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1 | #ifndef _UART_H |
1 | #ifndef _UART_H |
2 | #define _UART_H |
2 | #define _UART_H |
3 | 3 | ||
4 | #define MAX_SENDE_BUFF 150 |
4 | #define MAX_SENDE_BUFF 150 |
5 | #define MAX_EMPFANGS_BUFF 150 |
5 | #define MAX_EMPFANGS_BUFF 150 |
6 | 6 | ||
7 | extern char newData_navPosUtm; // (211007Kr) |
7 | extern char newData_navPosUtm; // (211007Kr) |
8 | 8 | ||
9 | extern unsigned char DebugGetAnforderung; |
9 | extern unsigned char DebugGetAnforderung; |
10 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
10 | extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
11 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
11 | extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
12 | extern unsigned volatile char UebertragungAbgeschlossen; |
12 | extern unsigned volatile char UebertragungAbgeschlossen; |
13 | extern unsigned volatile char PC_DebugTimeout; |
13 | extern unsigned volatile char PC_DebugTimeout; |
14 | extern unsigned volatile char NeueKoordinateEmpfangen; |
14 | extern unsigned volatile char NeueKoordinateEmpfangen; |
15 | extern unsigned char MeineSlaveAdresse; |
15 | extern unsigned char MeineSlaveAdresse; |
16 | extern unsigned char PcZugriff; |
16 | extern unsigned char PcZugriff; |
17 | extern int Debug_Timer; |
17 | extern int Debug_Timer; |
18 | extern void UART_Init (void); |
18 | extern void UART_Init (void); |
19 | extern int uart_putchar (char c); |
19 | extern int uart_putchar (char c); |
20 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
20 | extern void boot_program_page (uint32_t page, uint8_t *buf); |
21 | extern void DatenUebertragung(void); |
21 | extern void DatenUebertragung(void); |
22 | extern void DecodeNMEA(void); |
22 | extern void DecodeNMEA(void); |
23 | extern unsigned char MotorTest[4]; |
23 | extern unsigned char MotorTest[4]; |
24 | struct str_DebugOut |
24 | struct str_DebugOut |
25 | { |
25 | { |
26 | unsigned char Digital[2]; |
26 | unsigned char Digital[2]; |
27 | unsigned int Analog[32]; // Debugwerte |
27 | unsigned int Analog[32]; // Debugwerte |
28 | }; |
28 | }; |
29 | 29 | ||
30 | extern struct str_DebugOut DebugOut; |
30 | extern struct str_DebugOut DebugOut; |
31 | 31 | ||
32 | #define _B1(bit) (1 << (bit)) |
32 | #define _B1(bit) (1 << (bit)) |
33 | #define _B0(bit) (0 << (bit)) |
33 | #define _B0(bit) (0 << (bit)) |
34 | 34 | ||
35 | typedef struct |
35 | typedef struct |
36 | { |
36 | { |
37 | long x; // in cm (+ = north) |
37 | long northing; // in cm (+ = north) |
38 | long y; // in cm (+ = east) |
38 | long easting; // in cm (+ = east) |
39 | long z; // in cm |
39 | long altitude; // in cm |
40 | long vx; |
- | |
41 | long vy; |
- | |
42 | long vz; |
- | |
43 | long northing; |
- | |
44 | long easting; |
- | |
45 | long altitude; |
- | |
46 | long velNorth; |
40 | long velNorth; |
47 | long velEast; |
41 | long velEast; |
- | 42 | long velDown; |
|
48 | long GSpeed; //(151007Kr) |
43 | long GSpeed; //(151007Kr) |
49 | uint8_t newData; // status of data: 0 = invlid; 1 = valid |
44 | uint8_t newData; // status of data: 0 = invlid; 1 = valid |
50 | uint8_t GPSFix; |
45 | uint8_t GPSFix; |
51 | uint8_t noSV; // number of sats |
46 | uint8_t noSV; // number of sats |
52 | } gpsInfo_t; |
47 | } gpsInfo_t; |
53 | 48 | ||
54 | 49 | ||
55 | extern gpsInfo_t lockedPos; // stored position to fly to |
50 | extern gpsInfo_t lockedPos; // stored position to fly to |
56 | extern gpsInfo_t actualPos; // measured position (last gps record) |
51 | extern gpsInfo_t actualPos; // measured position (last gps record) |
57 | 52 | ||
58 | extern void GPSscanData (void); |
53 | extern void GPSscanData (void); |
59 | extern void GPSupdate(void); |
54 | extern void GPSupdate(void); |
60 | extern void GPSsaveTarget (uint8_t mode); |
55 | extern void GPSsaveTarget (uint8_t mode); |
61 | 56 | ||
62 | struct str_Debug |
57 | struct str_Debug |
63 | { |
58 | { |
64 | unsigned char Digital[2]; |
59 | unsigned char Digital[2]; |
65 | unsigned char RemoteTasten; |
60 | unsigned char RemoteTasten; |
66 | unsigned int Analog[4]; |
61 | unsigned int Analog[4]; |
67 | }; |
62 | }; |
68 | extern struct str_Debug DebugIn; |
63 | extern struct str_Debug DebugIn; |
69 | 64 | ||
70 | struct str_VersionInfo |
65 | struct str_VersionInfo |
71 | { |
66 | { |
72 | unsigned char Hauptversion; |
67 | unsigned char Hauptversion; |
73 | unsigned char Nebenversion; |
68 | unsigned char Nebenversion; |
74 | unsigned char PCKompatibel; |
69 | unsigned char PCKompatibel; |
75 | unsigned char Rserved[7]; |
70 | unsigned char Rserved[7]; |
76 | }; |
71 | }; |
77 | extern struct str_VersionInfo VersionInfo; |
72 | extern struct str_VersionInfo VersionInfo; |
78 | 73 | ||
79 | //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
74 | //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
80 | //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
75 | //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
81 | //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
76 | //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
82 | //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
77 | //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
83 | //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
78 | //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
84 | #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
79 | #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
85 | 80 | ||
86 | //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
81 | //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
87 | #if defined (__AVR_ATmega128__) |
82 | #if defined (__AVR_ATmega128__) |
88 | # define USR UCSR0A |
83 | # define USR UCSR0A |
89 | # define UCR UCSR0B |
84 | # define UCR UCSR0B |
90 | # define UDR UDR0 |
85 | # define UDR UDR0 |
91 | # define UBRR UBRR0L |
86 | # define UBRR UBRR0L |
92 | # define EICR EICRB |
87 | # define EICR EICRB |
93 | #endif |
88 | #endif |
94 | 89 | ||
95 | #if defined (__AVR_ATmega32__) |
90 | #if defined (__AVR_ATmega32__) |
96 | # define USR UCSRA |
91 | # define USR UCSRA |
97 | # define UCR UCSRB |
92 | # define UCR UCSRB |
98 | # define UBRR UBRRL |
93 | # define UBRR UBRRL |
99 | # define EICR EICRB |
94 | # define EICR EICRB |
100 | # define INT_VEC_RX SIG_UART_RECV |
95 | # define INT_VEC_RX SIG_UART_RECV |
101 | # define INT_VEC_TX SIG_UART_TRANS |
96 | # define INT_VEC_TX SIG_UART_TRANS |
102 | #endif |
97 | #endif |
103 | 98 | ||
104 | #if defined (__AVR_ATmega644__) |
99 | #if defined (__AVR_ATmega644__) |
105 | # define USR UCSR0A |
100 | # define USR UCSR0A |
106 | # define UCR UCSR0B |
101 | # define UCR UCSR0B |
107 | # define UDR UDR0 |
102 | # define UDR UDR0 |
108 | # define UBRR UBRR0L |
103 | # define UBRR UBRR0L |
109 | # define EICR EICR0B |
104 | # define EICR EICR0B |
110 | # define TXEN TXEN0 |
105 | # define TXEN TXEN0 |
111 | # define RXEN RXEN0 |
106 | # define RXEN RXEN0 |
112 | # define RXCIE RXCIE0 |
107 | # define RXCIE RXCIE0 |
113 | # define TXCIE TXCIE0 |
108 | # define TXCIE TXCIE0 |
114 | # define U2X U2X0 |
109 | # define U2X U2X0 |
115 | # define UCSRB UCSR0B |
110 | # define UCSRB UCSR0B |
116 | # define UDRE UDRE0 |
111 | # define UDRE UDRE0 |
117 | # define INT_VEC_RX SIG_USART_RECV |
112 | # define INT_VEC_RX SIG_USART_RECV |
118 | # define INT_VEC_TX SIG_USART_TRANS |
113 | # define INT_VEC_TX SIG_USART_TRANS |
119 | #endif |
114 | #endif |
120 | 115 | ||
121 | 116 | ||
122 | #endif //_UART_H |
117 | #endif //_UART_H |
123 | 118 |