Diff: DATA_BOARD/data_board.cpp

Revision:

2:9418258519ea

Parent:

0:dd5d4837292c

--- a/DATA_BOARD/data_board.cpp	Thu Aug 05 02:11:41 2021 +0000
+++ b/DATA_BOARD/data_board.cpp	Fri Aug 06 09:03:02 2021 +0000
@@ -8,43 +8,33 @@
 unsigned int flag_foot_A = 0, flag_foot_B = 0;
 unsigned int Sfootnum = 0;
 
-uint16_t Sfootget[10] = {0};                                                    
-uint16_t Sfootuse[10] = {0};
+uint8_t Sfootget[30] = {0};                                                    
+uint8_t Sfootuse[30] = {0};
 
-////////////////////////////////////////////////////////////////////////////////
-//   Gait_now           当前相位          Gait_per_now  当前步态时刻      Gait_change 步态改变标志位    
-//   Gait_num_valid     步数统计          time_portion_now    当前相位时间段
-////////////////////////////////////////////////////////////////////////////////
-
-unsigned int Gait_num_valid = 0, Gait_now = 0, Gait_per_now = 0, Gait_cycle_now = 0, time_portion_now=0;
-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;
+uint16_t shou[15]={0};
+float shou1[15]={0};
 
 
-unsigned int Gait_num_valid_0before = 0, Gait_now_0before = 0;
-float Gait_per_now_0before = 0.0f, COP_Y_0before = 0.0f, COP_X_0before = 0.0f, Gait_cycle_now_0before = 0.0f;
 
-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;
+
 
 
 void gait_decode()
-{
-    Gait_now = Sfootuse[0];
-    Gait_per_now = Sfootuse[1]*100 + Sfootuse[2]*10 + Sfootuse[3];
-    time_portion_now = Sfootuse[4]*100000 + Sfootuse[5]*10000 + Sfootuse[6]*1000 + Sfootuse[7]*100 + Sfootuse[8]*10 + Sfootuse[9];
-              
-        
-    Gait_num_valid_real = Gait_num_valid;
-    Gait_now_real = Gait_now;
-    Gait_per_now_real = Gait_per_now;
-    Gait_cycle_now_real = Gait_cycle_now;
-    time_portion_now_real=time_portion_now;
-    
-    command.printf("%01d---%03d---%06d\n",Gait_now_real,Gait_per_now_real,time_portion_now_real);
+{    
+    for(int i = 0; i < 15; i++)
+    {
+    shou[i]=(Sfootuse[2*i]<<8)|Sfootuse[2*i+1];
+    }
+    for(int i = 0; i < 15; i++)
+    {
+    shou1[i]=(float)shou[i]/4096*3.3;
+    }        
+    pc.printf("%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",shou1[6],shou1[7],shou1[8],shou1[9],shou1[10],shou1[11],shou1[12],shou1[13],shou1[14]);
 }
 
 void gait_clear()
 {
-    for(int i = 0; i < 10; i++){
+    for(int i = 0; i < 30; i++){
         Sfootuse[i] = 0;
     }
 }
@@ -55,50 +45,51 @@
 //    pc.printf("begin\n");
     while(foot.readable())
     {       
-        uint16_t c = foot.getc();
-        if(c == 'A')
+        uint8_t c = foot.getc();
+        if(c ==0x0A)
         {
             flag_foot_A = 1;
             
             flag_foot_B = 0;
             Sfootnum = 0;
-            for(unsigned int i = 0; i < 10; i++)
+            for(unsigned int i = 0; i < 30; i++)
             {
                 Sfootget[i] = 0;      
             }
             
             break;  
         }
-        if(c == 'B')
+        if(c ==0x0B)
         {
             flag_foot_B = 1;
         }
         
         if(flag_foot_A == 1)
         {
-            if((flag_foot_B != 1) && (Sfootnum < 10))
+            if((flag_foot_B != 1) && (Sfootnum < 30))
             {
                 Sfootget[Sfootnum] = c;    
             }
             
             Sfootnum++;
             
-            if((flag_foot_B == 1) && (Sfootnum != 11))
+            if((flag_foot_B == 1) && (Sfootnum != 31))
             {    
                 flag_foot_A = 0;
                 flag_foot_B = 0;
                 Sfootnum    = 0;     
             }
             
-            if((flag_foot_B == 1) && (Sfootnum == 11))
+            if((flag_foot_B == 1) && (Sfootnum == 31))
             {
                 flag_foot_A = 0;
                 flag_foot_B = 0;
                 Sfootnum    = 0;
                 
-                for(unsigned int i = 0; i < 10; i++)
+                for(unsigned int i = 0; i < 30; i++)
                 {
-                    Sfootuse[i] = Sfootget[i] - '0';
+         //           Sfootuse[i] = Sfootget[i] - '0';
+                      Sfootuse[i] = Sfootget[i] ;
                 }
                 
                 gait_decode();