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1 | #ifndef _UART0_H |
1 | #ifndef _UART0_H |
2 | #define _UART0_H |
2 | #define _UART0_H |
3 | 3 | ||
4 | #define RXD_BUFFER_LEN 150 |
4 | #define RXD_BUFFER_LEN 150 |
5 | // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
5 | // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
6 | #define TXD_BUFFER_LEN 150 |
6 | #define TXD_BUFFER_LEN 150 |
7 | #define RXD_BUFFER_LEN 150 |
7 | #define RXD_BUFFER_LEN 150 |
8 | 8 | ||
9 | #include <inttypes.h> |
9 | #include <inttypes.h> |
10 | 10 | ||
11 | //Baud rate of the USART |
11 | //Baud rate of the USART |
12 | #define USART0_BAUD 57600 |
12 | #define USART0_BAUD 57600 |
13 | 13 | ||
14 | extern void USART0_Init (void); |
14 | extern void usart0_Init (void); |
15 | extern void USART0_TransmitTxData(void); |
15 | extern void usart0_TransmitTxData(void); |
16 | extern void USART0_ProcessRxData(void); |
16 | extern void usart0_ProcessRxData(void); |
17 | extern int16_t uart_putchar(int8_t c); |
17 | extern int16_t uart_putchar(int8_t c); |
18 | 18 | ||
19 | extern uint8_t RemotePollDisplayLine; |
19 | extern uint8_t RemotePollDisplayLine; |
20 | 20 | ||
21 | extern uint8_t motorTestActive; |
21 | extern uint8_t motorTestActive; |
22 | extern uint8_t motorTest[16]; |
22 | extern uint8_t motorTest[16]; |
23 | 23 | ||
24 | typedef struct { |
24 | typedef struct { |
25 | uint8_t Digital[2]; |
25 | uint8_t Digital[2]; |
26 | uint16_t Analog[32]; // Debugvalues |
26 | uint16_t Analog[32]; // Debugvalues |
27 | } __attribute__((packed)) DebugOut_t; |
27 | } __attribute__((packed)) DebugOut_t; |
28 | 28 | ||
29 | extern DebugOut_t DebugOut; |
29 | extern DebugOut_t DebugOut; |
30 | 30 | ||
31 | typedef struct { |
31 | typedef struct { |
32 | int16_t AngleNick; // in 0.1 deg |
32 | int16_t AngleNick; // in 0.1 deg |
33 | int16_t AngleRoll; // in 0.1 deg |
33 | int16_t AngleRoll; // in 0.1 deg |
34 | int16_t Heading; // in 0.1 deg |
34 | int16_t Heading; // in 0.1 deg |
35 | uint8_t reserve[8]; |
35 | uint8_t reserve[8]; |
36 | } __attribute__((packed)) Data3D_t; |
36 | } __attribute__((packed)) Data3D_t; |
37 | 37 | ||
38 | typedef struct { |
38 | typedef struct { |
39 | uint8_t SWMajor; |
39 | uint8_t SWMajor; |
40 | uint8_t SWMinor; |
40 | uint8_t SWMinor; |
41 | uint8_t ProtoMajor; |
41 | uint8_t ProtoMajor; |
42 | uint8_t ProtoMinor; |
42 | uint8_t ProtoMinor; |
43 | uint8_t SWPatch; |
43 | uint8_t SWPatch; |
44 | uint8_t Reserved[5]; |
44 | uint8_t Reserved[5]; |
45 | } __attribute__((packed)) UART_VersionInfo_t; |
45 | } __attribute__((packed)) UART_VersionInfo_t; |
46 | 46 | ||
47 | #endif //_UART0_H |
47 | #endif //_UART0_H |
48 | 48 |