Diff: DATA_BOARD/data_board.cpp

Revision:

0:dd5d4837292c

Child:

2:9418258519ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DATA_BOARD/data_board.cpp	Wed Jun 09 01:41:45 2021 +0000
@@ -0,0 +1,109 @@
+#include "data_board.h"
+
+
+
+
+Serial foot(PA_9, PA_10);              // tx, rx U1
+
+unsigned int flag_foot_A = 0, flag_foot_B = 0;
+unsigned int Sfootnum = 0;
+
+uint16_t Sfootget[10] = {0};                                                    
+uint16_t Sfootuse[10] = {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;
+
+
+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);
+}
+
+void gait_clear()
+{
+    for(int i = 0; i < 10; i++){
+        Sfootuse[i] = 0;
+    }
+}
+
+
+void serial_board_isr(void)
+{
+//    pc.printf("begin\n");
+    while(foot.readable())
+    {       
+        uint16_t c = foot.getc();
+        if(c == 'A')
+        {
+            flag_foot_A = 1;
+            
+            flag_foot_B = 0;
+            Sfootnum = 0;
+            for(unsigned int i = 0; i < 10; i++)
+            {
+                Sfootget[i] = 0;      
+            }
+            
+            break;  
+        }
+        if(c == 'B')
+        {
+            flag_foot_B = 1;
+        }
+        
+        if(flag_foot_A == 1)
+        {
+            if((flag_foot_B != 1) && (Sfootnum < 10))
+            {
+                Sfootget[Sfootnum] = c;    
+            }
+            
+            Sfootnum++;
+            
+            if((flag_foot_B == 1) && (Sfootnum != 11))
+            {    
+                flag_foot_A = 0;
+                flag_foot_B = 0;
+                Sfootnum    = 0;     
+            }
+            
+            if((flag_foot_B == 1) && (Sfootnum == 11))
+            {
+                flag_foot_A = 0;
+                flag_foot_B = 0;
+                Sfootnum    = 0;
+                
+                for(unsigned int i = 0; i < 10; i++)
+                {
+                    Sfootuse[i] = Sfootget[i] - '0';
+                }
+                
+                gait_decode();
+                gait_clear(); 
+            } 
+        }
+    }
+}
\ No newline at end of file