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#include <inttypes.h>
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#include <inttypes.h>
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//Baud rate of the USART
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//Baud rate of the USART
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#define USART0_BAUD 57600
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#define USART0_BAUD 57600
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extern void usart0_Init (void);
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extern void usart0_Init(void);
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extern void usart0_TransmitTxData(void);
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extern void usart0_TransmitTxData(void);
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extern void usart0_ProcessRxData(void);
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extern void usart0_ProcessRxData(void);
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extern int16_t uart_putchar(int8_t c);
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extern int16_t uart_putchar(int8_t c);
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extern uint8_t RemotePollDisplayLine;
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extern uint8_t RemotePollDisplayLine;
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extern uint8_t motorTestActive;
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extern uint8_t motorTestActive;
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extern uint8_t motorTest[16];
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extern uint8_t motorTest[16];
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typedef struct {
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typedef struct {
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  uint8_t Digital[2];
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        uint8_t Digital[2];
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  uint16_t Analog[32];    // Debugvalues
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        uint16_t Analog[32]; // Debugvalues
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} __attribute__((packed)) DebugOut_t;
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}__attribute__((packed)) DebugOut_t;
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extern DebugOut_t DebugOut;
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extern DebugOut_t DebugOut;
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typedef struct {
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typedef struct {
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   int16_t AngleNick;   // in 0.1 deg
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        int16_t AngleNick; // in 0.1 deg
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   int16_t AngleRoll;   // in 0.1 deg
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        int16_t AngleRoll; // in 0.1 deg
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   int16_t Heading;     // in 0.1 deg
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        int16_t Heading; // in 0.1 deg
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   uint8_t reserve[8];
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        uint8_t reserve[8];
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} __attribute__((packed)) Data3D_t;
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}__attribute__((packed)) Data3D_t;
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typedef struct {
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typedef struct {