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Rev | Author | Line No. | Line |
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595 | hbuss | 1 | #ifndef _UART_H |
1 | ingob | 2 | #define _UART_H |
3 | |||
4 | #define MAX_SENDE_BUFF 150 |
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5 | #define MAX_EMPFANGS_BUFF 150 |
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6 | |||
304 | ingob | 7 | void BearbeiteRxDaten(void); |
8 | |||
1 | ingob | 9 | extern unsigned char DebugGetAnforderung; |
10 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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11 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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12 | extern unsigned volatile char UebertragungAbgeschlossen; |
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13 | extern unsigned volatile char PC_DebugTimeout; |
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14 | extern unsigned volatile char NeueKoordinateEmpfangen; |
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1212 | hbuss | 15 | extern unsigned volatile char PC_MotortestActive; |
1 | ingob | 16 | extern unsigned char MeineSlaveAdresse; |
17 | extern unsigned char PcZugriff; |
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499 | hbuss | 18 | extern unsigned char RemotePollDisplayLine; |
693 | hbuss | 19 | extern int Debug_Timer,Kompass_Timer; |
1 | ingob | 20 | extern void UART_Init (void); |
21 | extern int uart_putchar (char c); |
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22 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
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23 | extern void DatenUebertragung(void); |
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1211 | hbuss | 24 | extern void Uart1Init(void); |
395 | hbuss | 25 | extern void BearbeiteRxDaten(void); |
1212 | hbuss | 26 | extern unsigned char MotorTest[16]; |
1 | ingob | 27 | struct str_DebugOut |
28 | { |
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173 | holgerb | 29 | unsigned char Digital[2]; |
805 | hbuss | 30 | signed int Analog[32]; // Debugwerte |
1 | ingob | 31 | }; |
32 | |||
33 | extern struct str_DebugOut DebugOut; |
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34 | |||
693 | hbuss | 35 | struct str_WinkelOut |
36 | { |
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849 | hbuss | 37 | signed int Winkel[2]; |
819 | hbuss | 38 | unsigned char UserParameter[2]; |
1051 | killagreg | 39 | unsigned char CalcState; |
819 | hbuss | 40 | unsigned char Orientation; |
693 | hbuss | 41 | }; |
42 | extern struct str_WinkelOut WinkelOut; |
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43 | |||
1171 | hbuss | 44 | struct str_Data3D |
45 | { |
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46 | signed int Winkel[3]; // nick, roll, compass in 0,1° |
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47 | signed char reserve[8]; |
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48 | }; |
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49 | extern struct str_Data3D Data3D; |
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50 | |||
595 | hbuss | 51 | struct str_ExternControl |
1 | ingob | 52 | { |
53 | unsigned char Digital[2]; |
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54 | unsigned char RemoteTasten; |
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595 | hbuss | 55 | signed char Nick; |
56 | signed char Roll; |
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57 | signed char Gier; |
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58 | unsigned char Gas; |
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59 | signed char Hight; |
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60 | unsigned char free; |
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61 | unsigned char Frame; |
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62 | unsigned char Config; |
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1051 | killagreg | 63 | }; |
595 | hbuss | 64 | extern struct str_ExternControl ExternControl; |
1 | ingob | 65 | |
66 | struct str_VersionInfo |
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67 | { |
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1058 | killagreg | 68 | unsigned char SWMajor; |
69 | unsigned char SWMinor; |
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70 | unsigned char ProtoMajor; |
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71 | unsigned char ProtoMinor; |
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72 | unsigned char SWPatch; |
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73 | unsigned char Reserved[5]; |
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1051 | killagreg | 74 | }; |
1 | ingob | 75 | extern struct str_VersionInfo VersionInfo; |
76 | |||
77 | //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
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1051 | killagreg | 78 | //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
79 | //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
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80 | //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
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81 | //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
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82 | #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
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1 | ingob | 83 | |
84 | //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
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85 | #if defined (__AVR_ATmega128__) |
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86 | # define USR UCSR0A |
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87 | # define UCR UCSR0B |
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88 | # define UDR UDR0 |
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89 | # define UBRR UBRR0L |
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90 | # define EICR EICRB |
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91 | #endif |
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92 | |||
93 | #if defined (__AVR_ATmega32__) |
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94 | # define USR UCSRA |
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95 | # define UCR UCSRB |
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96 | # define UBRR UBRRL |
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97 | # define EICR EICRB |
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98 | # define INT_VEC_RX SIG_UART_RECV |
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99 | # define INT_VEC_TX SIG_UART_TRANS |
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100 | #endif |
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101 | |||
102 | #if defined (__AVR_ATmega644__) |
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103 | # define USR UCSR0A |
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104 | # define UCR UCSR0B |
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105 | # define UDR UDR0 |
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106 | # define UBRR UBRR0L |
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107 | # define EICR EICR0B |
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108 | # define TXEN TXEN0 |
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109 | # define RXEN RXEN0 |
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110 | # define RXCIE RXCIE0 |
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111 | # define TXCIE TXCIE0 |
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112 | # define U2X U2X0 |
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113 | # define UCSRB UCSR0B |
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114 | # define UDRE UDRE0 |
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115 | # define INT_VEC_RX SIG_USART_RECV |
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116 | # define INT_VEC_TX SIG_USART_TRANS |
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117 | #endif |
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118 | |||
1171 | hbuss | 119 | #if defined (__AVR_ATmega644P__) |
120 | # define USR UCSR0A |
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121 | # define UCR UCSR0B |
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122 | # define UDR UDR0 |
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123 | # define UBRR UBRR0L |
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124 | # define EICR EICR0B |
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125 | # define TXEN TXEN0 |
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126 | # define RXEN RXEN0 |
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127 | # define RXCIE RXCIE0 |
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128 | # define TXCIE TXCIE0 |
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129 | # define U2X U2X0 |
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130 | # define UCSRB UCSR0B |
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131 | # define UDRE UDRE0 |
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132 | # define INT_VEC_RX SIG_USART_RECV |
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133 | # define INT_VEC_TX SIG_USART_TRANS |
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134 | #endif |
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1 | ingob | 135 | |
136 | #endif //_UART_H |