pid检测上位机C++

#include "common.h" #include "include.h" #define RX_SU 1 #define RX_ER 0 uint8 flag_rx_succsess=RX_ER; int8 FloatSave[12]; int8 RX[14]; int8 RX_FLAG=0; int8 sa[8]; float kk=2;// uint8 count_RX; int str_ln=0; int MinStable4; double Error0; int x; unsigned char SpeedNow0; unsigned char ObstacleCountMax; float dianji_kp; float dianji_ki; float dianji_kd; struct NUM_GET NUM_A; struct NUM_GET NUM_B; struct NUM_GET NUM_C; struct NUM_GET NUM_D; struct NUM_GET NUM_E; void uart_IN_init(void) { uart_init (UART4, 115200); // UART4_RX_TX_VECTORn set_vector_handler(UART4_RX_TX_VECTORn,uart4_handler); uart_rx_irq_en (UART4); //uart_rx_irq_en (UARTn_e); } void uart4_handler(void) { uart_getchar(UART4, &RX[count_RX]); if( RX[0] == '#' ) count_RX++; else count_RX=0; if(count_RX==14) { kk++; count_RX=0; flag_rx_succsess =RX_SU; NUM_GET(); count_RX=0; } } void ReceFloat(void) { { RX_FLAG=RX[1]; FloatSave[0]=RX[2]; FloatSave[1]=RX[3]; FloatSave[2]=RX[4]; FloatSave[3]=RX[5]; FloatSave[4]=RX[6]; FloatSave[5]=RX[7]; FloatSave[6]=RX[8]; FloatSave[7]=RX[9]; FloatSave[8]=RX[10]; FloatSave[9]=RX[11]; FloatSave[10]=RX[12]; FloatSave[11]=RX[13]; } } void NUM_GET(void) { if(flag_rx_succsess==RX_SU) { ReceFloat(); if(RX_FLAG=='A') { memcpy((char*)(&yl_Pspeed),&FloatSave[0],4); //void *memcpy(void *dest, const void *src, size_t n); ?o??src?u?????u????????ee??????ae????N?????u????��edest?u?????u??????ee??????D memcpy((char*)(&yl_Ispeed),&FloatSave[4],4); memcpy((char*)(&yl_Dspeed),&FloatSave[8],4); } else if(RX_FLAG=='B') { memcpy((char*)(&TurnP2),&FloatSave[0],4); memcpy((char*)(&TurnD2),&FloatSave[4],4); memcpy((char*)(&yl_Dspeed),&FloatSave[8],4); } else if(RX_FLAG=='C') { memcpy((char*)(&TurnP1),&FloatSave[0],4); memcpy((char*)(&TurnP1),&FloatSave[4],4); //memcpy((char*)(&dianjiPID.Kd),&FloatSave[8],4); } else if(RX_FLAG=='D') { // memcpy((char*)(&DMA_GET_Left),&FloatSave[0],4); //memcpy((char*)(&suibian),&FloatSave[4],4); //memcpy((char*)(&dianji_kd),&FloatSave[8],4); } else if(RX_FLAG=='E') { memcpy(((char*)&NUM_E.A),&FloatSave[0],4); memcpy((char*)(&NUM_E.B),&FloatSave[4],4); memcpy((char*)(&NUM_E.C),&FloatSave[8],4); } else flag_rx_succsess=RX_ER; } } void FloatToChar(float floatNum, char* byteArry) { int FloatToChar_a,FloatToChar_b,FloatToChar_c,FloatToChar_d,FloatToChar_e,FloatToChar_f,FloatToChar_g; FloatToChar_a=(int)floatNum; FloatToChar_b=(int)(floatNum*10-FloatToChar_a*10); FloatToChar_c=(int)(floatNum*100-((int)(floatNum*10))*10); FloatToChar_d=(int)(floatNum*1000-((int)(floatNum*100))*10); FloatToChar_e=(int)(floatNum*10000-((int)(floatNum*1000))*10); FloatToChar_f=(int)(floatNum*100000-((int)(floatNum*10000))*10); FloatToChar_g=(int)(floatNum*1000000-((int)(floatNum*100000))*10); str_ln=sprintf(byteArry,"%d.%d%d%d%d%d%d",FloatToChar_a,FloatToChar_b,FloatToChar_c,FloatToChar_d,FloatToChar_e,FloatToChar_f,FloatToChar_g); //printf("%d\n\n\n",str_ln); } void putstr(char *s, char a) { uart_putchar(UART4,'#'); uart_putchar(UART4,a); uart_putbuff (UART4,s,8); uart_putchar(UART4,a); uart_putchar(UART4,'#'); } void NUM_Send(void) { FloatToChar(zl_zhuansu*10,sa); putstr(sa,'A'); FloatToChar(yl_zhuansu*10,sa); putstr(sa,'B'); FloatToChar(motorightout,sa); putstr(sa,'C'); FloatToChar(yl_zhuansu,sa); putstr(sa,'D'); }