Microduino_Protocol_HardSer.cpp

00001 #include "Microduino_Protocol_HardSer.h"
00002 #include "MicroduinoPinNames.h"
00003 //Timer _timer;
00004 extern Timer g_cubeTimer;
00005 
00006 uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[])
00007 {
00008     //三个参数分别为： 数据长度  ，  指令代码  ，  实际数据数组
00009     uint8_t checksum = 0;
00010     checksum ^= (length & 0xFF);
00011     checksum ^= (cmd & 0xFF);
00012     for (int i = 0; i < length; i++) checksum ^= (mydata[i] & 0xFF);
00013     return checksum;
00014 }
00015 
00016 
00017 void Protocol::begin(uint16_t _baud)
00018 {
00019     P_Serial->baud(_baud);
00020 }
00021 
00022 bool Protocol::available(bool _sta)
00023 {
00024     //if (P_Serial->available() > 0) {
00025     if (P_Serial->readable() > 0) {
00026         if (_sta) {
00027             this->inCache = this->inChar;
00028             //this->inChar = P_Serial->read();
00029             this->inChar = P_Serial->getc();
00030             this->buffer[num] = this->inChar;
00031 
00032             if (this->num > BUFFER_MAX - 1) {
00033                 this->num = 0;
00034                 return false;
00035             } else {
00036                 this->num++;
00037             }
00038         }
00039         return true;
00040     }
00041     return false;
00042 }
00043 
00044 uint8_t Protocol::parse(uint16_t* _data, bool _mod)
00045 {
00046     if (available(!_mod)) {
00047         //time = millis();
00048         //time = _timer.read_ms();
00049         time = g_cubeTimer.read_ms();
00050         do {
00051             if (this->sta) {
00052                 this->sta = false;
00053                 this->num = 0;
00054                 if (this->inChar == this->channel) {
00055                     this->error = false;
00056                     if (!_mod) {
00057                         return P_BUSY;
00058                     }
00059                 } else  {
00060                     this->error = true;
00061                     return P_ERROR;
00062                 }
00063             }
00064 
00065             if (this->inChar == 0xBB && this->inCache == 0xAA) {
00066                 this->sta = true;
00067                 if (!_mod) {
00068                     return P_BUSY;
00069                 }
00070             }
00071 
00072             if (this->num  == (CHANNEL_NUM * 2 + 1) && !this->error) {
00073                 this->inCache = this->buffer[CHANNEL_NUM * 2];
00074                 this->buffer[CHANNEL_NUM * 2] = NULL;
00075                 this->inChar = getChecksum(CHANNEL_NUM * 2, 200, this->buffer);
00076 
00077                 this->num = 0;
00078                 if (!this->error && this->inCache == this->inChar) {
00079                     for (uint8_t a = 0; a < CHANNEL_NUM; a++) {
00080                         _data[a] = ((uint16_t)(this->buffer[a * 2])) | ((uint16_t)this->buffer[a * 2 + 1] << 8);
00081                     }
00082                     return P_FINE;
00083                 } else {
00084                     return P_ERROR;
00085                 }
00086             } else if (!_mod) {
00087                 return P_BUSY;
00088             }
00089         } while (_mod && (available(true) && g_cubeTimer.read_ms() - time < 100));
00090 
00091         if (_mod) {
00092             return P_TIMEOUT;
00093         }
00094     }
00095     
00096     return P_NONE;
00097     
00098 }