 | } __attribute__((packed)) NaviData_t; |
Line 91... | Line 92... | ||
91 | 92 | ||
92 | extern NaviData_t NaviData; |
93 | extern NaviData_t NaviData; |
Line 93... | Line 94... | ||
93 | extern u8 Request_NaviData; |
94 | extern u8 Request_NaviData; |
94 | 95 | ||
95 | #define NC_FLAG_FREE 1 |
96 | #define NC_FLAG_FREE 0x01 |
96 | #define NC_FLAG_PH 2 |
97 | #define NC_FLAG_PH 0x02 |
97 | #define NC_FLAG_CH 4 |
98 | #define NC_FLAG_CH 0x04 |
- | 99 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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- | 100 | #define NC_FLAG_NOSERIALLINK 0x10 |
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- | 101 | #define NC_FLAG_TARGET_REACHED 0x20 |
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Line 98... | Line -... | ||
98 | #define NC_FLAG_RANGE_LIMIT 8 |
- | |
99 | #define NC_NO_SERIAL_DATA 0x10 |
- | |
100 | - | ||
101 | typedef struct |
- | |
102 | { |
- | |
103 | u8 SWMajor; |
- | |
104 | u8 SWMinor; |
- | |
105 | u8 ProtoMajor; |
- | |
106 | u8 ProtoMinor; |
- | |
107 | u8 SWPatch; |
- | |
108 | u8 Reserved[5]; |
- | |
109 | } __attribute__((packed)) UART_VersionInfo_t; |
- | |
110 | - | ||
111 | extern volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
102 | #define NC_FLAG_7 0x40 |
112 | extern volatile u8 ReceivedBytes; |
103 | #define NC_FLAG_8 0x80 |
- | 104 | ||
Line 113... | Line 105... | ||
113 | extern volatile u8 rxd_buffer_locked; |
105 | extern UART_TypeDef *DebugUART; |
114 | extern UART_TypeDef *DebugUART; |
106 | extern volatile u8 SerialLinkOkay; |
115 | extern volatile u8 SerialDataOkay; |
107 | |
116 | 108 | ||
Line 117... | Line 109... | ||
117 | void UART1_Init(void); |
109 | void UART1_Init(void); |
118 | void UART1_Transmit(void); |
110 | void UART1_Transmit(void); |
119 | void UART1_TransmitTxData(void); |
- | |
120 | void UART1_ProcessRxData(void); |
111 | void UART1_TransmitTxData(void); |
121 | 112 | void UART1_ProcessRxData(void); |
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122 | s16 uart_putchar (char c); |
113 |