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 #ifndef _UART_H
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#ifndef _UART_H
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 #define _UART_H
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#define _UART_H
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#define TXD_BUFFER_LEN  150
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#define RXD_BUFFER_LEN  150
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#define MAX_SENDE_BUFF     150
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#define MAX_EMPFANGS_BUFF  150
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#define DUB_KEY_UP     4
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#define DUB_KEY_UP     4
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#define DUB_KEY_DOWN   8
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#define DUB_KEY_RIGHT  32
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#define DUB_KEY_DOWN   8
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#define DUB_KEY_LEFT   16
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#define DUB_KEY_LEFT   16
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#define DUB_KEY_RIGHT  32
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#define DUB_KEY_FIRE   64
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#define DUB_KEY_FIRE   64
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void BearbeiteRxDaten(void);
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extern unsigned char DebugGetAnforderung;
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extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
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extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
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extern unsigned volatile char UebertragungAbgeschlossen;
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extern unsigned volatile char PC_DebugTimeout;
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extern unsigned volatile char NeueKoordinateEmpfangen;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char PcZugriff;
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extern unsigned char RemotePollDisplayLine;
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extern int Debug_Timer,Kompass_Timer;
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extern void UART_Init (void);
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extern int uart_putchar (char c);
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extern void boot_program_page (uint32_t page, uint8_t *buf);
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extern void DatenUebertragung(void);
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extern void DecodeNMEA(void);
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extern void BearbeiteRxDaten(void);
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extern unsigned char MotorTest[4];
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extern unsigned char DubWiseKeys[4];
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#include <inttypes.h>
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struct str_DebugOut
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{
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 unsigned char Digital[2];
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//Baud rate of the USART
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#define USART0_BAUD 57600
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 signed int Analog[32];    // Debugwerte
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extern void USART0_Init (void);
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extern void USART0_TransmitTxData(void);
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extern void USART0_ProcessRxData(void);
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extern int16_t uart_putchar(int8_t c);
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extern uint8_t PcAccess;
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};
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extern uint8_t RemotePollDisplayLine;
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extern uint8_t MotorTest[4];
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extern struct str_DebugOut    DebugOut;
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extern uint8_t DubWiseKeys[4];
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struct str_WinkelOut
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{
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   signed int  Winkel[2];
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 unsigned char UserParameter[2];
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typedef struct
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{
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 uint8_t Digital[2];
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 unsigned char CalcState;        
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 uint16_t Analog[32];    // Debugvalues
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 unsigned char Orientation;
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} DebugOut_t;
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};
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extern struct str_WinkelOut  WinkelOut;
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extern DebugOut_t DebugOut;
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struct str_ExternControl
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typedef struct
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{
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{
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 unsigned char Digital[2];
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 uint8_t        Digital[2];
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 unsigned char RemoteTasten;
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 uint8_t        RemoteButtons;
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 signed char   Nick;
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 int8_t         Pitch;
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 signed char   Roll;
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 int8_t         Roll;
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 int8_t         Yaw;
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 signed char   Gier;
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 uint8_t        Thrust;
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 unsigned char Gas;
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 int8_t         Height;
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 signed char   Hight;
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 uint8_t        free;
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 unsigned char free;
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 uint8_t        Frame;
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 unsigned char Frame;
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 uint8_t        Config;
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 unsigned char Config;
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} ExternControl_t;
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};
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extern struct str_ExternControl   ExternControl;
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extern ExternControl_t ExternControl;
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struct str_VersionInfo
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{
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  unsigned char Hauptversion;
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  unsigned char Nebenversion;
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  unsigned char PCKompatibel;
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  unsigned char Rserved[7];
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};  
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extern struct str_VersionInfo VersionInfo;
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//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
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//#define BAUD_RATE 9600                //Baud Rate für die Serielle Schnittstelle     
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//#define BAUD_RATE 14400               //Baud Rate für die Serielle Schnittstelle     
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//#define BAUD_RATE 28800               //Baud Rate für die Serielle Schnittstelle     
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//#define BAUD_RATE 38400               //Baud Rate für die Serielle Schnittstelle     
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#define BAUD_RATE 57600         //Baud Rate für die Serielle Schnittstelle     
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//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
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#if defined (__AVR_ATmega128__)
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#       define USR UCSR0A
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#       define UCR UCSR0B
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#       define UDR UDR0
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#       define UBRR UBRR0L
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#       define EICR EICRB
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#endif
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#if defined (__AVR_ATmega32__)
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#       define USR UCSRA
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#       define UCR UCSRB
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#       define UBRR UBRRL
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#       define EICR EICRB
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#   define INT_VEC_RX  SIG_UART_RECV
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#   define INT_VEC_TX  SIG_UART_TRANS
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#endif
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#if defined (__AVR_ATmega644__)
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#       define USR  UCSR0A
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#       define UCR  UCSR0B
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#       define UDR  UDR0
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#       define UBRR UBRR0L
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#       define EICR EICR0B
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#   define TXEN TXEN0
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#   define RXEN RXEN0
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#   define RXCIE RXCIE0
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typedef struct
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#   define TXCIE TXCIE0
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{