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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1189 | kmpec | 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 | void BearbeiteRxDaten(void); |
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| 8 | |||
| 9 | extern unsigned char DebugGetAnforderung; |
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| 10 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 11 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 12 | extern unsigned volatile char UebertragungAbgeschlossen; |
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| 13 | extern unsigned volatile char PC_DebugTimeout; |
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| 14 | extern unsigned volatile char NeueKoordinateEmpfangen; |
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| 15 | extern unsigned char MeineSlaveAdresse; |
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| 16 | extern unsigned char PcZugriff; |
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| 17 | extern unsigned char RemotePollDisplayLine; |
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| 18 | extern int Debug_Timer,Kompass_Timer; |
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| 19 | extern void UART_Init (void); |
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| 20 | extern int uart_putchar (char c); |
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| 21 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
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| 22 | extern void DatenUebertragung(void); |
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| 23 | extern void DecodeNMEA(void); |
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| 24 | extern void BearbeiteRxDaten(void); |
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| 25 | extern unsigned char MotorTest[4]; |
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| 26 | struct str_DebugOut |
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| 27 | { |
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| 28 | unsigned char Digital[2]; |
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| 29 | signed int Analog[32]; // Debugwerte |
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| 30 | }; |
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| 31 | |||
| 32 | extern struct str_DebugOut DebugOut; |
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| 33 | |||
| 34 | struct str_WinkelOut |
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| 35 | { |
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| 36 | signed int Winkel[2]; |
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| 37 | unsigned char UserParameter[2]; |
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| 38 | unsigned char CalcState; |
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| 39 | unsigned char Orientation; |
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| 40 | }; |
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| 41 | extern struct str_WinkelOut WinkelOut; |
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| 42 | |||
| 43 | struct str_Data3D |
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| 44 | { |
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| 45 | signed int Winkel[3]; // nick, roll, compass in 0,1° |
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| 46 | signed char reserve[8]; |
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| 47 | }; |
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| 48 | extern struct str_Data3D Data3D; |
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| 49 | |||
| 50 | struct str_ExternControl |
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| 51 | { |
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| 52 | unsigned char Digital[2]; |
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| 53 | unsigned char RemoteTasten; |
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| 54 | signed char Nick; |
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| 55 | signed char Roll; |
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| 56 | signed char Gier; |
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| 57 | unsigned char Gas; |
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| 58 | signed char Hight; |
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| 59 | unsigned char free; |
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| 60 | unsigned char Frame; |
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| 61 | unsigned char Config; |
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| 62 | }; |
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| 63 | extern struct str_ExternControl ExternControl; |
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| 64 | |||
| 65 | struct str_VersionInfo |
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| 66 | { |
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| 67 | unsigned char SWMajor; |
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| 68 | unsigned char SWMinor; |
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| 69 | unsigned char ProtoMajor; |
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| 70 | unsigned char ProtoMinor; |
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| 71 | unsigned char SWPatch; |
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| 72 | unsigned char Reserved[5]; |
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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 | #if defined (__AVR_ATmega644P__) |
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| 119 | # define USR UCSR0A |
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| 120 | # define UCR UCSR0B |
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| 121 | # define UDR UDR0 |
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| 122 | # define UBRR UBRR0L |
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| 123 | # define EICR EICR0B |
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| 124 | # define TXEN TXEN0 |
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| 125 | # define RXEN RXEN0 |
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| 126 | # define RXCIE RXCIE0 |
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| 127 | # define TXCIE TXCIE0 |
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| 128 | # define U2X U2X0 |
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| 129 | # define UCSRB UCSR0B |
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| 130 | # define UDRE UDRE0 |
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| 131 | # define INT_VEC_RX SIG_USART_RECV |
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| 132 | # define INT_VEC_TX SIG_USART_TRANS |
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| 133 | #endif |
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| 134 | |||
| 135 | #endif //_UART_H |