Diff: DATA_BOARD/data_board.h

Revision:

7:d1b09098579b

Parent:

6:902ba9999d6c

--- a/DATA_BOARD/data_board.h	Tue Jan 11 13:34:14 2022 +0000
+++ b/DATA_BOARD/data_board.h	Tue Feb 22 14:26:28 2022 +0000
@@ -8,32 +8,26 @@
 
 extern Serial      foot;
 
-
-//extern unsigned int flag_485_A, flag_485_B;
-//extern unsigned int S485num;
-//extern uint16_t S485get[10];                                                    
-extern uint16_t S485use[10];
-
-////////////////////////////////////////////////////////////////////////////////
-
-extern unsigned int Gait_num_valid, Gait_now, Gait_per_now, Gait_cycle_now;
-extern float COP_Y, COP_X;
-extern uint16_t Gait_per_now_int, COP_Y_int, COP_X_int, Gait_cycle_now_int;
-
-extern unsigned int Gait_num_valid_0before, Gait_now_0before;
-extern float Gait_per_now_0before, COP_Y_0before, COP_X_0before, Gait_cycle_now_0before;
-
-extern unsigned int Gait_num_valid_real, Gait_now_real, Gait_per_now_real, Gait_cycle_now_real, time_portion_now_real;
-extern float COP_Y_real, COP_X_real;
+extern Serial      zitai_foot;
+extern unsigned int zitaifoot_A, zitaifoot_B;
+extern unsigned int zitaifoot_num;
+extern uint16_t zitaifoot_get[9];                                                    
+extern uint16_t zitaifoot_use[9];
+extern   float zitaifoot_shou[3];
+extern float foot_angle_x,foot_angle_y,foot_angle_z;
 
 
-//void gait_decode();
-//void gait_clear();
+
+
 
 ////////////////////////////////////////////////////////////////////////////////
 
 void serial_board_isr();
 
+void serial_zitai_foot_isr();
+void zitaifoot_decode();
+void zitaifoot_clear();
+
 ////////////////////////////////////////////////////////////////////////////////