void int2buf(uchar *buf,int mod);
int buf2int(uchar *buf);
+uint buf2uint(uchar *buf);
+
mstime_t current_time();
void blink(void);
void accept_SDO(void);
void process_PDO(void);
-int take_cid(uchar* buf);
+uint take_cid(uchar* buf);
int take_len(uchar* buf);
int take_data(uchar* buf, int len);