File content as of revision 0:f0b20f502059:

#include "GET_ANGLE_FUNC.h"
#include "Global_Variables.h"
#include "Pin_Assign.h"

uint8_t buf;

void CMD_GET_ANGLE(void)
{
    /*
    Gimbal.putc(0x3e); //3e 49 01 4a 00 00
    Gimbal.putc(0x49);
    Gimbal.putc(0x01);
    Gimbal.putc(0x4a);
    Gimbal.putc(0x00);
    Gimbal.putc(0x00);
    */
    Gimbal.putc(0x3e); //3e 3d 01 3e 00 00
    Gimbal.putc(0x3d);
    Gimbal.putc(0x01);
    Gimbal.putc(0x3e);
    Gimbal.putc(0x00);
    Gimbal.putc(0x00);
}

void GET_ANGLE_FUNC(void)
{
    buf=Gimbal.getc();
    //pc.putc(buf);
    /*
    if(buf==0x3e&&GimbalCnt==1){GimbalCnt++; GimbalBuf[GimbalCnt]=buf;} //3e 49 01 4a 00 00
    else if(buf==0x49&&GimbalCnt==2){GimbalCnt++; GimbalBuf[GimbalCnt]=buf;}
    else if(GimbalCnt>=2&&GimbalCnt<=23)
    {
        GimbalCnt++; 
        GimbalBuf[GimbalCnt]=buf;
        if(GimbalCnt==24)
        {
            BodyChks=0;
            for(char i=5;i>22;i++) BodyChks+=GimbalBuf[i];
        }
        GimbalCnt++;
    }
    else if(GimbalCnt==25&&BodyChks==GimbalBuf[23])
    {
        //pc.putc(GimbalCnt);
        
        RollIMU         =(GimbalBuf[5]<<8)|GimbalBuf[6];
        RollTarIMU      =(GimbalBuf[7]<<8)|GimbalBuf[8];
        PitchIMU        =(GimbalBuf[11]<<8)|GimbalBuf[12];  
        PitchTarIMU     =(GimbalBuf[13]<<8)|GimbalBuf[14];
        YawIMU          =(GimbalBuf[17]<<8)|GimbalBuf[18];
        YawTarIMU       =(GimbalBuf[19]<<8)|GimbalBuf[20];
    
        RollDeg         =((double)RollIMU)*ANGLE_UNIT;
        PitchDeg        =((double)PitchIMU)*ANGLE_UNIT;
        YawDeg          =((double)YawIMU)*ANGLE_UNIT;
        RollTar         =((double)RollTarIMU)*ANGLE_UNIT;
        PitchTar        =((double)PitchTarIMU)*ANGLE_UNIT;
        YawTar          =((double)YawTarIMU)*ANGLE_UNIT;
        
        GimbalCnt=1;
        
        //pc.printf("a\n");
    }    
    else{GimbalCnt=1;}
    */
    if(buf==0x3e&&GimbalCnt==1){GimbalBuf[GimbalCnt]=buf;GimbalCnt++;} //3e 3d 01 3e 00 00
    else if(buf==0x3d&&GimbalCnt==2){GimbalBuf[GimbalCnt]=buf;GimbalCnt++;}
    else if(GimbalCnt>=3&&GimbalCnt<=59)
    {
        GimbalBuf[GimbalCnt]=buf;
        
        //pc.putc(GimbalCnt);
        if(GimbalCnt==59)
        {
            //pc.putc(GimbalCnt);
            
            BodyChks=0;
            for(char i=5;i<=58;i++)
            {
                BodyChks+=GimbalBuf[i];
                //pc.putc(BodyChks);
            }
            
            //pc.putc(BodyChks);
            //pc.putc(GimbalBuf[59]);
        }
        GimbalCnt++;
    }
    else if(GimbalCnt==60&&BodyChks==GimbalBuf[59])
    {      
        
        RollIMU         =(GimbalBuf[6]<<8)|GimbalBuf[5];
        RollTarIMU      =(GimbalBuf[8]<<8)|GimbalBuf[7];
        RollIMU2        =(GimbalBuf[12]<<24)|(GimbalBuf[11]<<16)|(GimbalBuf[10]<<8)|GimbalBuf[9];
        PitchIMU        =(GimbalBuf[24]<<8)|GimbalBuf[23];  
        PitchTarIMU     =(GimbalBuf[26]<<8)|GimbalBuf[25];
        PitchIMU2       =(GimbalBuf[30]<<24)|(GimbalBuf[29]<<16)|(GimbalBuf[28]<<8)|GimbalBuf[27];
        YawIMU          =(GimbalBuf[42]<<8)|GimbalBuf[41];
        YawTarIMU       =(GimbalBuf[44]<<8)|GimbalBuf[43];
        YawIMU2         =(GimbalBuf[48]<<24)|(GimbalBuf[47]<<16)|(GimbalBuf[46]<<8)|GimbalBuf[45];
        
        
        RollDeg         =((double)RollIMU)*ANGLE_UNIT;
        PitchDeg        =((double)PitchIMU)*ANGLE_UNIT;
        YawDeg          =((double)YawIMU)*ANGLE_UNIT;
        RollTar         =((double)RollTarIMU)*ANGLE_UNIT;
        PitchTar        =((double)PitchTarIMU)*ANGLE_UNIT;
        YawTar          =((double)YawTarIMU)*ANGLE_UNIT;
        RollRel         =((double)RollIMU2)*ANGLE_UNIT;
        PitchRel        =((double)PitchIMU2)*ANGLE_UNIT;//+180.0f;
        YawRel          =((double)YawIMU2)*ANGLE_UNIT;
        
        GimbalCnt=1;
    }    
    else{GimbalCnt=1;}
}