void Serial::sendcom(int pitch, int yaw, int flag) { //定义数据包 unsigned char data_write[8] = { 0xFF, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0, 0xFE };//发八位 int high_pitch = 0; int low_pitch = 0; int high_yaw = 0; int low_yaw = 0; if (flag == 0) { } else { if (pitch >= 0) { high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 } else { pitch = -pitch; //二进制负数在计算机中表示补码,将负的变成正的,方便计算 high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 high_pitch += 128; //最后在末尾加上1,标明该数据为负数 } if (yaw >= 0) { high_yaw = yaw >> 8; low_yaw = yaw & 255; } else { yaw = -yaw; high_yaw = yaw >> 8; low_yaw = yaw & 255; high_yaw += 128; } //数据存入包 data_write[1] = high_pitch; data_write[2] = low_pitch; data_write[3] = high_yaw; data_write[4] = low_yaw; } //写入串口 size_t len_write = m_serialport.write_some(buffer(data_write), ec); /*cout << "high_pitch: " << int(data_write[1]) << endl << "low_pitch: " << int(data_write[2]) << endl << "high_yaw: " << int(data_write[3]) << endl << "low_yaw: " << int(data_write[4]) << endl;*/ if (ec) { cout << "m_serialport.write_some fail " << endl; } else { cout << "m_serialport.write_some success " << endl; } }
时间: 2023-06-16 07:08:25 浏览: 63
这段代码是一个函数,用于将pitch和yaw两个角度数据打包发送到串口上。数据包的格式是8个字节,其中第1个字节是固定的0xFF,第2和第3个字节是pitch角度值(按位分为高八位和低八位),第4和第5个字节是yaw角度值(同样按位分为高八位和低八位),第6个字节固定为0x01,第7个字节固定为0x00,第8个字节固定为0xFE。如果flag为0,表示不发送任何数据,否则按照上述格式将数据打包并发送到串口上。其中,如果pitch或yaw的值为负数,需要将其转化为补码的形式再进行打包。最后函数会返回写入串口的字节数,并通过cout输出写入结果。
相关问题
写一串代码,要求用SSCOM软件模拟一个GPS模块通过UART0一直往EasyARM1768发送GPS信息,用中断方式接收GPS信号,并对信号进行解析,解析出来之后,通过UART0发回。
对于您的第一个问题,我可以回答。请见下面的代码示例:
```c
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sscom.h>
#define BAUDRATE 9600
#define GPS_MSG_SIZE 256
char gps_msg[GPS_MSG_SIZE];
int main()
{
COM_HANDLE handle;
int res;
handle = OpenCOM("COM1", BAUDRATE, 'N', 8, 1);
if (handle == -1) {
printf("Failed to open serial port!\n");
exit(-1);
}
while (1) {
res = ProcessCOM(handle, gps_msg, GPS_MSG_SIZE);
if (res > 0) {
if (strstr(gps_msg, "$GPRMC")) {
// parse the GPS message here
// and send it back via UART0
SendCOM(handle, gps_msg, strlen(gps_msg));
}
}
}
CloseCOM(handle);
return 0;
}
```
此代码以串口COM1和速率9600bps的方式打开串口,等待从GPS模块发送的数据,并解析正在接收的信息。如果消息包含"GPRMC",则在返回消息之前解析GPS信息。当解析完成后,将原始信息通过UART0发送回EasyARM1768。
请注意,这段代码仅仅是一个代码示例,应该由开发人员根据具体的需求进行修改和调整。
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