简单命令数据包的拆解

void rxdString_decomposition(unsigned char rxdString[])? //拆解数据包为多个命令
{
? unsigned char *temprxdP;
? unsigned char i=0,j;
? temprxdP = rxdString;? //rxdString为接收到的命令数据包
? quantity_Commands = 0;? //记录数据包里的命令数量

? for(i=0;i<30;i++)
? {

//一个命令长度为14位。开始位和结束位为"zz"和"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++);//将一个命令保存到commands[i]中。
???quantity_Commands++;
??}
??else
??{

//这里可进入一些处理命令数据异常的函数。

???break;
??}
??temprxdP = temprxdP + 2;
?}

//=================================================================?

void commands_Control()?? //解释每一条命令
{
?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();
}