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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2248 | - | 1 | // ------------------------------------------------------------------------------------------------------------------------------------- |
| 2 | // uart.h |
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| 3 | // ------------------------------------------------------------------------------------------------------------------------------------- |
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| 4 | |||
| 5 | #ifndef _UART_H |
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| 6 | #define _UART_H |
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| 7 | |||
| 8 | #define MAX_SENDE_BUFF 150 |
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| 9 | #define MAX_EMPFANGS_BUFF 150 |
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| 10 | |||
| 11 | void BearbeiteRxDaten(void); |
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| 12 | |||
| 13 | extern unsigned char DebugGetAnforderung; |
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| 14 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 15 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 16 | extern unsigned volatile char UebertragungAbgeschlossen; |
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| 17 | extern unsigned volatile char PC_DebugTimeout; |
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| 18 | extern unsigned volatile char NeueKoordinateEmpfangen; |
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| 19 | extern unsigned volatile char PC_MotortestActive; |
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| 20 | extern unsigned char MeineSlaveAdresse; |
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| 21 | extern unsigned char PcZugriff; |
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| 22 | extern unsigned char RemotePollDisplayLine; |
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| 23 | extern int Debug_Timer,Kompass_Timer; |
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| 24 | extern void UART_Init (void); |
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| 25 | extern int uart_putchar(char c); |
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| 26 | extern void boot_program_page(uint32_t page, uint8_t *buf); |
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| 27 | extern void DatenUebertragung(void); |
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| 28 | extern void BearbeiteRxDaten(void); |
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| 29 | extern unsigned char MotorTest[16]; |
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| 30 | |||
| 31 | struct str_DebugOut |
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| 32 | { |
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| 33 | unsigned char Digital[2]; |
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| 34 | signed int Analog[32]; // Debugwerte |
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| 35 | }; |
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| 36 | |||
| 37 | extern struct str_DebugOut DebugOut; |
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| 38 | |||
| 39 | struct str_WinkelOut |
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| 40 | { |
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| 41 | signed int Winkel[2]; |
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| 42 | unsigned char UserParameter[2]; |
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| 43 | unsigned char CalcState; // wird als vierstufiges Flag in spi.c uart.c fc.c und main.c verwendet |
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| 44 | unsigned char Orientation; |
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| 45 | }; |
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| 46 | |||
| 47 | extern struct str_WinkelOut WinkelOut; |
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| 48 | |||
| 49 | struct str_Data3D |
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| 50 | { |
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| 51 | signed int Winkel[3]; // nick, roll, compass in 0,1° |
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| 52 | signed char reserve[8]; |
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| 53 | }; |
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| 54 | |||
| 55 | extern struct str_Data3D Data3D; |
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| 56 | |||
| 57 | struct str_ExternControl |
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| 58 | { |
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| 59 | unsigned char Digital[2]; |
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| 60 | unsigned char RemoteTasten; |
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| 61 | signed char Nick; |
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| 62 | signed char Roll; |
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| 63 | signed char Gier; |
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| 64 | unsigned char Gas; |
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| 65 | signed char Hight; |
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| 66 | unsigned char free; |
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| 67 | unsigned char Frame; |
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| 68 | unsigned char Config; |
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| 69 | }; |
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| 70 | |||
| 71 | extern struct str_ExternControl ExternControl; |
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| 72 | |||
| 73 | struct str_VersionInfo |
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| 74 | { |
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| 75 | unsigned char SWMajor; |
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| 76 | unsigned char SWMinor; |
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| 77 | unsigned char ProtoMajor; |
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| 78 | unsigned char ProtoMinor; |
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| 79 | unsigned char SWPatch; |
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| 80 | unsigned char Reserved[5]; |
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| 81 | }; |
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| 82 | |||
| 83 | extern struct str_VersionInfo VersionInfo; |
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| 84 | |||
| 85 | |||
| 86 | #define BAUD_RATE 57600 //Die Baud_Rate der Seriellen Schnittstelle ist 57600 Baud |
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| 87 | |||
| 88 | //Anpassen der seriellen Schnittstellen Register----- |
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| 89 | #if defined (__AVR_ATmega644__) |
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| 90 | # define USR UCSR0A |
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| 91 | // # define UCR UCSR0B |
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| 92 | # define UDR UDR0 |
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| 93 | # define UBRR UBRR0L |
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| 94 | # define EICR EICR0B |
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| 95 | # define TXEN TXEN0 |
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| 96 | # define RXEN RXEN0 |
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| 97 | # define RXCIE RXCIE0 |
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| 98 | # define TXCIE TXCIE0 |
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| 99 | # define U2X U2X0 |
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| 100 | # define UCSRB UCSR0B |
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| 101 | # define UDRE UDRE0 |
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| 102 | # define INT_VEC_RX SIG_USART_RECV |
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| 103 | # define INT_VEC_TX SIG_USART_TRANS |
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| 104 | #endif |
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| 105 | //-------------------------------------- |
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| 106 | #if defined (__AVR_ATmega644P__) |
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| 107 | # define USR UCSR0A |
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| 108 | # define UCR UCSR0B |
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| 109 | # define UDR UDR0 |
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| 110 | # define UBRR UBRR0L |
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| 111 | # define EICR EICR0B |
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| 112 | # define TXEN TXEN0 |
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| 113 | # define RXEN RXEN0 |
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| 114 | # define RXCIE RXCIE0 |
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| 115 | # define TXCIE TXCIE0 |
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| 116 | # define U2X U2X0 |
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| 117 | # define UCSRB UCSR0B |
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| 118 | # define UDRE UDRE0 |
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| 119 | # define INT_VEC_RX SIG_USART_RECV |
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| 120 | # define INT_VEC_TX SIG_USART_TRANS |
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| 121 | #endif |
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| 122 | |||
| 123 | #endif //_UART_H |
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| 124 | //-------------------------------------------------- |