| 1,10 → 1,11 |
|---|
| #ifndef _UART0_H |
| #define _UART0_H |
| |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| #define TXD_BUFFER_LEN 140 |
| #define RXD_BUFFER_LEN 140 |
| |
| #include <inttypes.h> |
| #include <stdio.h> |
| #include "ubx.h" |
| |
| //Baud rate of the USART |
| 13,22 → 14,31 |
|---|
| extern void usart0_init(void); |
| extern void usart0_transmitTxData(void); |
| extern void usart0_processRxData(void); |
| extern int16_t uart_putchar(int8_t c); |
| //extern int16_t uart_putchar(int8_t c); |
| |
| extern int uart_putchar(char c, FILE* fims); |
| |
| // extern uint8_t remotePollDisplayLine; |
| |
| extern uint8_t motorTestActive; |
| extern uint8_t motorTest[16]; |
| extern uint8_t outputTestActive; |
| extern uint8_t outputTest[16]; |
| |
| typedef struct { |
| int16_t anglePitch; // in 0.1 deg |
| int16_t angleRoll; // in 0.1 deg |
| int16_t heading; // in 0.1 deg |
| uint8_t reserved[8]; |
| }__attribute__((packed)) Data3D_t; |
| float pitchRate; // in radians |
| float rollRate; // in radians |
| float yawRate; // in radians |
| |
| float pitch; // in radians |
| float roll; // in radians |
| float heading; // in radians |
| |
| float xAcc; |
| float yAcc; |
| float zAcc; |
| }__attribute__((packed)) IMUData; |
| |
| typedef struct { |
| Data3D_t attitude; |
| IMUData imuData; |
| GPS_INFO_t GPSInfo; |
| int32_t airpressureHeight; |
| int16_t batteryVoltage; |