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 #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];

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];

};

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;

// FC hardware errors

// bitmask for UART_VersionInfo_t.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 UART_VersionInfo_t.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_RES1                  0x20

#define FC_ERROR1_RES2                  0x40

#define FC_ERROR1_RES3                  0x80

struct str_VersionInfo

{

  unsigned char SWMajor;

  unsigned char SWMinor;

  unsigned char ProtoMajor;

  unsigned char ProtoMinor;

  unsigned char SWPatch;

  unsigned char HardwareError[5];

};

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