53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
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#ifndef __LASER_SIMPLE_H
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#define __LASER_SIMPLE_H
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#include <stdint.h>
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#include "usart.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum {
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LASER_CH_FRONT_STP = 0,
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LASER_CH_FRONT_ATK,
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LASER_CH_REAR_STP,
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LASER_CH_REAR_ATK,
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LASER_CH_MAX
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} laser_channel_t;
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typedef struct {
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uint16_t distance_mm; // [新增] 经过中值滤波处理后平滑的距离值 (推荐用于避障控制)
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uint16_t raw_distance_mm; // [新增] 传感器吐出的原始距离值 (供调试或特殊算法读取)
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uint8_t valid; // 数据是否有效
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uint8_t online; // 雷达是否在线(未超时)
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uint8_t fault_code; // 故障码 (0为正常，0x80为超时)
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uint32_t update_tick_ms; // 最后一次数据刷新的系统节拍
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} laser_simple_data_t;
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typedef struct {
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laser_simple_data_t ch[LASER_CH_MAX];
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} laser_simple_snapshot_t;
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/* 初始化并启动 DMA 及解析任务 */
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void LASER_SIMPLE_Init(void);
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/* 周期调用 (实际为空，保留接口兼容) */
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void LASER_SIMPLE_Poll(uint32_t tick_ms);
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/* 获取统一快照 (无数据撕裂风险) */
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const laser_simple_snapshot_t *LASER_SIMPLE_GetSnapshot(void);
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/* 获取前后最小有效距离 (使用滤波后的值) */
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uint16_t LASER_SIMPLE_GetFrontNearest(void);
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uint16_t LASER_SIMPLE_GetRearNearest(void);
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/* --- 新增：暴露给全局回调分发器的专用接口 --- */
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void LASER_UART_RxCpltCallback(UART_HandleTypeDef *huart);
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void LASER_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart);
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void LASER_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size);
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void LASER_UART_ErrorRecovery(UART_HandleTypeDef *huart);
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#ifdef __cplusplus
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}
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#endif
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#endif
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