shoe_mcu/bsp/bsp_interface.c

///********************** 头文件 *************************/
#include "bsp_interface.h"

///********************** 变量区 *************************/
////extern int16_t gyro[3];
////extern int16_t accel[3];
//extern uint16_t press;



/********************** 函数声明区 *************************/

////发给匿名飞控
//void sen_ANO_data_to_host(void)
//{
//	uint8_t buf[256];
//	uint8_t L=0;
//	
//	
//	int16_t roll  = (int16_t)(getRoll()*100);
//	int16_t pitch = (int16_t)(getPitch()*100);
//	int16_t yaw   = (int16_t)(getYaw()*100);
//	
//	buf[L++] = 0xAA; //帧头
//	buf[L++] = 0x05; //发送设备
//	buf[L++] = 0xAF; //目标设备
//	buf[L++] = 0x01; //功能字
//	buf[L++] = 0x01; //LEN
//	
//	buf[L++] = (uint8_t)(roll>>0);
//	buf[L++] = (uint8_t)(roll>>8);

//	buf[L++] = (uint8_t)(pitch>>0);
//	buf[L++] = (uint8_t)(pitch>>8);

//	buf[L++] = (uint8_t)(yaw>>0);
//	buf[L++] = (uint8_t)(yaw>>8);
//	
//	buf[L++] = 0;
//	buf[L++] = 0;
//	buf[L++] = 0;
//	buf[L++] = 0;
//	
//	buf[L++] = 0;
//	
//	buf[L++] = 0;
//	
//	buf[L++] = 0;
//	
//	
//	
////	buf[L++] = (uint8_t)(mMPU9250.acc_x>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_x>>8);
////	
////	buf[L++] = (uint8_t)(mMPU9250.acc_y>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_y>>8);
////	
////	buf[L++] = (uint8_t)(mMPU9250.acc_z>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_z>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_x>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_x>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_y>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_y>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_z>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_z>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_x>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_x>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_y>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_y>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_z>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_z>>8);

//	buf[L++] = (uint8_t)(roll>>0);
//	buf[L++] = (uint8_t)(roll>>8);

//	buf[L++] = (uint8_t)(pitch>>0);
//	buf[L++] = (uint8_t)(pitch>>8);

//	buf[L++] = (uint8_t)(yaw>>0);
//	buf[L++] = (uint8_t)(yaw>>8);
//	
//	bsp_esb_send(buf,L); //发送出去
//}

//void sen_data_to_host(void)
//{
//	uint8_t buf[256];
//	uint8_t L=0;
//	
//	int32_t roll, pitch, yaw;
//	
//	buf[L++] = (uint8_t)(press>>8);
//	buf[L++] = (uint8_t)(press>>0);
//	
//	roll = (int32_t)(getRoll()*100);
//	pitch = (int32_t)(getPitch()*100);
//	yaw = (int32_t)(getYaw()*100);
//	
//	buf[L++] = (uint8_t)(roll>>24);
//	buf[L++] = (uint8_t)(roll>>16);
//	buf[L++] = (uint8_t)(roll>>8);
//	buf[L++] = (uint8_t)(roll>>0);
//	
//	buf[L++] = (uint8_t)(pitch>>24);
//	buf[L++] = (uint8_t)(pitch>>16);
//	buf[L++] = (uint8_t)(pitch>>8);
//	buf[L++] = (uint8_t)(pitch>>0);
//	
//	buf[L++] = (uint8_t)(yaw>>24);
//	buf[L++] = (uint8_t)(yaw>>16);
//	buf[L++] = (uint8_t)(yaw>>8);
//	buf[L++] = (uint8_t)(yaw>>0);
////	
////	buf[L++] = (uint8_t)(accel[0]>>8);
////	buf[L++] = (uint8_t)(accel[0]>>0);
////	
////	buf[L++] = (uint8_t)(accel[1]>>8);
////	buf[L++] = (uint8_t)(accel[1]>>0);
////	
////	buf[L++] = (uint8_t)(accel[2]>>8);
////	buf[L++] = (uint8_t)(accel[2]>>0);
////	
////	buf[L++] = (uint8_t)(gyro[0]>>8);
////	buf[L++] = (uint8_t)(gyro[0]>>0);
////	
////	buf[L++] = (uint8_t)(gyro[1]>>8);
////	buf[L++] = (uint8_t)(gyro[1]>>0);
////	
////	buf[L++] = (uint8_t)(gyro[2]>>8);
////	buf[L++] = (uint8_t)(gyro[2]>>0);
//	
//	send_protocol(DEX_NUM,CMD_HEART,buf,L);
//}


////发给维特智能上位机显示
//void sen_wit_motion_data_to_host(void)
//{
//	uint8_t buf[256];
//	uint8_t L=0;
//	
//	
//	int16_t roll  = (int16_t)(getRoll()/180.0f*32768.0f);
//	int16_t pitch = (int16_t)(getPitch()/180.0f*32768.0f);
//	int16_t yaw   = (int16_t)(getYaw()/180.0f*32768.0f);
//	
//	buf[L++] = 0x55;
//	buf[L++] = 0x61;
//	
////	buf[L++] = (uint8_t)(mMPU9250.acc_x>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_x>>8);
////	
////	buf[L++] = (uint8_t)(mMPU9250.acc_y>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_y>>8);
////	
////	buf[L++] = (uint8_t)(mMPU9250.acc_z>>0);
////	buf[L++] = (uint8_t)(mMPU9250.acc_z>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_x>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_x>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_y>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_y>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.mag_z>>0);
//	buf[L++] = (uint8_t)(mMPU9250.mag_z>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_x>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_x>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_y>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_y>>8);
//	
//	buf[L++] = (uint8_t)(mMPU9250.gyro_z>>0);
//	buf[L++] = (uint8_t)(mMPU9250.gyro_z>>8);

//	buf[L++] = (uint8_t)(roll>>0);
//	buf[L++] = (uint8_t)(roll>>8);

//	buf[L++] = (uint8_t)(pitch>>0);
//	buf[L++] = (uint8_t)(pitch>>8);

//	buf[L++] = (uint8_t)(yaw>>0);
//	buf[L++] = (uint8_t)(yaw>>8);
//	
////	bsp_esb_send(buf,L); //发送出去
//	for(int i=0;i<L;i++) app_uart_put(buf[i]);
//}

//static uint8_t send_motion = 0;
//static uint8_t send_ts = 0;
//static uint8_t send_times = 0;
//void send_motion_to_phone(uint8_t motion,uint16_t ts)
//{
//	send_motion = motion;
//	send_ts = ts;
//	send_times = 10;
////	uint8_t buf[16];
////	uint8_t L=0;

////	buf[L++] = motion;
////	
////	buf[L++] = (uint8_t)(ts>>8);
////	buf[L++] = (uint8_t)(ts>>0);
////	
////	for(int i = 0; i <5; i++)
////		send_protocol(DEX_NUM,CMD_MOTION,buf,L);
//}

//void send_to_phone_process(void)
//{
//	uint8_t buf[16];
//	uint8_t L=0;

//	if(send_times>0){
//		send_times--;
//		buf[L++] = send_motion;
//		buf[L++] = (uint8_t)(send_ts>>8);
//		buf[L++] = (uint8_t)(send_ts>>0);
//		send_protocol(DEX_NUM,CMD_MOTION,buf,L);
//	}
//}