void rxdstring_decomposition (unsigned char rxdstring[])? Splitting a packet into multiple commands
{
? unsigned char *TEMPRXDP;
? unsigned char i=0,j;
? TEMPRXDP = rxdstring;? Rxdstring for received command packets
? Quantity_commands = 0;? Record the number of commands in a packet ? for (i=0;i<30;i++)
? { A command length of 14 bits. The start and end bits are "ZZ" and "CC".
?? if ((*temprxdp== ' z ') && (* (temprxdp+1) = = ' Z ') && (* (temprxdp+12) = = ' C ') && (* (temprxdp+13) = = ' C ' ))
?? {
???? TEMPRXDP = TEMPRXDP + 2;
??? for (j=0;j<10;j++)
???? commands[i][j]=* (temprxdp++);//Save a command to Commands[i].
??? quantity_commands++;
??}
?? Else
?? { Here you can enter some functions to handle the command data exceptions. ??? Break
??}
?? TEMPRXDP = TEMPRXDP + 2;
?} //=================================================================? void Commands_control ()??// explain every command .
{
? volatile unsigned char i = 0,j=0;
?//volatile unsigned char j=1; ?//float th = 1000;
? j=quantity_commands;
? for (; I
?? {
?????? Switch (commands[i][0])
??? {
???? Case ' 0 ':? function_1st=1;
??????? Switch (commands[i][1])
??????? {
??????? Case ' A ':? ini_flag=23;continue; ??????? Case ' B ':? Ini_flag=29;continue; ??????? Case ' C ':? Ini_flag=28;continue; ??????? Case ' d ':? Ini_flag=26;continue; ??????? Case ' E ':? ini_flag=38;continue; ??????? Case ' F ':? Ini_flag=60;continue; ??????? Case ' G ':? Ini_flag=69;continue; ??????? Case ' h ':? Ini_flag=78;continue; ??????? Default:?
?????????? Continue
???????} Break ???? Case ' A ':? P_function[i]=bigraz_test;break; ???? Case ' B ':? P_function[i]=smallraz_test;break; ???? Case ' C ':? Switch (commands[i][1])
??????? {
??????? Case ' 0 ':? p_function[0]=demo_2x7x;
?????????? Quantity_commands=1;
?????????? demo_flag=1;
?????????? curve_init_flag=1;
?????????? i=i+3;
?????????? Continue
??????? Case ' s ':? speed_angle_flag=1;
?????????? p_function[0]=demo_2x7x;
?????????? Quantity_commands=1;
?????????? Continue
??????? Case ' B ':? Stopdemo_flag=1;p_function[0]=demo_2x7x;quantity_commands=1;
?????????? Continue
??????? Case ' A ':? startdemo_flag=1;
?????????? demo_flag=1;
?????????? p_function[0]=demo_2x7x;
?????????? Quantity_commands=1;
?????????? Continue
??????? Case ' Z ':? reset_flag_27x=1;
?????????? p_function[0]=demo_2x7x;
?????????? Quantity_commands=1;
?????????? Switch (commands[i][2])
??????????? {
??????????? Case ' 0 ': Motortype = 38;break;
??????????? Case ' 1 ': Motortype = 29;break;
??????????? Case ' 2 ': Motortype = 78;break;
??????????? Default:break;
???????????}
?????????? Continue
??????? Default:?continue;
???????} Break
???? Case ' d ':? P_function[i]=startup_speed;break;
???? Case ' E ':? P_function[i]=scram_speed;break; ???? Case ' F ':? P_function[i]=oneustep;break; ???? Case ' G ':? P_function[i]=partial_step;break; ???? Case ' h ':? Switch (commands[i][1])
??????? {
???????? Case ' 0 ':? p_function[i]=onedegree;break; ???????? Case ' A ':? P_function[i]=onestep;break; ???????? Default:?break;
???????} Break ???? Case ' J ':? Break_flag=1;function_1st=0;break; ???? Case ' l ':? Switch (commands[i][1])
??????? {
???????? Case ' 1 ':? P_function[0]=light_and_relay;
??????????? Quantity_commands=1;
??????????? light_on_flag=1;
??????????? Break
???????? Case ' 0 ':? p_function[0]=light_and_relay;
??????????? light_off_flag=1;
??????????? Break
???????? Case ' 3 ':? P_function[0]=light_and_relay;
??????????? relay_on_flag=1;
??????????? Break
???????? Case ' 2 ':? P_function[0]=light_and_relay;
??????????? relay_off_flag=1;
??????????? Break
???????? Default:?break;
???????} ???? Default:break;//continue;
???} ??? Parameter1[i]=? Character_to_data (commands[i][2]) *1000+
??????? Character_to_data (commands[i][3]) *100+
??????? Character_to_data (Commands[i][4]) *10+
??????? Character_to_data (Commands[i][5]);
??? Paremeter2[i]=? Character_to_data (Commands[i][6]) *1000+
??????? Character_to_data (Commands[i][7]) *100+
??????? Character_to_data (Commands[i][8]) *10+
??????? Character_to_data (commands[i][9]);?
??}
?? if (curve_init_flag==1)
?? V_ustep_set ();
?? if (speed_angle_flag==1)
?? Speed_angle_set ();
} |
