4d_ObstacleRadarDroneCAN/App/application.h

/**
 * @file application.h
 * @author chenjun (chenjun@radareye.com.cn)
 * @brief
 * @version 0.1
 * @date 2022-04-06
 *
 * @copyright Copyright (c) 2022
 *
 */
#ifndef __APPLICATION_H__
#define __APPLICATION_H__

#include "rtthread.h"

#define FRONT_OBSTACLE_RADAR     6   //4D前避障设备ID
#define REAR_OBSTACLE_RADAR      7   //4D后避障设备ID
#define TERRAIN_OBSTACLE_RADAR   8   //4D彷地避障设备ID
#define LEFT_OBSTACLE_RADAR      9   //4D左避障设备ID
#define RIGHT_OBSTACLE_RADAR     10  //4D右避障设备ID
#define THIS_DEVICE              6   //此设备ID 出厂默认设置为前避障

////////////////////////////////////////////////////////////////////////////////////
extern uint8_t factory_mode;
extern uint32_t frame_num;


extern uint32_t ParameterAckCanID ;
extern uint32_t ParameterReceiveCanID ;
extern uint32_t OstacleDistanceCanID ;
extern uint32_t RawPointCloudCanID ;
extern uint32_t RceveiveCanID ;
extern uint32_t TerrainHeightCanID;

enum{
    E_RECV,
    E_ALGC,
    E_APP,
    E_OUTPUT,
    E_IDLE
};

////////////////////////////////////////////////////////////////////////////////////

#endif