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Rev 707 Rev 712
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#ifndef _UART_H
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#ifndef _UART_H
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#define _UART_H
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#define _UART_H
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#define TXD_BUFFER_LEN  150
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#define TXD_BUFFER_LEN  150
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#define RXD_BUFFER_LEN  150
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#define RXD_BUFFER_LEN  150
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#define DUB_KEY_UP     4
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#define DUB_KEY_UP     4
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#define DUB_KEY_DOWN   8
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#define DUB_KEY_DOWN   8
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#define DUB_KEY_LEFT   16
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#define DUB_KEY_LEFT   16
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#define DUB_KEY_RIGHT  32
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#define DUB_KEY_RIGHT  32
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#define DUB_KEY_FIRE   64
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#define DUB_KEY_FIRE   64
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#include <inttypes.h>
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#include <inttypes.h>
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void BearbeiteRxDaten(void);
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void BearbeiteRxDaten(void);
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extern unsigned char DebugGetAnforderung;
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extern unsigned char DebugGetAnforderung;
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//Baud rate of the USART
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//Baud rate of the USART
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#define USART0_BAUD 57600
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#define USART0_BAUD 57600
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extern void USART0_Init (void);
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extern void USART0_Init (void);
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extern unsigned volatile char txd_buffer[TXD_BUFFER_LEN];
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extern unsigned volatile char txd_buffer[TXD_BUFFER_LEN];
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extern unsigned volatile char rxd_buffer[RXD_BUFFER_LEN];
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extern unsigned volatile char rxd_buffer[RXD_BUFFER_LEN];
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extern unsigned volatile char UebertragungAbgeschlossen;
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extern unsigned volatile char UebertragungAbgeschlossen;
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extern unsigned volatile char PC_DebugTimeout;
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extern unsigned volatile char PC_DebugTimeout;
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extern unsigned volatile char NeueKoordinateEmpfangen;
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extern unsigned volatile char NeueKoordinateEmpfangen;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char PcAccess;
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extern unsigned char PcAccess;
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extern unsigned char RemotePollDisplayLine;
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extern unsigned char RemotePollDisplayLine;
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extern int Debug_Timer;
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extern int Debug_Timer;
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extern int16_t uart_putchar (int8_t c);
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extern int16_t uart_putchar (int8_t c);
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extern void boot_program_page (uint32_t page, uint8_t *buf);
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extern void boot_program_page (uint32_t page, uint8_t *buf);
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extern void DatenUebertragung(void);
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extern void DatenUebertragung(void);
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extern void BearbeiteRxDaten(void);
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extern void BearbeiteRxDaten(void);
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extern unsigned char MotorTest[4];
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extern unsigned char MotorTest[4];
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extern unsigned char DubWiseKeys[4];
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extern unsigned char DubWiseKeys[4];
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struct str_DebugOut
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struct str_DebugOut
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{
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{
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 unsigned char Digital[2];
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 unsigned char Digital[2];
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 unsigned int Analog[32];    // Debugwerte
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 unsigned int Analog[32];    // Debugwerte
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};
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};
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extern struct str_DebugOut    DebugOut;
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extern struct str_DebugOut    DebugOut;
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struct str_ExternControl
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struct str_ExternControl
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{
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{
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 uint8_t        Digital[2];
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 uint8_t        Digital[2];
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 uint8_t        RemoteButtons;
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 uint8_t        RemoteButtons;
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 int8_t         Pitch;
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 int8_t         Pitch;
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 int8_t         Roll;
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 int8_t         Roll;
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 int8_t         Yaw;
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 int8_t         Yaw;
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 uint8_t        Thrust;
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 uint8_t        Thrust;
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 int8_t         Hight;
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 int8_t         Hight;
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 uint8_t        free;
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 uint8_t        free;
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 uint8_t        Frame;
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 uint8_t        Frame;
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 uint8_t        Config;
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 uint8_t        Config;
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};
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};
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extern struct str_ExternControl   ExternControl;
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extern struct str_ExternControl   ExternControl;
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struct str_VersionInfo
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struct str_VersionInfo
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{
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{
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  unsigned char Hauptversion;
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  unsigned char Hauptversion;
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  unsigned char Nebenversion;
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  unsigned char Nebenversion;
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  unsigned char PCKompatibel;
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  unsigned char PCKompatibel;
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  unsigned char Rserved[7];
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  unsigned char Rserved[7];
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};
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};
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extern struct str_VersionInfo VersionInfo;
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extern struct str_VersionInfo VersionInfo;
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#if defined (__AVR_ATmega644__)
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#       define USR  UCSR0A
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#       define UCR  UCSR0B
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#       define UDR  UDR0
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#       define UBRR UBRR0L
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#       define EICR EICR0B
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#   define TXEN TXEN0
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#   define RXEN RXEN0
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#   define RXCIE RXCIE0
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#   define TXCIE TXCIE0
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#   define U2X  U2X0
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#   define UCSRB UCSR0B
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#   define UDRE UDRE0
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#   define INT_VEC_RX  SIG_USART_RECV
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#   define INT_VEC_TX  SIG_USART_TRANS
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#endif
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#endif //_UART_H
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#endif //_UART_H
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