1,10 → 1,11 |
#ifndef _UART0_H |
#define _UART0_H |
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#define TXD_BUFFER_LEN 150 |
#define RXD_BUFFER_LEN 150 |
#define TXD_BUFFER_LEN 140 |
#define RXD_BUFFER_LEN 140 |
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#include <inttypes.h> |
#include <stdio.h> |
#include "ubx.h" |
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//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); |
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extern int uart_putchar(char c, FILE* fims); |
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// extern uint8_t remotePollDisplayLine; |
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extern uint8_t motorTestActive; |
extern uint8_t motorTest[16]; |
extern uint8_t outputTestActive; |
extern uint8_t outputTest[16]; |
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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 |
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float pitch; // in radians |
float roll; // in radians |
float heading; // in radians |
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float xAcc; |
float yAcc; |
float zAcc; |
}__attribute__((packed)) IMUData; |
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typedef struct { |
Data3D_t attitude; |
IMUData imuData; |
GPS_INFO_t GPSInfo; |
int32_t airpressureHeight; |
int16_t batteryVoltage; |