int main(void)
{
Board_init();
UART_init(UART2_ID,9600);
printf("\r\nUno Serial Test Harness\r\nAfter this Message the terminal should mirror anything you type.\r\n");
unsigned char ch = 0;
int x;
while (1) {
if (UART_isTransmitEmpty(UART1_ID) == TRUE){
if (UART_isReceiveEmpty(UART1_ID) == FALSE){
ch = UART_getChar(UART1_ID);
UART_putChar(UART1_ID, ch);
printf(" Through UART2: ");
UART_putChar(UART2_ID, ch);
x = 1024;
while(--x){
if(UART_isReceiveEmpty(UART2_ID) ==FALSE)
break;
}
if(UART_isReceiveEmpty(UART2_ID) == FALSE){
printf("%c\n", UART_getChar(UART2_ID));
} else{
printf("FAILED\n");
}
//DELAY(1000)
}
}
}
return 0;
}
int main(){
Board_init();
Serial_init();
Timer_init();
Xbee_init(XBEE_UART_ID);
printf("Xbee Test 2\n");
while(1){
Xbee_runSM();
//if(!UART_isTransmitEmpty(UART1_ID));
//printf("%d\t",Mavlink_returnACKStatus(messageName_start_rescue));
if(!UART_isReceiveEmpty(UART1_ID)){
Serial_getChar();
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
printf("\nSENT\n");
}
else if(Timer_isActive(TIMER_TIMEOUT) != TRUE && Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_WAIT){
//else if(Timer_isActive(TIMER_TIMEOUT) != TRUE){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_DEAD);
printf("ACK DEAD\n");
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_DEAD){
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_RECIEVED){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_NO_ACK);
printf("GPS SENT AND ACKOWLEGED\n");
}
}
}
void Mavlink_recieve(uint8_t uart_id){
while(UART_isReceiveEmpty(uart_id) == FALSE){
uint8_t c = UART_getChar(uart_id);
//if a message can be deciphered
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
switch(msg.msgid){
case MAVLINK_MSG_ID_XBEE_HEARTBEAT:
{
mavlink_xbee_heartbeat_t data;
mavlink_msg_xbee_heartbeat_decode(&msg, &data);
//call outside function to handle data
Xbee_recieved_message_heartbeat(&data);
}break;
#ifdef XBEE_TEST
case MAVLINK_MSG_ID_TEST_DATA:
{
mavlink_test_data_t data;
mavlink_msg_test_data_decode(&msg, &data);
//call outside function to handle data
Xbee_message_data_test(&data);
}break;
#endif
case MAVLINK_MSG_ID_START_RESCUE:
{
mavlink_start_rescue_t data;
mavlink_msg_start_rescue_decode(&msg, &data);
if(data.ack == TRUE){
Mavlink_send_ACK(XBEE_UART_ID, messageName_start_rescue);
}
Compas_recieve_start_rescue(&data);
}break;
case MAVLINK_MSG_ID_MAVLINK_ACK:
{
mavlink_mavlink_ack_t data;
mavlink_msg_mavlink_ack_decode(&msg, &data);
Mavlink_recieve_ACK(&data);
}break;
}
}
}
packet_drops += status.packet_rx_drop_count;
}
/****************************************************************************
Function
Serial_isReceiveEmpty
Parameters
None.
Returns
TRUE or FALSE
Description
returns the state of the receive buffer
Notes
Author
Max Dunne, 2011.12.15
****************************************************************************/
char Serial_isReceiveEmpty(void)
{
return UART_isReceiveEmpty(SERIAL_UART_ID);
}
/****************************************************************************
Function
_mon_getc
Parameters
canblock - unused variable but required to match Microchip form
Returns
None.
Description
overwrites weakly defined extern to use circular buffer instead of Microchip functions
Notes
Author
Max Dunne, 2011.11.10
****************************************************************************/
int _mon_getc(int canblock)
{
if (UART_isReceiveEmpty(SERIAL_UART_ID))
return -1;
return Serial_getChar();
}
void Xbee_runSM(){
//Recieve bytes if they are available
if(UART_isReceiveEmpty(xbeeUartId) == FALSE){
Mavlink_recieve(xbeeUartId);
}
}
