File content as of revision 6:aad89fd109c2:

#include "data_command.h"


Serial      command(PC_12, PD_2);
//DigitalOut  sf_m_c(PC_12);

int enabled = 0;                                                                // 进入电机模式标志位
int counter = 0;                                                                // 输出计数器
int c_control = 0;                                                              // 命令帧标志位
float SP_pf = 0, SP_df = 0;
int c_lock = 2;                                                                 // 位置锁定标志位 
int return_zero = 0;                                                            // 电机回0标志位

unsigned int flag_A = 0, flag_B = 0;
unsigned int Snum = 0;
uint16_t Sget[10] = {0};                                                    
uint16_t Suse[10] = {0};


void serial_command_isr()
{
    while(command.readable())
    {
        uint8_t c = command.getc();
        if(c == 'A')
        {
            flag_A = 1;
            
            flag_B = 0;
            Snum   = 0;
            for(unsigned int i = 0; i < 10; i++)
            {
                Sget[i] = 0;      
            }
            
            break;  
        }
        if(c == 'B')
        {
            flag_B = 1;
        }
    
        if(flag_A == 1)
        {
            if((flag_B != 1) && (Snum < 10))
            {
                Sget[Snum] = c;    
            }
            
            Snum++;
            
            if((flag_B == 1) && (Snum != 11))
            {                        
                flag_A = 0;
                flag_B = 0;
                Snum   = 0;     
            }
            
            if((flag_B == 1) && (Snum == 11))
            {
                flag_A = 0;
                flag_B = 0;
                Snum   = 0;
                
                for(unsigned int i = 0; i < 10; i++)
                {
                    Suse[i] = Sget[i];
                }  
                
                c_control = 1;                                                  // 命令帧接收成功
                
                //pc.printf("%c%c%c%c%c%c%c%c%c%c\n\r", S340use[0], S340use[1], S340use[2], S340use[3], S340use[4], S340use[5], S340use[6], S340use[7], S340use[8], S340use[9]);
            }
        }
    }    
}


void command_control()
{
    SP_pf = 10*(Suse[2] - '0') + 1*(Suse[3] - '0') + 0.1*(Suse[4] - '0');
    SP_df = 10*(Suse[7] - '0') + 1*(Suse[8] - '0') + 0.1*(Suse[9] - '0');
    if(Suse[1] == '+')
        SP_pf = 0 + SP_pf;
    if(Suse[1] == '-')
        SP_pf = 0 - SP_pf;
    if(Suse[6] == '+')
        SP_df = 0 + SP_df;
    if(Suse[6] == '-')
        SP_df = 0 - SP_df;
    
    
    //sf_m_c = 1;                                                                 // 切换为发送模式
    wait_us(200);
    
    switch(Suse[0])
    {
        case('e'):
            command.printf("\n\rPF exiting motor mode\r");
            ExitMotorMode(&PF_can);
            return_zero = 0;                                                    // 停止回0
            c_lock = 2;                                                         // 电机位置锁无效
            send_enable = 0;                                                    // main不发送CAN位置命令
            break;
        case('m'):
            command.printf("\n\rPF entering PC motor mode\r");
            EnterMotorMode(&PF_can);
            return_zero = 0;
            c_lock = 1;                                                         // 电机位置锁定 
            send_enable = 1;                                                    // main发送CAN位置命令
            break;
        case('M'):
            command.printf("\n\rPF entering BOARD motor mode\r");
            EnterMotorMode(&PF_can);
            return_zero = 0;
            c_lock = 0;                                                         // 电机位置解锁
            send_enable = 0;                                                    // M模式下，命令是否发送，命令是什么由calculate决定 
            break;
        case('z'):
            command.printf("\n\rPF zeroing\r");
            Zero(&PF_can);
            return_zero = 0; 
            c_lock = 2;
            send_enable = 0;
            break;
        case('r'):
            command.printf("\n\rPF return zero\r");
            EnterMotorMode(&PF_can);
            return_zero = 1;
            c_lock = 2;
            send_enable = 1;
            break;      
    }
    /*
    switch(Suse[5])
    {
        case('e'):
            command.printf("DF exiting motor mode\n\r");
            ExitMotorMode(&DF_can);
            c_lock = 1;                                                         // 电机位置解锁
            send_enable = 0;                                                    // main不发送CAN位置命令
            break;
        case('m'):
            command.printf("DF entering PC motor mode\n\r");
            EnterMotorMode(&DF_can);
            c_lock = 1;                                                         // 电机位置锁定
            send_enable = 1;                                                    // main发送CAN位置命令
            break;
        case('M'):
            command.printf("DF entering BOARD motor mode\n\r");
            EnterMotorMode(&DF_can);
            c_lock = 0;                                                         // 电机位置解锁
            send_enable = 0;                                                    // M模式下，命令是否发送，命令是什么由calculate决定
            break;
        case('z'):
            command.printf("DF zeroing\n\r");
            Zero(&DF_can);
            break;   
    }
    */
    
    wait_ms(2);
    //sf_m_c = 0;                                                                 // 恢复接收模式
    wait_us(200);
    
    
    // 电机模式命令在此发送，锁定控制模式的位置量在main中发送
    WriteAll();
    wait(1.0f);                        
    
    // 解除串口控制，缓冲区清0
    c_control = 0;
    for(unsigned int i = 0; i < 10; i++)
    {
        Suse[i] = 0;      
    }
}