65 lines
1.3 KiB
C
65 lines
1.3 KiB
C
#ifndef _NUC_H
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#define _NUC_H
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#include <cmsis_os2.h>
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#include "device.h"
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#include "bsp_usart.h"
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#include "cmd.h"
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#include "protocol.h"
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#include "Algorithm/ahrs.h"
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#include "Module/Chassis.h"
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typedef struct {
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uint8_t id;
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Protocol_UpPackageMCU_t package;
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} NUC_UpPackageMCU_t;
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typedef struct {
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uint8_t head;
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uint8_t type;
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uint8_t id; // 0x01 IMU帧
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Protocol_UpDataIMU_t package;
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uint8_t end;
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} NUC_UpPackageIMU_t;
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typedef struct {
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uint8_t head;
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uint8_t type; // 0x01 控制帧
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uint8_t id;
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Protocol_UpDataCMD_t package;
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uint8_t end;
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} NUC_UpPackageCMD_t;
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typedef struct {
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// osThreadId_t thread_alert;
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bool unc_online; //是否在线
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Protocol_DownPackageChassis_t Nucfor_chassis; //接收的数据协议
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// NUC_UpPackageMCU_t to_nuc; //发送的数据协议
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struct {
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NUC_UpPackageIMU_t imu;
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NUC_UpPackageCMD_t cmd;
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} to_nuc;
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uint8_t status;//控制状态
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} NUC_t;
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int8_t NUC_Init(NUC_t *nuc);
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int8_t NUC_StartReceiving(void);
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bool_t NUC_WaitDmaCplt(void);
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int8_t NUC_RawParse(CMD_NUC_t *n, NUC_t *nuc);
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int8_t NUC_HandleOffline(CMD_NUC_t *cmd, NUC_t *nuc);
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int8_t NUC_Restart(void);
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int8_t NUC_PackIMU(NUC_t *nuc, const AHRS_Quaternion_t *quat, const AHRS_Accl_t *accl, const AHRS_Gyro_t *gyro);
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int8_t NUC_PackCMD(NUC_t *nuc, const NUC_send_t *send);
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int8_t NUC_StartSend(NUC_t *nuc, bool cmd_update);
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#endif
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