31 lines
534 B
C++
31 lines
534 B
C++
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#ifndef _FOC_PROTOCOL_H
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#define _FOC_PROTOCOL_H
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#define START_FRAME 0xABCD
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typedef struct {
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} SerialCommand;
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typedef struct {
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t wheelR_cnt;
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int16_t wheelL_cnt;
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int16_t left_dc_curr;
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int16_t right_dc_curr;
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int16_t batVoltage;
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int16_t boardTemp;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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#endif
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