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#ifndef _UART0_H
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#ifndef _UART0_H
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#define _UART0_H
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#define _UART0_H
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#define TXD_BUFFER_LEN  150
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#define TXD_BUFFER_LEN  140
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#define RXD_BUFFER_LEN  150
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#define RXD_BUFFER_LEN  140
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#include <inttypes.h>
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#include <inttypes.h>
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#include <stdio.h>
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#include "ubx.h"
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#include "ubx.h"
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//Baud rate of the USART
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//Baud rate of the USART
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#define USART0_BAUD 57600
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#define USART0_BAUD 57600
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extern void usart0_init(void);
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extern void usart0_transmitTxData(void);
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extern void usart0_init(void);
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extern void usart0_processRxData(void);
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extern void usart0_transmitTxData(void);
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//extern int16_t uart_putchar(int8_t c);
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extern void usart0_processRxData(void);
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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 outputTestActive;
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extern uint8_t outputTest[16];
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// extern uint8_t remotePollDisplayLine;
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typedef struct {
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  float pitchRate;  // in radians
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  float rollRate;   // in radians
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  float yawRate;    // in radians
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extern uint8_t motorTestActive;
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extern uint8_t motorTest[16];
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  float pitch; // in radians
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  float roll;  // in radians
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typedef struct {
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  float heading;    // in radians
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  int16_t anglePitch; // in 0.1 deg
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  int16_t angleRoll;  // in 0.1 deg
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  float xAcc;
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  int16_t heading;    // in 0.1 deg
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  float yAcc;
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  uint8_t reserved[8];
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  float zAcc;