void run_translatorI2C() {
unsigned char mod, reg, val;
uart_send_static_text("\f\a"
"WELCOME to the RS232 - I2C translator on e-Puck\r\n"
" 1 byte protocol ASL-EPFL 2006\r\n");
e_i2cp_init();
while (1) {
e_getchar_uart1(&mod); // #module
mod=(unsigned char) (mod<<1);
e_getchar_uart1(®); // #register
if (reg>127) { // read
e_i2cp_enable();
val= e_i2cp_read(mod, reg&0x7f); // read I2C
e_i2cp_disable();
e_send_uart1_char(&val, 1);
} else { // write
e_getchar_uart1(&val); // #value
e_i2cp_enable();
e_i2cp_write(mod, reg, val); // write I2C
e_i2cp_disable();
}
}
}
int ve_recv_int()
{
char message[2];
while(!e_ischar_uart1()){} /* Wait until arrive a message */
while(e_getchar_uart1(message)==0);
while(!e_ischar_uart1()){} /* Wait until arrive a message */
while(e_getchar_uart1(message + 1)==0);
int m0 = message[0];
int m1 = message[1];
return (m1<<8) | (m0 & 0xFF);
}
void run_translatorI2C_b() {
unsigned char mod, reg, val;
uart_send_static_text("\f\a"
"WELCOME to the RS232 - I2C translator on e-Puck\r\n"
" multi byte protocol ASL-ETHZ 2007\r\n");
e_i2cp_init();
while (1) {
e_getchar_uart1(&mod); // #module
e_getchar_uart1(®); // #register
if (mod>127) { // read
} else { //write
}
}
}
char recv_char()
{
char message;
while(!e_ischar_uart1()){} /* Wait until arrive a message */
while(e_getchar_uart1(&message)==0);
return message;
}
int main()
{
e_init_port();
e_init_uart1();
int i;
for (i = 0; i < 14; i++)
{
char c;
while (!e_ischar_uart1());
e_getchar_uart1(&c);
}
while (1)
{
char c;
while (!e_ischar_uart1());
e_getchar_uart1(&c);
e_send_uart1_char(&c, 1);
while (e_uart1_sending());
}
return 0;
}
void btcomWaitForCommand (char trigger)
{
char msg;
do
{
e_getchar_uart1 (&msg);
}
while (msg != trigger);
// sleep a bit
long int count;
for(count = 0; count < 1000000; count++)
asm("nop");
}
//this blocks until a character comes over the bluetooth,
//then returns that character
char btcomGetCharacter()
{
char result;
// do
//{
e_getchar_uart1(&result);
// }
// while(msg != trigger);
// sleep a bit
long int count;
for(count = 0; count < 1000000; count++)
asm("nop");
return result;
}
/*! \brief The function to receive int values from matlab
* \param data The array of int data you want to fill
* \param array_size The length of the array
* \return The number of int stored
*/
int e_receive_int_from_matlab(int* data, int array_size) {
char c;
int i=0;
int temp_size=0;
int flush = 0;
do{
if (e_getchar_uart1(&c)) {
// The first byte is the length of the datas
if(i==0) {
// LSB
temp_size = (int)c;
}
else if(i==1) {
// MSB
temp_size += ((int)c)<<8;
if((temp_size>>1) > array_size) {
// ! We will receive more data than the buffer can store
// Store as max data as possible, but excedded data will be flushed !
flush = 1;
LED4 = LED4^1;
temp_size = (array_size<<1);
}
}
else {
// Then the datas come
if((i%2) == 0){
// LSB
data[i/2-1] = (int)c;
}
else{
// MSB
data[(i-1)/2-1] = (data[(i-1)/2-1] & 0b0000000011111111) | ((int)c)<<8;
}
}
i++;
}
int main(void) {
// Locals General. -----------------------------------------------------
char message[50]; // Any message to send by UART1
char command[20], response[50];
int c;
int i, version;
// Init Oscillator. ----------------------------------------------------
InitOscillator(); // Initialize the PLL (also disables wdt)
WaitMiliSec(50);
// Init mcu ports ------------------------------------------------------
init_port(); // Initialize ports
// Init UARTS. ---------------------------------------------------------
init_UART1(); // Initialize the serial communication (TTL / RS-232)
init_UART2(); // Initialize the serial communication (TTL / RS-232)
LED_ORNG=0;
// LED_ORNG =1;
// Welcome Message-----------------------------------------------------
uart1_send_static_text("\n\n\rWELCOME to CoaX Bluetooth configuration"); // Welcome msg
uart1_send_static_text("\n\rPress H (return) for help");
while(1)
{
i = 0;
c=0;
do
{
if (e_getchar_uart1(&command[i]))
{
c=command[i];
i++;
}
}
while (((char)c != '\n')&&((char)c != '\x0d'));
command[i]='\0';
switch (command[0])
{
case 'P': e_bt_read_local_pin_number(message);
sprintf(response,"\n\rPIN code = %s",message);
break;
case 'O': sscanf(command,"O,%s\n",message);
if(e_bt_write_local_pin_number(message))
sprintf(response,"\n\rError writting PIN");
else
sprintf(response,"\n\rPIN code = %s",message);
break;
case 'M': sscanf(command,"M,%s\n",message);
if(e_bt_write_local_name(message))
sprintf(response,"\n\rError writting Name");
else
sprintf(response,"\n\rFriendly name = %s",message);
break;
case 'S': sscanf(command,"S,%s\n",message);
if(e_bt_write_local_pin_number(message))
sprintf(response,"\n\rError writting PIN");
else
sprintf(response,"\n\rPIN code = %s",message);
e_send_uart1_char(response,strlen(response));
while(e_uart1_sending());
sprintf(command,"CoaX_%s",message);
if(e_bt_write_local_name(command))
sprintf(response,"\n\rError writting Name");
else
sprintf(response,"\n\rFriendly name = %s",command);
break;
case 'N': e_bt_read_local_name(message);
sprintf(response,"\n\rFriendly name = %s",message);
break;
case 'R': version=e_bt_reset();
sprintf(response,"\n\rReset ok Firmware = %d",version);
break;
case 'H': uart1_send_static_text("\n\r \"M,Name\" Write Name for Friendly Bluetooth name");
uart1_send_static_text("\n\r \"N\" Read actual Friendly Bluetooth name");
uart1_send_static_text("\n\r \"O,#\" Write # PIN number");
uart1_send_static_text("\n\r \"P\" Read actual PIN number");
uart1_send_static_text("\n\r \"R\" Soft reset Bluetooth module");
uart1_send_static_text("\n\r \"S,#\" Write # PIN number and same time CoaX_#");
response[0]='\n';
response[1]='\0';
break;
default: sprintf(response,"\n\rz,Command not found");
break;
}
e_send_uart1_char(response,strlen(response));
while(e_uart1_sending());
}
}
char waitForMessage(char msg) {
char c;
while(e_getchar_uart1(&c) <= 0 && c != msg);
return c;
}
unsigned char receiveSingleChar() {
unsigned char c;
while(!e_getchar_uart1(&c));
return c;
}
int run_asercom(void) {
static char c1,c2,wait_cam=0;
static int i,j,n,speedr,speedl,positionr,positionl,LED_nbr,LED_action,accx,accy,accz,sound;
static int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size,cam_x1,cam_y1;
static char first=0;
char *ptr;
static int mod, reg, val;
#ifdef IR_RECEIVER
char ir_move = 0,ir_address= 0, ir_last_move = 0;
#endif
static TypeAccSpheric accelero;
//static TypeAccRaw accelero_raw;
int use_bt=0;
//e_init_port(); // configure port pins
//e_start_agendas_processing();
e_init_motors();
//e_init_uart1(); // initialize UART to 115200 Kbaud
//e_init_ad_scan();
selector = getselector(); //SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3;
if(selector==10) {
use_bt=0;
} else {
use_bt=1;
}
#ifdef FLOOR_SENSORS
if(use_bt) { // the I2C must remain disabled when using the gumstix extension
e_i2cp_init();
}
#endif
#ifdef IR_RECEIVER
e_init_remote_control();
#endif
if(RCONbits.POR) { // reset if power on (some problem for few robots)
RCONbits.POR=0;
RESET();
}
/*read HW version from the eeprom (last word)*/
static int HWversion=0xFFFF;
ReadEE(0x7F,0xFFFE,&HWversion, 1);
/*Cam default parameter*/
cam_mode=RGB_565_MODE;
cam_width=40; // DEFAULT_WIDTH;
cam_heigth=40; // DEFAULT_HEIGHT;
cam_zoom=8;
cam_size=cam_width*cam_heigth*2;
if(use_bt) {
e_poxxxx_init_cam();
//e_po6030k_set_sketch_mode(E_PO6030K_SKETCH_COLOR);
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
}
e_acc_calibr();
if(use_bt) {
uart1_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
} else {
uart2_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
}
while(1) {
if(use_bt) {
while (e_getchar_uart1(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
} else {
while (e_getchar_uart2(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
}
if (c<0) { // binary mode (big endian)
i=0;
do {
switch(-c) {
case 'a': // Read acceleration sensors in a non
// filtered way, some as ASCII
accx = e_get_acc_filtered(0, 1);
accy = e_get_acc_filtered(1, 1);
accz = e_get_acc_filtered(2, 1);
//accx = e_get_acc(0); //too much noisy
//accy = e_get_acc(1);
//accz = e_get_acc(2);
buffer[i++] = accx & 0xff;
buffer[i++] = accx >> 8;
buffer[i++] = accy & 0xff;
buffer[i++] = accy >> 8;
buffer[i++] = accz & 0xff;
buffer[i++] = accz >> 8;
/*
accelero_raw=e_read_acc_xyz();
ptr=(char *)&accelero_raw.acc_x;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_y;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_z;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
*/
break;
case 'A': // read acceleration sensors
accelero=e_read_acc_spheric();
ptr=(char *)&accelero.acceleration;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.orientation;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.inclination;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
break;
case 'b': // battery ok?
buffer[i++] = BATT_LOW;
break;
case 'D': // set motor speed
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedl=(unsigned char)c1+((unsigned int)c2<<8);
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedr=(unsigned char)c1+((unsigned int)c2<<8);
e_set_speed_left(speedl);
e_set_speed_right(speedr);
break;
case 'E': // get motor speed
buffer[i++] = speedl & 0xff;
buffer[i++] = speedl >> 8;
buffer[i++] = speedr & 0xff;
buffer[i++] = speedr >> 8;
break;
case 'I': // get camera image
if(use_bt) {
e_poxxxx_launch_capture(&buffer[i+3]);
wait_cam=1;
buffer[i++]=(char)cam_mode&0xff;//send image parameter
buffer[i++]=(char)cam_width&0xff;
buffer[i++]=(char)cam_heigth&0xff;
i+=cam_size;
}
break;
case 'L': // set LED
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
switch(c1) {
case 8:
if(use_bt) {
e_set_body_led(c2);
}
break;
case 9:
if(use_bt) {
e_set_front_led(c2);
}
break;
default:
e_set_led(c1,c2);
break;
}
break;
case 'M': // optional floor sensors
#ifdef FLOOR_SENSORS
if(use_bt) {
e_i2cp_init();
e_i2cp_enable();
e_i2cp_read(0xC0, 0);
for(j = 0; j < 6; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j + 1);
else buffer[i++] = e_i2cp_read(0xC0, j - 1);
}
#ifdef CLIFF_SENSORS
for(j=13; j<17; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j - 1);
else buffer[i++] = e_i2cp_read(0xC0, j + 1);
}
#endif
e_i2cp_disable();
}
#else
for(j=0;j<6;j++) buffer[i++]=0;
#endif
break;
case 'N': // read proximity sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'O': // read light sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'Q': // read encoders
n=e_get_steps_left();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
n=e_get_steps_right();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
break;
case 'u': // get last micro volumes
n = e_get_micro_volume(0);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(1);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(2);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
break;
case 'U': // get micro buffer
ptr=(char *)e_mic_scan;
if(use_bt) {
e_send_uart1_char(ptr,600);//send sound buffer
} else {
e_send_uart2_char(ptr,600);//send sound buffer
}
n=e_last_mic_scan_id;//send last scan
buffer[i++]=n&0xff;
break;
default: // silently ignored
break;
}
if(use_bt) {
while (e_getchar_uart1(&c)==0); // get next command
} else {
while (e_getchar_uart2(&c)==0); // get next command
}
} while(c);
