feat: 增加 vofa justfloat 发送

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;

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);
+}

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

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;
     }