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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 |