struct data_packet {
unsigned char head;
unsigned char type;
unsigned char channel;
unsigned char reserver1;
int data;
int reserver2 :24;
int tail :8;
};
typedef enum {
BC_PARAM_TYPE = 0x01,
BC_DIRECTION_TYPE,
BC_WAVEFORM_TYPE,
}BC_DATA_TYPE;
// BC_PARAM_TYPE
typedef enum {
BC_BALANCE_P_PARAM_CHANNEL = 0x01,
BC_BALANCE_I_PARAM_CHANNEL,
BC_BALANCE_D_PARAM_CHANNEL,
BC_SPEED_P_PARAM_CHANNEL,
BC_SPEED_I_PARAM_CHANNEL,
BC_SPEED_D_PARAM_CHANNEL,
BC_SPEED_PARAM_CHANNEL,
}BC_PARAM_CHANNEL;
// BC_DIRECTION_TYPE
typedef enum {
BC_UP_DIRECTION_CHANNEL = 0x01,
BC_DOWN_DIRECTION_CHANNEL,
BC_LEFT_DIRECTION_CHANNEL,
BC_RIGHT_DIRECTION_CHANNEL,
BC_LEFT_UP_DIRECTION_CHANNEL,
BC_LEFT_DOWN_DIRECTION_CHANNEL,
BC_RIGHT_UP_DIRECTION_CHANNEL,
BC_RIGHT_DOWN_DIRECTION_CHANNEL,
}BC_DIRECTION_CHANNEL;
// BC_WAVEFORM_TYPE
typedef enum {
BC_BALANCE_PID_WAVEFORM_CHANNEL = 0x01,
BC_SPEED_PID_WAVEFORM_CHANNEL,
BC_SPEED_WAVEFORM_CHANNEL,
}BC_WAVEFORM_CHANNEL;
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