//智能车上位机数据上传函数
void Report_imu( unsigned short int roll, unsigned short int pitch, unsigned short int yaw)
{
int i, j;
static unsigned short int send_data[3][8] = { { 0 }, { 0 }, { 0 } };
send_data[0][0] = ( unsigned short int)(roll);
send_data[0][1] = ( unsigned short int)(pitch);
send_data[0][2] = ( unsigned short int)(yaw);
send_data[0][3] = (unsigned short int)(0);
send_data[0][4] = (unsigned short int)(0);
send_data[0][5] = (unsigned short int)(0);
send_data[0][6] = (unsigned short int)(0);
send_data[0][7] = (unsigned short int)(0);
send_data[1][0] = (unsigned short int)(0);
send_data[1][1] = (unsigned short int)(0);
send_data[1][2] = (unsigned short int)(0);
send_data[1][3] = (unsigned short int)(0);
send_data[1][4] = (unsigned short int)(0);
send_data[1][5] = (unsigned short int)(0);
send_data[1][6] = (unsigned short int)(0);
send_data[1][7] = (unsigned short int)(0);
send_data[2][0] = (unsigned short int)(0);
send_data[2][1] = (unsigned short int)(0);
send_data[2][2] = (unsigned short int)(0);
send_data[2][3] = (unsigned short int)(0);
send_data[2][4] = (unsigned short int)(0);
send_data[2][5] = (unsigned short int)(0);
send_data[2][6] = (unsigned short int)(0);
send_data[2][7] = (unsigned short int)(0);
printf('S');
printf('T');
for ( i = 0; i < 3; i++)
for ( j = 0; j < 8; j++)
{
usart1_send_char((unsigned char)(send_data[i][j] & 0x00ff));
usart1_send_char((unsigned char)(send_data[i][j] >> 8u));
}
}
int __io_putchar(char ch)
{
usart1_send_char(ch);
return 0;
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
int i;
char ch = 'a';
int leftright, forwardbackward, throttle, trim;
char buffer[100];
int matches;
/* GPIOC Periph clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
/* Configure PC10 in output pushpull mode */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Configure PA15 in input mode, no pullup/down */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
usart1_init();
// USART_IT_RXNE: Receive Data register not empty interrupt.
//USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
//USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
//NVIC_Config();
// disable error interrupts from USART1 (EIE=0)
//USART1->CR3 &= ~(1 << 0);
leftright = 126;
forwardbackward = 126;
throttle = 0;
trim = 148;
if (!writebuffer) {
writebuffer = buffer1;
readbuffer = buffer2;
}
{
/* uint32_t dest[10]; */
/* uint32_t src[10] = {0,1,2,3,4,5,6,7,8,9}; */
/* __aeabi_memcpy(dest, src, 10); */
/* memcpy(dest, src, 10); */
}
printf("Starting...\r\n");
i = 20;
while (1) {
//send_command(132, 126, 24, 150);
//send_command(leftright, forwardbackward, throttle, trim);
// Channel command intervals:
// A: 120 ms
// B: 180 ms
// But it seems that the heli doesn't care, so we can have longer intervals
//delay_ms(180);
if (usart1_receive_char(&ch)) {
usart1_send_char(ch);
}
//delay_ms(1000);
// USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);
// if (new_message) {
// strcpy(buffer, readbuffer);
// new_message = 0;
// USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
// printf("new message: \"%s\"\r\n", buffer);
// matches = sscanf((const char *)buffer, "%d %d %d", &leftright, &forwardbackward, &throttle);
// if (matches == 3) {
// printf("new controls: %d %d %d\r\n", leftright, forwardbackward, throttle);
// }
// } else {
// USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
// }
//detect_and_print_pulses();
//delay_ms(500);
// GPIOC->BSRR = BSRR_VAL;
// delay_us(600);
// GPIOC->BRR = BSRR_VAL;
// delay_us(10);
}
}
void usart1_send_str(char *str)
{
while (*str != '\0') {
usart1_send_char(*(str++));
}
}
