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数据接收

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This commit is contained in:
xinyang
2019-04-14 22:51:40 +08:00
parent abf538270c
commit ecc3bdcd9e
1 changed files with 12 additions and 9 deletions
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21
main.cpp
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@@ -24,7 +24,8 @@ using namespace std;
#define ARMOR_STATE 0 #define ARMOR_STATE 0
int state = ARMOR_STATE; int state = ARMOR_STATE;
float yaw=0, pitch=0; float curr_yaw=0, curr_pitch=0;
float mark_yaw=0, mark_pitch=0;
void uartReceive(Uart* uart); void uartReceive(Uart* uart);
@@ -99,20 +100,22 @@ void uartReceive(Uart* uart){
if(cnt >= 100){ if(cnt >= 100){
LOGE("data receive over flow!"); LOGE("data receive over flow!");
} }
}buffer[cnt] = 0; }
if(cnt == 9){ if(cnt == 10){
if(buffer[8] == 'e'){ if(buffer[8] == 'e'){
state = ENERGY_STATE; state = ENERGY_STATE;
LOGM("Energy state"); LOGM("Energy state");
memcpy(&yaw, buffer, 4);
memcpy(&pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", yaw, pitch);
}else if(buffer[8] == 'a'){ }else if(buffer[8] == 'a'){
state = ARMOR_STATE; state = ARMOR_STATE;
LOGM("Armor state"); LOGM("Armor state");
memcpy(&yaw, buffer, 4); }
memcpy(&pitch, buffer+4, 4); memcpy(&curr_yaw, buffer, 4);
LOGM("Get yaw:%f pitch:%f", yaw, pitch); memcpy(&curr_pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
LOGM("Marked");
} }
} }
cnt = 0; cnt = 0;