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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 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 |