File content as of revision 2:9418258519ea:

#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;

uint8_t Sfootget[30] = {0};                                                    
uint8_t Sfootuse[30] = {0};

uint16_t shou[15]={0};
float shou1[15]={0};






void gait_decode()
{    
    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 < 30; i++){
        Sfootuse[i] = 0;
    }
}


void serial_board_isr(void)
{
//    pc.printf("begin\n");
    while(foot.readable())
    {       
        uint8_t c = foot.getc();
        if(c ==0x0A)
        {
            flag_foot_A = 1;
            
            flag_foot_B = 0;
            Sfootnum = 0;
            for(unsigned int i = 0; i < 30; i++)
            {
                Sfootget[i] = 0;      
            }
            
            break;  
        }
        if(c ==0x0B)
        {
            flag_foot_B = 1;
        }
        
        if(flag_foot_A == 1)
        {
            if((flag_foot_B != 1) && (Sfootnum < 30))
            {
                Sfootget[Sfootnum] = c;    
            }
            
            Sfootnum++;
            
            if((flag_foot_B == 1) && (Sfootnum != 31))
            {    
                flag_foot_A = 0;
                flag_foot_B = 0;
                Sfootnum    = 0;     
            }
            
            if((flag_foot_B == 1) && (Sfootnum == 31))
            {
                flag_foot_A = 0;
                flag_foot_B = 0;
                Sfootnum    = 0;
                
                for(unsigned int i = 0; i < 30; i++)
                {
         //           Sfootuse[i] = Sfootget[i] - '0';
                      Sfootuse[i] = Sfootget[i] ;
                }
                
                gait_decode();
                gait_clear(); 
            } 
        }
    }
}