清除编码器数据指令完成

MDK-ARM/LWIP.uvguix.29643

@@ -3751,7 +3751,7 @@
       <Doc>
         <Name>..\usersrc\protocol.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>41</TopLine>
+        <TopLine>42</TopLine>
         <CurrentLine>75</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>

usersrc/udpclient.c

@@ -9,6 +9,7 @@
 #include "protocol.h"
 #include "encoder.h"
 #include "zport.h"
+#include "zboard.h"
 
 #define cmd_checksum(data)                                             \
     if (computesum8((char *)data, recv_datalen - 1) != data->checksum) \
@@ -32,6 +33,10 @@ static bool udp_client_active_flag;
 #define AVTIVE_DISABLE 0
 #define ACTIVE_ENABLE 1
 
+#define CLEAR_ENCODER_ALL 0
+#define CLEAR_ENCODER_1 1
+#define CLEAR_ENCODER_2 2
+
 static char s_sendBuf[BUFFER_SIZE]; // 发送数据的缓冲区
 static char s_receBuf[BUFFER_SIZE]; // 接收数据的缓冲区
 
@@ -212,6 +217,26 @@ void udp_client_parse(int recv_datalen)
             udp_client_create_basic_response(rxcmd, recv_datalen);
             break;
         case CMD_CLEAR_ENCODER: /* 清除编码器数据 */
+            cmd_checksum(rxcmd);
+
+            switch (rxcmd->data)
+            {
+            case CLEAR_ENCODER_ALL:
+                encoder_all_clear_counter();
+                break;
+            case CLEAR_ENCODER_1:
+                encoder_clear_counter(&camera_encoder);
+                break;
+            case CLEAR_ENCODER_2:
+                encoder_clear_counter(&driven_encoder_gear);
+                break;
+
+            default:
+                printf("not find clear encoder cmd\r\n");
+                break;
+            }
+
+            udp_client_create_basic_response(rxcmd, recv_datalen);
 
             break;