WebSVN - FlightCtrl - Diff - Rev 130 and 243 - /branches/GPS_BETA_chris2798


#ifndef _UART_H
 #define _UART_H
 
#define MAX_SENDE_BUFF     150
#define MAX_EMPFANGS_BUFF  150
 
extern unsigned char DebugGetAnforderung;
extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
extern unsigned volatile char UebertragungAbgeschlossen;
extern unsigned volatile char PC_DebugTimeout;
extern unsigned volatile char NeueKoordinateEmpfangen;
extern unsigned char MeineSlaveAdresse;
extern unsigned char PcZugriff;
extern int Debug_Timer;
extern void UART_Init (void);
extern int uart_putchar (char c);
extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void DatenUebertragung(void);
extern void DecodeNMEA(void);
extern unsigned char MotorTest[4];
struct str_DebugOut
{
 unsigned char Digital[2];
 
 
 
 unsigned int Analog[32];    // Debugwerte
};
 
extern struct str_DebugOut    DebugOut;
 
#define _B1(bit)                (1 << (bit))  
#define _B0(bit)                (0 << (bit))
 
typedef struct {
        long            northing;                       // in cm (+ = north)
        long            easting;                        // in cm (+ = east)
        long            altitude;                       // in cm
        long            velNorth;
        long            velEast;
        long            velDown;
        //long          groundSpeed;
        //long          heading;
 
        uint8_t         state;                          // status of data: 0 = invlid; 1 = valid
        uint8_t         noSV;                           // number of sats
} gpsInfo_t;
 
 
extern gpsInfo_t                lockedPos;                      // stored position to fly to
extern gpsInfo_t                actualPos;                      // measured position (last gps record)
 
extern void GPSscanData (void);
extern void GPSupdate(void);
extern void GPSsaveTarget (uint8_t mode);
 
struct str_Debug
{
 unsigned char Digital[2];
 unsigned char RemoteTasten;
 unsigned int Analog[4];
};
extern struct str_Debug       DebugIn;
 
struct str_VersionInfo
{
  unsigned char Hauptversion;
  unsigned char Nebenversion;
  unsigned char PCKompatibel;
  unsigned char Rserved[7];
};  
extern struct str_VersionInfo VersionInfo;
 
//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
//#define BAUD_RATE 9600                //Baud Rate für die Serielle Schnittstelle      
//#define BAUD_RATE 14400               //Baud Rate für die Serielle Schnittstelle      
//#define BAUD_RATE 28800               //Baud Rate für die Serielle Schnittstelle      
//#define BAUD_RATE 38400               //Baud Rate für die Serielle Schnittstelle      
#define BAUD_RATE 57600         //Baud Rate für die Serielle Schnittstelle      
 
//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
#if defined (__AVR_ATmega128__)
#       define USR UCSR0A
#       define UCR UCSR0B
#       define UDR UDR0
#       define UBRR UBRR0L
#       define EICR EICRB
#endif
 
#if defined (__AVR_ATmega32__)
#       define USR UCSRA
#       define UCR UCSRB
#       define UBRR UBRRL
#       define EICR EICRB
#   define INT_VEC_RX  SIG_UART_RECV
#   define INT_VEC_TX  SIG_UART_TRANS
#endif
 
#if defined (__AVR_ATmega644__)
#       define USR  UCSR0A
#       define UCR  UCSR0B
#       define UDR  UDR0
#       define UBRR UBRR0L
#       define EICR EICR0B
#   define TXEN TXEN0
#   define RXEN RXEN0
#   define RXCIE RXCIE0
#   define TXCIE TXCIE0
#   define U2X  U2X0
#   define UCSRB UCSR0B
#   define UDRE UDRE0
#   define INT_VEC_RX  SIG_USART_RECV
#   define INT_VEC_TX  SIG_USART_TRANS
#endif
 
 
#endif //_UART_H
 

Rev 130	Rev 243
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 unsigned char DebugGetAnforderung;	7	extern unsigned char DebugGetAnforderung;
8	extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];	8	extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
9	extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];	9	extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
10	extern unsigned volatile char UebertragungAbgeschlossen;	10	extern unsigned volatile char UebertragungAbgeschlossen;
11	extern unsigned volatile char PC_DebugTimeout;	11	extern unsigned volatile char PC_DebugTimeout;
12	extern unsigned volatile char NeueKoordinateEmpfangen;	12	extern unsigned volatile char NeueKoordinateEmpfangen;
13	extern unsigned char MeineSlaveAdresse;	13	extern unsigned char MeineSlaveAdresse;
14	extern unsigned char PcZugriff;	14	extern unsigned char PcZugriff;
15	extern int Debug_Timer;	15	extern int Debug_Timer;
16	extern void UART_Init (void);	16	extern void UART_Init (void);
17	extern int uart_putchar (char c);	17	extern int uart_putchar (char c);
18	extern void boot_program_page (uint32_t page, uint8_t *buf);	18	extern void boot_program_page (uint32_t page, uint8_t *buf);
19	extern void DatenUebertragung(void);	19	extern void DatenUebertragung(void);
20	extern void DecodeNMEA(void);	20	extern void DecodeNMEA(void);
21	extern unsigned char MotorTest[4];	21	extern unsigned char MotorTest[4];
22	struct str_DebugOut	22	struct str_DebugOut
23	{	23	{
24	unsigned char Digital[13];	24	unsigned char Digital[2];
25	unsigned int AnzahlZyklen;	-
26	unsigned int Zeit;	-
27	unsigned char Sekunden;	-
28	unsigned int Analog[16]; // Debugwerte	25	unsigned int Analog[32]; // Debugwerte
29	};	26	};
30		27
31	extern struct str_DebugOut DebugOut;	28	extern struct str_DebugOut DebugOut;
32		29
33	#define _B1(bit) (1 << (bit))	30	#define _B1(bit) (1 << (bit))
34	#define _B0(bit) (0 << (bit))	31	#define _B0(bit) (0 << (bit))
35		32
36	typedef struct {	33	typedef struct {
37	long x; // in cm (+ = north)	34	long northing; // in cm (+ = north)
38	long y; // in cm (+ = east)	35	long easting; // in cm (+ = east)
39	long z; // in cm	36	long altitude; // in cm
40	long vx;	37	long velNorth;
41	long vy;	38	long velEast;
42	long vz;	39	long velDown;
43	//long groundSpeed;	40	//long groundSpeed;
44	//long heading;	41	//long heading;
45		42
46	uint8_t state; // status of data: 0 = invlid; 1 = valid	43	uint8_t state; // status of data: 0 = invlid; 1 = valid
47	uint8_t noSV; // number of sats	44	uint8_t noSV; // number of sats
48	} gpsInfo_t;	45	} gpsInfo_t;
49		46
50		47
51	extern gpsInfo_t lockedPos; // stored position to fly to	48	extern gpsInfo_t lockedPos; // stored position to fly to
52	extern gpsInfo_t actualPos; // measured position (last gps record)	49	extern gpsInfo_t actualPos; // measured position (last gps record)
53		50
54	extern void GPSscanData (void);	51	extern void GPSscanData (void);
55	extern void GPSupdate(void);	52	extern void GPSupdate(void);
56	extern void GPSsaveTarget (uint8_t mode);	53	extern void GPSsaveTarget (uint8_t mode);
57		54
58	struct str_Debug	55	struct str_Debug
59	{	56	{
60	unsigned char Digital[2];	57	unsigned char Digital[2];
61	unsigned char RemoteTasten;	58	unsigned char RemoteTasten;
62	unsigned int Analog[4];	59	unsigned int Analog[4];
63	};	60	};
64	extern struct str_Debug DebugIn;	61	extern struct str_Debug DebugIn;
65		62
66	struct str_VersionInfo	63	struct str_VersionInfo
67	{	64	{
68	unsigned char Hauptversion;	65	unsigned char Hauptversion;
69	unsigned char Nebenversion;	66	unsigned char Nebenversion;
70	unsigned char PCKompatibel;	67	unsigned char PCKompatibel;
71	unsigned char Rserved[7];	68	unsigned char Rserved[7];
72	};	69	};
73	extern struct str_VersionInfo VersionInfo;	70	extern struct str_VersionInfo VersionInfo;
74		71
75	//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud	72	//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
76	//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle	73	//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle
77	//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle	74	//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle
78	//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle	75	//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle
79	//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle	76	//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle
80	#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle	77	#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle
81		78
82	//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird	79	//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
83	#if defined (__AVR_ATmega128__)	80	#if defined (__AVR_ATmega128__)
84	# define USR UCSR0A	81	# define USR UCSR0A
85	# define UCR UCSR0B	82	# define UCR UCSR0B
86	# define UDR UDR0	83	# define UDR UDR0
87	# define UBRR UBRR0L	84	# define UBRR UBRR0L
88	# define EICR EICRB	85	# define EICR EICRB
89	#endif	86	#endif
90		87
91	#if defined (__AVR_ATmega32__)	88	#if defined (__AVR_ATmega32__)
92	# define USR UCSRA	89	# define USR UCSRA
93	# define UCR UCSRB	90	# define UCR UCSRB
94	# define UBRR UBRRL	91	# define UBRR UBRRL
95	# define EICR EICRB	92	# define EICR EICRB
96	# define INT_VEC_RX SIG_UART_RECV	93	# define INT_VEC_RX SIG_UART_RECV
97	# define INT_VEC_TX SIG_UART_TRANS	94	# define INT_VEC_TX SIG_UART_TRANS
98	#endif	95	#endif
99		96
100	#if defined (__AVR_ATmega644__)	97	#if defined (__AVR_ATmega644__)
101	# define USR UCSR0A	98	# define USR UCSR0A
102	# define UCR UCSR0B	99	# define UCR UCSR0B
103	# define UDR UDR0	100	# define UDR UDR0
104	# define UBRR UBRR0L	101	# define UBRR UBRR0L
105	# define EICR EICR0B	102	# define EICR EICR0B
106	# define TXEN TXEN0	103	# define TXEN TXEN0
107	# define RXEN RXEN0	104	# define RXEN RXEN0
108	# define RXCIE RXCIE0	105	# define RXCIE RXCIE0
109	# define TXCIE TXCIE0	106	# define TXCIE TXCIE0
110	# define U2X U2X0	107	# define U2X U2X0
111	# define UCSRB UCSR0B	108	# define UCSRB UCSR0B
112	# define UDRE UDRE0	109	# define UDRE UDRE0
113	# define INT_VEC_RX SIG_USART_RECV	110	# define INT_VEC_RX SIG_USART_RECV
114	# define INT_VEC_TX SIG_USART_TRANS	111	# define INT_VEC_TX SIG_USART_TRANS
115	#endif	112	#endif
116		113
117		114
118	#endif //_UART_H	115	#endif //_UART_H
119		116

Subversion Repositories FlightCtrl

(root)/branches/GPS_BETA_chris2798_hallo2/uart.h @ 2312 - Rev 130 → 243