别人写的上位机调PID，单片机下位机程序,如何整合到自己的程序,只改UARTMA吗？

ID:296924 · 发表于 2018-6-4 23:33

/*
* 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。

ID:318095 · 发表于 2018-6-5 09:22

上位机一般都是用c++写的，单片机程序一般用c语言或汇编。你这个程序没有主函数也不是汇编语言，看着不像是下位机用的。

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