//
// Created by 24871 on 2024/10/9.
//

#ifndef CUSTOMER_CONTROLLER_REFEREE_H
#define CUSTOMER_CONTROLLER_REFEREE_H
#include "main.h"


/* 帧头定义 */
typedef struct __packed
{
    uint8_t SOF;    //  数据帧起始字节 固定值为0xA5
    uint16_t DataLength;    //  数据帧中data的长度
    uint8_t Seq;    //  包序号
    uint8_t CRC8;   //  帧头CRC8校验
} xFrameHeader;




typedef struct __packed
{
    xFrameHeader FrameHeader; // 接收到的帧头信息
    uint16_t CmdID;

    uint16_t motor1_pos;
    uint16_t motor2_pos;
    uint16_t motor3_pos;
    uint16_t motor4_pos;
    uint8_t data[22];

    uint16_t CRC16;

} VT_info_t;

extern VT_info_t VTinfo;
void VT_Init();
void VTdata_update();

#endif //CUSTOMER_CONTROLLER_REFEREE_H