void uart_print_receiver ( void * pvParameters )
{
xdata xReceivedStructure;
portBASE_TYPE xStatus;
while(1)
{
xStatus = xQueueReceive( xQueue, &xReceivedStructure, 1000 );
if (xStatus==pdPASS)
{
if ( xReceivedStructure.sender == 'a')
{
USART_putstring("\r\n Receiving Successful from 1 \r\n");
USART_putstring(xReceivedStructure.msg);
vTaskDelay(100);
}
else
{
USART_putstring("\r\n Receiving Successful from 2 \r\n");
USART_putstring(xReceivedStructure.msg);
vTaskDelay(100);
}
}
else
{
USART_putstring("\r\n fail \r\n");
}
}
}
int main (void){
uint16_t acc_val = 0;
char acc_x_val_str[16];
char acc_y_val_str[16];
char acc_z_val_str[16];
//Initialize the USART
USART_init();
USART_clean();
//Init ADC
adc_init();
while(1) {
acc_val = read_adc(6);
//itoa(acc_val, acc_z_val_str, 10);
//USART_putstring(acc_z_val_str);
if (acc_val < 550 && acc_val > 450)
USART_putstring("NORMAAL \r");
else if (acc_val < 550)
USART_putstring("VOORWAARTS \r");
else if (acc_val > 450)
USART_putstring("ACHTERWAARTS\r");
}
}
/**
* Checks and changes state of keyring
*
*/
void updateState(void) {
unsigned char * command = receiveString(); //Recieve command from serial
//command = command[strlen(command)-1] = 0; // STrips last char fro string (line break (\n))
if(!strcmp(command, "LOCK")) {
lock();
USART_putstring("LOCK!!");
} else if (!strcmp(command, "UNLOCK") == 1) {
unlock();
USART_putstring("UNLOCK!!!!");
} else {
USART_putstring("SOMETHING!!!!");
}
}
void uart_print_Task2 ( void * pvParameters )
{
USART_Init();
while(1)
{
USART_putstring("Task 2 is running \r\n");
USART_putstring("Task 2 is deleting itself \r\n");
vTaskDelete(NULL);
}
}
// main
int main(void)
{
USART_init();
DDRD = LED_MASK;
char buf;
char tmp[] = "blubjes\r\n";
unsigned int l1 = 0;
unsigned int l2 = 0;
unsigned int l3 = 0;
for (;;) {
buf = USART_receive();
l1++;
l2++;
l3++;
if (l1 >= 20)
{
PORTD ^= (1 << 5);
l1 = 0;
}
if (l2 >= 10)
{
PORTD ^= (1 << 6);
l2 = 0;
}
if (l3 >= 5)
{
PORTD ^= (1 << 7);
l3 = 0;
}
USART_putstring(tmp);
}
return 0;
}
static void led_blink( void *pvParameters)
{
xSemaphoreTake(xCountingSemaphore, portMAX_DELAY);
while(1)
{
xSemaphoreTake(xCountingSemaphore, portMAX_DELAY );
PORTC^=(1<<0);
USART_putstring("PUSH\r\n");
}
}
void printwaypoint(WayPoint wps[], int nwps) {
int i;
int j = 1;
i = nwps;
char *ptr_1 = "Summary";
char *ptr_2 = ("=========================");
char *ptr_3 = ("End Summary");
char *ptr_4 = " ";
USART_putstring(USART_PC,"\n\r"); debug_println(ptr_1); debug_println(ptr_2);
for (i = 0; i < nwps; i++) {
debug_printf(wps[i].latitude);debug_print(ptr_4);/*debug_printf(wps[i].latitude_dist);debug_print(ptr_4);*/debug_printf(wps[i].latitude_deg);debug_print(ptr_4);debug_printf(wps[i].longitude);/*debug_print(ptr_4);debug_printf(wps[i].longitude_dist);*/debug_print(ptr_4);debug_printf(wps[i].longitude_deg);
USART_putstring(USART_PC,"\n\r");
j = j + 1;
}
debug_println(ptr_2); debug_println(ptr_3); USART_putstring(USART_PC,"\n\r");
}
/*Function of Tasks*/
void uart_print ( void * pvParameters )
{
char *taskname;
taskname=(char*)pvParameters;
USART_Init();
while(1)
{
USART_putstring(taskname);
//vTaskDelay(1000);
//_delay_ms(1000);
}
}
/*Function of Tasks*/
void uart_print_Task1 ( void * pvParameters )
{
USART_Init();
while(1)
{
USART_putstring("Task 1 is running \r\n");
xTaskCreate(uart_print_Task2, ( signed char * ) "Task2",
configMINIMAL_STACK_SIZE,NULL,
Task2_PRIORITY2, NULL );
vTaskDelay(100);
}
}
int main(void){
USART_init(); //Call the USART initialization code
adc_init();
while(1){ //Infinite loop
adc_value=read_adc(0);
itoa(adc_value,buffer,10);
USART_putstring(buffer); //Pass the string to the USART_putstring function and sends it over the serial
USART_send('\r'); //Carriage return
USART_send('\n'); //Linefeed
_delay_ms(500);
}
return 0;
}
/////////////////////////////////////////////////////////////////////////////////
// function definitions
int user_waypoint_test (WayPoint wps[],int numwps) {
int i;
int uj = numwps + 1;
int uloop1 = 1;
int userchk1;
int userchk2;
float ulat;
float ulon;
float ulat_d;
float ulat_dist;
float ulon_dist;
float ulon_d;
char entwp[3];
char *ptr_entwp = entwp;
char entlat[ULAT_TYPE];
char *ptr_entlat = entlat;
char entlat_dist[ULAT_TYPE];
char *ptr_entlat_dist = entlat_dist;
char entlon[ULONG_TYPE];
char *ptr_entlon = entlon;
char entlon_dist[ULONG_TYPE];
char *ptr_entlon_dist = entlon_dist;
char entlon_d[ULONG_TYPE];
char *ptr_e_d = entlon_d;
char yes[3] = "y";
char *ptr_yes = yes;
char no[3] = "n";
char *ptr_no = no;
char *ptr_1 = "Please enter Latitude ";
char *ptr_2 = ":";
char *ptr_3 = "Please enter Longitude ";
char *ptr_4 = "Would you like to enter another way point? (y or n):";
char *ptr_6 = "Finished entering way points";
char *ptr_7 = "Invalid, please try again";
char *ptr_8 = " ";
// user enter first lat
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_1); debug_printi(uj); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (i = 0; i < UENTLAT; i++) {
entlat[i] = USART_receive(USART_PC);
}
/*entlat_dist[0]=entlat[0];
entlat_dist[1]=entlat[1];
entlat_dist[2]=entlat[3];
entlat_dist[3]=entlat[4];
entlat_dist[4]=entlat[5];
entlat_dist[5]=entlat[6];
entlat_dist[6]=entlat[7];
entlat_dist[7]=0x00;*/
ulat = atof (ptr_entlat);
//ulat_dist = atof (ptr_entlat_dist);
ulat_d = ulat;
debug_printf(ulat);debug_print(ptr_8);debug_printf(ulat_d);
wps[numwps].latitude = ulat;
//wps[numwps].latitude_dist = ulat_dist;
wps[numwps].latitude_deg = ulat_d;
// user enter first long
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_3); debug_printi(uj); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (i = 0; i < UENTLON; i++) {
entlon[i] = USART_receive(USART_PC);
}
/*entlon_dist[0]=entlon[0];
entlon_dist[1]=entlon[1];
entlon_dist[2]=entlon[2];
entlon_dist[3]=entlon[4];
entlon_dist[4]=entlon[5];
entlon_dist[5]=entlon[6];
entlon_dist[6]=entlon[7];
entlon_dist[7]=entlon[8];
entlon_dist[8]=0x00;*/
entlon_d[0]=entlon[1];
entlon_d[1]=entlon[2];
entlon_d[2]=entlon[3];
entlon_d[3]=entlon[4];
entlon_d[4]=entlon[5];
entlon_d[5]=entlon[6];
entlon_d[6]=entlon[7];
entlon_d[7]=entlon[8];
entlon_d[8]=0x00;
ulon = atof (ptr_entlon);
//ulon_dist = atof (ptr_entlon_dist);
ulon_d = atof (ptr_e_d);
debug_printf(ulon);debug_print(ptr_8);debug_printf(ulon_d);
wps[numwps].longitude = ulon;
//wps[numwps].longitude_dist = ulon_dist;
wps[numwps].longitude_deg = ulon_d;
//-----------------------------------------------------------
numwps = numwps + 1;
// prompt if user wants to enter another way point
USART_putstring(USART_PC,"\n\r"); debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
entwp[1]=0x00;
debug_println(ptr_entwp);
while (uloop1 == 1) {
userchk1 = strcmp(ptr_entwp,ptr_yes);
userchk2 = strcmp(ptr_entwp,ptr_no);
if(userchk1 == 0) {
numwps = userwaypoint(wps,numwps);
USART_putstring(USART_PC,"\n\r");debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
debug_println(ptr_entwp);
}
else if (userchk2 == 0) {
debug_println(ptr_6);
uloop1 = 0;
}
else {
debug_println(ptr_7); USART_putstring(USART_PC,"\n\r");debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
debug_println(ptr_entwp);
}
}
return(numwps);
}
int userwaypoint(WayPoint wps[],int nwps) {
int i = nwps;
int j;
int k;
float uulat;
float uulat_dist;
float uulat_d;
float uulon;
float uulon_dist;
float uulon_d;
char entlat[ULAT_TYPE];
char *ptr_entlat = entlat;
char entlat_dist[ULAT_TYPE];
char *ptr_entlat_dist = entlat_dist;
char entlon[ULONG_TYPE];
char *ptr_entlon = entlon;
char entlon_dist[ULONG_TYPE];
char *ptr_entlon_dist = entlon_dist;
char entlon_d[ULONG_TYPE];
char *ptr_e_d = entlon_d;
char *ptr_1 = "Please enter Latitude ";
char *ptr_2 = ":";
char *ptr_3 = "Please enter Longitude ";
char *ptr_4 = " ";
j = i + 1;
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_1); debug_printi(j); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (k = 0; k < UENTLAT; k++) {
entlat[k] = USART_receive(USART_PC);
}
//-----------------------------------------------------------
/*entlat_dist[0]=entlat[0];
entlat_dist[1]=entlat[1];
entlat_dist[2]=entlat[3];
entlat_dist[3]=entlat[4];
entlat_dist[4]=entlat[5];
entlat_dist[5]=entlat[6];
entlat_dist[6]=entlat[7];
entlat_dist[7]=0x00;*/
uulat = atof (ptr_entlat);
//uulat_dist = atof (ptr_entlat_dist);
uulat_d = uulat;
debug_printf(uulat);debug_print(ptr_4);debug_printf(uulat_d);
wps[i].latitude = uulat;
//wps[i].latitude_dist = uulat_dist;
wps[i].latitude_deg = uulat;
//-----------------------------------------------------------
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_3); debug_printi(j); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (k = 0; k < UENTLON; k++) {
entlon[k] = USART_receive(USART_PC);
}
//-----------------------------------------------------------
/*entlon_dist[0]=entlon[0];
entlon_dist[1]=entlon[1];
entlon_dist[2]=entlon[2];
entlon_dist[3]=entlon[4];
entlon_dist[4]=entlon[5];
entlon_dist[5]=entlon[6];
entlon_dist[6]=entlon[7];
entlon_dist[7]=entlon[8];
entlon_dist[8]=0x00;*/
entlon_d[0]=entlon[1];
entlon_d[1]=entlon[2];
entlon_d[2]=entlon[3];
entlon_d[3]=entlon[4];
entlon_d[4]=entlon[5];
entlon_d[5]=entlon[6];
entlon_d[6]=entlon[7];
entlon_d[7]=entlon[8];
entlon_d[8]=0x00;
uulon = atof (ptr_entlon);
//uulon_dist = atof (ptr_entlon_dist);
uulon_d = atof (ptr_e_d);
debug_printf(uulon);debug_print(ptr_4);debug_printf(uulon_d);
wps[i].longitude = uulon;
//wps[i].longitude_dist = uulon_dist;
wps[i].longitude_deg = uulon_d;
//-----------------------------------------------------------
i = i + 1;
return(i);
}
