拖延癌晚期，烂尾5年的项目完成了，记一个空速表的制作

空速管也称皮托管、总静压管等，它是测量飞机飞行时周边气流的总压和静压等数据，并将测得的静压和全压等大气压力数据传送至大气数据计算机和驾驶舱内飞行仪表的装置。空速管工的作原理的测速原理，我们可以看到空速管的前端有一个小孔，实际上它由两个同心圆管组成，内圆管为总压管，外套管为静压管。当飞机向前飞行时，气流便进入空速管前端的小孔，而安装在管子末端的传感器就能感受到气流冲击的力量——这实际上就是一个压力传感器，感受到的压力被称作动压。飞机飞得越快，气流冲击力越大，动压就越大。而此时将空气静止时的静压与动压相比，就可以得出压差。

事情的起因是这样的，作为一个航模党和无人机爱好者，对于飞机的飞行速度总是充满了不断的追求。然而却缺少适合的测量设备。当然，你说可以用GPS测速。当然，这可以，但是飞机在空中运动，有多个方向，且受风力影响很大。用GPS测速显得就不那么可靠。
空速是个非常重要的参数，尤其是对于固定翼飞机，远航的无人机，失去速度指示很容易失速坠毁。当然很多飞控可以配空速传感器，但是这个价格很贵，而且它并不会记录飞行的速度，事后去翻黑匣子数据也很烦。毕竟飞场上的事情，事后去说。总是缺少了很多乐趣。于是萌生了制作一个空速传感器的想法。
需求很简单，实时显示当前速度，下来后可以看到该次飞行的最大速度，飞行距离，历史最大速度和总飞行距离。按键切换数码管显示。

这玩意就是实物，板子还是当年的，尺寸比较大，上天的东西，轻1g都是好的

主要原件如下：
MCU：ATMEGA8 avr单片机
sensor：飞思卡尔的MPXV7002DP压差传感器
显示：6位数码管扫描显示
2个按键 set+mode

MPXV7002DP传感器原理如下：
MPXV7002DP是一个可测量±2000pa压力差的传感器，0压差输出2.5V 2000pa压差输出5V
压力与速度的关系如下：p=1/2*1.3*v^2 1.3是空气密度，反推出来：
v=（2p/1.3）^0.5

头文件：
#ifndef __MY_TYPE_H__
#define __MY_TYPE_H__
typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned char u8;
typedef unsigned int u16;
#ifndef F_CPU
#define F_CPU 1000000UL
#endif
#define Set_Bit(val, bitn)(val |=(1<<(bitn)))
#define Clr_Bit(val, bitn)(val&=~(1<<(bitn)))
#define Get_Bit(val, bitn)(val &(1<<(bitn)))
#define IO_PORT PORTC
#defineIO_DIR DDRC
#define IO_IN PINC
#defineKEY PC0
#define key_n 0
#define key_s 1
#define key_d 2
#define key_l 3
#define key_second 100
#define long_seconds 200
#endif

串口收发C文件
//接口大写 变量小写 类型、函数首字母大写
/* Includes ------------------------------------------------------------------*/
#include <avr/io.h>
#include <avr/common.h>
#include <avr/interrupt.h>
#include "COMM.h"
#include "mytype.h"
/* Private function variable -------------------------------------------------*/
uchar Uart_Status=0;
uchar recive[14]={};
uchar receive_count=0;
/*****************************************************************
** 名称：void Init_Usart(void)
** 功能：atmega8 串口初始化
** 入口参数：无
** 出口参数：无
** 使用说明：查询发送，中断接收，8位数据位，1位停止位，9600波特率
*****************************************************************/
void Usart_Init(void)
{
//设置波特率
UBRRH = (F_CPU / BAUD / 16 - 1) / 256;
UBRRL = (F_CPU / BAUD / 16 - 1) % 256;
//接收中断使能，接收使能，发送使能
UCSRB |= (1 << RXCIE) | (1 << RXEN) | (1 << TXEN);
}
/*****************************************************************
** 名称：void Send_Char(char data)
** 功能：atmega8 串口发送字符
** 入口参数：data 发送字符
** 出口参数：无
** 使用说明：查询发送
*****************************************************************/
void Send_Char(char data)
{
//查询方式发送
while(!(UCSRA & (1 << UDRE)));
UDR = data;
}
void Send_String(char *p)
{
//查询方式发送
while(*p!='\0')
{
Send_Char(*p);
p++;
}
}
//串口接收中断
ISR(USART_RXC_vect)
{
uchar rev_data;
rev_data = UDR;
Send_Char(rev_data);
}

主程序C文件
/*
* AIR_SPEED.c
*MPXV7002DP +0.36数码管+atmega8
*MPXV7002DP 0点输出2.5V 最大5V 最小0V 模拟量 10位AD转换，量程0.3PSI 2000pa
*p=1/2*1.3*v^2 -> v=（2p/1.3）^0.5
*
*引脚定义：
*MPXV7002DPOUT>PC0(AD0)
*DISPDP>PB D1-6>PD2-7
*COMRX>PD0 TX>PD1
*KEYMODE>PC5 start>PC4
* Created: 2018-10-8 8:23:48
* Author: YUEBO
*/
/* Includes ------------------------------------------------------------------*/
#include <avr/io.h>
#include "mytype.h"
#include <avr/common.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
//#include <math.h>
#include "COMM.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define OUT PORTB
#define DISP PORTD
enum
{
test=0,//测量 不显示
now,//测量同时显示
S_A,//当前最大速度
S_B,//历史最大速度
S_C,//本次飞行距离
S_D,//历史飞行距离
} SM_state;
/* Private macro -------------------------------------------------------------*/
/* Private tab % array -------------------------------------------------------*/
unsigned char dis_tab[17] ={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e,0xff};
unsigned char dis_select[6] = {0xfb,0xf7,0xef,0xdf,0xbf,0x7f};
unsigned char dis_buf[6];
PROGMEM const unsigned char speed_tab[1024]=
{2,45,3,47,4,25,4,90,5,48,6,0,6,49,6,93,
7,35,7,75,8,13,8,49,8,84,9,17,9,49,9,81,
10,11,10,40,10,69,10,96,11,23,11,50,11,76,12,01,
12,26,12,50,12,74,12,97,13,20,13,43,13,65,13,87,
14,8,14,29,14,50,14,71,14,91,15,11,15,31,15,50,
15,70,15,89,16,8,16,26,16,44,16,63,16,81,16,98,
17,16,17,33,17,51,17,68,17,85,18,01,18,18,18,34,
18,51,18,67,18,83,18,99,19,15,19,30,19,46,19,61,
19,76,19,92,20,07,20,22,20,36,20,51,20,66,20,80,
20,95,21,9,21,23,21,37,21,51,21,65,21,79,21,93,
22,6,22,20,22,33,22,47,22,60,22,73,22,87,23,0,
23,13,23,26,23,39,23,51,23,64,23,77,23,89,24,02,
24,14,24,27,24,39,24,51,24,64,24,76,24,88,25,0,
25,12,25,24,25,36,25,48,25,59,25,71,25,83,25,94,
26,06,26,17,26,29,26,40,26,52,26,63,26,74,26,85,
26,97,27,8,27,19,27,30,27,41,27,52,27,63,27,74,
27,84,27,95,28,06,28,17,28,27,28,38,28,48,28,59,
28,69,28,80,28,90,29,01,29,11,29,21,29,32,29,42,
29,52,29,62,29,72,29,82,29,92,30,02,30,12,30,22,
30,32,30,42,30,52,30,62,30,72,30,81,30,91,31,01,
31,11,31,20,31,30,31,39,31,49,31,58,31,68,31,77,
31,87,31,96,32,06,32,15,32,24,32,34,32,43,32,52,
32,61,32,71,32,80,32,89,32,98,33,07,33,16,33,25,
33,34,33,43,33,52,33,61,33,70,33,79,33,88,33,97,
34,06,34,14,34,23,34,32,34,41,34,49,34,58,34,67,
34,76,34,84,34,93,35,01,35,10,35,18,35,27,35,36,
35,44,35,52,35,61,35,69,35,78,35,86,35,95,36,03,
36,11,36,20,36,28,36,36,36,44,36,53,36,61,36,69,
36,77,36,85,36,93,37,02,37,10,37,18,37,26,37,34,
37,42,37,50,37,58,37,66,37,74,37,82,37,90,37,98,
38,06,38,14,38,21,38,29,38,37,38,45,38,53,38,61,
38,68,38,76,38,84,38,92,38,99,39,07,39,15,39,22,
39,30,39,38,39,45,39,53,39,60,39,68,39,76,39,83,
39,91,39,98,40,06,40,13,40,21,40,28,40,36,40,43,
40,50,40,58,40,65,40,73,40,80,40,87,40,95,41,02,
41,9,41,17,41,24,41,31,41,39,41,46,41,53,41,60,
41,67,41,75,41,82,41,89,41,96,42,03,42,11,42,18,
42,25,42,32,42,39,42,46,42,53,42,60,42,67,42,74,
42,81,42,88,42,95,43,02,43,9,43,16,43,23,43,30,
43,37,43,44,43,51,43,58,43,65,43,72,43,78,43,85,
43,92,43,99,44,06,44,13,44,19,44,26,44,33,44,40,
44,47,44,53,44,60,44,67,44,73,44,80,44,87,44,94,
45,0,45,07,45,14,45,20,45,27,45,34,45,40,45,47,
45,53,45,60,45,67,45,73,45,80,45,86,45,93,45,99,
46,06,46,12,46,19,46,25,46,32,46,38,46,45,46,51,
46,58,46,64,46,71,46,77,46,83,46,90,46,96,47,03,
47,9,47,15,47,22,47,28,47,35,47,41,47,47,47,54,
47,60,47,66,47,72,47,79,47,85,47,91,47,98,48,04,
48,10,48,16,48,23,48,29,48,35,48,41,48,47,48,54,
48,60,48,66,48,72,48,78,48,84,48,91,48,97,49,03,
49,9,49,15,49,21,49,27,49,33,49,40,49,46,49,52,
49,58,49,64,49,70,49,76,49,82,49,88,49,94,50,0,
50,06,50,12,50,18,50,24,50,30,50,36,50,42,50,48,
50,54,50,60,50,66,50,72,50,78,50,83,50,89,50,95,
51,01,51,07,51,13,51,19,51,25,51,31,51,36,51,42,
51,48,51,54,51,60,51,66,51,71,51,77,51,83,51,89,
51,95,52,0,52,06,52,12,52,18,52,23,52,29,52,35,
52,41,52,46,52,52,52,58,52,63,52,69,52,75,52,81,
52,86,52,92,52,98,53,03,53,9,53,15,53,20,53,26,
53,32,53,37,53,43,53,48,53,54,53,60,53,65,53,71,
53,76,53,82,53,88,53,93,53,99,54,04,54,10,54,15,
54,21,54,27,54,32,54,38,54,43,54,49,54,54,54,60,
54,65,54,71,54,76,54,82,54,87,54,93,54,98,55,03,
55,9,55,14,55,20,55,25,55,31,55,36,55,42,55,47
};//速度 2字节数据 第一字节表示整数，第二字节表示小数

/* Private variables ---------------------------------------------------------*/
unsigned char disp_flag=0,Km_flag,test_flag;
unsigned int air_press;//压力值
unsigned int air_speed;
long distance,total_distance;
int max_speed_history,max_speed_now,speed_now;
//key
char key_num;
/* Private function prototypes -----------------------------------------------*/
void MCU_Init(void);
void ADC_Init(void);
void Timer_Init(void);
void Display(void);
void Speed(int press);
void SM_Control(void);
void Key(void);
uchar key(void);
/* Private functions ---------------------------------------------------------*/
/* Public functions ----------------------------------------------------------*/
int main(void)
{
MCU_Init();
while(1)
{
//TODO:: Please write your application code
}
}
ISR (TIMER0_OVF_vect)// 用于系统时钟及脉冲测量 1ms一次中断
{
long temp;
//static unsigned char key_count;
//if(disp_flag) Display();
//else DISP=0xff;
//if(test_flag) Speed(air_press);
//SM_Control();
//key_count++;
//if(key_count >= 10)
//{
//key_count = 0;
//Key();
//}
Display();
Speed(air_press);
}
ISR(ADC_vect)
{
air_press=ADCL;
air_press|=(int)ADCH << 8;
}
void MCU_Init(void)
{
DDRB=0xff;
PORTB=0xff;
DDRC=0x00;
PORTC=0x00;
DDRD=0xfe;
PORTD=0xff;
ADC_Init();
Timer_Init();
sei();
}
void ADC_Init(void)
{
ADCSRA = 0x00; //disable adc
ADMUX = 0x40;
ADCSRA = 0xEB; //ADC使能，ADC开始转换，ADC自动触发使能，ADC中断使能，128预分频
}
void Timer_Init(void)
{
TCNT0=130;//130计时到255 125US *8 =1ms
TCCR0=0x02;
TIMSK=0x01;
}
void Display(void)
{
static unsigned char display_p=0;
if(display_p==6) display_p=0;
DISP |= 0xfC;//位选
OUT = 0xff;//消影
DISP = DISP& dis_select[display_p];//位选
OUT = dis_buf[display_p];//段码输出
display_p++;
}
void Speed(int press)
{
char temp;
if (press>=546)
{
press-=546;
if(press>max_speed_now) max_speed_now = press;
if(press>max_speed_history) max_speed_history = press;
temp=pgm_read_byte(&speed_tab[press*2]);
if(press>=3)
{
distance+=temp;//毫米
total_distance+=temp;
}
speed_now=temp*100;
speed_now+=pgm_read_byte(&speed_tab[press*2+1]);//cm/s
}
}
void SM_Control(void)
{
switch(SM_state)
{
unsigned long temp;
case test:
test_flag=1;
disp_flag=0;
if(key_num == key_d) SM_state=now;
break;
case now:
if(key_num == key_d) SM_state=S_A;
disp_flag=1;
if(Km_flag)//Km/H
{
if(key_num==1) Km_flag=0;
temp = speed_now*36;
dis_buf[0]=dis_tab[(temp/100000)%10];
dis_buf[1]=dis_tab[(temp/10000)%10];
dis_buf[2]=dis_tab[(temp/1000)%10]&0x7f;
dis_buf[3]=dis_tab[(temp/100)%10];
dis_buf[4]=dis_tab[(temp/10)%10];
dis_buf[5]=dis_tab[temp%10];
}
else//m/s
{
if(key_num==1) Km_flag=1;
dis_buf[0]=dis_tab[16];
dis_buf[1]=dis_tab[16];
dis_buf[2]=dis_tab[speed_now/1000];
dis_buf[3]=dis_tab[(speed_now/100)%10]&0x7f;
dis_buf[4]=dis_tab[(speed_now/10)%10];
dis_buf[5]=dis_tab[speed_now%10];
}
break;
case S_A:
test_flag=0;
if(key_num==key_d) SM_state=S_B;
if(key_num == key_l) max_speed_now=0;
temp=pgm_read_byte(&speed_tab[max_speed_now*2])*100;
temp+=pgm_read_byte(&speed_tab[max_speed_now*2+1]);
temp = temp*36;
dis_buf[0]=0x88;
dis_buf[1]=dis_tab[(temp/100000)%10];
dis_buf[2]=dis_tab[(temp/10000)%10];
dis_buf[3]=dis_tab[(temp/1000)%10]&0x7f;
dis_buf[4]=dis_tab[(temp/100)%10];
dis_buf[5]=dis_tab[(temp/10)%10];
break;
case S_B:
if(key_num==key_d) SM_state=S_C;
if(key_num == key_l) max_speed_history=0;
temp=pgm_read_byte(&speed_tab[max_speed_history*2])*100;
temp+=pgm_read_byte(&speed_tab[max_speed_history*2+1]);
temp = temp*36;
dis_buf[0]=dis_tab[11];
dis_buf[1]=dis_tab[(temp/100000)%10];
dis_buf[2]=dis_tab[(temp/10000)%10];
dis_buf[3]=dis_tab[(temp/1000)%10]&0x7f;
dis_buf[4]=dis_tab[(temp/100)%10];
dis_buf[5]=dis_tab[(temp/10)%10];
break;
case S_C:
if(key_num==key_d) SM_state=S_D;
if(key_num == key_l) distance=0;
temp=distance/1000;
dis_buf[0]=dis_tab[12];
dis_buf[1]=dis_tab[(temp/10000)%10];
dis_buf[2]=dis_tab[(temp/1000)%10];
dis_buf[3]=dis_tab[(temp/100)%10];
dis_buf[4]=dis_tab[(temp/10)%10];
dis_buf[5]=dis_tab[temp%10];
break;
case S_D:
if(key_num==key_d) SM_state=test;
if(key_num == key_l) total_distance=0;
temp=total_distance/100000;
dis_buf[0]=dis_tab[13];
dis_buf[1]=dis_tab[(temp/10000)%10];
dis_buf[2]=dis_tab[(temp/1000)%10];
dis_buf[3]=dis_tab[(temp/100)%10];
dis_buf[4]=dis_tab[(temp/10)%10]&0x7f;
dis_buf[5]=dis_tab[temp%10];
break;
default:
SM_state = test;
break;
}
}
void Key(void)
{
static unsigned char key_keep,key_double,key_release;
if(key())
{
key_keep++;
if(key_double)
{
if (key_keep>long_seconds&&key_release>0)
{
key_num=key_n;
key_keep=0;
key_release=0;
key_double=0;
PORTB&= ~(1<<0);
}
else if(key_keep>long_seconds)
{
key_num=key_l;
key_keep=0;
key_release=0;
key_double=0;
PORTB&= ~(1<<1);
}
else if(key_release<key_second&&key_release>0)
{
key_num=key_d;
key_keep=0;
key_release=0;
key_double=0;
PORTB&= ~(1<<2);
}
}
else
{
key_double=1;
key_keep=0;
key_release=0;
}
}
else
{
key_release++;
if (key_double&&key_release>key_second)
{
key_num=key_s;
key_release=0;
key_keep=0;
key_double=0;
}
else key_num=key_n;
}
}
uchar key(void)//按键判断
{
uchar key_return;
static uchar key_state;
switch(key_state)
{
case 0://按键按下判断
if(!(PINC&0x08)) key_state++;
break;
case 1://按键确认判断
if(!(PINC&0x08))
{
key_state++;
key_return=1;
}
else key_state=0;
break;
case 2://按键释放判断
if((PINC&0x08)) key_state=0;
key_return=1;
break;
default:
key_state=0;
break;
}
return key_return;
}

程序逻辑非常简单，
1初始化芯片IO、TIMER和ADC
2定时器产生一个1MS的时间基准，中断内处理数据显示，每10ms处理一次按键。
3按键做按键状态机。
4功能切换由状态机实现，在主程序运行，不同状态处理不同内容的显示并将压力数据转化为可显示内容。
5由于数据量不算大，空速的计算依靠查表法实现，以空间换时间，
6为了保证人眼能看到数据，状态机做延时处理，半秒刷新一次数据
7显示数据做前导消零。
8、该空速传感器理论上可测量0-200KM/H的相对空速

卧槽，突然发现昨天贴的主程序代码是老的，有BUG的，失误失误

主程序，C文件，正确版本如下：
/* * AIR_SPEED.c *MPXV7002DP +0.36数码管+atmega8 *MPXV7002DP 0点输出2.5V 最大5V 最小0V 模拟量 10位AD转换，量程0.3PSI 2000pa *p=1/2*1.3*v^2 -> v=（2p/1.3）^0.5 * *引脚定义： *MPXV7002DP OUT>PC0(AD0) *DISP DP>PB D1-6>PD2-7 *COM RX>PD0 TX>PD1 *KEY MODE>PC5 start>PC4 * Created: 2018-10-8 8:23:48 * Author: YUEBO */
/* Includes ------------------------------------------------------------------*/#include <avr/io.h>#include "mytype.h"#include <avr/common.h>#include <avr/interrupt.h>#include <util/delay.h>#include <avr/pgmspace.h>//#include <math.h>#include "COMM.h"/* Private typedef -----------------------------------------------------------*//* Private define ------------------------------------------------------------*/
enum{ now,//测量同时显示 S_A,//当前最大速度 S_B,//历史最大速度 S_C,//本次飞行距离 S_D,//历史飞行距离} SM_state;/* Private macro -------------------------------------------------------------*//* Private tab % array -------------------------------------------------------*/unsigned char dis_tab[17] = {0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e,0xff};//显示段码表，内容为0-F 全灭unsigned char dis_select[6] = {0xfb,0xf7,0xef,0xdf,0xbf,0x7f};unsigned char dis_buf[6];
PROGMEM const unsigned char speed_tab[1024]={ 0,0,2,45,3,47,4,25,4,91,5,49,6,1,6,49, 6,94,7,36,7,76,8,14,8,50,8,85,9,18,9,50, 9,82,10,12,10,41,10,70,10,97,11,24,11,51,11,77, 12,2,12,27,12,51,12,75,12,98,13,21,13,44,13,66, 13,88,14,10,14,31,14,52,14,72,14,93,15,13,15,32, 15,52,15,71,15,90,16,9,16,28,16,46,16,64,16,82, 17,0,17,18,17,35,17,52,17,69,17,86,18,3,18,20, 18,36,18,53,18,69,18,85,19,1,19,17,19,32,19,48, 19,63,19,78,19,94,20,9,20,23,20,38,20,53,20,68, 20,82,20,97,21,11,21,25,21,39,21,53,21,67,21,81, 21,95,22,8,22,22,22,36,22,49,22,62,22,76,22,89, 23,2,23,15,23,28,23,41,23,54,23,66,23,79,23,92, 24,4,24,17,24,29,24,42,24,54,24,66,24,78,24,90, 25,02,25,14,25,26,25,38,25,50,25,62,25,74,25,85, 25,97,26,8,26,20,26,31,26,43,26,54,26,66,26,77, 26,88,26,99,27,10,27,21,27,32,27,43,27,54,27,65, 27,76,27,87,27,98,28,9,28,19,28,30,28,41,28,51, 28,62,28,72,28,83,28,93,29,3,29,14,29,24,29,34, 29,45,29,55,29,65,29,75,29,85,29,95,30,05,30,15, 30,25,30,35,30,45,30,55,30,65,30,75,30,84,30,94, 31,4,31,14,31,23,31,33,31,42,31,52,31,62,31,71, 31,81,31,90,31,99,32,9,32,18,32,28,32,37,32,46, 32,55,32,65,32,74,32,83,32,92,33,01,33,10,33,20, 33,29,33,38,33,47,33,56,33,65,33,73,33,82,33,91, 34,0,34,9,34,18,34,27,34,35,34,44,34,53,34,62, 34,70,34,79,34,88,34,96,35,5,35,13,35,22,35,30, 35,39,35,47,35,56,35,64,35,73,35,81,35,90,35,98, 36,06,36,15,36,23,36,31,36,40,36,48,36,56,36,64, 36,73,36,81,36,89,36,97,37,05,37,13,37,21,37,30, 37,38,37,46,37,54,37,62,37,70,37,78,37,86,37,94, 38,1,38,9,38,17,38,25,38,33,38,41,38,49,38,57, 38,64,38,72,38,80,38,88,38,95,39,3,39,11,39,18, 39,26,39,34,39,41,39,49,39,57,39,64,39,72,39,79, 39,87,39,95,40,02,40,10,40,17,40,25,40,32,40,40, 40,47,40,54,40,62,40,69,40,77,40,84,40,91,40,99, 41,6,41,13,41,21,41,28,41,35,41,43,41,50,41,57, 41,64,41,72,41,79,41,86,41,93,42,0,42,7,42,15, 42,22,42,29,42,36,42,43,42,50,42,57,42,64,42,71, 42,78,42,85,42,92,42,99,43,06,43,13,43,20,43,27, 43,34,43,41,43,48,43,55,43,62,43,69,43,76,43,83, 43,90,43,96,44,3,44,10,44,17,44,24,44,31,44,37, 44,44,44,51,44,58,44,64,44,71,44,78,44,85,44,91, 44,98,45,5,45,11,45,18,45,25,45,31,45,38,45,45, 45,51,45,58,45,64,45,71,45,78,45,84,45,91,45,97, 46,4,46,10,46,17,46,23,46,30,46,36,46,43,46,49, 46,56,46,62,46,69,46,75,46,82,46,88,46,94,47,1, 47,07,47,14,47,20,47,26,47,33,47,39,47,46,47,52, 47,58,47,65,47,71,47,77,47,83,47,90,47,96,48,2, 48,9,48,15,48,21,48,27,48,34,48,40,48,46,48,52, 48,58,48,65,48,71,48,77,48,83,48,89,48,95,49,02, 49,8,49,14,49,20,49,26,49,32,49,38,49,44,49,50, 49,57,49,63,49,69,49,75,49,81,49,87,49,93,49,99, 50,05,50,11,50,17,50,23,50,29,50,35,50,41,50,47, 50,53,50,59,50,65,50,71,50,77,50,82,50,88,50,94, 51,00,51,06,51,12,51,18,51,24,51,30,51,36,51,41, 51,47,51,53,51,59,51,65,51,71,51,76,51,82,51,88, 51,94,52,00,52,05,52,11,52,17,52,23,52,28,52,34, 52,40,52,46,52,51,52,57,52,63,52,69,52,74,52,80, 52,86,52,91,52,97,53,03,53,8,53,14,53,20,53,25, 53,31,53,37,53,42,53,48,53,54,53,59,53,65,53,71, 53,76,53,82,53,87,53,93,53,98,54,04,54,10,54,15, 54,21,54,26,54,32,54,37,54,43,54,48,54,54,54,59, 54,65,54,70,54,76,54,81,54,87,54,92,54,98,55,3, 55,9,55,14,55,20,55,25,55,31,55,36,55,42,55,47
};//速度 2字节数据 第一字节表示整数，第二字节表示小数，单位米每秒