Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 332 | osiair | 1 | #ifndef _UART_H |
| 2 | #define _UART_H |
||
| 3 | |||
| 4 | #define MAX_SENDE_BUFF 150 |
||
| 5 | #define MAX_EMPFANGS_BUFF 150 |
||
| 6 | |||
| 7 | extern unsigned char DebugGetAnforderung; |
||
| 8 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
||
| 9 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
||
| 10 | extern unsigned volatile char UebertragungAbgeschlossen; |
||
| 11 | extern unsigned volatile char PC_DebugTimeout; |
||
| 12 | extern unsigned volatile char NeueKoordinateEmpfangen; |
||
| 13 | extern unsigned char MeineSlaveAdresse; |
||
| 14 | extern unsigned char PcZugriff; |
||
| 15 | extern int Debug_Timer; |
||
| 16 | extern void UART_Init (void); |
||
| 17 | extern int uart_putchar (char c); |
||
| 18 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
||
| 19 | extern void DatenUebertragung(void); |
||
| 20 | extern void DecodeNMEA(void); |
||
| 21 | extern unsigned char MotorTest[4]; |
||
| 22 | struct str_DebugOut |
||
| 23 | { |
||
| 24 | unsigned char Digital[2]; |
||
| 25 | unsigned int Analog[32]; // Debugwerte |
||
| 26 | }; |
||
| 27 | |||
| 28 | extern struct str_DebugOut DebugOut; |
||
| 29 | |||
| 30 | #define _B1(bit) (1 << (bit)) |
||
| 31 | #define _B0(bit) (0 << (bit)) |
||
| 32 | |||
| 33 | typedef struct |
||
| 34 | { |
||
| 35 | long x; // in cm (+ = north) |
||
| 36 | long y; // in cm (+ = east) |
||
| 37 | long z; // in cm |
||
| 38 | long vx; |
||
| 39 | long vy; |
||
| 40 | long vz; |
||
| 41 | long northing; |
||
| 42 | long easting; |
||
| 43 | long altitude; |
||
| 44 | long velNorth; |
||
| 45 | long velEast; |
||
| 46 | uint8_t newData; // status of data: 0 = invlid; 1 = valid |
||
| 47 | uint8_t GPSFix; |
||
| 48 | uint8_t noSV; // number of sats |
||
| 49 | } gpsInfo_t; |
||
| 50 | |||
| 51 | |||
| 52 | extern gpsInfo_t lockedPos; // stored position to fly to |
||
| 53 | extern gpsInfo_t actualPos; // measured position (last gps record) |
||
| 54 | |||
| 55 | extern void GPSscanData (void); |
||
| 56 | extern void GPSupdate(void); |
||
| 57 | extern void GPSsaveTarget (uint8_t mode); |
||
| 58 | |||
| 59 | struct str_Debug |
||
| 60 | { |
||
| 61 | unsigned char Digital[2]; |
||
| 62 | unsigned char RemoteTasten; |
||
| 63 | unsigned int Analog[4]; |
||
| 64 | }; |
||
| 65 | extern struct str_Debug DebugIn; |
||
| 66 | |||
| 67 | struct str_VersionInfo |
||
| 68 | { |
||
| 69 | unsigned char Hauptversion; |
||
| 70 | unsigned char Nebenversion; |
||
| 71 | unsigned char PCKompatibel; |
||
| 72 | unsigned char Rserved[7]; |
||
| 73 | }; |
||
| 74 | extern struct str_VersionInfo VersionInfo; |
||
| 75 | |||
| 76 | //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
||
| 77 | //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
||
| 78 | //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
||
| 79 | //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
||
| 80 | //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
||
| 81 | #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
||
| 82 | |||
| 83 | //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
||
| 84 | #if defined (__AVR_ATmega128__) |
||
| 85 | # define USR UCSR0A |
||
| 86 | # define UCR UCSR0B |
||
| 87 | # define UDR UDR0 |
||
| 88 | # define UBRR UBRR0L |
||
| 89 | # define EICR EICRB |
||
| 90 | #endif |
||
| 91 | |||
| 92 | #if defined (__AVR_ATmega32__) |
||
| 93 | # define USR UCSRA |
||
| 94 | # define UCR UCSRB |
||
| 95 | # define UBRR UBRRL |
||
| 96 | # define EICR EICRB |
||
| 97 | # define INT_VEC_RX SIG_UART_RECV |
||
| 98 | # define INT_VEC_TX SIG_UART_TRANS |
||
| 99 | #endif |
||
| 100 | |||
| 101 | #if defined (__AVR_ATmega644__) |
||
| 102 | # define USR UCSR0A |
||
| 103 | # define UCR UCSR0B |
||
| 104 | # define UDR UDR0 |
||
| 105 | # define UBRR UBRR0L |
||
| 106 | # define EICR EICR0B |
||
| 107 | # define TXEN TXEN0 |
||
| 108 | # define RXEN RXEN0 |
||
| 109 | # define RXCIE RXCIE0 |
||
| 110 | # define TXCIE TXCIE0 |
||
| 111 | # define U2X U2X0 |
||
| 112 | # define UCSRB UCSR0B |
||
| 113 | # define UDRE UDRE0 |
||
| 114 | # define INT_VEC_RX SIG_USART_RECV |
||
| 115 | # define INT_VEC_TX SIG_USART_TRANS |
||
| 116 | #endif |
||
| 117 | |||
| 118 | |||
| 119 | #endif //_UART_H |