int main(void)
{
int c;
int led = 0;
unsigned long count = 0;
unsigned long baud = 1000000;
init();
uart1_putstr("\r\nStarting CM720 Dynamixel relay controller\r\n");
uart1_printf("Switching serial to %lu baud...\r\n", baud);
_delay_ms(100);
uart1_setbaud(baud);
uart1_printf("\r\nRunning serial at %lu baud\r\n", baud);
_delay_ms(100);
while (1) {
count++;
if (count % 1000 == 0) {
// Toggle MON and Dynamixel Leds
if (led) {
led = 0;
sbi(PORTC, PORTC4);
rs485_putstrn("\xFF\xFF\xFE\x04\x03\x19\x00\xE1", 8);
}
else {
led = 1;
cbi(PORTC, PORTC4);
rs485_putstrn("\xFF\xFF\xFE\x04\x03\x19\x01\xE0", 8);
}
}
c = uart1_getchar();
while (c != EOF) {
// RxD LED on
cbi(PORTC, PORTC1);
rs485_putchar(c);
c = uart1_getchar();
}
// RxD LED off
sbi(PORTC, PORTC1);
c = rs485_getchar();
while (c != EOF) {
// TxD LED on
cbi(PORTC, PORTC2);
uart1_putchar(c);
c = rs485_getchar();
}
// TxD LED off
sbi(PORTC, PORTC2);
}
return 0;
}
/*******************************************************************************
* PRIVATE FUNCTION: test_uart1a
*
* PARAMETERS:
* ~ void
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Test the UART1 Alternative.
*
*******************************************************************************/
void test_uart1a(void)
{
unsigned char i = 0;
while (SW1==1) // Loop until SW1 is press
{
lcd_clear();
lcd_putstr("SW1 test UART1A\nConnect UC00A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("TX Selector=TX1A\nRX Selector=RX1A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr(arr_hyperterminal);
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
}//while (SW1 == 1)
while(SW1==0); //wait for SW1 to be release
uart1a_initialize(); // initialize UART1A
lcd_clear();
lcd_putstr(arr_enter);
// Sending message to the PC through UART1
uart1_transmit(0x0C); //clear HyperTerminal
uart1_putstr(arr_thanks);
uart1_putstr("\r\n\nDemo UART1 Alternative on SKds40A...\r\n");
uart1_putstr(arr_keyboard);
uart1_putstr(arr_echo);
uart1_putstr(arr_enter_keyboard);
do {
c_received_data = uc_uart1_receive(); //echo what is received
LED1 = ~LED1; // toggle LED 1
uart1_transmit(c_received_data);
}
while (c_received_data != '\r' && c_received_data != '\n');
// Sending message to the PC.
uart1_putstr("\r\n\nUART1 Alternative Demo Completed.\r\n");
LED1 = 0;
beep(2);
lcd_clear();
lcd_putstr("UART1 Alternative\nPass!");
delay_ms(500);
}
/*******************************************************************************
* PRIVATE FUNCTION: test_uart1a
*
* PARAMETERS:
* ~ void
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Test the UART1 Alternative.
*
*******************************************************************************/
void test_uart1a(void)
{
unsigned char i = 0;
while (SW1==1) // Loop until SW1 is press
{
lcd_clear();
lcd_putstr("SW1 test UART1A\nConnect UC00A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("TX Selector=TX1A\nRX Selector=RX1A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("HyperTerminal\n9600, 8, N, 1");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
}//while (SW1 == 1)
while(SW1==0); //wait for SW1 to be release
uart1a_initialize(); // initialize UART1A
lcd_clear();
lcd_putstr("Press enter on\nkeyboard to exit");
// Sending message to the PC through UART1
uart1_transmit(0x0C); //clear HyperTerminal
uart1_putstr("\r\n\nThanks for using Cytron Technologies product\r\n");
uart1_putstr("\r\n\nDemo UART1 Alternative on SKds40A...\r\n");
uart1_putstr("Press any key on keyboard to demo.\r\n");
uart1_putstr("It will be echo back to HyperTerminal.\r\n");
uart1_putstr("Press enter to exit.\r\n\n");
do {
c_received_data = uc_uart1_receive(); //echo what is received
LED1 = ~LED1; // toggle LED 1
uart1_transmit(c_received_data);
}
while (c_received_data != '\r' && c_received_data != '\n');
// Sending message to the PC.
uart1_putstr("\r\n\nUART1 Alternative Demo Completed.\r\n");
LED1 = 0;
beep(2);
lcd_clear();
lcd_putstr("UART1 Alternative\nPass!");
delay_ms(500);
}
