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57 lines
1.6 KiB
57 lines
1.6 KiB
/*
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* msp_DH_Remote_Controller.h
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*
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* Created on: Jul 31, 2024
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* Author: akeguo
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*/
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#ifndef INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_
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#define INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_
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#include "BHBF_ROBOT.h"
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#include "bsp_include.h"
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//小端存储，和大段存储完全反过来了
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struct DeChiMoveState
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{
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uint16_t Emergency_Stop :1;
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uint16_t Wireless_State :1;
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uint16_t Forwards :1;
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uint16_t Backwards :1;
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uint16_t Left_Turn :1;
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uint16_t Right_Turn :1;
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uint16_t Vehicle_Speed1 :1;
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uint16_t Vehicle_Speed2 :1;
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uint16_t Vehicle_Speed3 :1;
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uint16_t Vehicle_Speed4 :1;
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uint16_t Vehicle_Speed5 :1;
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uint16_t Vehicle_Speed6 :1;
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uint16_t Vehicle_Speed7 :1;
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uint16_t Vehicle_Speed8 :1;
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uint16_t Vehicle_Speed9 :1;
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uint16_t Vehicle_Speed10 :1;
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};
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struct DeChiFunctionState
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{
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uint16_t Task_Start :1; //作业开启
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uint16_t Task_Stop :1; //作业关闭
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uint16_t Vertical_Upwards_Change :1; //竖直上换道
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uint16_t Vertical_Downwards_Change :1; //竖直下换道
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uint16_t Test_Start :1; //测试开始
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uint16_t Test_Stop :1; //测试停止
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uint16_t Open :1; //开启
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uint16_t Close :1; //关闭
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uint16_t Vehicle_speed10 :8; //没有用，只是为了占一个字节、8个位
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};
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extern struct DeChiMoveState *DeChiMoveCurrentState;
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extern struct DeChiFunctionState *DeChiFunctionCurrentState;
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extern uint16_t De_Chi_For_Back_Wards_Speed;
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extern uint16_t De_Chi_Left_Rigth_Wards_Speed;
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void read_DeChi_Data(void);
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void decode_DeChi(uint8_t *buffer, uint16_t length);
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void set_DeChi_Display(uint16_t Angle, uint16_t Speed);
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#endif /* INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_ */
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