177 lines
4.8 KiB
C
177 lines
4.8 KiB
C
#include "debug.h"
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/* 增加到主文件
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void rf_init(void)
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{
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uint8_t addr[] = {0xa5,0x5a,0x11};
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spi_init();
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xn297l_init(addr,TX_ADR_WIDTH,RF_CHN,TX_PLOAD_WIDTH,XN297L_RF_POWER_P_11|RF_RATE_2M);
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xn297l_tx_mode();
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}
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*/
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uint8_t __dbg_data_up_0(void);
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uint8_t __dbg_data_up_1(void);
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uint8_t __dbg_data_up_2(void);
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uint8_t dbg_update(void)
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{
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uint8_t (*func[])() = {
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#if __PXGS_DEBUG_IMU != 0
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__dbg_data_up_0,
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#endif
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#if __PXGS_DEBUG_ADC_PWM != 0
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__dbg_data_up_1,
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#endif
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#if __PXGS_DEBUG_ALTHOLD != 0
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__dbg_data_up_2,
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#endif
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NULL
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};
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uint8_t rf_bak_mode = 0xFF;
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static uint8_t index = 0x00;
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if(func[index] != NULL){
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rf_bak_mode = func[index]();
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index++;
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if(func[index] == NULL){
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index = 0;
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}
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}
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else{
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index = 0;
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}
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return rf_bak_mode;
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}
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//IMU数据
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uint8_t __dbg_data_up_00(void)
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{
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uint8_t i;
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#pragma pack(1)
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struct{
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//字符串数据包，长度<=30
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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uint8_t dat[25];
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uint8_t datend;
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}str;
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}frame;
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#pragma pack()
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//加速度打包
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frame.str.len = sizeof(frame.str) - 1;
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frame.str.mid = PXGS_U_MID_PLOT_00;
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for(i=0;i<10;i++) {
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frame.str.dat[i] = '0'+i; //ps: 请添加数据
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}
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frame.str.datend = '\r';
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return donglex_ex_send(&frame,sizeof(frame));
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}
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//IMU数据
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uint8_t __dbg_data_up_0(void)
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{
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#pragma pack(1)
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struct{
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//加速度
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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PXGS_U_MID_PLOT_00_DATA_TYPE dat[3];
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}acc;
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//陀螺仪
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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PXGS_U_MID_PLOT_00_DATA_TYPE dat[3];
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}gyro;
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}frame;
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#pragma pack()
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//加速度打包
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frame.acc.len = sizeof(frame.acc) - 1;
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frame.acc.mid = PXGS_U_MID_PLOT_00;
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frame.acc.dat[0] = PXGS_U_MID_PLOT_00_DATA_PACK(0); //ps: 请添加数据
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frame.acc.dat[1] = PXGS_U_MID_PLOT_01_DATA_PACK(100); //ps: 请添加数据
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frame.acc.dat[2] = PXGS_U_MID_PLOT_02_DATA_PACK(200); //ps: 请添加数据
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//加速度打包
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frame.gyro.len = sizeof(frame.gyro) - 1;
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frame.gyro.mid = PXGS_U_MID_PLOT_03;
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frame.gyro.dat[0] = PXGS_U_MID_PLOT_03_DATA_PACK(300); //ps: 请添加数据
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frame.gyro.dat[1] = PXGS_U_MID_PLOT_04_DATA_PACK(400); //ps: 请添加数据
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frame.gyro.dat[2] = PXGS_U_MID_PLOT_05_DATA_PACK(500); //ps: 请添加数据
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return donglex_ex_send(&frame,sizeof(frame));
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}
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uint8_t __dbg_data_up_1(void)
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{
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#pragma pack(1)
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struct{
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//卡死电压
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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PXGS_U_MID_PLOT_14_DATA_TYPE dat[5];
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}pwm;
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//电池电压
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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PXGS_U_MID_PLOT_0C_DATA_TYPE dat[5];
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}vol;
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}frame;
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#pragma pack()
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//pwm总转速，M0/M1/M2/M3转速
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frame.pwm.len = sizeof(frame.pwm) - 1;
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frame.pwm.mid = PXGS_U_MID_PLOT_14;
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frame.pwm.dat[0] = PXGS_U_MID_PLOT_14_DATA_PACK(200); //ps: 请添加数据
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frame.pwm.dat[1] = PXGS_U_MID_PLOT_15_DATA_PACK(200); //ps: 请添加数据
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frame.pwm.dat[2] = PXGS_U_MID_PLOT_16_DATA_PACK(200); //ps: 请添加数据
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frame.pwm.dat[3] = PXGS_U_MID_PLOT_17_DATA_PACK(200); //ps: 请添加数据
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frame.pwm.dat[4] = PXGS_U_MID_PLOT_18_DATA_PACK(200); //ps: 请添加数据
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//卡死电压M0/M1/M2/M3,电池电压
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frame.vol.len = sizeof(frame.vol) - 1;
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frame.vol.mid = PXGS_U_MID_PLOT_0C;
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frame.vol.dat[0] = PXGS_U_MID_PLOT_0C_DATA_PACK(300); //ps: 请添加数据
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frame.vol.dat[1] = PXGS_U_MID_PLOT_0D_DATA_PACK(300); //ps: 请添加数据
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frame.vol.dat[2] = PXGS_U_MID_PLOT_0E_DATA_PACK(300); //ps: 请添加数据
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frame.vol.dat[3] = PXGS_U_MID_PLOT_0F_DATA_PACK(300); //ps: 请添加数据
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frame.vol.dat[4] = PXGS_U_MID_PLOT_10_DATA_PACK(300); //ps: 请添加数据
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return donglex_ex_send(&frame,sizeof(frame));
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}
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uint8_t __dbg_data_up_2(void)
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{
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#pragma pack(1)
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struct{
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struct{
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PXGS_LEN_TYPE len;
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PXGS_MID_TYPE mid;
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PXGS_U_MID_PLOT_19_DATA_TYPE dat[6];
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}alt;
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}frame;
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#pragma pack()
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//气压计，融合高度....
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frame.alt.len = sizeof(frame.alt) - 1;
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frame.alt.mid = PXGS_U_MID_PLOT_19;
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frame.alt.dat[0] = PXGS_U_MID_PLOT_19_DATA_PACK(400); //ps: 请添加数据
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frame.alt.dat[1] = PXGS_U_MID_PLOT_1A_DATA_PACK(400); //ps: 请添加数据
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frame.alt.dat[2] = PXGS_U_MID_PLOT_1B_DATA_PACK(400); //ps: 请添加数据
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frame.alt.dat[3] = PXGS_U_MID_PLOT_1C_DATA_PACK(400); //ps: 请添加数据
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frame.alt.dat[4] = PXGS_U_MID_PLOT_1D_DATA_PACK(400); //ps: 请添加数据
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frame.alt.dat[5] = PXGS_U_MID_PLOT_1E_DATA_PACK(400); //ps: 请添加数据
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return donglex_ex_send(&frame,sizeof(frame));
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}
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