task main()
{
// Setup the two UART ports
//configureSerialPort(uartOne, uartUserControl);
//configureSerialPort(uartTwo, uartUserControl);
setBaudRate(uartOne, baudRate115200);
setBaudRate(uartTwo, baudRate115200);
while (getChar(uartTwo) != -1) // Purge existing chars from buffer
{}
StartTask(UARTReceive);
while (true)
{
// Loop forever transmitting the characters 0, 1, 2, ..., 255, 0, 1, 2, ....
for (int i = 0; i < 20; ++i)
{
++nTotalXmitChars;
xmitChar = nTotalXmitChars % 256;
sendChar(uartOne, xmitChar);
}
while (!bXmitComplete(uartOne))
{
wait1Msec(1);
}
}
}
void
vexLcdSendMessage( LcdData *lcd, short line )
{
// create message
short i, cs;
short timeout;
// bounds check line variable
if( ( line < 0 ) || (line > 1) )
return;
// Header for LCD communication
lcd->txbuf[0] = 0xAA;
lcd->txbuf[1] = 0x55;
lcd->txbuf[2] = 0x1e;
lcd->txbuf[3] = 0x12;
lcd->txbuf[4] = (lcd->flags & VEX_LCD_BACKLIGHT) ? 0x02 + line : line;
// fill with spaces
for(i=0;i<16;i++)
lcd->txbuf[ 5+i ] = 0x20;
// Copy data transmit buffer
if(!line) {
for(i=0;(i<16)&&(lcd->line1[i]!=0);i++)
lcd->txbuf[ 5+i ] = lcd->line1[i];
}
else {
for(i=0;(i<16)&&(lcd->line2[i]!=0);i++)
lcd->txbuf[ 5+i ] = lcd->line2[i];
}
// calculate checksum
cs = 0;
for(i=4;i<21;i++)
cs = cs + lcd->txbuf[i];
lcd->txbuf[21] = 0x100 - cs;
// send to port
for(i=0;i<22;i++)
{
// wait for transmit complete or timeout
// Under normal circumstances this should not be needed, there is
// a transmit buffer larger than most messages
// timeout here is set at about 200uS (from experimentation)
timeout = 0;
while( !bXmitComplete(lcd->port) && (timeout < 20) )
timeout++;
// send char
sendChar( lcd->port, lcd->txbuf[i] );
}
}
void
RobotC_WriteBuf( int port, char *data, int data_len )
{
int i;
int timeout;
for(i=0;i<data_len;i++)
{
// wait for transmit complete or timeout
// Under normal circumstances this should not be needed, there is
// a transmit buffer larger than most messages
// timeout here is set at about 200uS (from experimentation)
timeout = 0;
while( !bXmitComplete(port) && (timeout++ < 20) )
;
// send char
sendChar(port, data[i]);
}
}
