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#ifndef _UART_H
#define _UART_H
#define MAX_SENDE_BUFF 150
#define MAX_EMPFANGS_BUFF 150
#define DUB_KEY_UP 4
#define DUB_KEY_DOWN 8
#define DUB_KEY_RIGHT 32
#define DUB_KEY_LEFT 16
#define DUB_KEY_FIRE 64
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 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 DecodeNMEA(void);
extern void BearbeiteRxDaten(void);
extern unsigned char MotorTest[4];
extern unsigned char DubWiseKeys[4];
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;
unsigned char Orientation;
};
extern struct str_WinkelOut WinkelOut;
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 Hauptversion;
unsigned char Nebenversion;
unsigned char PCKompatibel;
unsigned char Hardware;
unsigned char Patch;
unsigned char Reserved[5];
};
extern struct str_VersionInfo VersionInfo;
//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle
#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle
//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
#if defined (__AVR_ATmega128__)
# define USR UCSR0A
# define UCR UCSR0B
# define UDR UDR0
# define UBRR UBRR0L
# define EICR EICRB
#endif
#if defined (__AVR_ATmega32__)
# define USR UCSRA
# define UCR UCSRB
# define UBRR UBRRL
# define EICR EICRB
# define INT_VEC_RX SIG_UART_RECV
# define INT_VEC_TX SIG_UART_TRANS
#endif
#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
#endif //_UART_H