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#ifndef _UART_H
#define _UART_H
#define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args)
#define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args)
void BearbeiteRxDaten(void);
extern unsigned char DebugGetAnforderung;
extern unsigned volatile char ReceiverUpdateModeActive;
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 unsigned volatile char RxdBuffer[];
extern int Debug_Timer,Kompass_Timer;
extern void UART_Init (void);
extern void uart_putchar (char c);
//extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void DatenUebertragung(void);
extern void Uart1Init(void);
extern void BearbeiteRxDaten(void);
extern unsigned char MotorTest[16];
struct str_DebugOut
{
unsigned char Status[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_Data3D
{
signed int Winkel[3]; // nick, roll, compass in 0,1°
signed char Centroid[3];
// signed char reserve[5];
unsigned int AccZ;
signed char reserve[3];
};
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;
*/
// defines for ExternalControl.Config
#define EC_VALID 0x01 // only valid if this is 1
#define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX
#define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control
struct str_ExternControl
{
signed char Nick;
signed char Roll;
signed char Gier;
signed char Gas;
unsigned char Frame; // will return a confirm frame with this value
unsigned char Config;
unsigned char free;
};
extern struct str_ExternControl ExternalControl;
extern unsigned char ExternalControlTimeout;
// FC hardware errors
// bitmask for UART_VersionInfo_t.HardwareError[0]
#define FC_ERROR0_GYRO_NICK 0x01
#define FC_ERROR0_GYRO_ROLL 0x02
#define FC_ERROR0_GYRO_YAW 0x04
#define FC_ERROR0_ACC_NICK 0x08
#define FC_ERROR0_ACC_ROLL 0x10
#define FC_ERROR0_ACC_TOP 0x20
#define FC_ERROR0_PRESSURE 0x40
#define FC_ERROR0_CAREFREE 0x80
// bitmask for UART_VersionInfo_t.HardwareError[1]
#define FC_ERROR1_I2C 0x01
#define FC_ERROR1_BL_MISSING 0x02
#define FC_ERROR1_SPI_RX 0x04
#define FC_ERROR1_PPM 0x08
#define FC_ERROR1_MIXER 0x10
#define FC_ERROR1_RES1 0x20
#define FC_ERROR1_RES2 0x40
#define FC_ERROR1_RES3 0x80
// for FlightCtrl
//VersionInfo.Flags
#define FC_VERSION_FLAG_NC_PRESENT 0x01
// for NaviCtrl
#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
struct str_VersionInfo
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char LabelTextCRC;
unsigned char SWPatch;
unsigned char HardwareError[2];
unsigned char HWMajor;
unsigned char BL_Firmware;
unsigned char Flags;
};
extern struct str_VersionInfo VersionInfo;
//#define USART0_BAUD 9600
//#define USART0_BAUD 14400
//#define USART0_BAUD 28800
//#define USART0_BAUD 38400
#define USART0_BAUD 57600
#endif //_UART_H