/*
Main application
*/
int main(void) {
// initialize the device
SYSTEM_Initialize();
uint16_t portValue;
char introduction[]="Here are some messages from PIC. \r\n";
char append[4][3];
uint8_t appendCount = 0;
uint8_t uartBuffer[128];
uint8_t i = 0;
char currentCountAscii[16];
uint8_t sLength = 0;
uint8_t uartBytesWritten = 0;
uint8_t* tempPtr;
uint16_t tmrValue;
//UART2_TRANSFER_STATUS status ;
//intialize the Board Power VDD_Board
IO_RB2_SetLow();
// //Testing UART code
// while(name[i] != '\0')
// {
// uartBuffer[i] = (uint8_t)name[i];
// i++;
// }
// uartBuffer[i] = (uint8_t)name[i];
/*
IO_RB15_SetHigh();
for(j = 0;j<10;j++)
{
while(!TMR2_GetElapsedThenClear())
{
//IO_RB8_SetHigh();
IO_RB15_SetHigh();
}
while(!TMR2_GetElapsedThenClear())
{
//IO_RB8_SetLow();
IO_RB15_SetLow();
}
TMR3_delay_ms(_XTAL_FREQ, 500);
}
IO_RB15_SetHigh();
*/
memcpy((void*)append[0], (void*)"th",3);
memcpy((void*)append[1], (void*)"st",3);
memcpy((void*)append[2], (void*)"nd",3);
memcpy((void*)append[3], (void*)"rd",3);
while (1) {
//IO_RB15_SetLow();
// Add your application code
// Read RB7
//portValue = IO_RB7_GetValue();
//if(portValue == 1)
if(i == 0)
{
strcpy(uartBuffer, introduction);
sLength = strlen(uartBuffer);
i++;
}else{
appendCount = i%10;
if(appendCount > 3)
appendCount = 0;
sLength = sprintf(uartBuffer, "PIC %d%s Transmission\r\n", i,append[appendCount]);
i++;
}
uartBytesWritten = 0;
while(uartBytesWritten < sLength)
{
//status = UART2_TransferStatusGet ( ) ;
if (!UART2_TransmitBufferIsFull())
{
tempPtr = uartBuffer + uartBytesWritten;
uartBytesWritten += UART2_WriteBuffer(uartBuffer+uartBytesWritten, UART2_TransmitBufferSizeGet());
}
UART2_TasksTransmit();
}
if(i==1)
TMR3_delay_ms(_XTAL_FREQ, 3000); //delay just so I can see the first message
//else
// TMR3_delay_ms(_XTAL_FREQ, 10);
}
return -1;
}
/**
bool DRV_UART2_TransmitBufferIsFull(void)
*/
bool DRV_UART2_TransmitBufferIsFull(void)
{
return(UART2_TransmitBufferIsFull());
}
/**
* Relays data from Radio to USB/Bluetooth
*/
void relayFromRadio()
{
/* UART1 - FTDI USB
* UART2 - Bluetooth
* UART3 - Radio */
if(!UART3_ReceiveBufferIsEmpty()) //New data on UART3 (Radio)
{
uint8_t rxByte = UART3_Read(); //Read byte from U3
if(relayUSBConneted())
{
// if(!UART1_TransmitBufferIsFull()) //There is free space in U1 tx buffer //commented this out to avoid random loss of connection -D Cironi 2015-05-11
// {
UART1_Write(rxByte); //Send to U1
// }
}
else
{
if(!UART2_TransmitBufferIsFull()) //There is free space in U2 tx buffer
{
UART2_Write(rxByte); //Read byte from U3 and send to U2
}
}
LandChannel = CheckRCLoop(rxByte); //check to see if data from radio is RC_Channel info
if(LandChannel != 0 && LandChannel < 1500 && MissionInjectStage == 0 && LandInjected == 0) //Valid reading and the mode we want for landing
{
MissionInjectStage = 1;
}
else if (LandChannel != 0 && LandChannel > 1500) //valid reading but not the mode we want
{
MissionInjectStage = 0;
LandInjected = 0;
Nop();
}
switch(MissionInjectStage) //inject a packet on each cycle
{
case 0:
//do nothing
break;
case 1:
InjectCount(4);
break;
case 2:
InjectWaypoint('h');
break;
case 3:
InjectWaypoint('1');
break;
case 4:
InjectWaypoint('2');
break;
case 5:
InjectWaypoint('3');
break;
case 6:
InjectAcknowledge();
break;
}
}
}
