void Send_AtitudeToPC()
{
int _temp;
uint8_t sum=0;
UART1_Put_Char(0x88);
UART1_Put_Char(0xAF);
UART1_Put_Char(0x1c);
//发送姿态数据：
_temp = (int)(Q_ANGLE.Pitch+200);
sum += Uart1_Put_Char((unsigned char)(_temp>>8));
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
_temp = (int)(Q_ANGLE.Roll+200);
sum += Uart1_Put_Char((unsigned char)(_temp>>8));
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
_temp = (int)(Q_ANGLE.Yaw+200);
sum += Uart1_Put_Char((unsigned char)(_temp>>8));
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
//发送电机数据：
_temp =TIM2->CCR1/10;
sum += Uart1_Put_Char((unsigned char)(_temp&0xff00)>>8);
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
_temp =TIM2->CCR2/10;
sum += Uart1_Put_Char((unsigned char)(_temp&0xff00)>>8);
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
_temp = TIM2->CCR3/10;
sum += Uart1_Put_Char((unsigned char)(_temp&0xff00)>>8);
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
_temp =TIM2->CCR4/10;
sum += Uart1_Put_Char((unsigned char)(_temp&0xff00)>>8);
sum += Uart1_Put_Char((unsigned char)(_temp&0x00ff));
Uart1_Put_Char(sum);
}
/**************************实现函数********************************************
*函数原型: void UART2_Put_String(unsigned char *Str)
*功 能: RS232发送字符串
输入参数：
unsigned char *Str 要发送的字符串
输出参数：没有
*******************************************************************************/
void UART1_Put_String(unsigned char *Str)
{
//判断Str指向的数据是否有效.
while(*Str) {
//是否是回车字符 如果是,则发送相应的回车 0x0d 0x0a
if(*Str=='\r')UART1_Put_Char(0x0d);
else if(*Str=='\n')UART1_Put_Char(0x0a);
else UART1_Put_Char(*Str);
//等待发送完成.
//while (!(USART1->SR & USART_FLAG_TXE));
//指针++ 指向下一个字节.
Str++;
}
/*
//判断Str指向的数据是否有效.
while(*Str){
//是否是回车字符 如果是,则发送相应的回车 0x0d 0x0a
if(*Str=='\r')USART_SendData(USART1, 0x0d);
else if(*Str=='\n')USART_SendData(USART1, 0x0a);
else USART_SendData(USART1, *Str);
//等待发送完成.
while (!(USART1->SR & USART_FLAG_TXE));
//指针++ 指向下一个字节.
Str++;
} */
}
void out_int16_t(int16_t * data)
{
char ctemp;
if(data[0]<0)data[0]=32768-data[0];
ctemp=data[0]>>8;
UART1_Put_Char(ctemp);
ctemp=data[0];
UART1_Put_Char(ctemp);
}
/********************************************
往蓝牙写入一个指令包
********************************************/
void Uart1SendaBTCmd(const char *p)
{
char i;
for(i=0; i<CmdreturnLength; i++) Cmdreturn[i] = 0; //释放指令接收缓存
LedA_on;
delay_ms(100);//写完一条指令，延时500ms再度接收缓存
LedA_off;
for(i=0; i<strlen(p); i++)
UART1_Put_Char(*(p+i));
delay_ms(100);//写完一条指令，延时500ms再度接收缓存
i=0;
while(UartBuf_Cnt(&UartRxbuf) != 0) //当串口缓冲不为空时，将串口缓冲赋值给指令结果缓冲
Cmdreturn[i++] = UartBuf_RD(&UartRxbuf);
}
/********************************************
往蓝牙写入一个指令包 (Bluetooth is written to a command packet)
********************************************/
void Uart1SendaBTCmd(const char *p)
{
char i;
for(i=0;i<CmdreturnLength;i++) Cmdreturn[i] = 0;//释放指令接收缓存 //Release command receive buffer
LedA_on;
delay_ms(100);//写完一条指令，延时500ms再度接收缓存 //Finished an instruction 500ms delay once again receive buffer
LedA_off;
for(i=0;i<strlen(p);i++)
UART1_Put_Char(*(p+i));
delay_ms(100);//写完一条指令，延时500ms再度接收缓存 //Finished an instruction 500ms delay once again receive buffer
i=0;
while(UartBuf_Cnt(&UartRxbuf) != 0) //当串口缓冲不为空时，将串口缓冲赋值给指令结果缓冲 //When the serial buffer is not empty , the serial buffer is assigned to command the result buffer
Cmdreturn[i++] = UartBuf_RD(&UartRxbuf);
}
int main(void)
{
int16_t data[9];
int16_t result[3];
int i=0;
SystemInit();
delay_init(72);
GPIO_Configuration();
Initial_UART1(115200L);
I2C_GPIO_Config();
NVIC_Configuration();
delay_ms(10);
Init_MPU6050();
delay_ms(10);
HMC5883L_Init();
delay_ms(10);
IMU_init();
Initial_Timer3();
system_microsec=micros();
while(1)
{
//delay_ms(10);
//if(micros()-system_microsec>upload_time)
{
Read_MPU6050_ACC(&data[0]);
Read_MPU6050_GYRO(&data[3]);
HMC5883L_Read(&data[6]);
IMU_getYawPitchRoll(result,data);
UART1_Put_Char(0xff);
UART1_Put_Char(0xaa);
/*out_int16_t(&data[0]);
out_int16_t(&data[1]);
out_int16_t(&data[2]);
out_int16_t(&data[3]);
out_int16_t(&data[4]);
out_int16_t(&data[5]);
out_int16_t(&data[6]);
out_int16_t(&data[7]);
out_int16_t(&data[8]);
*/
out_int16_t(&result[0]);
out_int16_t(&result[1]);
out_int16_t(&result[2]);
//out_int16_t(&_hlt);
//system_microsec = micros();
}
}
}