科创上传代码

#include "include.h"
/******************************************************************
**函数名称：void Data_Send_02(unsigned short int *pst)
**函数功能：向匿名上位机发送九轴传感器数据
**函数输入：九轴数据存放数组，长度为9
**函数返回：无
 *****************************************************************/
void UartData_Send_02(unsigned short int *pst)
{
  unsigned char _cnt=0;
  unsigned char sum = 0;
  unsigned char i=0;
  unsigned char data_to_send[23];
  data_to_send[_cnt++]=0xAA;
  data_to_send[_cnt++]=0xAA;
  data_to_send[_cnt++]=0x02;
  data_to_send[_cnt++]=0;
  data_to_send[_cnt++]=(unsigned char)(pst[0]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[0];
  data_to_send[_cnt++]=(unsigned char)(pst[1]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[1];
  data_to_send[_cnt++]=(unsigned char)(pst[2]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[2];
  data_to_send[_cnt++]=(unsigned char)(pst[3]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[3];
  data_to_send[_cnt++]=(unsigned char)(pst[4]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[4];
  data_to_send[_cnt++]=(unsigned char)(pst[5]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[5];
  data_to_send[_cnt++]=(unsigned char)(pst[6]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[6];
  data_to_send[_cnt++]=(unsigned char)(pst[7]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[7];
  data_to_send[_cnt++]=(unsigned char)(pst[8]>>8);
  data_to_send[_cnt++]=(unsigned char)pst[8];
  data_to_send[3] = _cnt-4;
  sum = 0;
  for(i=0;i<_cnt;i++)
  {
    sum += data_to_send[i];
  }
  data_to_send[_cnt++] = sum;
  for(i=0;i<_cnt;i++)
  {
    UART4_PutChar(data_to_send[i]);
  }
}
/****************************************************************************************
**函数名称：void Data_Send_F1(int *pst,unsigned char len)
**函数功能：向匿名上位机发送len个int型数据
**函数输入：pst：数据存放数组，len要发送的数据长度（1-20）
**函数返回：无
**备    注：传送7个数据需要1680us，每多1个数据需要再加168us(不包括数据赋值过程中的运算)
            比如传送9个数据就需 1680+168*2 = 2016(us)
 ***************************************************************************************/
void UartData_Send_F1(int *pst,unsigned char len)
{
  unsigned char sum = 0;
  unsigned char i;
  unsigned char data_to_send[45];
  data_to_send[0] = 0xAA;
  data_to_send[1] = 0xAA;
  data_to_send[2] = 0xF1;
  data_to_send[3] = 2*len;
  for(i=0;i<len;i++)
  {
    data_to_send[2*i+4] = (unsigned char)(pst[i]>>8);
    data_to_send[2*i+5] = (unsigned char)pst[i];
  }
  for(i=0;i<2*len+4;i++)
  {
    sum += data_to_send[i];
  }
  data_to_send[2*len+4] = sum;
  for(i=0;i<2*len+5;i++)
  {
    UART4_PutChar(data_to_send[i]);
  }
}