Armer/HH3slave_STM32L476RGT6
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This commit is contained in:
chenxin
2025-06-18 14:45:24 +08:00
parent 09a02b68a8
commit d0d2f216d2
2 changed files with 11 additions and 8 deletions
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6
src/i2c_communication.cpp
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@ -62,7 +62,8 @@ void onReceiveEvent(int bytes) {
static uint8_t last_receive_cnt = 0; static uint8_t last_receive_cnt = 0;
void update_sensor_data() { void update_sensor_data() {
//gps //gps
if (millis() > 5000 && gps.charsProcessed() < 10 && digitalRead(GPS_POWER_PIN) == HIGH) { //if (millis() > 5000 && gps.charsProcessed() < 10 && digitalRead(GPS_POWER_PIN) == HIGH)
if (millis() > 5000 && gps.charsProcessed() < 10) {
sensor_data.gps_sta = 0x00; // 无设备 sensor_data.gps_sta = 0x00; // 无设备
sensor_data.gps_lat = 0.0f; sensor_data.gps_lat = 0.0f;
sensor_data.gps_lon = 0.0f; sensor_data.gps_lon = 0.0f;
@ -81,7 +82,8 @@ void update_sensor_data() {
} }
//测距 //测距
if (receive_cnt == last_receive_cnt && digitalRead(RANGING_POWER_PIN) == HIGH) { //if (receive_cnt == last_receive_cnt && digitalRead(RANGING_POWER_PIN) == HIGH)
if (receive_cnt == last_receive_cnt){
sensor_data.height_sta = 0x00; // 无设备 sensor_data.height_sta = 0x00; // 无设备
sensor_data.height = 0.0f; sensor_data.height = 0.0f;
}else if (digitalRead(RANGING_POWER_PIN) == LOW){ }else if (digitalRead(RANGING_POWER_PIN) == LOW){

13
src/i2c_communication.h
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@ -13,13 +13,14 @@
// 数据结构定义 // 数据结构定义
typedef struct { typedef struct {
uint8_t gps_sta; // 0x00 ~ 0x03 uint8_t gps_sta; // 0x00 ~ 0x03 ////0x00没有设备，0x01关机，0x02没有搜到gps，0x03搜到gps
uint8_t height_sta; // 0x00 ~ 0x01 uint8_t height_sta; // 0x00 ~ 0x01 ////0x00没有设备，0x01关机
float gps_lat; float gps_lat; //没有设备返回0
float gps_lon; float gps_lon; //没有设备返回0
float height; float height; //没有设备返回0
} hh3_slave_data; } hh3_slave_data;
//03 03 00 00 C4 79 09 42 2E B1 D9 42 E3 A5 9B 3C
//00 00 由编译器自动插入的内存对齐填充字节，用于确保后续的 float 类型字段（如 gps_lat）能够正确地按照 4 字节对齐存储在内存中。
extern hh3_slave_data sensor_data; extern hh3_slave_data sensor_data;
// 函数声明 // 函数声明