void startSweep(void){
char mystring[100] = "";
sprintf(mystring, "\nsweep_start;");
sendUART(mystring);
sprintf(mystring, "\nsweep_size;%d;", samplespersweep);
sendUART(mystring);
sprintf(mystring, "\nscan_range;%d;", sweepstoppos-sweepstartpos);
sendUART(mystring);
}
//Handle an AT response packet and pass it to the sendUART function
void xbeeHandleATR(unsigned char frame_id, WordVal command, unsigned char *data, unsigned char length)
{
unsigned char frame_header[5];
frame_header[RX_API_POS] = AT_RESPONSE;
frame_header[ATR_FRAME_ID_POS] = frame_id;
frame_header[ATR_COMMAND_HB_POS] = command.byte.HB;
frame_header[ATR_COMMAND_LB_POS] = command.byte.LB;
frame_header[ATR_STATUS_POS] = 0x00;
CRITICAL_SECTION_START
//Start Byte
while(BusyUART1());
WriteUART1(RX_START);
//Length High Byte
while(BusyUART1());
WriteUART1(0x00);
//Length Low Byte
while(BusyUART1());
WriteUART1(length+FRAME_HEADER_LEN);
sendUART(frame_header, data, length);
CRITICAL_SECTION_END
}
static void sendSpeed(unsigned char speed){
char buff[10];
buff[0] = 'D';
decToAsc(speed,3,&buff[1]);
buff[4] = '\n';
buff[5] = '\r';
sendUART(6,buff);
}
static void sendFlags(timeFlags * flags){
char buff[8];
buff[0] = 'F';
buff[1] = 'P';
buff[2] = '0' + flags->gosleep;
buff[3] = 'W';
buff[4] = '0' + flags->wakeup;
buff[5] = '\n';
buff[6] = '\r';
sendUART(7,buff);
}
static void sendTime(rtcTimeWDay * time, char tmp){
char buff[12];
buff[0] = tmp;
decToAsc(time->hour,2,&buff[1]);
decToAsc(time->minute,2,&buff[3]);
decToAsc(time->second,2,&buff[5]);
decToAsc(time->wday,1,&buff[7]);
buff[8] = '\n';
buff[9] = '\r';
sendUART(10,buff);
}
int _write(int file, char *ptr, int len) {
if (len == 0) return 0;
if (file == 0 || file == 1) {
usbSend(ptr, len);
return len;
} else if (file < 10) {
unsigned int port = UART_FD[file];
if (port) {
int totalSent = 0;
while (len > 0) {
int sent = sendUART(port, ptr, len);
len -= sent;
ptr += sent;
totalSent += sent;
}
return totalSent;
} else {
return -1;
}
} else {
int fd = file-10;
if (fd < fatFilesOpen) {
unsigned int res;
if (fatFiles[fd].append) {
_lseek(file, 0, SEEK_END);
}
FRESULT rr = f_write(&fatFiles[fd].fil, ptr, len, &res);
if (rr) {
fiprintf(stderr, "Failed to write FAT file %d (bytes: %d): %d\n\r", fd, len, rr);
errno = EINVAL;
return -1;
} else {
errno = 0;
return res;
}
}
}
errno = EINVAL;
return -1;
}
/* Main ----------------------------------------------------------------------*/
int main(void){
inits( );
//while(1){;;}
while(1){
// Runs in 1000Hz.
if(runRegulator){
runRegulator = false;
regulator( );
}
// Reset if line is lost.
/* if(stopTimer >= 3000){
stopTimer = 0;
isFindingLine = false;
runState = false;
drive_total_stop( );
}*/
// Runs when all ADC are read, to calculate speed.
if(adcDMA){
adcDMA = false;
spokesCounter( );
}
// Runs when data has been received.
if(handleUsart){
handleUsart = false;
usartHandler( );
}
// Runs when data has been requested.
if(usartRequested){
usartRequested = false;
sendUART( );
}
}
}
void sendScanData(double sample){
char mystring[100] = "";
sprintf(mystring, "\nsample;%f;", sample);
sendUART(mystring);
}
