data_board.cpp

00001 #include "data_board.h"
00002 
00003 
00004 
00005 
00006 Serial foot(PA_9, PA_10);              // tx, rx U1
00007 
00008 unsigned int flag_foot_A = 0, flag_foot_B = 0;
00009 unsigned int Sfootnum = 0;
00010 
00011 uint16_t Sfootget[10] = {0};                                                    
00012 uint16_t Sfootuse[10] = {0};
00013 
00014 ////////////////////////////////////////////////////////////////////////////////
00015 //   Gait_now           当前相位          Gait_per_now  当前步态时刻      Gait_change 步态改变标志位    
00016 //   Gait_num_valid     步数统计          time_portion_now    当前相位时间段
00017 ////////////////////////////////////////////////////////////////////////////////
00018 
00019 unsigned int Gait_num_valid = 0, Gait_now = 0, Gait_per_now = 0, Gait_cycle_now = 0, time_portion_now=0;
00020 uint16_t Gait_per_now_int = 0, COP_Y_int = 0, COP_X_int = 0, Gait_cycle_now_int = 0, time_portion_now_int=0;
00021 
00022 
00023 unsigned int Gait_num_valid_0before = 0, Gait_now_0before = 0;
00024 float Gait_per_now_0before = 0.0f, COP_Y_0before = 0.0f, COP_X_0before = 0.0f, Gait_cycle_now_0before = 0.0f;
00025 
00026 unsigned int Gait_num_valid_real = 0, Gait_now_real = 0, Gait_per_now_real = 0, Gait_cycle_now_real = 0.0f, time_portion_now_real=0.0f;
00027 
00028 
00029 void gait_decode()
00030 {
00031     Gait_now = Sfootuse[0];
00032     Gait_per_now = Sfootuse[1]*100 + Sfootuse[2]*10 + Sfootuse[3];
00033     time_portion_now = Sfootuse[4]*100000 + Sfootuse[5]*10000 + Sfootuse[6]*1000 + Sfootuse[7]*100 + Sfootuse[8]*10 + Sfootuse[9];
00034               
00035         
00036     Gait_num_valid_real = Gait_num_valid;
00037     Gait_now_real = Gait_now;
00038     Gait_per_now_real = Gait_per_now;
00039     Gait_cycle_now_real = Gait_cycle_now;
00040     time_portion_now_real=time_portion_now;
00041     
00042     command.printf("%01d---%03d---%06d\n",Gait_now_real,Gait_per_now_real,time_portion_now_real);
00043 }
00044 
00045 void gait_clear()
00046 {
00047     for(int i = 0; i < 10; i++){
00048         Sfootuse[i] = 0;
00049     }
00050 }
00051 
00052 
00053 void serial_board_isr(void)
00054 {
00055 //    pc.printf("begin\n");
00056     while(foot.readable())
00057     {       
00058         uint16_t c = foot.getc();
00059         if(c == 'A')
00060         {
00061             flag_foot_A = 1;
00062             
00063             flag_foot_B = 0;
00064             Sfootnum = 0;
00065             for(unsigned int i = 0; i < 10; i++)
00066             {
00067                 Sfootget[i] = 0;      
00068             }
00069             
00070             break;  
00071         }
00072         if(c == 'B')
00073         {
00074             flag_foot_B = 1;
00075         }
00076         
00077         if(flag_foot_A == 1)
00078         {
00079             if((flag_foot_B != 1) && (Sfootnum < 10))
00080             {
00081                 Sfootget[Sfootnum] = c;    
00082             }
00083             
00084             Sfootnum++;
00085             
00086             if((flag_foot_B == 1) && (Sfootnum != 11))
00087             {    
00088                 flag_foot_A = 0;
00089                 flag_foot_B = 0;
00090                 Sfootnum    = 0;     
00091             }
00092             
00093             if((flag_foot_B == 1) && (Sfootnum == 11))
00094             {
00095                 flag_foot_A = 0;
00096                 flag_foot_B = 0;
00097                 Sfootnum    = 0;
00098                 
00099                 for(unsigned int i = 0; i < 10; i++)
00100                 {
00101                     Sfootuse[i] = Sfootget[i] - '0';
00102                 }
00103                 
00104                 gait_decode();
00105                 gait_clear(); 
00106             } 
00107         }
00108     }
00109 }