File content as of revision 1:a71791b81b8a:

#include "data_command.h"
#include "data_pc.h"
#include "CAN.h"

Serial      command(PA_9, PA_10);


int enabled = 0;                                                                // 进入电机模式标志位
int counter = 0;                                                                // 输出计数器
int command_control_flag = 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_c_A = 0, flag_c_B = 0;
unsigned int Snum_c = 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_c_A = 1;
            flag_c_B = 0;
            Snum_c   = 0;
            for(unsigned int i = 0; i < 10; i++)
            {
                Sget[i] = 0;      
            }
            
            break;  
        }
        if(c == 'B')
        {
            flag_c_B = 1;
        }
    
        if(flag_c_A == 1)
        {
            if((flag_c_B != 1) && (Snum_c < 10))
            {
                Sget[Snum_c] = c;    
            }
            
            Snum_c++;
            
            if((flag_c_B == 1) && (Snum_c != 11))
            {                        
                flag_c_A = 0;
                flag_c_B = 0;
                Snum_c   = 0;     
            }
            
            if((flag_c_B == 1) && (Snum_c == 11))
            {
                flag_c_A = 0;
                flag_c_B = 0;
                Snum_c   = 0; 
                
                for(unsigned int i = 0; i < 10; i++)
                {
                    Suse[i] = Sget[i];
                }  
                
                command_control_flag = 1;                                       // 命令帧接收成功
                
                pc.printf("%c%c%c%c%c%c%c%c%c%c\n\r", Suse[0], Suse[1], Suse[2], Suse[3], Suse[4], Suse[5], Suse[6], Suse[7], Suse[8], Suse[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;
    
    
    // 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);
            ExitMotorMode(&knee_txMsg);           
            ExitMotorMode(&ankle_txMsg);
            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);
            EnterMotorMode(&knee_txMsg);           
            EnterMotorMode(&ankle_txMsg);

            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);
            EnterMotorMode(&knee_txMsg);           
            EnterMotorMode(&ankle_txMsg);
            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);
            Zero(&knee_txMsg);
            Zero(&ankle_txMsg);
            return_zero = 0; 
            c_lock = 2;
//            send_enable = 0;
            break;
        case('r'):
            command.printf("\n\rPF return zero\r");
//            EnterMotorMode(&PF_can);
            EnterMotorMode(&knee_txMsg);           
            EnterMotorMode(&ankle_txMsg);
            return_zero = 1;
            c_lock = 2;
//            send_enable = 1;
//            flag_gd = 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
    command_control_flag = 0;
    for(unsigned int i = 0; i < 10; i++)
    {
        Suse[i] = 0;      
    }
}