/*
* wave.h
*
* Created on: Nov 29, 2014
* Author: ass
*/
#ifndef WAVE_H_
#define WAVE_H_
#include "uart.h"
void Uart1_Send_AF(signed int aa,signed int bb,signed int cc,signed int dd,signed int ee,signed int ff,signed int gg,signed int hh);
unsigned char UART_Putc(unsigned char data);
void send_wave(void);
void printhh(void);
void print5n(unsigned int x);
void print4n(unsigned int x);
void print3n(unsigned int x);
void print2n(unsigned int x);
#endif /* WAVE_H_ */
#include "wave.h"
#include "uart.h"
#define tx_num 32
unsigned char TxBuffer[tx_num];
unsigned char count=0;
#define BYTE0(dwTemp) (*(char *)(&dwTemp))
#define BYTE1(dwTemp) (*((char *)(&dwTemp) + 1))
#define BYTE2(dwTemp) (*((char *)(&dwTemp) + 2))
#define BYTE3(dwTemp) (*((char *)(&dwTemp) + 3))
/**************************向物理串口发一个字节***************************************
*******************************************************************************/
__inline unsigned char UART_Putc(unsigned char data) //
{
uart_send1(UART_1,data);
return data;
}
unsigned char Uart1_Put_Char(unsigned char DataToSend)
{
TxBuffer[count++] = DataToSend;
return DataToSend;
}
unsigned char Uart1_Put_Int16(uint16_t DataToSend)
{
unsigned char sum = 0;
TxBuffer[count++] = BYTE1(DataToSend);
TxBuffer[count++] = BYTE0(DataToSend);
sum += BYTE1(DataToSend);
sum += BYTE0(DataToSend);
return sum;
}
void Uart1_Send_AF(signed int aa,signed int bb,signed int cc,signed int dd,signed int ee,signed int ff,signed int gg,signed int hh)
{
unsigned char sum = 0;
count=0;
sum += Uart1_Put_Char(0x88);
sum += Uart1_Put_Char(0xAF);
sum += Uart1_Put_Char(0x1C);
sum += Uart1_Put_Char(BYTE1(aa));//1
sum += Uart1_Put_Char(BYTE0(aa));
sum += Uart1_Put_Char(BYTE1(bb));//2
sum += Uart1_Put_Char(BYTE0(bb));
sum += Uart1_Put_Char(BYTE1(cc));//3
sum += Uart1_Put_Char(BYTE0(cc));
sum += Uart1_Put_Char(BYTE1(dd));//4
sum += Uart1_Put_Char(BYTE0(dd));
sum += Uart1_Put_Char(BYTE1(ee));//5
sum += Uart1_Put_Char(BYTE0(ee));
sum += Uart1_Put_Char(BYTE1(ff));//6
sum += Uart1_Put_Char(BYTE0(ff));
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
sum += Uart1_Put_Char(BYTE1(gg));//7,4500->45'//这是姿态!!!
sum += Uart1_Put_Char(BYTE0(gg));
sum += Uart1_Put_Char(BYTE1(hh));//8
sum += Uart1_Put_Char(BYTE0(hh));
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(0);
Uart1_Put_Char(sum);
}
void send_wave(void)
{
char count_1=0;
while(count_1<tx_num)
UART_Putc(TxBuffer[count_1++]);
}
///////////////////////////////////////////////////////////////////////
void printhh(void)
{
UART_Putc(0x0d); //output'CR'
UART_Putc(0x0A); //output'CR'
}
void print5n(unsigned int x)
{
UART_Putc((x/10000)+0x30); //计算万位数字
UART_Putc(((x%10000)/1000)+0x30); //计算千位数字
UART_Putc(((x%1000)/100)+0x30); //计算百位数字
UART_Putc(((x%100)/10)+0x30); //计算十位数字
UART_Putc((x%10)+0x30); //计算个位数字
}
void print4n(unsigned int x)
{
UART_Putc((x/1000)+0x30); //计算千位数字
UART_Putc(((x%1000)/100)+0x30); //计算百位数字
UART_Putc(((x%100)/10)+0x30); //计算十位数字
UART_Putc((x%10)+0x30); //计算个位数字
}
void print3n(unsigned int x)
{
UART_Putc((x/100)+0x30); //计算百位数字
UART_Putc(((x%100)/10)+0x30); //计算十位数字
UART_Putc((x%10)+0x30);
}
void print2n(unsigned int x)
{
UART_Putc((x/10)+0x30); //计算十位数字
UART_Putc((x%10)+0x30);
}
这好像是别人写的下位机程序，但是我不知道怎么整合到自己的程序里想调PID，是只要改UARTMA吗？具体的怎么改？望大佬不吝赐教。
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