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Rev 1444 Rev 1561
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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 printf_P(format, args...)   _printf_P(&uart_putchar, format , ## args)
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#define printf_P(format, args...)   _printf_P(&uart_putchar, format , ## args)
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#define printf(format, args...)     _printf_P(&uart_putchar, PSTR(format) , ## args)
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#define printf(format, args...)     _printf_P(&uart_putchar, PSTR(format) , ## args)
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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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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 volatile char PC_MotortestActive;
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extern unsigned volatile char PC_MotortestActive;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char MeineSlaveAdresse;
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extern unsigned char PcZugriff;
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extern unsigned char PcZugriff;
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extern unsigned char RemotePollDisplayLine;
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extern unsigned char RemotePollDisplayLine;
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extern int Debug_Timer,Kompass_Timer;
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extern int Debug_Timer,Kompass_Timer;
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extern void UART_Init (void);
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extern void UART_Init (void);
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extern void  uart_putchar (char c);
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extern void  uart_putchar (char 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 Uart1Init(void);
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extern void Uart1Init(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[16];
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extern unsigned char MotorTest[16];
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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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 signed int Analog[32];    // Debugwerte
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 signed 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_WinkelOut
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struct str_WinkelOut
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{
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{
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   signed int  Winkel[2];
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   signed int  Winkel[2];
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 unsigned char UserParameter[2];
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 unsigned char UserParameter[2];
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 unsigned char CalcState;
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 unsigned char CalcState;
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 unsigned char Orientation;
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 unsigned char Orientation;
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};
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};
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extern struct str_WinkelOut  WinkelOut;
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extern struct str_WinkelOut  WinkelOut;
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struct str_Data3D
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struct str_Data3D
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{
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{
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   signed int  Winkel[3]; // nick, roll, compass in 0,1°
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   signed int  Winkel[3]; // nick, roll, compass in 0,1°
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   signed char reserve[8];
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   signed char reserve[8];
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};
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};
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extern struct str_Data3D Data3D;
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extern struct str_Data3D Data3D;
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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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 unsigned char Digital[2];
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 unsigned char Digital[2];
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 unsigned char RemoteTasten;
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 unsigned char RemoteTasten;
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 signed char   Nick;
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 signed char   Nick;
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 signed char   Roll;
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 signed char   Roll;
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 signed char   Gier;
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 signed char   Gier;
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 unsigned char Gas;
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 unsigned char Gas;
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 signed char   Hight;
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 signed char   Hight;
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 unsigned char free;
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 unsigned char free;
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 unsigned char Frame;
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 unsigned char Frame;
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 unsigned char Config;
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 unsigned char 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 SWMajor;
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  unsigned char SWMajor;
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  unsigned char SWMinor;
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  unsigned char SWMinor;
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  unsigned char ProtoMajor;
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  unsigned char ProtoMajor;
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  unsigned char ProtoMinor;
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  unsigned char ProtoMinor;
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  unsigned char SWPatch;
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  unsigned char SWPatch;
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  unsigned char Reserved[5];
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  unsigned char Reserved[5];
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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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 - 
 
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//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
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//#define BAUD_RATE 9600                //Baud Rate für die Serielle Schnittstelle
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//#define BAUD_RATE 14400               //Baud Rate für die Serielle Schnittstelle
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//#define BAUD_RATE 28800               //Baud Rate für die Serielle Schnittstelle
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//#define BAUD_RATE 38400               //Baud Rate für die Serielle Schnittstelle
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#define BAUD_RATE 57600         //Baud Rate für die Serielle Schnittstelle
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//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
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#if defined (__AVR_ATmega128__)
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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 EICRB
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#endif
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#if defined (__AVR_ATmega32__)
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#       define USR UCSRA
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#       define UCR UCSRB
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#       define UBRR UBRRL
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#       define EICR EICRB
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#   define INT_VEC_RX  SIG_UART_RECV
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#   define INT_VEC_TX  SIG_UART_TRANS
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#endif
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#if defined (__AVR_ATmega644__)
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//#define USART0_BAUD 9600
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#       define USR  UCSR0A
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#       define UCR  UCSR0B
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//#define USART0_BAUD 14400
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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 USART0_BAUD 28800
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#   define UCSRB UCSR0B
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//#define USART0_BAUD 38400
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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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#if defined (__AVR_ATmega644P__)
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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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#define USART0_BAUD 57600
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#endif
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#endif //_UART_H
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#endif //_UART_H
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