39 lines
667 B
C
39 lines
667 B
C
|
#ifndef _NUC_H
|
||
|
|
#define _NUC_H
|
||
|
|
|
||
|
|
#include <cmsis_os2.h>
|
||
|
|
#include "device.h"
|
||
|
|
#include "bsp_usart.h"
|
||
|
|
#include "cmd.h"
|
||
|
|
#include "protocol.h"
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t id;
|
||
|
|
Protocol_UpPackageMCU_t package;
|
||
|
|
} NUC_UpPackageMCU_t;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
// osThreadId_t thread_alert;
|
||
|
|
|
||
|
|
Protocol_DownPackageChassis_t Nucfor_chassis; //接收的数据协议
|
||
|
|
|
||
|
|
NUC_UpPackageMCU_t to_nuc; //发送的数据协议
|
||
|
|
|
||
|
|
uint8_t status;//控制状态
|
||
|
|
|
||
|
|
uint8_t pit_status;//pit相机朝向
|
||
|
|
|
||
|
|
} NUC_t;
|
||
|
|
|
||
|
|
|
||
|
|
int8_t NUC_Init(NUC_t *nuc);
|
||
|
|
int8_t NUC_StartReceiving(void);
|
||
|
|
bool_t NUC_WaitDmaCplt(void);
|
||
|
|
int8_t NUC_RawParse(CMD_NUC_t *n);
|
||
|
|
int8_t NUC_HandleOffline(CMD_NUC_t *cmd);
|
||
|
|
#endif
|
||
|
|
|