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#ifndef _UART0_H
#define _UART0_H

#define RXD_BUFFER_LEN  150
// must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes
#define TXD_BUFFER_LEN  150
#define RXD_BUFFER_LEN  150

#include <inttypes.h>

//Baud rate of the USART
#define USART0_BAUD 57600

extern void usart0_Init (void);
extern void usart0_TransmitTxData(void);
extern void usart0_ProcessRxData(void);
extern int16_t uart_putchar(int8_t c);

extern uint8_t RemotePollDisplayLine;

extern uint8_t motorTestActive;
extern uint8_t motorTest[16];

typedef struct {
  uint8_t Digital[2];
  uint16_t Analog[32];    // Debugvalues
} __attribute__((packed)) DebugOut_t;

extern DebugOut_t DebugOut;

typedef struct {
   int16_t AngleNick;   // in 0.1 deg
   int16_t AngleRoll;   // in 0.1 deg
   int16_t Heading;     // in 0.1 deg
   uint8_t reserve[8];
} __attribute__((packed)) Data3D_t;

typedef struct {
  uint8_t SWMajor;
  uint8_t SWMinor;
  uint8_t ProtoMajor;
  uint8_t ProtoMinor;
  uint8_t SWPatch;
  uint8_t Reserved[5];
}  __attribute__((packed)) UART_VersionInfo_t;

#endif //_UART0_H