/********************?（C）?COPYRIGHT?2017?ANO?Tech?********************************
??*?作者???：匿名科創
?*?官網????：www.anotc.com
?*?淘寶????：anotc.taobao.com
?*?技術Q群?：190169595
?*?描述????：光流數據解析
**********************************************************************************/
#include?“Ano_OF.h“
#include?“Ano_FcData.h“

uint8_t		OF_QUAOF_LIGHT;
int8_t		OF_DXOF_DY;
int16_t		OF_DX2OF_DY2OF_DX2FIXOF_DY2FIX;
uint16_t	OF_ALTOF_ALT2;
int16_t		OF_GYR_XOF_GYR_YOF_GYR_Z;
int16_t		OF_GYR_X2OF_GYR_Y2OF_GYR_Z2;
int16_t		OF_ACC_XOF_ACC_YOF_ACC_Z;
int16_t		OF_ACC_X2OF_ACC_Y2OF_ACC_Z2;
float		OF_ATT_ROLOF_ATT_PITOF_ATT_YAW;
float		OF_ATT_S1OF_ATT_S2OF_ATT_S3OF_ATT_S4;

void?AnoOF_DataAnl（uint8_t?*data_bufuint8_t?num）;

static?uint8_t?_datatemp[50];
static?u8?_data_cnt?=?0;
static?u8?anoof_data_ok;

void?AnoOF_DataAnl_Task（u8?dT_ms）
{
//	if（anoof_data_ok）
//	{
//		anoof_data_ok?=?0;
//		AnoOF_DataAnl（_datatemp_data_cnt+5）;
//	}
	
	AnoOF_Check（dT_ms）;
}


//AnoOF_GetOneByte是初級數據解析函數，串口每接收到一字節光流數據，調用本函數一次，函數參數就是串口收到的數據
//當本函數多次被調用，最終接收到完整的一幀數據后，會自動調用數據解析函數AnoOF_DataAnl
void?AnoOF_GetOneByte（uint8_t?data）
{

	static?u8?_data_len?=?0;
	static?u8?state?=?0;
	
	if（state==0&&data==0xAA）
	{
		state=1;
		_datatemp[0]=data;
	}
	else?if（state==1&&data==0x22）	//源地址
	{
		state=2;
		_datatemp[1]=data;
	}
	else?if（state==2）			//目的地址
	{
		state=3;
		_datatemp[2]=data;
	}
	else?if（state==3）			//功能字
	{
		state?=?4;
		_datatemp[3]=data;
	}
	else?if（state==4）			//長度
	{
		state?=?5;
		_datatemp[4]=data;
		_data_len?=?data;
		_data_cnt?=?0;
	}
	else?if（state==5&&_data_len>0）
	{
		_data_len--;
		_datatemp[5+_data_cnt++]=data;
		if（_data_len==0）
			state?=?6;
	}
	else?if（state==6）
	{
		state?=?0;
		_datatemp[5+_data_cnt]=data;
		AnoOF_DataAnl（_datatemp_data_cnt+6）;//anoof_data_ok?=?1?;//
	}
	else
		state?=?0;
}
//AnoOF_DataAnl為光流數據解析函數，可以通過本函數得到光流模塊輸出的各項數據
//具體數據的意義，請參照匿名光流模塊使用手冊，有詳細的介紹
static?u8?of_check_f[2];
static?u16?of_check_cnt[2]?=?{?1000010000?};
void?AnoOF_Check（u8?dT_ms）
{
	for（u8?i=0;i<2;i++）
	{
		if（of_check_f[i]?==?0?）
		{
			if（of_check_cnt[i]<10000）
			{
				of_check_cnt[i]?+=?dT_ms;	
			}
		}
		else
		{
			of_check_cnt[i]?=?0;
		}
		

		of_check_f[i]?=?0;
	}
	
	
	if（of_check_cnt[0]?>?1000?||?of_check_cnt[1]?>?1000）
	{
		sens_hd_check.of_ok?=?0;
	}
	else
	{
		sens_hd_check.of_ok?=?1;
	}
		

	
}

void?AnoOF_DataAnl（uint8_t?*data_bufuint8_t?num）
{
	u8?sum?=?0;
	for（u8?i=0;i<（num-1）;i++）
		sum?+=?*（data_buf+i）;
	if（!（sum==*（data_buf+num-1）））		return;		
	
	if（*（data_buf+3）==0X51）//光流信息
	{
		if（*（data_buf+5）==0）//原始光流信息
		{
			OF_QUA?		=?*（data_buf+6）;
			OF_DX??		=?*（data_buf+7）;
			OF_DY??		=?*（data_buf+8）;
			OF_LIGHT??	=?*（data_buf+9）;
		}
		else?if（*（data_buf+5）==1）//融合后光流信息
		{
			OF_QUA?		=?*（data_buf+6）;
			OF_DX2		=?（int16_t）（*（data_buf+7）<<8）|*（data_buf+8）?;
			OF_DY2		=?（int16_t）（*（data_buf+9）<<8）|*（dat

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-01-23?19:17??光流\
?????文件????71550464??2018-06-02?13:04??光流\ANO_TC匿名地面站V6_M.exe
?????文件????????5272??2018-07-14?16:20??光流\Ano_OF.c
?????文件????????1109??2018-01-09?21:40??光流\Ano_OF.h
?????文件????????4206??2018-04-25?17:05??光流\LC306_Initialization_Driver_快速_50fps.c
?????文件????????8935??2017-06-23?11:12??光流\up_flow.c
?????文件?????????847??2017-06-23?11:13??光流\up_flow.h
?????文件????????3755??2017-06-23?11:13??光流\up_flow_fusion_demo.c
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\
?????目錄???????????0??2019-08-22?09:08??光流\光流_1\Doc\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Include\
?????文件??????940127??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h
?????文件????????2235??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\
?????目錄???????????0??2019-01-23?18:49??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\
?????文件???????25819??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f401xx.s
?????文件???????29607??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f40_41xxx.s
?????文件???????29696??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f40xx.s
?????文件???????19189??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f410xx.s
?????文件???????26519??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f411xe.s
?????文件???????21484??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f412xg.s
?????文件???????23401??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f413_423xx.s
?????文件???????30981??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f427_437xx.s
?????文件???????31056??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f427x.s
?????文件???????31136??2017-03-19?12:40??光流\光流_1\Libraries\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f429_439xx.s
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