想写一个串口发送控制电机转动。

Field · 发表于 2018-4-21 14:29:44

工程需求是用一组协议，通过串口以16位进制发送数据去控制电机，程序已经写好，但是不清楚如何发送数据。串口协议如下：       static uint8_t state = 0; static uint16_t speed_left_tmp = 0;
static uint16_t speed_right_tmp = 0;
static uint16_t speed_head_tmp = 0;
static uint16_t dr_left_tmp = 0;
static uint16_t dr_right_tmp = 0;
static uint16_t dr_head_tmp = 0;
static uint16_t check_sum = 0;

多次发送数据失败，求助如下：
1.不是很理解通过此协议发送是如何把原始数据变成16进制的数据的？
2.如何发送数据能使电机按照协议规定的运动？
3.附上位机协议的代码，此协议发送可以控制电机。
4.附定值PWM波控制电机，编码器串口读取到的数据，根据此数据发送电机不做相应的转动。
5.串口解析代码如下：
void usart1_decoder(uint8_t data){

static uint8_t state = 0;
static uint16_t speed_left_tmp = 0;
static uint16_t speed_right_tmp = 0;
static uint16_t speed_head_tmp = 0;
static uint16_t dr_left_tmp = 0;
static uint16_t dr_right_tmp = 0;
static uint16_t dr_head_tmp = 0;
static uint16_t check_sum = 0;
switch (state){
case 0:
if(data == 254){
state = 1;
      check_sum += data;
}
break;
case 1:
      if(data == 1){
   state = 2;
   check_sum += data;
}
      else{
      state = 0;
check_sum = 0;
}
break;
case 2:
      dr_head_tmp = data;
      state = 3;
      check_sum += data;
break;
case 3:
      speed_head_tmp = data;
      state = 4;
check_sum += data;
break;
case 4:
      dr_left_tmp = data;
      state = 5;
check_sum += data;
break;
case 5:
      speed_left_tmp = data;
      state = 6;
      check_sum += data;
break;
case 6:
      dr_right_tmp = data;
      state = 7;
      check_sum += data;
break;
case 7:
      speed_right_tmp = data;
      state = 8;
      check_sum += data;
break;
case 8:
   check_sum %= 256;
      if(check_sum == data){
speed_left = (dr_left_tmp)?speed_left_tmp

-1)*speed_left_tmp;
speed_right = (dr_right_tmp)?speed_right_tmp

-1)*speed_right_tmp;
speed_head = (dr_head_tmp)?speed_head_tmp

-1)*speed_head_tmp;
}
   state = 0;
check_sum = 0;
speed_left_tmp = 0;
      speed_right_tmp = 0;
      speed_head_tmp = 0;
break;
}
usart1_reception_mark=sysTickUptime; //记录系统时间,超时速度清零
}