45 lines
700 B
C
45 lines
700 B
C
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#ifndef _NUC_H_
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#define _NUC_H_
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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 (0x01)
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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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{
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float x;
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float y;
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float 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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#endif
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