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Re: DDT code for PC controlled robot
I found this segment of code in the Serial Driver of the microcontroller code
void Handle_Debug_Input(unsigned char data)
{
switch (debugIntState)
{
case 0: // 1st 0xAA
if (data == 0xAA) debugIntState = 1;
break;
case 1 : // 2nd 0x55
debugIntState = 0;
if (data == 0x55) debugIntState = 2;
break;
case 2 : //get idx
dataIn.RX_INDEX = data;
debugIntState = 3;
break;
case 3 : //get dataH
dataIn.RX_DATAH = data;
debugIntState = 4;
break;
case 4 : //get dataL
dataIn.RX_DATAL = data;
debugIntState = 5;
break;
case 5 : //get cmd
dataIn.RX_CMD = data;
debugIntState = 6;
break;
case 6 : //get FSRH
dataIn.RX_FSRH = data;
debugIntState = 7;
break;
case 7 : //get FSRL
dataIn.RX_FSRL = data;
debugIntState = 8;
break;
case 8 : //still processing
break;
default:
debugIntState= 0;
break;
}
}
I guess my question really is:
what are each of these for:
idx
dataH
dataL
cmd
FSRH
FSRL
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