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42 lines
1.1 KiB
C
42 lines
1.1 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include <stdint.h>
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#include "component/user_math.h"
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#include "device/device.h"
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/* Exported constants ------------------------------------------------------- */
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#define OPS9_HEADER 0x0D0A
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#define OPS9_TAIL 0x0A0D
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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// 数据包结构体
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typedef struct __packed {
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uint16_t header; // 2字节
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float yaw; // 4字节
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float pitch; // 4字节
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float roll; // 4字节
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float x; // 4字节
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float y; // 4字节
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float angular_velocity; // 4字节
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uint16_t tail; // 2字节
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} OPS9_Data_t; // 共28字节
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typedef struct {
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DEVICE_Header_t header; // 设备头
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OPS9_Data_t data; // 存储接收到的数据
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} OPS9_t;
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/* Exported functions prototypes -------------------------------------------- */
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#ifdef __cplusplus
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}
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#endif |