Li Weiyi
/
Cube
Microduino的cube小车。
Diff: Microduino_Protocol_HardSer.cpp
- Revision:
- 4:0670023d3f36
- Parent:
- 3:e4ac7c1a14de
--- a/Microduino_Protocol_HardSer.cpp Fri May 27 01:44:31 2016 +0000 +++ b/Microduino_Protocol_HardSer.cpp Sat May 28 05:09:18 2016 +0000 @@ -1,5 +1,7 @@ #include "Microduino_Protocol_HardSer.h" +//Timer _timer; +extern Timer g_cubeTimer; uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[]) { //三个参数分别为: 数据长度 , 指令代码 , 实际数据数组 @@ -10,7 +12,6 @@ return checksum; } - /* Protocol::Protocol(PRO_PORT *ser , byte _channel) { // common_init(); // Set everything to common state, then... this->channel = _channel; @@ -20,16 +21,15 @@ P_Serial = ser; // ...override P_Serial with value passed. } */ - void Protocol::begin(uint16_t _baud) { + //_timer.start(); //P_Serial->begin(_baud); P_Serial->baud(_baud); //delay(20); - wait_ms(20); + //wait_ms(20); } - bool Protocol::available(bool _sta) { //if (P_Serial->available() > 0) { @@ -52,12 +52,12 @@ return false; } - uint8_t Protocol::parse(uint16_t* _data, bool _mod) { if (available(!_mod)) { //time = millis(); - time = _timer.read_ms(); + //time = _timer.read_ms(); + time = g_cubeTimer.read_ms(); do { if (this->sta) { this->sta = false; @@ -97,7 +97,7 @@ } else if (!_mod) { return P_BUSY; } - } while (_mod && (available(true) && _timer.read_ms() - time < 100)); + } while (_mod && (available(true) && g_cubeTimer.read_ms() - time < 100)); if (_mod) { return P_TIMEOUT;