btl143/QD4C-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: 增加 vofa justfloat 发送

Browse Source
This commit is contained in:
bmy
2024-03-11 19:32:44 +08:00
parent 6c0cfe1248
commit 6a6be1469b
4 changed files with 44 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
app/by_frame.c
View File

@@ -49,7 +49,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
uint16_t crc_cal = 0;
uint32_t read_length = 50;
if (fifo_used(&frame_fifo)) {
if (fifo_used(&frame_fifo) >= 12) {
fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN);
while (1) {
if (cnt_ptr < 50) {
@@ -88,9 +88,17 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
if (!cnt_crc) {
if (crc_cal == crc16_check(data_array_temp, 2 + data_num * sizeof(uint32_t))) {
memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t));
// lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞
memset(data_array_temp, 0, sizeof(data_array_temp));
// printf("parsed done!\r\n");
for (uint8_t i = 0; i < data_num; i++) {
for (uint8_t j = 0; j < 4; j++) {
uart_write_byte(DEBUG_UART_INDEX, data_array[i] >> (j * 8));
}
}
uart_write_byte(DEBUG_UART_INDEX, 0x00);
uart_write_byte(DEBUG_UART_INDEX, 0x00);
uart_write_byte(DEBUG_UART_INDEX, 0x80);
uart_write_byte(DEBUG_UART_INDEX, 0x7F);
}
break;

15
app/by_vofa.c Normal file
View File

@@ -0,0 +1,15 @@
#include "by_vofa.h"
void by_vofa_init(by_vofa_t *vofa, uart_index_enum uart_index, uint8_t param_num, float *param_ptr)
{
vofa->uart_index = uart_index;
vofa->param_num = param_num;
vofa->param_ptr = param_ptr;
}
void by_vofa_send(by_vofa_t *vofa)
{
const uint8_t tail[4] = {0x00, 0x00, 0x80, 0x7F};
uart_write_buffer(vofa->uart_index, (uint8_t *)vofa->param_ptr, vofa->param_num * 4);
uart_write_buffer(vofa->uart_index, tail, 4);
}

18
app/by_vofa.h Normal file
View File

@@ -0,0 +1,18 @@
#ifndef _BY_VOFA_H__
#define _BY_VOFA_H__
#include <stdio.h>
#include <stdint.h>
#include "zf_common_headfile.h"
typedef struct by_vofa_t {
uart_index_enum uart_index;
uint8_t param_num;
float *param_ptr;
} by_vofa_t;
void by_vofa_init(by_vofa_t *vofa, uart_index_enum uart_index, uint8_t param_num, float *param_ptr);
void by_vofa_send(by_vofa_t *vofa);
#endif

2
app/jj_motion.c
View File

@@ -72,7 +72,7 @@ void sport_motion(void)
PID_Compute(&speed_pid);
// in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
in_speed = sport_get_speed();
printf("rate:%d\r\n", (int16_t)in_speed);
// printf("rate:%d\r\n", (int16_t)in_speed);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}