shoe_mcu/hal/hal_step.c

/********************** Í·Îļþ *************************/
#include "usr.h"
#include "hal_imu.h"
#include "hal_step.h"
#include "system.h"
#include "bsp_time.h"
#include "hal_ble_client.h"
#include "hal_flash.h"
#include "hal_mag.h"
#include "hal_RealStep.h"
#include "hal_attitude.h"
#include "detect_step_by_mag.h"

static uint8_t isLoader =0;
static uint16_t load_cal =0;

uint8_t get_isLoader(void)
{
  return isLoader;
}

#if DEBUG_STEP

extern  uint16_t realStepAdd_R,mag_sqrt;
void hal_step_matlib_Test(void)
{
		static uint8_t buf[24] ={0};
		uint8_t L =0;
		buf[L++] = (uint8_t)(mFlash.mStep.stepCur[0]>>8);
		buf[L++] = (uint8_t)(mFlash.mStep.stepCur[0]>>0);
		buf[L++] = (uint8_t)(mag_sqrt>>8);
		buf[L++] = (uint8_t)(mag_sqrt);
		buf[L++] = (uint8_t)(realStepAdd_R>>8);
		buf[L++] = (uint8_t)(realStepAdd_R>>0);

		BLE_Client_Tx_Send(0,BLE_Client_T_REALTIMESTEP,buf,L);
}
#endif

static void hal_step_process(void){
	if(hal_Realstep_GetState())return;
	if(1 == detect_step_by_mag(hal_Mag_GetXYZ(Mag_Front))){
			 mFlash.mStep.stepCur[0]++;
			 if(0 == isLoader){
				 isLoader =1;
				 SEGGER_RTT_printf(0,"isLoader:%d\r\n",isLoader);
			 }
			 load_cal =0;
//			 SEGGER_RTT_printf(0,">>>>>>>>current step:%d\r\n",mFlash.mStep.stepCur[0]);
		}else if(isLoader == 1){
				 load_cal++;
			   if(load_cal >= (60000/50)){
					 isLoader =0;
					 load_cal =0;
					 SEGGER_RTT_printf(0,"isLoader:%d\r\n",isLoader);
				 }
		}
	 #if DEBUG_STEP
   hal_step_matlib_Test()£»
	 #endif
}

//static void hal_stepSaveTest_process(void){
//	mFlash.mStep.stepCur[0]++;
//	SEGGER_RTT_printf(0,"hal step Save one minute:step %d\r\n",mFlash.mStep.stepCur[0]);
//}

void hal_step_init(void){
	Process_Start(50,"hal_step_process",hal_step_process);
	//if(mFlash.isHost)Process_Start(10000,"hal_stepSaveTest",hal_stepSaveTest_process);
}