#include "interface_config.h"


// 设置输出加速度角速度数据
uint8_t set_output_data[20]={0X24,0X24,0X0D,0X12,0X00,0X01,0X1C,0X00,0X03,0X00,0X32,0X0D,0X0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
// 设定输出频率  200Hz
uint8_t set_rate[20]={0X24,0X24,0X0D,0X12,0X00,0X01,0X1B,0X00,0X05,0X00,0X33,0X0D,0X0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
// 保存配置
uint8_t save_cmd[20]={0X24,0X24,0X0D,0X12,0X00,0X01,0X2F,0X00,0X02,0X00,0X44,0X0D,0X0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
// 进入流控模式，输出数据
uint8_t stream_cmd[20]={0X24,0X24,0X08,0X27,0X00,0X27,0X0D,0X0A,0X00,0X00,0X00,0X00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};



UnInfNavigationOutput   navigation_output1 = {0};
UnInfNavigationOutput   navigation_output2 = {0};
UnInfNavigationOutputC  navigation_outputC1 = {0};
StrInfNMEAOutput        nema_output1 = {0};
UnRequestFrame          un_request_frame  = {0};//请求帧
StrRequestMessage       str_RequestMessage = {0};//请求信息

UnInfNavigationRS232Output  navigation_rs232_output = {0};//串口输出数据

UnWheelSpeedInput       un_wheel_speed_input = {0};//轮速输入


rtcmBuffer              RTCM_Buffer1 = {0,0,0};
imuBuffer               imu_buffer1 = {0,0,0};