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串口输出原始数据到上位机验证

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lmx
2025-12-09 09:59:41 +08:00
parent 45158aebcf
commit ea610c24d3
9 changed files with 190 additions and 118 deletions
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270
apps/earphone/xtell_Sensor/send_data.c
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@ -74,7 +74,8 @@ typedef struct{
typedef struct{
uint8_t checkout_1;
uint8_t checkout_2;
uint8_t index;
uint8_t foot; //1：左脚，2：右脚
uint8_t package_index;
sensor_package_t sensor_package[MPU_FIFO_LEN];//一次蓝牙发送MPU_FIFO_LEN组传感器数据
}ble_send_data_t; //一次蓝牙发送的数据内容
@ -82,8 +83,12 @@ typedef struct{
static circle_buffer_t g_ble_send_cb; // 环形缓冲区管理结构体
static ble_send_data_t g_sensor_data_storage[SENSOR_DATA_BUFFER_SIZE]; //缓冲区
extern u8 foot_init;
static OS_SEM receiver_ready_sem; // 用于启动同步的信号量
static const uart_bus_t *uart_bus = NULL;
static u16 test_id = 0;
//END -- 变量定义
//////////////////////////////////////////////////////////////////////////////////////////////////
@ -117,8 +122,9 @@ void sensor_collect_task(void){
signed short gyry_buf[100];
signed short gyrz_buf[100];
int fifo_num = 0;
static int data_index = 0;
u8 index = 1;
static int SL_data_index = 0;
u8 package_index = 1;
int tmp_index = 0;
while(1){//4组地磁数据、16组六轴数据、1组气压计数据
interval++;
@ -130,84 +136,94 @@ void sensor_collect_task(void){
}
// xlog("MAG x: %.2f,y: %.2f,z: %.2f\n",mmc5603nj_buffer.x,mmc5603nj_buffer.y,mmc5603nj_buffer.z);
fifo_num = SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //40ms一次性读取内置fifo的数据
for(int i = 0; i < fifo_num; i++){
SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //一次性读取内置fifo的数据
for(int i = 0; i < MPU_FIFO_LEN/4; i++){
tmp_index = SL_data_index + i;
// if(tmp_index >= MPU_FIFO_LEN-1) tmp_index = MPU_FIFO_LEN-1;
send_data.sensor_package[tmp_index].SC7U22_data[0] = accx_buf[i]; //acc_x
send_data.sensor_package[tmp_index].SC7U22_data[1] = accy_buf[i]; //acc_y
send_data.sensor_package[tmp_index].SC7U22_data[2] = accz_buf[i]; //acc_z
send_data.sensor_package[tmp_index].SC7U22_data[3] = gyrx_buf[i]; //gyr_x
send_data.sensor_package[tmp_index].SC7U22_data[4] = gyry_buf[i]; //gyr_y
send_data.sensor_package[tmp_index].SC7U22_data[5] = gyrz_buf[i]; //gyr_z
// xlog(" Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n", send_data.sensor_package[tmp_index].SC7U22_data[0], send_data.sensor_package[tmp_index].SC7U22_data[1], send_data.sensor_package[tmp_index].SC7U22_data[2]);
#if 0
float acc_g[3];
float gyr_dps[3];
acc_g[0] = (float)send_data.sensor_package[tmp_index].SC7U22_data[0] / 2048.0f;
acc_g[1] = (float)send_data.sensor_package[tmp_index].SC7U22_data[1] / 2048.0f;
acc_g[2] = (float)send_data.sensor_package[tmp_index].SC7U22_data[2] / 2048.0f;
gyr_dps[0] = (float)send_data.sensor_package[tmp_index].SC7U22_data[3] * 0.061f;
gyr_dps[1] = (float)send_data.sensor_package[tmp_index].SC7U22_data[4] * 0.061f;
gyr_dps[2] = (float)send_data.sensor_package[tmp_index].SC7U22_data[5] * 0.061f;
printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
#endif
}
SL_data_index += MPU_FIFO_LEN/4;
if(interval >= 4){
interval = 0;
SL_data_index = 0;
bmp280_read_data(&temperature, &pressure);//每40ms读取一次
for(int i = 0;i<MPU_FIFO_LEN;i++){
send_data.sensor_package[i].temperature = (int16_t)(temperature * 1000.0f);
send_data.sensor_package[i].pressure = (int32_t)(pressure * 1000.0f);
}
// xlog("temperature: %.2f,pressure: %.2f\n",temperature,pressure);
// xlog("fifo_num:%d\n",fifo_num);
send_data.checkout_1 = 0xBE;
send_data.checkout_2 = 0xBB;
send_data.foot = foot_init;
send_data.package_index = package_index;
circle_buffer_write(&g_ble_send_cb, &send_data);
os_sem_post(&receiver_ready_sem); //通知另一个发送任务
memset(&send_data, 0, sizeof(ble_send_data_t));
memset(&accx_buf, 0, sizeof(accx_buf));
memset(&accy_buf, 0, sizeof(accy_buf));
memset(&accz_buf, 0, sizeof(accz_buf));
memset(&gyrx_buf, 0, sizeof(gyrx_buf));
memset(&gyry_buf, 0, sizeof(gyry_buf));
memset(&gyrz_buf, 0, sizeof(gyrz_buf));
fifo_num = SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //40ms一次性读取内置fifo的数据
bmp280_read_data(&temperature, &pressure);//每40ms读取一次
for(int i = 0;i<MPU_FIFO_LEN;i++){
send_data.sensor_package[i].SC7U22_data[0] = accx_buf[i]; //acc_x
send_data.sensor_package[i].SC7U22_data[1] = accy_buf[i]; //acc_y
send_data.sensor_package[i].SC7U22_data[2] = accz_buf[i]; //acc_z
send_data.sensor_package[i].SC7U22_data[3] = gyrx_buf[i]; //gyr_x
send_data.sensor_package[i].SC7U22_data[4] = gyry_buf[i]; //gyr_y
send_data.sensor_package[i].SC7U22_data[5] = gyrz_buf[i]; //gyr_z
send_data.sensor_package[i].temperature = (int16_t)(temperature * 1000.0f);
send_data.sensor_package[i].pressure = (int32_t)(pressure * 1000.0f);
#if 0
float acc_g[3];
float gyr_dps[3];
acc_g[0] = (float)send_data.sensor_package[i].SC7U22_data[0] / 2048.0f;
acc_g[1] = (float)send_data.sensor_package[i].SC7U22_data[1] / 2048.0f;
acc_g[2] = (float)send_data.sensor_package[i].SC7U22_data[2] / 2048.0f;
gyr_dps[0] = (float)send_data.sensor_package[i].SC7U22_data[3] * 0.061f;
gyr_dps[1] = (float)send_data.sensor_package[i].SC7U22_data[4] * 0.061f;
gyr_dps[2] = (float)send_data.sensor_package[i].SC7U22_data[5] * 0.061f;
printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
#endif
}
// xlog("temperature: %.2f,pressure: %.2f\n",temperature,pressure);
// xlog("fifo_num:%d\n",fifo_num);
send_data.checkout_1 = 0xBE;
send_data.checkout_2 = 0xBB;
send_data.index = index;
// circle_buffer_write(&g_ble_send_cb, &send_data);
// os_sem_post(&receiver_ready_sem); //通知另一个发送任务
memset(&send_data, 0, sizeof(ble_send_data_t));
index++;
if(index >= 0xFF) index = 1;
// xlog("=====================%d============================\n",get_ms_timer());
package_index++;
if(package_index >= 0xFF) package_index = 1;
// xlog("=====================%d============================\n",get_ms_timer());
}
os_time_dly(1); //10ms为单位
}
}
static int random = 0;
void data_log(uint8_t* data){
static u8 imu_airplane[MPU_FIFO_LEN][12];
// 检查数据包头部
if (data[0] != 0xBE || data[1] != 0xBB) {
printf("Error: Invalid data packet header.\n");
return;
}
//左右脚
uint8_t package_foot = data[2];
// 解析包索引
uint8_t index = data[2];
printf("--- Parsing Data Packet Index: %d ---\n", index);
uint8_t package_index = data[3];
printf("--- Parsing Data Packet Index: %d ---\n", package_index);
uint8_t* p = &data[3]; // 指向数据负载的起始位置
uint8_t* p = &data[4]; // 指向数据负载的起始位置
// 循环解析16组数据
for (int i = 0; i < MPU_FIFO_LEN; i++) {
// 1. 解析六轴传感器数据 (12 bytes)
int16_t imu_raw[6];
for (int j = 0; j < 6; j++) {
imu_airplane[i][2*j] = p[0];
imu_airplane[i][2*j+1] = p[1];
// 小端模式: 低字节在前, 高字节在后
imu_raw[j] = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
p += 2;
@ -244,16 +260,21 @@ void data_log(uint8_t* data){
float pressure = (float)press_raw / 1000.0f;
// 打印解析后的数据
// if(i % 4 == 0){
printf("Package[%d]:====================\n", i);
// if(i % 8 == 0){
// printf(" ==================ble index: %d\n", *p);
// printf("Package[%d]:\n", i);
// printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
// printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
printf(" MAG(Gs): x=%.3f, y=%.3f, z=%.3f\n", mag_gauss[0], mag_gauss[1], mag_gauss[2]);
printf(" TEMP(C): %.3f, PRESS(Pa): %.3f\n", temperature, pressure);
// printf(" MAG(Gs): x=%.3f, y=%.3f, z=%.3f\n", mag_gauss[0], mag_gauss[1], mag_gauss[2]);
// printf(" TEMP(C): %.3f, PRESS(Pa): %.3f\n", temperature, pressure);
// }
}
printf("--- End of Packet ---\n\n");
// printf("--- End of Packet ---\n\n");
extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
// uartSendData(imu_airplane, sizeof(imu_airplane));
uartSendData(data, 484); // 发送总共17字节
}
/**
@ -262,7 +283,7 @@ void data_log(uint8_t* data){
*/
void BLE_send_fuc(void){
ble_send_data_t send_data;
uint8_t send_buffer[483];
uint8_t send_buffer[484];
while(1){
os_sem_pend(&receiver_ready_sem, 0); //阻塞等待
circle_buffer_read(&g_ble_send_cb, &send_data);
@ -271,7 +292,8 @@ void BLE_send_fuc(void){
uint8_t *p = send_buffer;
*p++ = send_data.checkout_1;
*p++ = send_data.checkout_2;
*p++ = send_data.index;
*p++ = send_data.foot;
*p++ = send_data.package_index;
for (int i = 0; i < MPU_FIFO_LEN; i++) {
sensor_package_t *pkg = &send_data.sensor_package[i];
@ -315,9 +337,11 @@ void BLE_send_fuc(void){
}
extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
uartSendData(send_buffer, 484); // 发送总共17字节
send_data_to_ble_client(send_buffer, 484); // 发送数据
// send_data_to_ble_client(send_buffer, 3 + sizeof(send_data.sensor_package)); // 发送数据
data_log(send_buffer);
// data_log(send_buffer);
}
}
@ -342,8 +366,8 @@ void start_clloct(void){
*
*/
void stop_clloct(void){
os_task_del_req("sensor_collect_task");
os_task_del_req("BLE_send_fuc");
os_task_del("sensor_collect_task");
os_task_del("BLE_send_fuc");
}
/**
@ -372,10 +396,40 @@ void xtell_task_create(void){
os_sem_create(&receiver_ready_sem, 0);
extern void test_uart_init(void);
test_uart_init();
}
/**
* @brief 发给上位机
*
*/
void test_uart_init(void){
#if TCFG_UART0_ENABLE == 0
static u8 buff[40];
struct uart_platform_data_t u_arg = {0};
u_arg.tx_pin = IO_PORT_DP;
u_arg.rx_cbuf = buff;
u_arg.rx_cbuf_size = 32;
u_arg.frame_length = 6;
u_arg.rx_timeout = 100;
u_arg.isr_cbfun = NULL;
u_arg.baud = 1000000;
u_arg.is_9bit = 0;
uart_bus = uart_dev_open(&u_arg);
#endif
}
void uartSendData(void *buf, u16 len) //发送数据的接口。
{
#if TCFG_UART0_ENABLE == 0
if (uart_bus) {
uart_bus->write(buf, len); //把数据写到DMA
}
#endif
}
//////////////////////////////////////////////////////////////////////////////
//test
//
@ -385,50 +439,62 @@ static signed char acc_data_buf[BUFF_LEN] = {0};
// 1. 定义一个全局的信号量
static OS_SEM ble_send_sem;
void on_ble_can_send(void) {
os_sem_post(&ble_send_sem);
}
int j = 0;
void data_send_task(void){
while(1){
// 等待“发送许可”信号量，如果没许可，任务会在此阻塞
// os_sem_pend(&ble_send_sem, 1);
// static signed char acc_data_buf[60] = {
// 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22
// };
acc_data_buf[1] = (uint8_t)(j & 0xFF);
acc_data_buf[2] = (uint8_t)(j>>8 & 0xFF);
acc_data_buf[3] = (uint8_t)(j>>16 & 0xFF);
acc_data_buf[4] = (uint8_t)(j>>24 & 0xFF);
signed short accx_buf[100];
signed short accy_buf[100];
signed short accz_buf[100];
signed short gyrx_buf[100];
signed short gyry_buf[100];
signed short gyrz_buf[100];
SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //一次性读取内置fifo的数据
acc_data_buf[0] = 0xAA;
send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xBB;
// send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xCC;
// send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xDD;
// send_data_to_ble_client(&acc_data_buf, 500);
#if 1
// 定义新的Packet ID和数据长度
#define PACKET_ID_RAW_IMU 0x04
#define PACKET_LENGTH_RAW_IMU 12 // 6个传感器值，每个2字节
// static signed char acc_data_buf[20] = {
// 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
// };
// send_data_to_ble_client(&acc_data_buf, 20);
// send_data_to_ble_client(&acc_data_buf, 20);
// send_data_to_ble_client(&acc_data_buf, 20);
// xlog("===========time:%d\n",get_ms_timer());
// 声明一个发送缓冲区，用于包含帧头、ID、长度、数据和校验和
// 帧头 (2) + ID (1) + 长度 (1) + 数据 (12) + 校验和 (1) = 17 字节
uint8_t tx_buffer[2 + 1 + 1 + PACKET_LENGTH_RAW_IMU + 1];
uint8_t checksum = 0;
int i; // 用于循环计算校验和
j++;
os_time_dly(4); //10ms单位
// 填充帧头
tx_buffer[0] = 0xAA;
tx_buffer[1] = 0xFF;
// 填充Packet ID和长度
tx_buffer[2] = PACKET_ID_RAW_IMU;
tx_buffer[3] = PACKET_LENGTH_RAW_IMU;
// 填充原始传感器数据 (与你原先的processing_data内容相同)
tx_buffer[4] = (uint8_t)(accx_buf[0] & 0xFF); // accX LSB
tx_buffer[5] = (uint8_t)(accx_buf[0] >> 8 & 0xFF); // accX MSB
tx_buffer[6] = (uint8_t)(accy_buf[0] & 0xFF); // accY LSB
tx_buffer[7] = (uint8_t)(accy_buf[0] >> 8 & 0xFF); // accY MSB
tx_buffer[8] = (uint8_t)(accz_buf[0] & 0xFF); // accZ LSB
tx_buffer[9] = (uint8_t)(accz_buf[0] >> 8 & 0xFF); // accZ MSB
tx_buffer[10] = (uint8_t)(gyrx_buf[0] & 0xFF); // gyrX LSB
tx_buffer[11] = (uint8_t)(gyrx_buf[0] >> 8 & 0xFF); // gyrX MSB
tx_buffer[12] = (uint8_t)(gyry_buf[0] & 0xFF); // gyrY LSB
tx_buffer[13] = (uint8_t)(gyry_buf[0] >> 8 & 0xFF); // gyrY MSB
tx_buffer[14] = (uint8_t)(gyrz_buf[0] & 0xFF); // gyrZ LSB
tx_buffer[15] = (uint8_t)(gyrz_buf[0] >> 8 & 0xFF); // gyrZ MSB
// 计算校验和 (从 Packet ID 到所有数据字节的和)
checksum = tx_buffer[2] + tx_buffer[3]; // ID + Length
for (i = 0; i < PACKET_LENGTH_RAW_IMU; i++) {
checksum += tx_buffer[4 + i]; // 加上所有数据字节
}
tx_buffer[4 + PACKET_LENGTH_RAW_IMU] = checksum; // 校验和是最后一个字节
// 发送整个缓冲区
extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
uartSendData(tx_buffer, sizeof(tx_buffer)); // 发送总共17字节
#endif
}
static u16 gtest_id = 0;
void test_func(void){
@ -448,6 +514,8 @@ void test_func(void){
bmp280_init();
os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
// create_process(&test_id, "sensor_test",NULL,data_send_task ,3);
// data_send_task();
}
}

8
apps/earphone/xtell_Sensor/sensor/SC7U22.c
View File

@ -136,7 +136,7 @@ unsigned char SL_SC7U22_Config(void)
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//ACC_CON 高性能模式，100Hz，平均数4 -- lmx
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x8A);//ACC_CON 高性能模式，400Hz -- lmx
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x8B);//ACC_CON 高性能模式，400Hz -- lmx
#if ACC_RANGE==2
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x41, 0x00);//ACC_RANGE 00：±2G
@ -157,7 +157,7 @@ unsigned char SL_SC7U22_Config(void)
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xAB);//GYR_CONF 800Hz -- lmx
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xE8);//GYR_CONF 100Hz, 噪声优化开启,4个平均一次 -- lmx
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xCA);//GYR_CONF 噪声优化开启,高性能模式，400Hz -- lmx
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xCB);//GYR_CONF 噪声优化开启,高性能模式，400Hz -- lmx
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
@ -391,7 +391,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
accx_buf[Acc_FIFO_Num] = ((s16)(SL_SC7U22_FIFO_DATA[i + 0] * 256 + SL_SC7U22_FIFO_DATA[i + 1])) ;
accy_buf[Acc_FIFO_Num] = ((s16)(SL_SC7U22_FIFO_DATA[i + 2] * 256 + SL_SC7U22_FIFO_DATA[i + 3])) ;
accz_buf[Acc_FIFO_Num] = ((s16)(SL_SC7U22_FIFO_DATA[i + 4] * 256 + SL_SC7U22_FIFO_DATA[i + 5])) ;
xlog("AccNum : %d ,Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n",Acc_FIFO_Num, accx_buf[Acc_FIFO_Num], accy_buf[Acc_FIFO_Num], accz_buf[Acc_FIFO_Num]);
// xlog("AccNum : %d ,Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n",Acc_FIFO_Num, accx_buf[Acc_FIFO_Num], accy_buf[Acc_FIFO_Num], accz_buf[Acc_FIFO_Num]);
i = i + 6;
Acc_FIFO_Num++;
}
@ -416,7 +416,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
fifo_len = Acc_FIFO_Num;
else
fifo_len = Gyr_FIFO_Num;
xlog("Acc_FIFO_Num:%d,Gyr_FIFO_Num:%d\n",Acc_FIFO_Num,Gyr_FIFO_Num);
// xlog("Acc_FIFO_Num:%d,Gyr_FIFO_Num:%d\n",Acc_FIFO_Num,Gyr_FIFO_Num);
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x00);
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x20);

4
apps/earphone/xtell_Sensor/xtell_handler.c
View File

@ -83,7 +83,7 @@ extern u8 init_ok;
extern u8 sniff_out;
unsigned char xtell_bl_state=0; //存放经典蓝牙的连接状态，0断开，1是连接
u8 bt_newname =0;
unsigned char xt_ble_new_name[9] = "CM-4-F9";
unsigned char xt_ble_new_name[9] = "xtell";
static u16 play_poweron_ok_timer_id = 0;
// -- 初始化标志位 --
@ -255,7 +255,7 @@ void le_user_app_event(u8* buffer){
}
break;
case 0x01: //设置传感器采集对象：左脚or右脚
u8 send2_1[9] = {0xBB,0xBE,0x06,0x05,0x00,0x00,0x00,0x00,0x00};
u8 send2_1[5] = {0xBB,0xBE,0x06,0x05,0x00};
if(buffer[4] == 0x01){ //设定数据来源是左脚
foot_init = 0x41;
}else if(buffer[4] == 0x02){//设定数据来源是右脚