60 lines
807 B
C
60 lines
807 B
C
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#ifndef _ACTION_H_
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#define _ACTION_H_
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#define RS232_FRAME_LENGTH 28u
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#define REF_LEN_RX_BUFF 0xFF
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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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typedef struct
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{
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osTimerId_t action_timer_Id;
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/*原始数据*/
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fp32 pos_x;
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fp32 pos_y;
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fp32 pos_yaw; // 航向角速度
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/*处理数据*/
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fp32 pos_Vx;
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fp32 pos_Vy;
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fp32 pos_lastX;
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fp32 pos_lastY;
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int Action_ready;//码盘校准标志位
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}Action_POS_t;
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int8_t ACTIONRECV_Init(Action_POS_t*pos);
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int8_t ACTION_StartReceiving(void);
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bool_t ACTION_WaitDmaCplt(void);
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int8_t ACTION_Parse(Action_POS_t*pos);
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int8_t ACTION_DataRefresh(Action_POS_t*pos);
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int8_t Action_HandleOffline(Action_POS_t *pos);
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void ACT_UpdateXY(float pos_x,float pos_y);
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void ACT_ZeroClear(void);
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#endif
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