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- typedef struct CMD_CONTROL_t {
- uint8_t control_mode;
- uint16_t speed_roll;
- uint16_t angle_roll;
- uint16_t speed_pitch;
- uint16_t angle_pitch;
- uint16_t speed_yaw;
- uint16_t angle_yaw;
- }CMD_CONTROL_t;
- typedef struct SBGC_MSG_t{
- uint8_t head;
- uint8_t command_id;
- uint8_t data_size;
- uint8_t header_cs;
- CMD_CONTROL_t data;
- uint8_t body_cs;
- }SBGC_MSG_t;
- uint8_t body_cs(CMD_CONTROL_t cmd){
- return cmd.control_mode +
- cmd.angle_pitch +
- cmd.angle_roll +
- cmd.angle_yaw +
- cmd.speed_roll +
- cmd.speed_pitch +
- cmd.speed_yaw;
- }
- int8_t app_init(void) {
- CMD_CONTROL_t cmd_msg = {0, 0, 0, 0, 0, 0, 0};
- cmd_msg.control_mode = 1;
- cmd_msg.speed_roll = 0x55;
- SBGC_MSG_t msg;
- msg.head = '>';
- msg.command_id = 67;
- msg.data_size = sizeof(CMD_CONTROL_t);
- msg.header_cs = msg.command_id + msg.data_size;
- msg.data = cmd_msg;
- msg.body_cs = body_cs(cmd_msg);
- while (1){
- UART_write(UART_1,&msg,sizeof(msg));
- }
- return 0;
- }
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