Li Weiyi / Mbed 2 deprecated BalanceCar

虽然移植完毕，但是不work。需要细调……

Dependencies:   mbed

Microduino_Protocol_HardSer.cpp@3:c6caae712d5d, 2016-06-07 (annotated)

Committer:
lixianyu
Date:
Tue Jun 07 08:14:15 2016 +0000
Revision:
3:c6caae712d5d
Parent:
2:99785a1007a4 
??????????work? ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:a4d8f5b3c546 1 #include "Microduino_Protocol_HardSer.h"
lixianyu 0:a4d8f5b3c546 2 #include "MicroduinoPinNames.h"
lixianyu 0:a4d8f5b3c546 3
lixianyu 0:a4d8f5b3c546 4 extern Timer g_Timer;
lixianyu 0:a4d8f5b3c546 5 //DigitalOut myled(D13);
lixianyu 0:a4d8f5b3c546 6 uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[])
lixianyu 0:a4d8f5b3c546 7 {
lixianyu 0:a4d8f5b3c546 8 //三个参数分别为： 数据长度 ， 指令代码 ， 实际数据数组
lixianyu 0:a4d8f5b3c546 9 uint8_t checksum = 0;
lixianyu 0:a4d8f5b3c546 10 checksum ^= (length & 0xFF);
lixianyu 0:a4d8f5b3c546 11 checksum ^= (cmd & 0xFF);
lixianyu 0:a4d8f5b3c546 12 for (int i = 0; i < length; i++) checksum ^= (mydata[i] & 0xFF);
lixianyu 0:a4d8f5b3c546 13 return checksum;
lixianyu 0:a4d8f5b3c546 14 }
lixianyu 0:a4d8f5b3c546 15
lixianyu 0:a4d8f5b3c546 16 /* Protocol::Protocol(PRO_PORT *ser , byte _channel) {
lixianyu 0:a4d8f5b3c546 17 // common_init(); // Set everything to common state, then...
lixianyu 0:a4d8f5b3c546 18 this->channel = _channel;
lixianyu 0:a4d8f5b3c546 19 this->num = 0;
lixianyu 0:a4d8f5b3c546 20 this->sta = false;
lixianyu 0:a4d8f5b3c546 21 this->error = false;
lixianyu 0:a4d8f5b3c546 22 P_Serial = ser; // ...override P_Serial with value passed.
lixianyu 0:a4d8f5b3c546 23 } */
lixianyu 2:99785a1007a4 24 #if 0
lixianyu 0:a4d8f5b3c546 25 static void uart_callback(void)
lixianyu 0:a4d8f5b3c546 26 {
lixianyu 0:a4d8f5b3c546 27 //myled = !myled;
lixianyu 0:a4d8f5b3c546 28 }
lixianyu 2:99785a1007a4 29 #endif
lixianyu 0:a4d8f5b3c546 30 void Protocol::begin(uint16_t _baud)
lixianyu 0:a4d8f5b3c546 31 {
lixianyu 0:a4d8f5b3c546 32 //myled = 0;
lixianyu 0:a4d8f5b3c546 33 //_timer.start();
lixianyu 0:a4d8f5b3c546 34 //P_Serial->begin(_baud);
lixianyu 0:a4d8f5b3c546 35 P_Serial->baud(_baud);
lixianyu 0:a4d8f5b3c546 36 //P_Serial->attach(uart_callback, Serial::RxIrq);
lixianyu 0:a4d8f5b3c546 37 //delay(20);
lixianyu 0:a4d8f5b3c546 38 //wait_ms(20);
lixianyu 0:a4d8f5b3c546 39 }
lixianyu 0:a4d8f5b3c546 40
lixianyu 0:a4d8f5b3c546 41 bool Protocol::available(bool _sta)
lixianyu 0:a4d8f5b3c546 42 {
lixianyu 0:a4d8f5b3c546 43 //if (P_Serial->available() > 0) {
lixianyu 0:a4d8f5b3c546 44 if (P_Serial->readable() > 0) {
lixianyu 0:a4d8f5b3c546 45 if (_sta) {
lixianyu 0:a4d8f5b3c546 46 this->inCache = this->inChar;
lixianyu 0:a4d8f5b3c546 47 //this->inChar = P_Serial->read();
lixianyu 0:a4d8f5b3c546 48 this->inChar = P_Serial->getc();
lixianyu 0:a4d8f5b3c546 49 this->buffer[num] = this->inChar;
lixianyu 0:a4d8f5b3c546 50
lixianyu 0:a4d8f5b3c546 51 if (this->num > BUFFER_MAX - 1) {
lixianyu 0:a4d8f5b3c546 52 this->num = 0;
lixianyu 0:a4d8f5b3c546 53 return false;
lixianyu 0:a4d8f5b3c546 54 } else {
lixianyu 0:a4d8f5b3c546 55 this->num++;
lixianyu 0:a4d8f5b3c546 56 }
lixianyu 0:a4d8f5b3c546 57 }
lixianyu 0:a4d8f5b3c546 58 return true;
lixianyu 0:a4d8f5b3c546 59 }
lixianyu 0:a4d8f5b3c546 60 return false;
lixianyu 0:a4d8f5b3c546 61 }
lixianyu 0:a4d8f5b3c546 62
lixianyu 0:a4d8f5b3c546 63 uint8_t Protocol::parse(uint16_t* _data, bool _mod)
lixianyu 0:a4d8f5b3c546 64 {
lixianyu 0:a4d8f5b3c546 65 if (available(!_mod)) {
lixianyu 0:a4d8f5b3c546 66 //time = millis();
lixianyu 0:a4d8f5b3c546 67 //time = _timer.read_ms();
lixianyu 0:a4d8f5b3c546 68 time = g_Timer.read_ms();
lixianyu 0:a4d8f5b3c546 69 do {
lixianyu 0:a4d8f5b3c546 70 if (this->sta) {
lixianyu 0:a4d8f5b3c546 71 this->sta = false;
lixianyu 0:a4d8f5b3c546 72 this->num = 0;
lixianyu 0:a4d8f5b3c546 73 if (this->inChar == this->channel) {
lixianyu 0:a4d8f5b3c546 74 this->error = false;
lixianyu 0:a4d8f5b3c546 75 if (!_mod) {
lixianyu 0:a4d8f5b3c546 76 return P_BUSY;
lixianyu 0:a4d8f5b3c546 77 }
lixianyu 0:a4d8f5b3c546 78 } else {
lixianyu 0:a4d8f5b3c546 79 this->error = true;
lixianyu 0:a4d8f5b3c546 80 return P_ERROR;
lixianyu 0:a4d8f5b3c546 81 }
lixianyu 0:a4d8f5b3c546 82 }
lixianyu 0:a4d8f5b3c546 83
lixianyu 0:a4d8f5b3c546 84 if (this->inChar == 0xBB && this->inCache == 0xAA) {
lixianyu 0:a4d8f5b3c546 85 this->sta = true;
lixianyu 0:a4d8f5b3c546 86 if (!_mod) {
lixianyu 0:a4d8f5b3c546 87 return P_BUSY;
lixianyu 0:a4d8f5b3c546 88 }
lixianyu 0:a4d8f5b3c546 89 }
lixianyu 0:a4d8f5b3c546 90
lixianyu 0:a4d8f5b3c546 91 if (this->num == (CHANNEL_NUM * 2 + 1) && !this->error) {
lixianyu 0:a4d8f5b3c546 92 this->inCache = this->buffer[CHANNEL_NUM * 2];
lixianyu 0:a4d8f5b3c546 93 this->buffer[CHANNEL_NUM * 2] = NULL;
lixianyu 0:a4d8f5b3c546 94 this->inChar = getChecksum(CHANNEL_NUM * 2, 200, this->buffer);
lixianyu 0:a4d8f5b3c546 95
lixianyu 0:a4d8f5b3c546 96 this->num = 0;
lixianyu 0:a4d8f5b3c546 97 if (!this->error && this->inCache == this->inChar) {
lixianyu 0:a4d8f5b3c546 98 for (uint8_t a = 0; a < CHANNEL_NUM; a++) {
lixianyu 0:a4d8f5b3c546 99 _data[a] = ((uint16_t)(this->buffer[a * 2])) | ((uint16_t)this->buffer[a * 2 + 1] << 8);
lixianyu 0:a4d8f5b3c546 100 }
lixianyu 0:a4d8f5b3c546 101 return P_FINE;
lixianyu 0:a4d8f5b3c546 102 } else {
lixianyu 0:a4d8f5b3c546 103 return P_ERROR;
lixianyu 0:a4d8f5b3c546 104 }
lixianyu 0:a4d8f5b3c546 105 } else if (!_mod) {
lixianyu 0:a4d8f5b3c546 106 return P_BUSY;
lixianyu 0:a4d8f5b3c546 107 }
lixianyu 0:a4d8f5b3c546 108 } while (_mod && (available(true) && g_Timer.read_ms() - time < 100));
lixianyu 0:a4d8f5b3c546 109
lixianyu 0:a4d8f5b3c546 110 if (_mod) {
lixianyu 0:a4d8f5b3c546 111 return P_TIMEOUT;
lixianyu 0:a4d8f5b3c546 112 }
lixianyu 0:a4d8f5b3c546 113 } else {
lixianyu 0:a4d8f5b3c546 114 return P_NONE;
lixianyu 0:a4d8f5b3c546 115 }
lixianyu 2:99785a1007a4 116 return P_NONE;
lixianyu 0:a4d8f5b3c546 117 }