my_upcamera.c 1.19 KB
#include "my_upcamera.h"
#include "includes.h"
#include "hardware.h"

//u32 UpCodeV=0;             //码值
//double UpCodeX=0;          //X值
//double UpCodeY=0;          //Y值
//double UpCodeP=0;          //角度值
//u8 isShelfBe = 0;			//是否存在货架
////void readCameraDataFromUart5TTL(void)
////{
////	u8 res[15];//相机协议
////	u8 i,j;
////	u8 check485=0;//相机校验和
////	u32 value485=0;
////	signed short x485=0;
////	signed short y485=0;
////	u16 phi485=0;
//////	u16 t485=0;
////	u16 Code_p=0;
////	UART5_Receive_Data(res); 
////	for(i=0;i<14;i++)
////	{
////		check485+=res[i];
////	}
////	if(check485==res[14]&&res[0]==0xAA&&res[1]==0x4D)
////	{
//////		t485    =res[3];
////		value485=(res[4]<<0)+(res[5]<<8)+(res[6]<<16)+(res[7]<<24);
////		x485    =(res[8]<<0)+(res[9]<<8);
////		y485    =(res[10]<<0)+(res[11]<<8);
////		phi485  =(res[12]<<0)+(res[13]<<8);
////		
////		Code_p=phi485+9000+dataCameraMountingAngle*100;
////		if(Code_p>36000)Code_p-=36000;
////		
////		UpCodeV=value485;//
////		UpCodeX=x485*0.22;//
////		UpCodeY=y485*0.22;//相机方向位置改变,X,Y换向
////		UpCodeP=360.0-(double)Code_p/100.0f;
////	}
////	if(value485!=0)isShelfBe=1;else isShelfBe=0;
////	for(j=0;j<15;j++)res[j]=0;
////}