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);
//指针++ 指向下一个字节.
Str++;
}
}
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);
}
void Uart_DataAnl(u8 buf_num) //串口缓存数据分析
{
if(Rx_Buf[buf_num][1]==0x8A) //串口收到的是上位机的遥控数据
{
Uart1_Put_Char(0x30+buf_num);
}
}
void Uart1_Send_Buf(u8 *buf,u8 len) //发送buf,长度len,返回字节和sum
{
while(len)
{
Uart1_Put_Char(*buf);
buf++;
len--;
}
}
void Uart1_Send_RCdata(void)
{
uint8_t sum = 0;
sum += Uart1_Put_Char(0x88);
sum += Uart1_Put_Char(0xAE);
sum += Uart1_Put_Char(28);
sum += Uart1_Put_Int16(Rc_Get.THROTTLE);
sum += Uart1_Put_Int16(Rc_Get.YAW);
sum += Uart1_Put_Int16(Rc_Get.ROLL);
sum += Uart1_Put_Int16(Rc_Get.PITCH);
sum += Uart1_Put_Int16(Rc_Get.AUX1);
sum += Uart1_Put_Int16(Rc_Get.AUX2);
sum += Uart1_Put_Int16(Rc_Get.AUX3);
sum += Uart1_Put_Int16(Rc_Get.AUX4);
sum += Uart1_Put_Int16(0);
sum += Uart1_Put_Int16(0);
sum += Uart1_Put_Int16(0);
sum += Uart1_Put_Int16(0);
sum += Uart1_Put_Int16(0);
sum += Uart1_Put_Int16(0);
Uart1_Put_Char(sum);
}
void PC_Debug_Show(u8 num,u16 sta)//sta=0 熄灭 sta=1 点亮 >1 取反
{
static uint8_t led_s[6] = {0,0,0,0,0,0};
uint8_t sum = 0;
if(0<num && num<7)
{
sum += Uart1_Put_Char(0x88);
sum += Uart1_Put_Char(0xAD);
sum += Uart1_Put_Char(0x02);
sum += Uart1_Put_Char(num);
if(sta==0)
sum += Uart1_Put_Char(0x00);
else if(sta==1)
sum += Uart1_Put_Char(0x01);
else
{
if(led_s[num]) led_s[num] = 0;
else led_s[num] = 1;
sum += Uart1_Put_Char(led_s[num]);
}
Uart1_Put_Char(sum);
}
else if(6<num && num<13)
{
sum += Uart1_Put_Char(0x88);
sum += Uart1_Put_Char(0xAD);
sum += Uart1_Put_Char(0x03);
sum += Uart1_Put_Char(num);
sum += Uart1_Put_Int16(sta);
Uart1_Put_Char(sum);
}
}