From d415c25afbf8a571cd677af5af525e3c698f6252 Mon Sep 17 00:00:00 2001
From: lennlouisgeek <lennlouisgeek@gmail.com>
Date: Wed, 8 Apr 2026 00:58:00 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E6=AD=A5=E6=B7=BB=E5=8A=A0=E5=8A=9B?=
 =?UTF-8?q?=E6=98=BE=E7=A4=BA=EF=BC=8C=E7=B2=97=E6=A0=87=E5=AE=9A=E5=8F=AF?=
 =?UTF-8?q?=E4=BB=A5=E6=B5=8B=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 data_processing/1.py                          |  11 ++++
 data_processing/~$第一次粗标定.xlsx           | Bin 0 -> 165 bytes
 {doc => data_processing}/第一次粗标定.xlsx    | Bin
 src-tauri/src/serial_core/codecs/tactile_a.rs |  48 +++++++++++++++---
 4 files changed, 53 insertions(+), 6 deletions(-)
 create mode 100644 data_processing/1.py
 create mode 100644 data_processing/~$第一次粗标定.xlsx
 rename {doc => data_processing}/第一次粗标定.xlsx (100%)

diff --git a/data_processing/1.py b/data_processing/1.py
new file mode 100644
index 0000000..3fd7127
--- /dev/null
+++ b/data_processing/1.py
@@ -0,0 +1,11 @@
+import matplotlib.pyplot as plt
+
+y = [0, 160, 260, 360, 460, 560, 660, 860, 1060, 1560, 2060]
+x = [0, 74602, 105503, 131459, 153512, 172041, 193794, 218947, 240580, 295118, 332346]
+
+plt.plot(x, y)
+plt.title("Simple Line Plot")
+plt.xlabel("g")
+plt.ylabel("raw data")
+
+plt.show()
diff --git a/data_processing/~$第一次粗标定.xlsx b/data_processing/~$第一次粗标定.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..6c66d32a1b8135ae34d4def514b36ee4931d3aad
GIT binary patch
literal 165
acmZSaNzKbsAQ`YQ_%Nh0<N=`q9UuTP8V{oY

literal 0
HcmV?d00001

diff --git a/doc/第一次粗标定.xlsx b/data_processing/第一次粗标定.xlsx
similarity index 100%
rename from doc/第一次粗标定.xlsx
rename to data_processing/第一次粗标定.xlsx
diff --git a/src-tauri/src/serial_core/codecs/tactile_a.rs b/src-tauri/src/serial_core/codecs/tactile_a.rs
index 1bc8388..c8fb858 100644
--- a/src-tauri/src/serial_core/codecs/tactile_a.rs
+++ b/src-tauri/src/serial_core/codecs/tactile_a.rs
@@ -241,7 +241,8 @@ impl FrameHandler<TactileAFrame, i32> for TactileAHandler {
         match frame {
             TactileAFrame::Rep(rep) => {
                 let vals = TactileACodec::parse_data_frame(&rep.payload)?;
-
+                let g = raw_to_g1(vals.iter().sum::<i32>() as u32);
+                debug!("force is {g}");
                 Ok(Some(vals))
             }
             _ => Ok(None),
@@ -249,12 +250,47 @@ impl FrameHandler<TactileAFrame, i32> for TactileAHandler {
     }
 }
 
+fn raw_to_g1(raw: u32) -> f64 {
+    const X: [u32; 11] = [
+        0, 74602, 105503, 131459, 153512, 172041, 193794, 218947, 240580, 295118, 332346,
+    ];
 
-fn trans_data_2_n(val: i32) -> i32 {
-    if val <= 74602 {
-        val / 466
-    } else if val > 74602 && val <= 105503 {
-        
+    const Y: [f64; 11] = [
+        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 860.0, 1060.0, 1560.0, 2060.0,
+    ];
+
+    let n = X.len();
+    if raw <= X[0] {
+        return Y[0];
+    }
+    if raw >= X[n - 1] {
+        return Y[n - 1];
+    }
+
+    let mut left = 0;
+    let mut right = n - 1;
+
+    while left + 1 < right {
+        let mid = (left + right) / 2;
+        if raw < X[mid] {
+            right = mid;
+        } else {
+            left = mid;
+        }
+    }
+
+    let ratio = (raw - X[left]) as f64 / (X[right] - X[left]) as f64;
+    Y[left] + ratio * (Y[right] - Y[left]) / 100.0
+}
+
+#[cfg(test)]
+mod test {
+    use crate::serial_core::codecs::tactile_a::raw_to_g1;
+    #[test]
+    fn raw_to_g1_test() {
+        let input = 198000;
+        let g = raw_to_g1(input);
+        println!("input {input} -> g {g}");
     }
 }