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Rev | Author | Line No. | Line |
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32 | holgerb | 1 | #ifndef _UART_H_ |
2 | #define _UART_H_ |
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1 | ingob | 3 | |
32 | holgerb | 4 | #include <inttypes.h> |
72 | killagreg | 5 | #include "printf_P.h" |
1 | ingob | 6 | |
3 | ingob | 7 | #define NICK 0 |
8 | #define ROLL 1 |
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1 | ingob | 9 | |
10 | |||
32 | holgerb | 11 | #define BAUD_RATE 57600 |
1 | ingob | 12 | |
32 | holgerb | 13 | |
41 | killagreg | 14 | extern uint16_t DebugData_Timer; |
32 | holgerb | 15 | |
16 | |||
17 | void USART0_Init (void); |
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18 | void USART0_EnableTXD(void); |
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19 | void USART0_DisableTXD(void); |
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20 | void USART0_TransmitTxData(void); |
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21 | void USART0_ProcessRxData(void); |
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72 | killagreg | 22 | void USART0_Putchar(char c); |
32 | holgerb | 23 | void USART0_Print(int8_t *msg); |
24 | |||
72 | killagreg | 25 | #define printf_P(format, args...) _printf_P(&USART0_Putchar, format , ## args) |
26 | #define printf(format, args...) _printf_P(&USART0_Putchar, PSTR(format) , ## args) |
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32 | holgerb | 27 | |
28 | typedef struct |
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1 | ingob | 29 | { |
32 | holgerb | 30 | uint8_t Digital[2]; |
31 | uint16_t Analog[32]; // Debugvalues |
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32 | } DebugOut_t; |
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1 | ingob | 33 | |
32 | holgerb | 34 | extern DebugOut_t DebugOut; |
1 | ingob | 35 | |
36 | |||
37 | |||
32 | holgerb | 38 | typedef struct |
39 | { |
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40 | int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
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41 | uint8_t UserParam[2]; |
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42 | uint8_t CalState; |
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43 | uint8_t Orientation; |
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44 | } ExternData_t; |
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1 | ingob | 45 | |
32 | holgerb | 46 | extern ExternData_t ExternData; |
1 | ingob | 47 | |
32 | holgerb | 48 | typedef struct |
49 | { |
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50 | uint8_t Digital[2]; |
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51 | uint8_t RemoteButtons; |
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52 | int8_t Nick; |
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53 | int8_t Roll; |
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54 | int8_t Yaw; |
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55 | uint8_t Gas; |
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56 | int8_t Height; |
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41 | killagreg | 57 | uint8_t free; |
58 | uint8_t Frame; |
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59 | uint8_t Config; |
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32 | holgerb | 60 | } ExternControl_t; |
1 | ingob | 61 | |
32 | holgerb | 62 | extern ExternControl_t ExternControl; |
1 | ingob | 63 | |
64 | |||
32 | holgerb | 65 | typedef struct |
66 | { |
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47 | killagreg | 67 | uint8_t SWMajor; |
68 | uint8_t SWMinor; |
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69 | uint8_t ProtoMajor; |
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70 | uint8_t ProtoMinor; |
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71 | uint8_t SWPatch; |
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72 | uint8_t Reserved[5]; |
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41 | killagreg | 73 | } UART_VersionInfo_t; |
1 | ingob | 74 | |
53 | killagreg | 75 | extern uint16_t PC_Connected; |
76 | extern uint16_t FC_Connected; |
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32 | holgerb | 77 | |
78 | #endif //_UART_H_ |