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