QT四轴上位机初级版.zip

#include<reg52.h> typedef unsigned char uint8; typedef unsigned int uint16; typedef unsigned long uint32; //code uint8 num[]="yamada\n" ; //code uint8 num1[10]={0x88,0x99,10,20,30,10,5,2,12,3}; //包头0x88,0x99，角度1，角度2，角度3，P，I，D，电池电压，高度，包尾 static uint8 txd_flag=1; struct dat { uint8 zhentou[2];//针头 char jiaodu[3];//角度 uint8 PID_B_H[5];//PID和电池和高度 uint8 zhenwei;//帧尾 }shuju ; void struct_init() { shuju.zhentou[0]=0x88; shuju.zhentou[1]=0x99; shuju.jiaodu[0]=-10; shuju.jiaodu[1]=-20; shuju.jiaodu[2]=30; shuju.PID_B_H[0]=10; shuju.PID_B_H[1]=5; shuju.PID_B_H[2]=2; shuju.PID_B_H[3]=12; shuju.PID_B_H[4]=3; shuju.zhenwei=0xff; } void uart_init() { SCON=0X50; TMOD=0X20; TH1=0XFD; TL1=0XFD; TR1=1; ES=1; EA=1; } void uart_sd_byte(uint8 *dat) { SBUF = *dat; while(TI==0); TI=0; } void send_byte(uint8 *dat ,uint8 len) { uint8 i=0; for(i=0;i<len;i++) { uart_sd_byte((uint8 *)&(dat+i)); } } void main() { uart_init(); struct_init(); while(1) { if(txd_flag==1) { send_byte((char*)(&shuju) ,sizeof(shuju)); } } } void interrupt_uart() interrupt 4 { static uint8 j=0; static char get[4]; if(RI) { txd_flag=0; RI=0; get[j]=SBUF; j++; if(j==4) { txd_flag=1; j=0; if(get[3]==0x77) //get[0]-get[2]为PID get[3]为校验 判断校验是否正确 {;}//在这里可以提取 get[0]-get[2] } } }