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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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#include <inttypes.h>
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#define NICK 0
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#define ROLL 1
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#define BAUD_RATE 57600
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extern uint16_t Debug_Timer;
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void USART0_Init (void);
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void USART0_EnableTXD(void);
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void USART0_DisableTXD(void);
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void USART0_TransmitTxData(void);
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void USART0_ProcessRxData(void);
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int16_t uart_putchar(int8_t c);
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extern unsigned volatile char SIO_Sollwert;
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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 char MeineSlaveAdresse;
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extern int Debug_Timer;
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extern void UART_Init (void);
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extern int 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 SendUart(void);
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void DatenUebertragung(void);
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struct str_DebugOut
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typedef struct
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{
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{
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 unsigned char Digital[2];
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        uint8_t Digital[2];
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        uint16_t Analog[32];    // Debugvalues
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} DebugOut_t;
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extern DebugOut_t DebugOut;
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 unsigned int Analog[32];    // Debugwerte
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};
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struct str_ExternData
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typedef struct
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{
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{
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 signed int  Winkel[2]; // in 0,1 degree
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 unsigned char UserParameter[2];
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 unsigned char CalState;        
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 unsigned char Orientation;
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        int16_t Attitude[2];  // nock and roll angle in 0.1 deg
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        uint8_t UserParam[2];
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        uint8_t CalState;
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};
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        uint8_t Orientation;
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extern struct str_ExternData  ExternData;
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} ExternData_t;
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#define NICK 0
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#define ROLL 1
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extern ExternData_t  ExternData;
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struct str_ExternControl
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typedef struct
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{
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{
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 unsigned char Digital[2];
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        uint8_t Digital[2];
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 unsigned char RemoteTasten;
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        uint8_t RemoteButtons;
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 signed char   Nick;
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        int8_t  Nick;
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 signed char   Roll;
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        int8_t  Roll;
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        int8_t  Yaw;
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 signed char   Gier;
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        uint8_t Gas;
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 unsigned char Gas;
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        int8_t  Height;
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        uint8_t Par1;
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 signed char   Hight;
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        uint8_t Par2;
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 unsigned char Par1;
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        uint8_t Par3;
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 unsigned char Par2;
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} ExternControl_t;
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 unsigned char Par3;
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};
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extern ExternControl_t  ExternControl;
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extern struct str_ExternControl  ExternControl;
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struct str_VersionInfo
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{
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  unsigned char Hauptversion;
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typedef struct
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  unsigned char Nebenversion;
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  unsigned char PCKompatibel;
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{
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  unsigned char Rserved[7];
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};  
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extern struct str_VersionInfo VersionInfo;
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extern struct str_DebugOut    DebugOut;
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extern struct str_DebugOut    DebugOut;
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//Die Baud_Rate der Seriellen Schnittstelle
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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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#if X3D_SIO == 1
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 #define BAUD_RATE 38400                //Baud Rate für die Serielle Schnittstelle     
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#else
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 #define BAUD_RATE 57600                //Baud Rate für die Serielle Schnittstelle     
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#endif
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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_ATmega8__)
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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_ATmega168__)
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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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#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 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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        uint8_t Major;