Subversion Repositories FlightCtrl

// -------------------------------------------------------------------------------------------------------------------------------------
// uart.h
// -------------------------------------------------------------------------------------------------------------------------------------

#ifndef _UART_H
 #define _UART_H

#define MAX_SENDE_BUFF     150
#define MAX_EMPFANGS_BUFF  150

void BearbeiteRxDaten(void);

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 volatile char PC_MotortestActive;
extern unsigned char MeineSlaveAdresse;
extern unsigned char PcZugriff;
extern unsigned char RemotePollDisplayLine;
extern int Debug_Timer,Kompass_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 BearbeiteRxDaten(void);
extern unsigned char MotorTest[16];

struct str_DebugOut
{
        unsigned char Digital[2];
        signed int Analog[32];                                                          // Debugwerte
};

extern struct str_DebugOut    DebugOut;

struct str_WinkelOut
{
        signed int  Winkel[2];
        unsigned char UserParameter[2];
        unsigned char CalcState;                                                        // wird als vierstufiges Flag in spi.c uart.c fc.c und main.c verwendet
        unsigned char Orientation;
};

extern struct str_WinkelOut  WinkelOut;

struct str_Data3D
{
        signed int  Winkel[3];                                                          // nick, roll, compass in 0,1°
        signed char reserve[8];
};

extern struct str_Data3D Data3D;

struct str_ExternControl
{
        unsigned char Digital[2];
        unsigned char RemoteTasten;
        signed char   Nick;
        signed char   Roll;
        signed char   Gier;
        unsigned char Gas;
        signed char   Hight;
        unsigned char free;
        unsigned char Frame;
        unsigned char Config;
};

extern struct str_ExternControl   ExternControl;

struct str_VersionInfo
{
  unsigned char SWMajor;
  unsigned char SWMinor;
  unsigned char ProtoMajor;
  unsigned char ProtoMinor;
  unsigned char SWPatch;
  unsigned char Reserved[5];
};

extern struct str_VersionInfo VersionInfo;


#define BAUD_RATE 57600         //Die Baud_Rate der Seriellen Schnittstelle ist 57600 Baud

//Anpassen der seriellen Schnittstellen Register-----
#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
//--------------------------------------
#if defined (__AVR_ATmega644P__)
# 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
//--------------------------------------------------