void put_logview()
{
char roll[10] = "";
char nick[10] = "";
char yaw[10] = "";
char x[10] = "";
char y[10] = "";
char z[10] = "";
char angle_x[10] = "";
char angle_y[10] = "";
UART_Puts((uint8_t* )"$1;1;;");
sprintf(x,"%0.2f;", global_data.acc_g.x);
UART_Puts((uint8_t*)x); //x
sprintf(y,"%0.2f;", global_data.acc_g.y);
UART_Puts((uint8_t*)y); //y
sprintf(z,"%0.2f;", global_data.acc_g.z);
UART_Puts((uint8_t*)z); //z
sprintf(roll,"%0.2f;", global_data.gyro_rad.x);
UART_Puts((uint8_t*)roll); //roll
sprintf(nick,"%0.2f;", global_data.gyro_rad.y);
UART_Puts((uint8_t*)nick); //nick
sprintf(yaw,"%0.2f;", global_data.gyro_rad.z);
UART_Puts((uint8_t*)yaw); //yaw
sprintf(angle_x,"%0.2f;", (global_data.attitude.x * 57.295));
UART_Puts((uint8_t*)angle_x);
sprintf(angle_y,"%0.2f;", (global_data.attitude.y * 57.295));
UART_Puts((uint8_t*)angle_y);
UART_Puts((uint8_t* )"0\r\n");
}
/**
* Params:
* @AA/BB 数据包头（ 1 字节）
* @Command 命令码（ 1 字节）
* @Status 指令调用的结果（ 1 字节）
* @Len 数据长度（ 1 字节）
* @Data[I] 数据
* @Bcc 异或校验码
* Return:
* Limitation:
*/
void RFID_Send(uint8_t cmd, uint8_t* buf1, uint8_t* buf2, uint8_t data)
{
if(buf1 == NULL){
uint8_t Send_data[28] = {0};
buf1 = Send_data;
}
uint8_t header = 0xAA;
uint8_t *ptr = rb[2].tx;
uint16_t len = 3;
*ptr++ = header;
*ptr++ = cmd;
switch(cmd)
{
case Cmd_R_HWVersion://AA 4F 00 E5
{
*ptr++ = 0;
len += 0;
break;
}
case Cmd_Load_Key://aa 4c 12 00 01 14 8a c5 e2 28 28 00 00 ff ff ff ff ff ff 40 f6 fa
{
*ptr++ = 18;
len += 18;
*ptr++ = 0x00;//_Mode 0
*ptr++ = data;//_Secnr 扇区号
*ptr++ = *buf1;*buf1++;//TKey Data[2~9] 传输密码
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;
*ptr++ = *buf2;*buf2++;//Nkey Data[10~17] 要下载到RAM中的卡密码
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;*buf2++;
*ptr++ = *buf2;
break;
}
case Cmd_Request://aa 41 01 01 eb
{
*ptr++ = 1;
len += 1;
*ptr++ = 0x01;//_Mode
break;
}
case Cmd_Anticoll://aa 42 05 00 00 00 00 00 ed
{
*ptr++ = 5;
len += 5;
*ptr++ = 0;// 卡片系列号
*ptr++ = 0;
*ptr++ = 0;
*ptr++ = 0;
*ptr++ = 0;
break;
}
case Cmd_Select://aa 43 04 82 8a 8d 5d 35
{
*ptr++ = 4;
len += 4;
*ptr++ = *buf1;*buf1++;// 卡片系列号
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;
break;
}
case Cmd_Authentic://aa 44 02 00 01 ed
{
*ptr++ = 2;
len += 2;
*ptr++ = 0x00;// _Mode 0
*ptr++ = data;// _SecNr 扇区号
break;
}
case Cmd_Halt://aa 45 00 ef
{
*ptr++ = 0;
len += 0;
break;
}
case Cmd_R_Block://aa 46 01 04 e9 //读 4 块 即1扇区0块的数据/////////////////
{
*ptr++ = 1;
len += 1;
*ptr++ = data;
break;
}
case Cmd_W_Block://aa 47 11 04 00 11 22 33 44 55 66 77 88 99 aa bb cc dd ee ff f8//写 16 字节数据
{
*ptr++ = 17;
len += 17;
*ptr++ = data;// 要写入数据的块地址
*ptr++ = *buf1;*buf1++;// 数据块的第一个字节
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;
break;
}
case Cmd_A_Money://aa 48 05 04 0a 00 00 00 e9//对 4 块加值 10
{
*ptr++ = 5;
len += 5;
*ptr++ = *buf1;*buf1++;// 值
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;
break;
}
case Cmd_L_Money://aa 49 05 04 0a 00 00 00 e9//对 4 块减值 10
{
*ptr++ = 5;
len += 5;
*ptr++ = *buf1;*buf1++;// 值
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;*buf1++;
*ptr++ = *buf1;
break;
}
default:
{
break;
}
}
*ptr = CrcCheck_8(rb[2].tx,len);
len += 1;
UART_Puts (LPC_UART3, rb[2].tx, len);
//UART_Send(LPC_UART3, Send_data, len, BLOCKING);
}
