?? radar.c.svn-base
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/* ****ROBOCON 2009 | BUPT TEAM******* * ------------------------------------------------------------------------ * FileName : radar.c * Version : 2.0 * Brief : * Code by : leaf * Date : May 6, 2009 * Note : * * * ------------------------------------------------------------------------ */#include "lib_bupt.h"#ifdef RADAR_H_INCLUDEDUINT8calcSum( const UINT8 *data, size_t cnt ){ UINT8 ret = 0; while( cnt ) { ret += data[ --cnt ]; } return ret;}voidradarWrite( RadarPort p, UINT8 b1, UINT8 b2, UINT8 b3 ){ usartPutc( p, b1 ); usartPutc( p, b2 ); usartPutc( p, b3 ); usartPutc( p, (b1 + b2 + b3) );}BoolradarRead( RadarPort p, void *buf ){ usartRead( p, buf, 4 ); UINT8 *recv = buf; return PARSE_BOOL( calcSum(recv, 3) == recv[3] );}intradarDist( RadarMsg msg ){ UINT16 ret; ret = msg[1]; ret <<= 8; ret += msg[2]; if( ret == 0xFF ){ return -1; } else{ return ret; }}intradarTemp( RadarMsg msg ){ return radarDist( msg );}#ifdef _STDIO_H_voidprintRadarMsg( RadarMsg msg ){ UINT8 *buf = msg; printf( "R: %02X %02X %02X %02X\n", buf[0], buf[1], buf[2], buf[3] );}#endif#endif?? 快捷鍵說明
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