Subversion Repositories FlightCtrl

Rev

Rev 2159 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2159 Rev 2189
1 
#ifndef _UART0_H
 1 
#ifndef _UART0_H
2 
#define _UART0_H
 2 
#define _UART0_H
3 
 
 3 
 
4 
#define TXD_BUFFER_LEN  150
 4 
#define TXD_BUFFER_LEN  140
5 
#define RXD_BUFFER_LEN  150
 5 
#define RXD_BUFFER_LEN  140
- 
 
 6 
 
6 
 
 7 
#include <inttypes.h>
7 
#include <inttypes.h>
 8 
#include <stdio.h>
8 
#include "ubx.h"
 9 
#include "ubx.h"
9 
 
 10 
 
10 
//Baud rate of the USART
 11 
//Baud rate of the USART
11 
#define USART0_BAUD 57600
 12 
#define USART0_BAUD 57600
12 
 
 13 
 
13 
extern void usart0_init(void);
 14 
extern void usart0_init(void);
14 
extern void usart0_transmitTxData(void);
 15 
extern void usart0_transmitTxData(void);
15 
extern void usart0_processRxData(void);
 16 
extern void usart0_processRxData(void);
16 
extern int16_t uart_putchar(int8_t c);
 17 
//extern int16_t uart_putchar(int8_t c);
- 
 
 18 
 
- 
 
 19 
extern int uart_putchar(char c, FILE* fims);
17 
 
 20 
 
18 
// extern uint8_t remotePollDisplayLine;
 21 
// extern uint8_t remotePollDisplayLine;
19 
 
 22 
 
20 
extern uint8_t motorTestActive;
 23 
extern uint8_t outputTestActive;
21 
extern uint8_t motorTest[16];
 24 
extern uint8_t outputTest[16];
- 
 
 25 
 
- 
 
 26 
typedef struct {
- 
 
 27 
  float pitchRate;  // in radians
- 
 
 28 
  float rollRate;   // in radians
22 
 
 29 
  float yawRate;    // in radians
23 
typedef struct {
 30 
 
24 
  int16_t anglePitch; // in 0.1 deg
 31 
  float pitch; // in radians
- 
 
 32 
  float roll;  // in radians
- 
 
 33 
  float heading;    // in radians
- 
 
 34 
 
25 
  int16_t angleRoll;  // in 0.1 deg
 35 
  float xAcc;
26 
  int16_t heading;    // in 0.1 deg
 36 
  float yAcc;
27 
  uint8_t reserved[8];
 37 
  float zAcc;
28 
}__attribute__((packed)) Data3D_t;
 38 
}__attribute__((packed)) IMUData;
29 
 
 39 
 
30 
typedef struct {
 40 
typedef struct {
31 
  Data3D_t attitude;
 41 
  IMUData imuData;
32 
  GPS_INFO_t GPSInfo;
 42 
  GPS_INFO_t GPSInfo;
33 
  int32_t airpressureHeight;
 43 
  int32_t airpressureHeight;
34 
  int16_t batteryVoltage;
 44 
  int16_t batteryVoltage;
35 
}__attribute__((packed)) OSDData_t;
 45 
}__attribute__((packed)) OSDData_t;
36 
 
 46 
 
37 
#endif //_UART0_H
 47 
#endif //_UART0_H
38 
 
 48