#ifndef _NUC_H_ #define _NUC_H_ #include "struct_typedef.h" #include "device.h" #include "uart_it.h" //帧头针尾 #define HEAD (0xFF) #define TAIL (0xFE) #define ODOM (0x04) #define PICK (0x06) #define VISION (0x01) //写结构体存入视觉信息 typedef struct{ uint8_t status_fromnuc; uint8_t ctrl_status; //取其中每一个二进制位用作通信 uint8_t id; uint8_t mode; struct { float x; float y; float z; }vision; }NUC_t; int8_t NUC_Init(NUC_t *nuc); int8_t NUC_StartReceiving(void); int8_t NUC_Restart(void); bool_t NUC_WaitDmaCplt(void); int8_t NUC_RawParse(NUC_t *n); int8_t NUC_HandleOffline(NUC_t *cmd); #endif