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| 1 | #ifndef _UART_H_ |
1 | #ifndef _UART_H_ |
| 2 | #define _UART_H_ |
2 | #define _UART_H_ |
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| 5 | 5 | ||
| 6 | #define NICK 0 |
6 | #define NICK 0 |
| 7 | #define ROLL 1 |
7 | #define ROLL 1 |
| 8 | 8 | ||
| 9 | 9 | ||
| 10 | #define BAUD_RATE 57600 |
10 | #define BAUD_RATE 57600 |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | extern uint16_t Debug_Timer; |
13 | extern uint16_t Debug_Timer; |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | void USART0_Init (void); |
16 | void USART0_Init (void); |
| 17 | void USART0_EnableTXD(void); |
17 | void USART0_EnableTXD(void); |
| 18 | void USART0_DisableTXD(void); |
18 | void USART0_DisableTXD(void); |
| 19 | void USART0_TransmitTxData(void); |
19 | void USART0_TransmitTxData(void); |
| 20 | void USART0_ProcessRxData(void); |
20 | void USART0_ProcessRxData(void); |
| 21 | int16_t USART0_putchar(int8_t c); |
21 | int16_t USART0_putchar(int8_t c); |
| 22 | void USART0_Print(int8_t *msg); |
22 | void USART0_Print(int8_t *msg); |
| 23 | 23 | ||
| 24 | 24 | ||
| 25 | 25 | ||
| 26 | struct DebugOut_t |
26 | typedef struct |
| 27 | { |
27 | { |
| 28 | uint8_t Digital[2]; |
28 | uint8_t Digital[2]; |
| 29 | uint16_t Analog[32]; // Debugvalues |
29 | uint16_t Analog[32]; // Debugvalues |
| 30 | } ; |
30 | } DebugOut_t; |
| 31 | 31 | ||
| 32 | extern struct DebugOut_t DebugOut; |
32 | extern DebugOut_t DebugOut; |
| 33 | 33 | ||
| 34 | 34 | ||
| 35 | 35 | ||
| 36 | struct ExternData_t |
36 | typedef struct |
| 37 | { |
37 | { |
| 38 | int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
38 | int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
| 39 | uint8_t UserParam[2]; |
39 | uint8_t UserParam[2]; |
| 40 | uint8_t CalState; |
40 | uint8_t CalState; |
| 41 | uint8_t Orientation; |
41 | uint8_t Orientation; |
| 42 | } ; |
42 | } ExternData_t; |
| 43 | 43 | ||
| 44 | extern struct ExternData_t ExternData; |
44 | extern ExternData_t ExternData; |
| 45 | 45 | ||
| 46 | 46 | ||
| 47 | struct ExternControl_t |
47 | typedef struct |
| 48 | { |
48 | { |
| 49 | uint8_t Digital[2]; |
49 | uint8_t Digital[2]; |
| 50 | uint8_t RemoteButtons; |
50 | uint8_t RemoteButtons; |
| 51 | int8_t Nick; |
51 | int8_t Nick; |
| 52 | int8_t Roll; |
52 | int8_t Roll; |
| 53 | int8_t Yaw; |
53 | int8_t Yaw; |
| 54 | uint8_t Gas; |
54 | uint8_t Gas; |
| 55 | int8_t Height; |
55 | int8_t Height; |
| 56 | uint8_t Par1; |
56 | uint8_t Par1; |
| 57 | uint8_t Par2; |
57 | uint8_t Par2; |
| 58 | uint8_t Par3; |
58 | uint8_t Par3; |
| 59 | } ; |
59 | } ExternControl_t; |
| 60 | 60 | ||
| 61 | extern struct ExternControl_t ExternControl; |
61 | extern ExternControl_t ExternControl; |
| 62 | 62 | ||
| 63 | 63 | ||
| 64 | struct VersionInfo_t |
64 | typedef struct |
| 65 | { |
65 | { |
| 66 | uint8_t Major; |
66 | uint8_t Major; |
| 67 | uint8_t Minor; |
67 | uint8_t Minor; |
| 68 | uint8_t PCCompatible; |
68 | uint8_t PCCompatible; |
| 69 | uint8_t Reserved[7]; |
69 | uint8_t Reserved[7]; |
| 70 | } VersionInfo_t; |
70 | } VersionInfo_t; |
| 71 | 71 | ||
| 72 | extern struct VersionInfo_t VersionInfo; |
72 | extern VersionInfo_t VersionInfo; |
| 73 | 73 | ||
| 74 | extern uint8_t PC_Connected; |
74 | extern uint8_t PC_Connected; |
| 75 | extern uint8_t FC_Connected; |
75 | extern uint8_t FC_Connected; |
| 76 | 76 | ||
| 77 | #endif //_UART_H_ |
77 | #endif //_UART_H_ |
| 78 | 78 | ||