data_board.cpp

00001 #include "mbed.h"
00002 #include "data_board.h"
00003 #include "data_pc.h"
00004 
00005 Serial foot(PC_10, PC_11);              // tx, rx U3
00006 
00007 
00008 unsigned int flag_485_A = 0, flag_485_B = 0;
00009 unsigned int S485num = 0;
00010 
00011 uint16_t S485get[10] = {0};                                                    
00012 uint16_t S485use[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 float COP_Y = 0.0f, COP_X = 0.0f;
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 float COP_Y_real = 0.0f, COP_X_real = 0.0f;
00028 
00029 
00030 void gait_decode()
00031 {
00032     Gait_now = S485use[0];
00033     Gait_per_now = S485use[1]*100 + S485use[2]*10 + S485use[3];
00034     time_portion_now = S485use[4]*100000 + S485use[5]*10000 + S485use[6]*1000 + S485use[7]*100 + S485use[8]*10 + S485use[9];
00035               
00036         
00037     Gait_num_valid_real = Gait_num_valid;
00038     Gait_now_real = Gait_now;
00039     Gait_per_now_real = Gait_per_now;
00040     COP_Y_real = COP_Y;
00041     COP_X_real = COP_X;
00042     Gait_cycle_now_real = Gait_cycle_now;
00043     time_portion_now_real=time_portion_now;
00044     
00045     pc.printf("%01d---%03d---%06d\n",Gait_now_real,Gait_per_now_real,time_portion_now_real);
00046 }
00047 
00048 void gait_clear()
00049 {
00050     for(int i = 0; i < 10; i++){
00051         S485use[i] = 0;
00052     }
00053 }
00054 
00055 
00056 void serial_board_isr(void)
00057 {
00058 //    pc.printf("begin\n");
00059     while(foot.readable())
00060     {       
00061         uint16_t c = foot.getc();
00062         if(c == 'A')
00063         {
00064             flag_485_A = 1;
00065             
00066             flag_485_B = 0;
00067             S485num = 0;
00068             for(unsigned int i = 0; i < 10; i++)
00069             {
00070                 S485get[i] = 0;      
00071             }
00072             
00073             break;  
00074         }
00075         if(c == 'B')
00076         {
00077             flag_485_B = 1;
00078         }
00079         
00080         if(flag_485_A == 1)
00081         {
00082             if((flag_485_B != 1) && (S485num < 10))
00083             {
00084                 S485get[S485num] = c;    
00085             }
00086             
00087             S485num++;
00088             
00089             if((flag_485_B == 1) && (S485num != 11))
00090             {    
00091                 flag_485_A = 0;
00092                 flag_485_B = 0;
00093                 S485num    = 0;     
00094             }
00095             
00096             if((flag_485_B == 1) && (S485num == 11))
00097             {
00098                 flag_485_A = 0;
00099                 flag_485_B = 0;
00100                 S485num    = 0;
00101                 
00102                 for(unsigned int i = 0; i < 10; i++)
00103                 {
00104                     S485use[i] = S485get[i] - '0';
00105                 }
00106                 
00107                 gait_decode();
00108                 pc.printf("OK\n");
00109                 gait_clear(); 
00110             } 
00111         }
00112     }
00113 }