From 6a6be1469b2e56d790acc50c2d30e277b86a67a0 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Mon, 11 Mar 2024 19:32:44 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=20vofa=20justfloat?=
 =?UTF-8?q?=20=E5=8F=91=E9=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 app/by_frame.c  | 12 ++++++++++--
 app/by_vofa.c   | 15 +++++++++++++++
 app/by_vofa.h   | 18 ++++++++++++++++++
 app/jj_motion.c |  2 +-
 4 files changed, 44 insertions(+), 3 deletions(-)
 create mode 100644 app/by_vofa.c
 create mode 100644 app/by_vofa.h

diff --git a/app/by_frame.c b/app/by_frame.c
index 4df88b4..a8df95b 100644
--- a/app/by_frame.c
+++ b/app/by_frame.c
@@ -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;
diff --git a/app/by_vofa.c b/app/by_vofa.c
new file mode 100644
index 0000000..5978be0
--- /dev/null
+++ b/app/by_vofa.c
@@ -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);
+}
\ No newline at end of file
diff --git a/app/by_vofa.h b/app/by_vofa.h
new file mode 100644
index 0000000..da0fc94
--- /dev/null
+++ b/app/by_vofa.h
@@ -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
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 9127b20..e450b0c 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -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;
     }