serial.c

#include "ti_msp_dl_config.h"
#include "filter.h"
#include <string.h>
#include <stdio.h>
#include <JY901.h>
#include <oled.h>
float  Yaw_Now;
float  Gyro_Now;
struct STime		stcTime;
struct SAcc 		stcAcc;
struct SGyro 		stcGyro;
struct SAngle 	stcAngle;
struct SMag 		stcMag;
struct SDStatus stcDStatus;
struct SPress 	stcPress;
struct SLonLat 	stcLonLat;
struct SGPSV 		stcGPSV;
struct SQ       stcQ;
static unsigned char TxBuffer[256];
static unsigned char TxCounter=0;
static unsigned char count=0; 
extern void CopeSerial2Data(unsigned char ucData);
extern float angle_yaw;
void CopeSerial2Data(unsigned char ucData)
{
	static unsigned char ucRxBuffer[250];
	static unsigned char ucRxCnt = 0;	
	ucRxBuffer[ucRxCnt++]=ucData;	//将收到的数据存入缓冲区中
	if (ucRxBuffer[0]!=0x55) //数据头不对，则重新开始寻找0x55数据头
	{
		ucRxCnt=0;
		return;
	}
	if (ucRxCnt<11) {return;}//数据不满11个，则返回
	else
	{
		switch(ucRxBuffer[1])//判断数据是哪种数据，然后将其拷贝到对应的结构体中，有些数据包需要通过上位机打开对应的输出后，才能接收到这个数据包的数据
		{
			case 0x50:	memcpy(&stcTime,&ucRxBuffer[2],8);break;//memcpy为编译器自带的内存拷贝函数，需引用"string.h"，将接收缓冲区的字符拷贝到数据结构体里面，从而实现数据的解析。
			case 0x51:	memcpy(&stcAcc,&ucRxBuffer[2],8);break;
			case 0x52:	memcpy(&stcGyro,&ucRxBuffer[2],8);break;
			case 0x53:	memcpy(&stcAngle,&ucRxBuffer[2],8);break;
			case 0x54:	memcpy(&stcMag,&ucRxBuffer[2],8);break;
			case 0x55:	memcpy(&stcDStatus,&ucRxBuffer[2],8);break;
			case 0x56:	memcpy(&stcPress,&ucRxBuffer[2],8);break;
			case 0x57:	memcpy(&stcLonLat,&ucRxBuffer[2],8);break;
			case 0x58:	memcpy(&stcGPSV,&ucRxBuffer[2],8);break;
			case 0x59:	memcpy(&stcQ,&ucRxBuffer[2],8);break;
		}
		ucRxCnt=0;//清空缓存区
	}
}

void IMU_Get(void)
{
	Yaw_Now = (float)stcAngle.Angle[2]/32768*180;
	Gyro_Now = (float) stcGyro.w[2]/32768*2000;
}
//void USART1_IRQHandler(void)
//{  if(USART_GetITStatus(USART1,USART_IT_TXE)!= RESET)
//  {   
//    USART_SendData(USART1,TxBuffer[TxCounter++]);
//    USART_ClearITPendingBit(USART1, USART_IT_TXE);
//    if(TxCounter == count) USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
//  }
//	else if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
//  {
//		CopeSerial2Data((unsigned char)USART1->DR);//处理数据
//		USART_ClearITPendingBit(USART1, USART_IT_RXNE);
//  }
//	USART_ClearITPendingBit(USART1,USART_IT_ORE);
//}