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#ifndef _UART_H_
#define _UART_H_
#include <inttypes.h>
#include "printf_P.h"
#define NICK 0
#define ROLL 1
#define BAUD_RATE 57600
extern uint16_t DebugData_Timer;
void USART0_Init (void);
void USART0_EnableTXD(void);
void USART0_DisableTXD(void);
void USART0_TransmitTxData(void);
void USART0_ProcessRxData(void);
void USART0_Putchar(char c);
void USART0_Print(int8_t *msg);
#define printf_P(format, args...) _printf_P(&USART0_Putchar, format , ## args)
#define printf(format, args...) _printf_P(&USART0_Putchar, PSTR(format) , ## args)
typedef struct
{
uint8_t Digital[2];
uint16_t Analog[32]; // Debugvalues
} DebugOut_t;
extern DebugOut_t DebugOut;
typedef struct
{
int16_t Attitude[2]; // nick and roll angle in 0.1 deg
uint8_t UserParam[2];
uint8_t CalState;
uint8_t Orientation;
} ExternData_t;
extern ExternData_t ExternData;
typedef struct
{
uint8_t Digital[2];
uint8_t RemoteButtons;
int8_t Nick;
int8_t Roll;
int8_t Yaw;
uint8_t Gas;
int8_t Height;
uint8_t free;
uint8_t Frame;
uint8_t Config;
} ExternControl_t;
extern ExternControl_t ExternControl;
typedef struct
{
uint8_t SWMajor;
uint8_t SWMinor;
uint8_t ProtoMajor;
uint8_t ProtoMinor;
uint8_t SWPatch;
uint8_t Reserved[5];
} UART_VersionInfo_t;
extern uint16_t PC_Connected;
extern uint16_t FC_Connected;
#endif //_UART_H_