shoe_mcu/hal/hal_protocol.c

#include "hal_protocol.h"
#include "hal_esb.h"
#include "hal_uart.h"


/********************** Íⲿº¯ÊýÉùÃ÷Çø *************************/


void Send_IMU_Data(IMU_DAT_t* p)
{
	static uint8_t buf[64];
	int L = 0;
	buf[L++] = (uint8_t)(p->h.press>>8);
	buf[L++] = (uint8_t)(p->h.press>>0);
	buf[L++] = (uint8_t)(p->h.acc[0]>>8);
	buf[L++] = (uint8_t)(p->h.acc[0]>>0);
	buf[L++] = (uint8_t)(p->h.acc[1]>>8);
	buf[L++] = (uint8_t)(p->h.acc[1]>>0);
	buf[L++] = (uint8_t)(p->h.acc[2]>>8);
	buf[L++] = (uint8_t)(p->h.acc[2]>>0);
	buf[L++] = (uint8_t)(p->h.gyr[0]>>8);
	buf[L++] = (uint8_t)(p->h.gyr[0]>>0);
	buf[L++] = (uint8_t)(p->h.gyr[1]>>8);
	buf[L++] = (uint8_t)(p->h.gyr[1]>>0);
	buf[L++] = (uint8_t)(p->h.gyr[2]>>8);
	buf[L++] = (uint8_t)(p->h.gyr[2]>>0);
	buf[L++] = (uint8_t)(p->h.mag[0]>>8);
	buf[L++] = (uint8_t)(p->h.mag[0]>>0);
	buf[L++] = (uint8_t)(p->h.mag[1]>>8);
	buf[L++] = (uint8_t)(p->h.mag[1]>>0);
	buf[L++] = (uint8_t)(p->h.mag[2]>>8);
	buf[L++] = (uint8_t)(p->h.mag[2]>>0);
	ESB_Tx_Send(0,buf,L,1,0,0,0);
}

void send_protocol(uint8_t dex,uint8_t cmd,uint8_t* dat,uint8_t len)
{
	if(IS_HOST){
		UART0_Send(cmd,dat,len);
	}else{
		ESB_Send(cmd,dat,len);
	}
}