Diff: DATA_xiedian/data_xiedian.cpp

Revision:

0:e923de71caa5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DATA_xiedian/data_xiedian.cpp	Fri Jun 24 07:58:26 2022 +0000
@@ -0,0 +1,150 @@
+#include "data_xiedian.h"
+#include "data_pc.h"
+#include "CAN.h"
+
+Serial      xiedian(PC_10, PC_11);
+
+
+
+
+
+unsigned int flag_foot_A = 0, flag_foot_B = 0;
+unsigned int Sfootnum = 0;
+
+uint8_t Sfootget[45] = {0};                                                    
+uint8_t Sfootuse[45] = {0};
+
+uint16_t shou[28]={0};
+float shou1[28]={0};
+Timer vv;
+
+
+
+
+
+void xiedian_decode()
+{    
+      vv.start();
+      vv.read(); 
+    float  b=vv.read(); 
+/*
+    for(int i = 0; i < 6; i++)
+    {
+    shou[i]=(Sfootuse[2*i]<<8)|Sfootuse[2*i+1];
+    }
+    for(int i = 0; i < 11; i++)
+    {
+    shou[2*i+6]=(Sfootuse[3*i+12]<<4)|(Sfootuse[3*i+13]>>4);
+    shou[2*i+7]=((Sfootuse[3*i+13]<<8)&0xFFF)|Sfootuse[3*i+14];
+    }
+    
+    for(int i = 0; i < 28; i++)
+    {
+    //shou1[i]=(float)shou[i]/4096*3.3;
+    shou1[i]=4096-shou[i];
+    }        
+    pc.printf("%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %2.2f %.3f\r\n",shou1[6],shou1[7],shou1[8],shou1[9],shou1[10],shou1[11],shou1[12],shou1[13],shou1[14],shou1[15],shou1[16],shou1[17],shou1[18],shou1[19],shou1[20],shou1[21],shou1[22],shou1[23],shou1[24],shou1[25],shou1[26],b);
+*/
+   for(int i = 0; i < 2; i++)
+    {
+    shou[2*i]=(Sfootuse[3*i]<<4)|(Sfootuse[3*i+1]>>4);
+    shou[2*i+1]=((Sfootuse[3*i+1]<<8)&0xFFF)|Sfootuse[3*i+2];
+    }
+   for(int i = 0; i < 4; i++)
+    {
+    shou1[i]=4096-shou[i];
+    }        
+   // pc.printf("%2.2f %2.2f %2.2f %2.2f %0.3f\r\n",shou1[0],shou1[1],shou1[2],shou1[3],b);
+     pc.printf("xiedian:%2.2f %2.2f %2.2f %2.2f\r\n",shou1[0],shou1[1],shou1[2],shou1[3]);
+}
+
+
+void xiedian_clear()
+{
+    //for(int i = 0; i < 45; i++)
+    for(int i = 0; i < 6; i++)
+    {
+        Sfootuse[i] = 0;
+    }
+}
+
+
+void serial_xiedian_isr(void)
+{
+   // pc.printf("begin\n");
+   
+    while(xiedian.readable())
+    {       
+        uint8_t c = xiedian.getc();
+        if(c ==0x0A)
+        {
+            flag_foot_A = 1;
+            flag_foot_B = 0;
+            Sfootnum = 0;
+            //for(unsigned int i = 0; i < 45; i++)
+            for(unsigned int i = 0; i < 6; i++)
+            {
+                Sfootget[i] = 0;      
+            }
+            
+            break;                               //直接结束；回到起始位置；
+        }
+        if(c ==0x0B)
+        {
+            flag_foot_B = 1;
+        }
+        
+        if(flag_foot_A == 1)
+        {
+            //if((flag_foot_B != 1) && (Sfootnum < 45))
+            if((flag_foot_B != 1) && (Sfootnum < 6))
+            {
+                Sfootget[Sfootnum] = c;    
+            }
+            
+            Sfootnum++;
+            
+            //if((flag_foot_B == 1) && (Sfootnum != 46))
+            if((flag_foot_B == 1) && (Sfootnum != 7))
+            {    
+                flag_foot_A = 0;
+                flag_foot_B = 0;
+                Sfootnum    = 0;     
+            }
+            
+            //if((flag_foot_B == 1) && (Sfootnum == 46))
+            if((flag_foot_B == 1) && (Sfootnum == 7))
+            {
+                flag_foot_A = 0;
+                flag_foot_B = 0;
+                Sfootnum    = 0;
+                
+              //  for(unsigned int i = 0; i < 45; i++)
+                for(unsigned int i = 0; i < 6; i++)
+                {
+         //           Sfootuse[i] = Sfootget[i] - '0';
+                      Sfootuse[i] = Sfootget[i] ;
+                }
+                
+                xiedian_decode();
+                xiedian_clear(); 
+            } 
+        }
+    }
+    
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+