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1 | #ifndef _UART_H |
1 | #ifndef _UART_H |
2 | #define _UART_H |
2 | #define _UART_H |
3 | 3 | ||
4 | #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
4 | #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
5 | #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
5 | #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
6 | 6 | ||
7 | void BearbeiteRxDaten(void); |
7 | void BearbeiteRxDaten(void); |
8 | 8 | ||
9 | extern unsigned char DebugGetAnforderung; |
9 | extern unsigned char DebugGetAnforderung; |
10 | extern unsigned volatile char JetiUpdateModeActive; |
10 | extern unsigned volatile char JetiUpdateModeActive; |
11 | extern unsigned volatile char UebertragungAbgeschlossen; |
11 | extern unsigned volatile char UebertragungAbgeschlossen; |
12 | extern unsigned volatile char PC_DebugTimeout; |
12 | extern unsigned volatile char PC_DebugTimeout; |
13 | extern unsigned volatile char NeueKoordinateEmpfangen; |
13 | extern unsigned volatile char NeueKoordinateEmpfangen; |
14 | extern unsigned volatile char PC_MotortestActive; |
14 | extern unsigned volatile char PC_MotortestActive; |
15 | extern unsigned char MeineSlaveAdresse; |
15 | extern unsigned char MeineSlaveAdresse; |
16 | extern unsigned char PcZugriff; |
16 | extern unsigned char PcZugriff; |
17 | extern unsigned char RemotePollDisplayLine; |
17 | extern unsigned char RemotePollDisplayLine; |
- | 18 | extern unsigned volatile char RxdBuffer[]; |
|
18 | extern int Debug_Timer,Kompass_Timer; |
19 | extern int Debug_Timer,Kompass_Timer; |
19 | extern void UART_Init (void); |
20 | extern void UART_Init (void); |
20 | extern void uart_putchar (char c); |
21 | extern void uart_putchar (char c); |
21 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
22 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
22 | extern void DatenUebertragung(void); |
23 | extern void DatenUebertragung(void); |
23 | extern void Uart1Init(void); |
24 | extern void Uart1Init(void); |
24 | extern void BearbeiteRxDaten(void); |
25 | extern void BearbeiteRxDaten(void); |
25 | extern unsigned char MotorTest[16]; |
26 | extern unsigned char MotorTest[16]; |
26 | struct str_DebugOut |
27 | struct str_DebugOut |
27 | { |
28 | { |
28 | unsigned char Status[2]; |
29 | unsigned char Status[2]; |
29 | signed int Analog[32]; // Debugwerte |
30 | signed int Analog[32]; // Debugwerte |
30 | }; |
31 | }; |
31 | 32 | ||
32 | extern struct str_DebugOut DebugOut; |
33 | extern struct str_DebugOut DebugOut; |
33 | 34 | ||
34 | struct str_WinkelOut |
35 | struct str_WinkelOut |
35 | { |
36 | { |
36 | signed int Winkel[2]; |
37 | signed int Winkel[2]; |
37 | unsigned char UserParameter[2]; |
38 | unsigned char UserParameter[2]; |
38 | unsigned char CalcState; |
39 | unsigned char CalcState; |
39 | unsigned char Orientation; |
40 | unsigned char Orientation; |
40 | }; |
41 | }; |
41 | extern struct str_WinkelOut WinkelOut; |
42 | extern struct str_WinkelOut WinkelOut; |
42 | 43 | ||
43 | struct str_Data3D |
44 | struct str_Data3D |
44 | { |
45 | { |
45 | signed int Winkel[3]; // nick, roll, compass in 0,1° |
46 | signed int Winkel[3]; // nick, roll, compass in 0,1° |
46 | signed char Centroid[3]; |
47 | signed char Centroid[3]; |
47 | signed char reserve[5]; |
48 | signed char reserve[5]; |
48 | }; |
49 | }; |
49 | extern struct str_Data3D Data3D; |
50 | extern struct str_Data3D Data3D; |
50 | 51 | ||
51 | struct str_ExternControl |
52 | struct str_ExternControl |
52 | { |
53 | { |
53 | unsigned char Digital[2]; |
54 | unsigned char Digital[2]; |
54 | unsigned char RemoteTasten; |
55 | unsigned char RemoteTasten; |
55 | signed char Nick; |
56 | signed char Nick; |
56 | signed char Roll; |
57 | signed char Roll; |
57 | signed char Gier; |
58 | signed char Gier; |
58 | unsigned char Gas; |
59 | unsigned char Gas; |
59 | signed char Hight; |
60 | signed char Hight; |
60 | unsigned char free; |
61 | unsigned char free; |
61 | unsigned char Frame; |
62 | unsigned char Frame; |
62 | unsigned char Config; |
63 | unsigned char Config; |
63 | }; |
64 | }; |
64 | extern struct str_ExternControl ExternControl; |
65 | extern struct str_ExternControl ExternControl; |
65 | 66 | ||
66 | // FC hardware errors |
67 | // FC hardware errors |
67 | 68 | ||
68 | // bitmask for UART_VersionInfo_t.HardwareError[0] |
69 | // bitmask for UART_VersionInfo_t.HardwareError[0] |
69 | #define FC_ERROR0_GYRO_NICK 0x01 |
70 | #define FC_ERROR0_GYRO_NICK 0x01 |
70 | #define FC_ERROR0_GYRO_ROLL 0x02 |
71 | #define FC_ERROR0_GYRO_ROLL 0x02 |
71 | #define FC_ERROR0_GYRO_YAW 0x04 |
72 | #define FC_ERROR0_GYRO_YAW 0x04 |
72 | #define FC_ERROR0_ACC_NICK 0x08 |
73 | #define FC_ERROR0_ACC_NICK 0x08 |
73 | #define FC_ERROR0_ACC_ROLL 0x10 |
74 | #define FC_ERROR0_ACC_ROLL 0x10 |
74 | #define FC_ERROR0_ACC_TOP 0x20 |
75 | #define FC_ERROR0_ACC_TOP 0x20 |
75 | #define FC_ERROR0_PRESSURE 0x40 |
76 | #define FC_ERROR0_PRESSURE 0x40 |
76 | #define FC_ERROR0_CAREFREE 0x80 |
77 | #define FC_ERROR0_CAREFREE 0x80 |
77 | // bitmask for UART_VersionInfo_t.HardwareError[1] |
78 | // bitmask for UART_VersionInfo_t.HardwareError[1] |
78 | #define FC_ERROR1_I2C 0x01 |
79 | #define FC_ERROR1_I2C 0x01 |
79 | #define FC_ERROR1_BL_MISSING 0x02 |
80 | #define FC_ERROR1_BL_MISSING 0x02 |
80 | #define FC_ERROR1_SPI_RX 0x04 |
81 | #define FC_ERROR1_SPI_RX 0x04 |
81 | #define FC_ERROR1_PPM 0x08 |
82 | #define FC_ERROR1_PPM 0x08 |
82 | #define FC_ERROR1_MIXER 0x10 |
83 | #define FC_ERROR1_MIXER 0x10 |
83 | #define FC_ERROR1_RES1 0x20 |
84 | #define FC_ERROR1_RES1 0x20 |
84 | #define FC_ERROR1_RES2 0x40 |
85 | #define FC_ERROR1_RES2 0x40 |
85 | #define FC_ERROR1_RES3 0x80 |
86 | #define FC_ERROR1_RES3 0x80 |
86 | 87 | ||
87 | struct str_VersionInfo |
88 | struct str_VersionInfo |
88 | { |
89 | { |
89 | unsigned char SWMajor; |
90 | unsigned char SWMajor; |
90 | unsigned char SWMinor; |
91 | unsigned char SWMinor; |
91 | unsigned char ProtoMajor; |
92 | unsigned char ProtoMajor; |
92 | unsigned char ProtoMinor; |
93 | unsigned char ProtoMinor; |
93 | unsigned char SWPatch; |
94 | unsigned char SWPatch; |
94 | unsigned char HardwareError[5]; |
95 | unsigned char HardwareError[5]; |
95 | }; |
96 | }; |
96 | 97 | ||
97 | extern struct str_VersionInfo VersionInfo; |
98 | extern struct str_VersionInfo VersionInfo; |
98 | 99 | ||
99 | //#define USART0_BAUD 9600 |
100 | //#define USART0_BAUD 9600 |
100 | //#define USART0_BAUD 14400 |
101 | //#define USART0_BAUD 14400 |
101 | //#define USART0_BAUD 28800 |
102 | //#define USART0_BAUD 28800 |
102 | //#define USART0_BAUD 38400 |
103 | //#define USART0_BAUD 38400 |
103 | #define USART0_BAUD 57600 |
104 | #define USART0_BAUD 57600 |
104 | 105 | ||
105 | 106 | ||
106 | #endif //_UART_H |
107 | #endif //_UART_H |
107 | 108 |