32 lines
764 B
C
32 lines
764 B
C
#ifndef _BY_MOTION_H__
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#define _BY_MOTION_H__
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#include "at32f403a_407.h"
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typedef struct motion_speed_type {
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float v_x;
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float v_y;
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float v_w;
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} motion_speed_type;
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typedef struct motion_time_type {
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uint32_t t_x;
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uint32_t t_y;
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uint32_t t_w;
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} motion_time_type;
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extern void by_motion_init(void);
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extern void by_motion_update_speed(void);
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extern void by_motion_loop(void);
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extern void by_motion_set_mode(uint8_t mode);
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extern void by_motion_timer_handle(void);
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// extern void by_motion_set_mode(uint8_t mode);
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extern void by_motion_set_mode_x(uint8_t mode);
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extern void by_motion_set_mode_y(uint8_t mode);
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extern void by_motion_set_mode_w(uint8_t mode);
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extern motion_speed_type motion_speed_struct;
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extern motion_time_type motion_time_struct;
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#endif
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