//Send command over UART to skinproc
unsigned char sendTactileCommand(unsigned char length, unsigned char *frame) {
static int i;
static unsigned char val;
tx_idx = frame[0];
for (i = 0; i < length; i++) {
val = frame[i];
if (TACTILEUART) {
while(BusyUART2());
WriteUART2(val);
}
}
return 1;
}
//General blocking UART send function, appends basic checksum
unsigned char uartSend(unsigned char length, unsigned char *frame) {
int i;
unsigned char checksum = 0;
while(BusyUART2());
WriteUART2(length);
while(BusyUART2());
WriteUART2(~length);
checksum = 0xFF;
//send payload data
for (i = 0; i < length; i++) {
checksum += frame[i];
while(BusyUART2());
WriteUART2(frame[i]);
}
//Send Checksum Data
while(BusyUART2());
WriteUART2(checksum);
return 1;
}
//General blocking UART send function, appends basic checksum
unsigned char uartSend(unsigned char length, unsigned char *frame) {
int i,j;
// Calculate CRC and store at end of packet
frame[length-1] = calculate_crc8(frame,length-1);
LED_3=!LED_3;
//send payload data
for (i = 0; i < length; i++) {
while(BusyUART2());
WriteUART2(frame[i]);
for(j = 0; j < 200; j++); //Brief wait allows mbed to keep up
}
return 1;
}
//=================================================================================================
// Function name: UART Transmit Interrupt handler.
// -----------------------------------------------
// Description:
//
// UART Transmit interrupt handler. This interrupt handler is responsible for transmitting.
//=================================================================================================
//
avixDeclareISR(_U2TXInterrupt, no_auto_psv)
{
unsigned char buffer[4];
int i;
int nrChars;
nrChars = avixPipe_ReadFromISR(pipeTransmit, buffer, sizeof(buffer)/sizeof(buffer[0]));
for (i = 0; i < nrChars; i++)
{
WriteUART2(buffer[i]);
}
//-----------------------------------------------------------------------------------------
// Activate the pipe callback to test if the transmit interrupt must be disabled since no
// characters to transmit are available anymore. For this purpose pass the number of
// characters that was read from the pipe.
//-----------------------------------------------------------------------------------------
avixPipe_StopDeviceFromISR(pipeTransmit, nrChars);
}
