48 lines
840 B
C
48 lines
840 B
C
#ifndef _NUC_H_
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#define _NUC_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "struct_typedef.h"
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#include "device.h"
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#include "uart_it.h"
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// 帧头针尾
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#define HEAD (0xFF)
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#define TAIL (0xFE)
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#define ODOM (0x04)
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#define PICK (0x06)
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#define VISION (0x09)
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#define SEND (0X07)
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// 写结构体存入视觉信息
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typedef struct {
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uint8_t status_fromnuc;
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uint8_t ctrl_status; // 取其中每一个二进制位用作通信
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uint8_t id;
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uint8_t mode;
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struct {
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fp32 x;
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fp32 y;
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fp32 z;
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} vision;
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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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int8_t NUC_Restart(void);
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bool_t NUC_WaitDmaCplt(void);
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int8_t NUC_RawParse(NUC_t *n);
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int8_t NUC_HandleOffline(NUC_t *cmd);
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int8_t NUC_SendPacket(void *data, uint16_t length);
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#ifdef __cplusplus
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}
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#endif
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#endif // _NUC_H_
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