Subversion Repositories FlightCtrl

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 #ifndef _UART_H
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 #define _UART_H
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#define printf_P(format, args...)   _printf_P(&uart_putchar, format , ## args)
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#define printf(format, args...)     _printf_P(&uart_putchar, PSTR(format) , ## args)
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void BearbeiteRxDaten(void);
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extern unsigned char DebugGetAnforderung;
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extern unsigned volatile char ReceiverUpdateModeActive;
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extern unsigned volatile char UebertragungAbgeschlossen;
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extern unsigned volatile char PC_DebugTimeout;
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extern unsigned volatile char NeueKoordinateEmpfangen;
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extern unsigned volatile char PC_MotortestActive;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char PcZugriff;
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extern unsigned char RemotePollDisplayLine;
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extern unsigned volatile char RxdBuffer[];
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extern int Debug_Timer,Kompass_Timer;
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extern void UART_Init (void);
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extern void  uart_putchar (char c);
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//extern void boot_program_page (uint32_t page, uint8_t *buf);
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extern void DatenUebertragung(void);
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extern void Uart1Init(void);
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extern void BearbeiteRxDaten(void);
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extern unsigned char MotorTest[16];
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struct str_DebugOut
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{
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 unsigned char Status[2];
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 signed int Analog[32];    // Debugwerte
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};
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extern struct str_DebugOut    DebugOut;
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struct str_WinkelOut
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{
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   signed int  Winkel[2];
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 unsigned char UserParameter[2];
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 unsigned char CalcState;
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 unsigned char Orientation;
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};
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extern struct str_WinkelOut  WinkelOut;
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struct str_Data3D
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{
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   signed int  Winkel[3]; // nick, roll, compass in 0,1°
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   signed char Centroid[3];
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   signed char reserve[5];
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};
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extern struct str_Data3D Data3D;
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struct str_ExternControl
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{
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 unsigned char Digital[2];
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 unsigned char RemoteTasten;
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 signed char   Nick;
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 signed char   Roll;
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 signed char   Gier;
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 unsigned char Gas;
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 signed char   Hight;
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 unsigned char free;
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 unsigned char Frame;
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 unsigned char Config;
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};
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extern struct str_ExternControl   ExternControl;
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// FC hardware errors
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// bitmask for UART_VersionInfo_t.HardwareError[0]
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#define FC_ERROR0_GYRO_NICK     0x01
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#define FC_ERROR0_GYRO_ROLL     0x02
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#define FC_ERROR0_GYRO_YAW              0x04
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#define FC_ERROR0_ACC_NICK              0x08
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#define FC_ERROR0_ACC_ROLL              0x10
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#define FC_ERROR0_ACC_TOP               0x20
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#define FC_ERROR0_PRESSURE              0x40
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#define FC_ERROR0_CAREFREE              0x80
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// bitmask for UART_VersionInfo_t.HardwareError[1]
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#define FC_ERROR1_I2C                   0x01
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#define FC_ERROR1_BL_MISSING    0x02
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#define FC_ERROR1_SPI_RX                0x04
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#define FC_ERROR1_PPM                   0x08
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#define FC_ERROR1_MIXER                 0x10
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#define FC_ERROR1_RES1                  0x20
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#define FC_ERROR1_RES2                  0x40
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#define FC_ERROR1_RES3                  0x80
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// for FlightCtrl
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//VersionInfo.Flags
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#define FC_VERSION_FLAG_NC_PRESENT           0x01
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// for NaviCtrl
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#define NC_VERSION_FLAG_MK3MAG_PRESENT       0x01
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struct str_VersionInfo
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{
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  unsigned char SWMajor;
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  unsigned char SWMinor;
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  unsigned char ProtoMajor;
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  unsigned char reserved1;
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  unsigned char SWPatch;
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  unsigned char HardwareError[2];
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  unsigned char HWMajor;
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  unsigned char BL_Firmware;  
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  unsigned char Flags;
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};
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extern struct str_VersionInfo VersionInfo;
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//#define USART0_BAUD 9600
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//#define USART0_BAUD 14400
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//#define USART0_BAUD 28800
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//#define USART0_BAUD 38400
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#define USART0_BAUD 57600
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#endif //_UART_H