Subversion Repositories FlightCtrl

 #ifndef _UART_H
 #define _UART_H

#define printf_P(format, args...)   _printf_P(&uart_putchar, format , ## args)
#define printf(format, args...)     _printf_P(&uart_putchar, PSTR(format) , ## args)

void BearbeiteRxDaten(void);

extern unsigned char DebugGetAnforderung;
extern unsigned volatile char ReceiverUpdateModeActive;
extern unsigned volatile char UebertragungAbgeschlossen;
extern unsigned volatile char PC_DebugTimeout;
extern unsigned volatile char NeueKoordinateEmpfangen;
extern unsigned volatile char PC_MotortestActive;
extern unsigned char MeineSlaveAdresse;
extern unsigned char PcZugriff;
extern unsigned char RemotePollDisplayLine;
extern unsigned volatile char RxdBuffer[];
extern int Debug_Timer,Kompass_Timer;
extern void UART_Init (void);
extern void  uart_putchar (char c);
//extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void DatenUebertragung(void);
extern void Uart1Init(void);
extern void BearbeiteRxDaten(void);
extern unsigned char MotorTest[16];
extern unsigned char SwitchMultiplexerToUpdate; // the Uart-Multiplexer on the FC V3.0
extern unsigned char SerialChannelDataOkay; // timeout

struct str_DebugOut
{
 unsigned char Status[2];
 signed int Analog[32];    // Debugwerte
};

extern struct str_DebugOut    DebugOut;

struct str_WinkelOut
{
   signed int  Winkel[2];
 unsigned char UserParameter[2];
 unsigned char CalcState;
 unsigned char Orientation;
};
extern struct str_WinkelOut  WinkelOut;

struct str_Data3D
{
   signed int  Winkel[3]; // nick, roll, compass in 0,1°
   signed char Centroid[3];
//   signed char reserve[5];
unsigned int AccZ;
signed char reserve[3];
};
extern struct str_Data3D Data3D;

/*
struct str_ExternControl
{
 unsigned char Digital[2];
 unsigned char RemoteTasten;
 signed char   Nick;
 signed char   Roll;
 signed char   Gier;
 unsigned char Gas;
 signed char   Hight;
 unsigned char free;
 unsigned char Frame;
 unsigned char Config;
};
extern struct str_ExternControl   ExternControl;
*/

#define EC_VALID                        0x01 // only valid if this is 1
#define EC_GAS_ADD                      0x02 // if 1 -> use the GAS Value not as MAX
#define EC_USE_SWITCH           0x20 // if 1 -> use the Switches for further control
#define EC_IGNORE_RC_STICK      0x40 // direct control (do nor add to RC-Stick)
#define EC_IGNORE_RC_LOST       0x80 // if 1 -> for Flying without RC-Control

// defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH)
#define EC2_PH                          0x01 // GPS-Mode: PH
#define EC2_CH                          0x02 // GPS-Mode: CH
#define EC2_CAREFREE            0x10 //
#define EC2_ALTITUDE            0x20 //
#define EC2_AUTOSTART           0x40 //
#define EC2_AUTOLAND            0x80 //

struct str_ExternControl
{
 signed char Nick;
 signed char Roll;
 signed char Gier;
 signed char Gas;
 unsigned char Frame; // will return a confirm frame with this value
 unsigned char Config;
 unsigned char Switches;
 unsigned char Free1; // these two don't need capacity in the ASCII data string
 unsigned char Free2;
};
extern struct str_ExternControl ExternalControl;
extern unsigned char ExternalControlTimeout;

// FC hardware errors

// bitmask for VersionInfo.HardwareError[0]
#define FC_ERROR0_GYRO_NICK     0x01
#define FC_ERROR0_GYRO_ROLL     0x02
#define FC_ERROR0_GYRO_YAW              0x04
#define FC_ERROR0_ACC_NICK              0x08
#define FC_ERROR0_ACC_ROLL              0x10
#define FC_ERROR0_ACC_TOP               0x20
#define FC_ERROR0_PRESSURE              0x40
#define FC_ERROR0_CAREFREE              0x80
// bitmask for VersionInfo.HardwareError[1]
#define FC_ERROR1_I2C                   0x01
#define FC_ERROR1_BL_MISSING    0x02
#define FC_ERROR1_SPI_RX                0x04
#define FC_ERROR1_PPM                   0x08
#define FC_ERROR1_MIXER                 0x10
#define FC_ERROR1_RC_VOLTAGE    0x20
#define FC_ERROR1_ACC_NOT_CAL   0x40
#define FC_ERROR1_RES3                  0x80

// for FlightCtrl
//VersionInfo.Flags
#define FC_VERSION_FLAG_NC_PRESENT           0x01
// for NaviCtrl
#define NC_VERSION_FLAG_MK3MAG_PRESENT       0x01

struct str_VersionInfo
{
  unsigned char SWMajor;
  unsigned char SWMinor;
  unsigned char ProtoMajor;
  unsigned char LabelTextCRC;
  unsigned char SWPatch;
  unsigned char HardwareError[2];
  unsigned char HWMajor;
  unsigned char BL_Firmware;  
  unsigned char Flags;
};

extern struct str_VersionInfo VersionInfo;

//#define USART0_BAUD 9600
//#define USART0_BAUD 14400
//#define USART0_BAUD 28800
//#define USART0_BAUD 38400
#define USART0_BAUD 57600


#endif //_UART_H