uart6_rt.cuart6_rt.h
    解析核心逻辑:

    1. //解析速度数据
    2. void parse_speed(void){
    3.     //解析的位数
    4.     int i = 0;
    5.     //帧头数据是否已经解析
    6.     int head = -1;
    7.     //任务类型
    8.     int type = -1;
    9.     //数据长度
    10.     int length = -1;
    11.     //已经读取的数据长度
    12.     int read_length = 0;
    13.     //校验位
    14.     float check = -1; 
    15.     while(1){
    16.         //走到下一位进行
    18.         int8_t data = g6_recv_data[i];
    19.         /*------------------ 读取帧头数据 ------------------*/
    20.         if(head==-1&&data!=0x7b){
    21.             break;
    22.         }
    23.         if (head==-1&&data == 0x7b) {
    24.                 printf("recv head\n");
    25.                 head = 1;
    26.                 i++;
    27.                 continue;
    28.         }
    29.         /*------------------ 读取类型type ------------------*/
    30.         if (type == -1) {
    31.                 //标识
    32.                 type = data;
    33.                 printf("recv type type=%d\n", type);
    34.                 i++;
    35.                 continue;
    36.         }
    38.         /*------------------ 读取数据长度 ------------------*/
    39.         if (length == -1) {
    40.                 length = data;
    41.                 printf("recv length length=%d\n", length);
    42.                 i++;
    43.                 continue;
    44.         }
    45.         /*------------------ 读取数据 ------------------*/
    46.         printf("-------------------- length=%d\n", length);
    47.         //读取数据
    48.         if (read_length < length) {
    49.                 printf("recv mini data\n");
    50.                 memcpy(&speed[read_length],&g6_recv_data[i],4);
    51.                 read_length += 1;
    52.                 i+=4;
    53.                 continue;
    54.         }
    55.         /*------------------ 验证数据结果是否正确 ------------------*/
    56.         //校验位
    57.         float check = 0.0;
    58.         memcpy(&check,&g6_recv_data[i],4);
    59.         printf("check:%f\n",check);
    61.         float total = 0;
    62.         total += type;
    63.         total += length;
    64.         for (int i = 0; i < length; ++i) {
    65.                 total += speed[i];
    66.         }
    67.         printf("total:%f\n", total);
    68.         if(check!=total){
    69.             break;
    70.         }
    72.         i+=4;
    73.         printf("i=%d\n",i);
    74.         int8_t tail = 0;
    75.         memcpy(&tail,&g6_recv_data[i],1);
    76.         printf("tail:%d\n",tail);
    77.         break;
    78.     }
    79. }

    发送数据逻辑

    1. //需要发送的数据
    2. unsigned char infrared_data[48] = {0x7a,0x01,10};
    3. //发送小车数据
    4. void send_speed(void){
    5.     //3
    6.     float x = 1.123;
    7.     //7
    8.     float y = 2.123;
    9.     //11
    10.     float z = 3.123;
    11.     //15
    12.     float ax = 4.123;
    13.     //20
    14.     float ay = 5.123;
    15.     //24
    16.     float az = 6.123;
    17.     //28
    18.     float gx = 7.123;
    19.     //32
    20.     float gy = 8.123;
    21.     //36
    22.     float gz = 9.123;
    23.     //40
    24.     float v = 10.123;
    25.     //44
    26.     float check_sum = 0x01+10+x+y+z+ax+ay+az+gx+gy+gz+v;
    28.     //数据准备
    29.     memcpy(infrared_data+3,&x,4);
    30.     memcpy(infrared_data+7,&y,4);
    31.     memcpy(infrared_data+11,&z,4);
    32.     memcpy(infrared_data+15,&ax,4);
    33.     memcpy(infrared_data+19,&ay,4);
    34.     memcpy(infrared_data+23,&az,4);
    35.     memcpy(infrared_data+27,&gx,4);
    36.     memcpy(infrared_data+31,&gy,4);
    37.     memcpy(infrared_data+35,&gz,4);
    38.     memcpy(infrared_data+39,&v,4);
    39.     memcpy(infrared_data+43,&check_sum,4);
    41.     //帧尾
    42.     infrared_data[47] = 0x7b;
    43.     //infrared_data[48] = '\n';
    44.     //printf("%s",infrared_data);
    45.     uart6_dma_send(infrared_data,sizeof(infrared_data));
    46. }