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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 1 | #ifndef _UART_H |
| 2 | #define _UART_H |
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| 3 | |||
| 4 | #define MAX_SENDE_BUFF 150 |
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| 5 | #define MAX_EMPFANGS_BUFF 150 |
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| 6 | |||
| 7 | extern unsigned char DebugGetAnforderung; |
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| 8 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 9 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 10 | extern unsigned volatile char UebertragungAbgeschlossen; |
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| 11 | extern unsigned volatile char PC_DebugTimeout; |
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| 12 | extern unsigned volatile char NeueKoordinateEmpfangen; |
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| 13 | extern unsigned char MeineSlaveAdresse; |
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| 14 | extern unsigned char PcZugriff; |
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| 15 | extern int Debug_Timer; |
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| 16 | extern void UART_Init (void); |
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| 17 | extern int uart_putchar (char c); |
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| 18 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
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| 19 | extern void DatenUebertragung(void); |
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| 20 | extern void DecodeNMEA(void); |
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| 21 | extern unsigned char MotorTest[4]; |
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| 22 | struct str_DebugOut |
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| 23 | { |
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| 24 | unsigned char Digital[2]; |
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| 25 | unsigned int Analog[32]; // Debugwerte |
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| 26 | }; |
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| 27 | |||
| 28 | extern struct str_DebugOut DebugOut; |
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| 29 | |||
| 30 | #define _B1(bit) (1 << (bit)) |
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| 31 | #define _B0(bit) (0 << (bit)) |
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| 32 | |||
| 33 | typedef struct |
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| 34 | { |
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| 35 | long x; // in cm (+ = north) |
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| 36 | long y; // in cm (+ = east) |
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| 37 | long z; // in cm |
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| 38 | long vx; |
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| 39 | long vy; |
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| 40 | long vz; |
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| 41 | long northing; |
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| 42 | long easting; |
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| 43 | long altitude; |
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| 44 | long velNorth; |
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| 45 | long velEast; |
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| 46 | uint8_t newData; // status of data: 0 = invlid; 1 = valid |
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| 47 | uint8_t GPSFix; |
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| 48 | uint8_t noSV; // number of sats |
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| 49 | } gpsInfo_t; |
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| 50 | |||
| 51 | |||
| 52 | extern gpsInfo_t lockedPos; // stored position to fly to |
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| 53 | extern gpsInfo_t actualPos; // measured position (last gps record) |
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| 54 | |||
| 55 | extern void GPSscanData (void); |
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| 56 | extern void GPSupdate(void); |
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| 57 | extern void GPSsaveTarget (uint8_t mode); |
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| 58 | |||
| 59 | struct str_Debug |
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| 60 | { |
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| 61 | unsigned char Digital[2]; |
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| 62 | unsigned char RemoteTasten; |
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| 63 | unsigned int Analog[4]; |
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| 64 | }; |
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| 65 | extern struct str_Debug DebugIn; |
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| 66 | |||
| 67 | struct str_VersionInfo |
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| 68 | { |
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| 69 | unsigned char Hauptversion; |
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| 70 | unsigned char Nebenversion; |
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| 71 | unsigned char PCKompatibel; |
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| 72 | unsigned char Rserved[7]; |
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| 73 | }; |
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| 74 | extern struct str_VersionInfo VersionInfo; |
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| 75 | |||
| 76 | //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
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| 77 | //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
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| 78 | //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
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| 79 | //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
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| 80 | //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
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| 81 | #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
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| 82 | |||
| 83 | //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
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| 84 | #if defined (__AVR_ATmega128__) |
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| 85 | # define USR UCSR0A |
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| 86 | # define UCR UCSR0B |
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| 87 | # define UDR UDR0 |
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| 88 | # define UBRR UBRR0L |
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| 89 | # define EICR EICRB |
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| 90 | #endif |
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| 91 | |||
| 92 | #if defined (__AVR_ATmega32__) |
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| 93 | # define USR UCSRA |
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| 94 | # define UCR UCSRB |
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| 95 | # define UBRR UBRRL |
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| 96 | # define EICR EICRB |
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| 97 | # define INT_VEC_RX SIG_UART_RECV |
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| 98 | # define INT_VEC_TX SIG_UART_TRANS |
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| 99 | #endif |
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| 100 | |||
| 101 | #if defined (__AVR_ATmega644__) |
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| 102 | # define USR UCSR0A |
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| 103 | # define UCR UCSR0B |
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| 104 | # define UDR UDR0 |
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| 105 | # define UBRR UBRR0L |
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| 106 | # define EICR EICR0B |
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| 107 | # define TXEN TXEN0 |
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| 108 | # define RXEN RXEN0 |
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| 109 | # define RXCIE RXCIE0 |
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| 110 | # define TXCIE TXCIE0 |
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| 111 | # define U2X U2X0 |
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| 112 | # define UCSRB UCSR0B |
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| 113 | # define UDRE UDRE0 |
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| 114 | # define INT_VEC_RX SIG_USART_RECV |
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| 115 | # define INT_VEC_TX SIG_USART_TRANS |
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| 116 | #endif |
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| 117 | |||
| 118 | |||
| 119 | #endif //_UART_H |