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增加云台相关指令

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bmy
2024-05-17 23:45:53 +08:00
parent 478e698ae9
commit c98bf44c8d
5 changed files with 100 additions and 29 deletions
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12
by_frame.c
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@@ -93,17 +93,17 @@ void by_frame_send(uint8_t cmd, uint8_t *data_array, uint8_t len)
frame_buffer_send[0] = BY_FRAME_HEAD;
frame_buffer_send[1] = cmd;
if (len > data_byte_num) {
len = data_byte_num;
if (len > BY_FRANE_DATA_LEN) {
len = BY_FRANE_DATA_LEN;
}
memcpy(frame_buffer_send + 2, data_array, len);
crc_cal = crc16_check(frame_buffer_send, 2 + data_byte_num);
crc_cal = crc16_check(frame_buffer_send, 2 + BY_FRANE_DATA_LEN);
frame_buffer_send[2 + data_byte_num] = (uint8_t)(crc_cal >> 8);
frame_buffer_send[3 + data_byte_num] = (uint8_t)(crc_cal);
frame_buffer_send[2 + BY_FRANE_DATA_LEN] = (uint8_t)(crc_cal >> 8);
frame_buffer_send[3 + BY_FRANE_DATA_LEN] = (uint8_t)(crc_cal);
by_serial_write(&serial_port, frame_buffer_send, 4 + data_byte_num);
by_serial_write(&serial_port, frame_buffer_send, BY_FRANE_LEN);
}
/**