u8 FING_u8SetSysPra(u8 * Copy_u8ChipAdd,u8 *Copy_u8ParamArr)
{
u8 Local_u8Count;
const u8 Local_u8SysPra[6]={0x01,0x00,0x03,0x0f,0x00,0x13};
u16 Local_u16RxData,Local_u16Param;
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count--)
{
USART_Transmit(Copy_u8ChipAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<6;Local_u8Count++)
{
USART_Transmit(Local_u8SysPra[Local_u8Count]);
}
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u16RxData);
}
for(Local_u8Count=0 ; Local_u8Count<16;Local_u8Count++)
{
USART_Receive(&Local_u16Param);
Copy_u8ParamArr[Local_u8Count]=(u8)Local_u16Param ;
}
return Local_u16RxData ;
}
int main(void)
{
uint16_t cnt=0;
uint8_t c,div;
DDRA = 0;
PORTA = 0xff;
DDRB = (1 << 4); //TXD
DDRC = 0xff;
PORTC = 0;
DDRD = 0xfe;
USART_Init(8); // 115.2K
ADCSRA = 0x87; // init ADC
// TCCR0 = 1;
// TIMSK = 1;
// sei();
for( ; ; ) {
_WDR();
if(USART_Ready()) {
c = USART_Receive(STD_TIMEOUT);
switch(c) {
case 'g':
div = rhex();
if(USART_Timeout()) break;
ADCSRA = 0x80 | div;
div = rhex();
if(USART_Timeout()) break;
PORTC = div; // gain
get_wave();
send_wave();
break;
case 'q':
div = rhex();
if(USART_Timeout()) break;
ADCSRA = 0x80 | div;
div = rhex();
if(USART_Timeout()) break;
PORTC = div; // gain
div = rhex(); // ch
if(USART_Timeout()) break;
get_sync_wave(div);
send_wave();
break;
default:;
}
}
if(++cnt > 1000) {
PORTB = PINB ^ (1<<4); // blink
cnt = 0;
}
}
return 0;
}
int main(void) {
unsigned char c;
/* ----------------- USART Initialization --------------------*/
// BAUD Rate = 9600, F_CPU = 1000000UL, BAUD = F_CPU / (speed * (UBRR+1))
// speed = 16 for standard more (U2X = 0) and speed = 8 for double speed mode (U2X = 1)
// So, We can choose UBRR = 6 for standard more (U2X = 0)
// or UBRR = 12 for double speed mode (U2X = 1)
// Since double speed mode (U2X = 1) provides lower error, we are going
// to use it for this configuration. Please check datasheet for more detail
//
// Set BAUD rate register to generate our desired BAUD 9600 (UBRR = 12)
// Enable double speed mode (U2X = 1)
// Disable Rx, Tx complete INT, Enable Rx, Tx module
// USART as asynchronous mode, No Parity (UPM1:0 = 0), One STOP bit (USBS = 0)
// Char Size 8 bit (UCSZ2:0 = 3)
/* ------------------------------------------------------------*/
UBRRH = 0;
UBRRL = 12;
UCSRA |= 0x02;
UCSRB |= 0x18;
UCSRC |= 0x86;
while (1) {
// wait until a data receive from PC
c = USART_Receive();
// Send the received data back to PC
USART_Transmit(c);
}
}
int main (void)
{
uint8_t tiles[6] = {0,0,0,0,0,0}, receivedData,i = 0;
int quotient;
system_init();
ext_usart_clock_init();
ext_usart_pin_init();
ext_usart_init();
configure_console();
printf("Up and running!\r");
while (1) {
receivedData = USART_Receive();
quotient = receivedData;
i = 0;
while(quotient != 0) {
tiles[i] = quotient%2;
quotient /= 2;
i++;
}
for(int i = 0; i < 6; i++) {
printf("%d",tiles[i]);
tiles[i] = 0;
}
printf("\n");
}
}
/* Radio control interface */
int menuTask(task* t)
{
if(USART_HasReceived(0))
{
char uInput = USART_Receive(0);
switch(uInput)
{
// Fan
case 'f':
tempProcess(0x3F); // emulate "?" function button
tempProcess(0x32); // emulate "2" function button
break;
// Enable
case 'e':
tempProcess(0x3F); // emulate "?" function button
tempProcess(0x31); // emulate "2" function button
break;
default:
if(uInput >= '0' && uInput <= '9')
{
tempProcess(0x30 | (uInput - '0'));
}
break;
}
}
return 0;
}
int main(void) {
init_timer();
init_io();
USART_Init();
sei();
fill_cube(0xFF);
_delay_us(1500000);
int mode = (PIND & (1<<PD3));
if (mode) {
while (1) {
random_filler(1);
random_filler(0);
loadbar();
rain(100);
send_voxels_rand_z(200);
set_edges();
_delay_us(5000000);
}
} else {
int escape = 0;
int counter = 0;
while (1) {
uint8_t byte;
byte = USART_Receive();
if (!escape) {
if (byte == 0xAB) { // escape character
escape = 1;
} else if (counter < 64) {
tab[counter/8][counter%8] = byte;
counter++;
}
} else {
if (byte == 0xCD) { // start character
counter = 0;
} else if (byte == 0xAB && counter < 64) {
tab[counter/8][counter%8] = byte;
counter++;
}
escape = 0;
}
}
}
return 0;
}
u8 FING_u8HandShake(u8 * Copy_u8ChipAdd)
{
u8 Local_u8Count ;
const u8 Local_u8HndShkArr[7]={0x01,0x00,0x04,0x17,0x00,0x00,0x1C};
u16 Local_u8RxData;
TIM0_u8SetTime(500);
while(TIM0_u8GetTimFlg()==0);
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count--)
{
USART_Transmit(Copy_u8ChipAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<7;Local_u8Count++)
{
USART_Transmit(Local_u8HndShkArr[Local_u8Count]);
}
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u8RxData);
}
TIM0_voiResetTimFlg();
TIM0_voiResetTimer();
return Local_u8RxData ;
}
unsigned char receiveData(unsigned char port)
{
unsigned char temp1 = 2;
while(1)
{
if(USART_HasReceived(port))
{
temp1 = USART_Receive(port);
return temp1;
}
}
}
__attribute__((noreturn)) void main(void){
cli();
//set-up serial communications
DDRD=28;//3 serial pins on d.2 to d.4 d.5 to d.7 contain msbs for flash data d.0 to d.4 is in port C
DDRB=62;//serial clocks (B.1 SHCP) (B.2 Latch) (B.3 CE#) (B.4 OE#) (B.5 WE#)
UBRR0H=0;
UBRR0L=3;//set to 0.5M baud
UCSR0A|=2;//double speed aysnc
UCSR0B = (1<<RXEN0)|(1<<TXEN0);//Enable receiver and transmitter
UCSR0C=6;//async 1 stop bit 8bit char no parity bits
_delay_ms(50);
StringPgm(PSTR("RDY"));
USART_Receive();//wait for handshake
char mode = USART_Receive();//wait for mode
StringPgm(PSTR("RDY"));
serialWrB(readId(0));
uint8_t cap=readId(1);
serialWrB(cap);
__uint24 capacity=524288L;
switch(cap){
case 0xB5:
capacity=131072L;
case 0xB6:
capacity=262144L;
break;
}
if(mode=='W'){
chipErase();
serialWrB('D');
verifyF(capacity);
__uint24 x;
for (x=0;x<capacity;++x){
pgmB(x,USART_Receive());
serialWrB(readB(x));
}
}else if(mode=='R')
ReadChip(capacity);
while(1);
}
int main(void)
{
mainInit();
printf("test");
int i = 0;
uint8_t first;
uint8_t second;
while(1)
{
first = 0;
second = 0;
first = (uint8_t)USART_Receive();
if(first != 0xff && first != 0xaa && first != 0x00) continue;
second = (uint8_t)USART_Receive();
if(first == 0xff)
SERVO_set(second << 2);
if(first == 0xaa)
MOTOR_setRef(second);
if(first == 0x00 && second == 0x00)
SOLENOID_fire();
}
}
int main( void ) //Главная функция
{
USART_Init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) ); //Скорость соединения 19200 бит/с
for(;;) //Вечный цикл
{
USART_Transmit( USART_Receive() ); //Отправка принятого символа назад
}
}
int main(void)
{
DDRB=0xff; // initialize data port(B4 to B7 as o/p pins)... any change in the port will require change of port name in place of PORTB in command and data function defination as well
DDRC=0x0f;
USART_Init(51);
lcd_init();
while(1)
{
unsigned char a=USART_Receive();
if(a=='A')
{
command(0x08);
string("FORWARD");
PORTC=0x05;
}
else if(a=='B')
{
command(0x08);
string("BACKWARD");
PORTC=0x0a;
}
else if(a=='C')
{
command(0x08);
string("LEFT");
PORTC=0x06;
}
else if(a=='D')
{
command(0x08);
string("RIGHT");
PORTC=0x09;
}
else if(a=='E')
{
command(0x08);
string("unknown value");
PORTC=0x00;
}
else
{
continue;
}
}
}
int main (void)
{
init_main();
/*wait for first character to be received*/
USART_Receive(0);
/*print welcome string*/
USART_printf("Hello there....................\r\n->");
DDRB |= _BV(DDB5);
while(1)
{
/*exec shell*/
shellProcess();
/*exec timer process*/
timing_process();
/*exec led updater*/
ledStringProcess();
/* set pin 5 of PORTB for output*/
//
/* set pin 5 high to turn led on */
//PORTB |= _BV(PORTB5);
//_delay_ms(BLINK_DELAY_MS*4);
/* set pin 5 low to turn led off */
//PORTB &= ~_BV(PORTB5);
//_delay_ms(BLINK_DELAY_MS);
}
return 0;
}
u8 FING_u8SetAdd(u8 * Copy_u8ChipOldAdd , u8 * Copy_u8ChipNewAdd)
{
u8 Local_u8Count,Local_u8CastChkSum ;
const u8 Local_u8HndShkArr[4]={0x01,0x00,0x07,0x15};
u16 Local_u16RxData ,Local_u16CastChkSum ;
u64 Local_u64ChekSum=0;
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count++)
{
USART_Transmit(Copy_u8ChipOldAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<4;Local_u8Count++)
{
USART_Transmit(Local_u8HndShkArr[Local_u8Count]);
Local_u64ChekSum+=Local_u8HndShkArr[Local_u8Count];
}
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count++)
{
USART_Transmit(Copy_u8ChipNewAdd[Local_u8Count]);
Local_u64ChekSum+=Copy_u8ChipNewAdd[Local_u8Count];
}
//Cjeck sum calculations
Local_u16CastChkSum=(u16)Local_u64ChekSum ;
Local_u8CastChkSum=(u8)Local_u64ChekSum ;
USART_Transmit(Local_u8CastChkSum);
Local_u16CastChkSum>>=8;
USART_Transmit(Local_u16CastChkSum);
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u16RxData);
}
return Local_u16RxData ;
}
int TickFct_D(int state) {
// State Transitions
switch(state) {
case START_D:
state = INIT_D; break; // transition to INIT_D state
case INIT_D:
incoming_data = data_avail = 0;
state = WAIT_D; break; // transition to WAIT_D state
case WAIT_D:
if(USART_HasReceived(0)) {
data_avail = 1;
// if(!wired)
state = READ_D;
/*if (USART_IsSendReady(0)) {
USART_Send(incoming_data,0);
}*/
}
else {
data_avail = 0;
}
break;
case READ_D:
state = WAIT_D; break;
default:
state = START_D; // error likely happened, restart
break;
}
// State Actions
switch(state) {
case READ_D:
incoming_data = USART_Receive(0);
break;
default:
break;
}
return state;
}
void DataReceive(void)
{
characBuffer[bufferLength] = USART_Receive();
bufferLength++;
if(bufferLength >= 240)
{
for(int i=0;i<20;i++)
characBuffer[i] = 0;
bufferLength = 0;
}
if(bufferLength == 1)
{
if (characBuffer[0] != '[')
{
for (int i=0;i<20;i++)
{
characBuffer[i] = 0;
}
bufferLength = 0;
}
}
}
int main(void)
{ port_init();
OledInit ();
timer1_init();
adc_init();
USART_Init(0x08);
_delay_ms(10);
while(1)
{
USART_Receive();//读取串口数据
Battery_voltage=adc_read(6)/102.40;
if (RX_Flag==1) //如果有新数据
{ RX_Flag=0;
TX_Data=RX_Data;
bb++;
USART_Transmit(TX_Data); //发送串口数据
}
rest(RX_Data);
if ((RX_Data==0x00)||(Battery_voltage<7.0))
{ off_servo();
if (Battery_voltage<7.0){DisplayChar_16X08(36,2,"~(zzz)~") ;}
else{DisplayChar_16X08(36,2,"~(@o@)~") ; }
}
if ((Battery_voltage>8.0)&&(!(RX_Data==0x00)))
{DisplayChar_16X08(36,2,"~(^o^)~") ;
}
else if ((Battery_voltage>7.0)&&(!(RX_Data==0x00)))
{DisplayChar_16X08(36,2,"~(=o=)~") ;
}
if (RX_Data==0x01)//站立
{ open_servo();
robot_stand(0,-90);
}
if (RX_Data==0x02)//左转
{robot_move(0,0,40,-90,90,100);}
if (RX_Data==0x03)//右转
{ robot_move(0,0,-40,-90,90,100);}
if (RX_Data==0x04)//前进
{ robot_move(0,40,0,-90,90,100);}
if (RX_Data==0x05)//后退
{robot_move(0,-40,0,-90,90,100);}
if (RX_Data==0x06)//
{robot_Sur_Place(1,-90,90,100);}
if (RX_Data==0x07)//
{robot_move(40,0,0,-90,90,100);}
if (RX_Data==0x08)//
{robot_move(40,0,0,-90,90,100);}
if (RX_Data==0x09)//
{robot_move(20,20,0,-90,90,100);}
//DisplayChar_16X08(36,2,"~(@o@)~") ;
Cache_MDigit5(RX_Data,6,0,1 );Cache_MDigit5(Battery_voltage*100,6,88,1 );
// OledDispPicture(0,32,64,512,Expression1);//爱心
// OledDispPicture(0,26,75,600,Expression2);//笑脸
//TODO:: Please write your application code
//time_seve++;
}
}
int main(void) {
//setup USART recive
UCSR0B = (1<<RXEN0);
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
UBRR0 = 25; // 25 = 2400 baud; 6 = 9600 baud
/* Set pins as output, high->output, low->input */
DDRA = 0xFF; /* Pin for LED out */
DDRB = 0xFF; /* Pin for LED out */
DDRC = 0xFF; /* Pin for LED out */
DDRD = 0xFE; /* Pin for LED out */
unsigned char input;
unsigned char value;
unsigned char control;
PORTA = 0xFF;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
_delay_ms(1000);
/*
while (1){
clearStates();
lightDisplay();
}*/
/*
int i = 0;
unsigned int states[4] = {0x27, 0xA0, 0x56, 0xD4}; */
/*
while (1) {
unsigned char in = USART_Receive();
for (int i = 0; i < 8; i++) {
dir[i] = (in>>(7-i))&0x1;
}
displayDirection();
}
*/
while(1) {
//clearStates();
input = USART_Receive();
//input = 0x27;
/* _delay_ms(2000);
input = states[i];
i++;
i = i%4;*/
control = input & CTRL_MSK;
if (input & CMD_BIT) {
ctrl[LONG_SIP] = control == LONG_SIP ? ON : OFF;
ctrl[LONG_PUFF] = control == LONG_PUFF ? ON : OFF;
ctrl[SIP] = control == SIP || ctrl[LONG_SIP] ? ON : OFF;
ctrl[PUFF] = control == PUFF || ctrl[LONG_PUFF] ? ON : OFF;
} else {
clearCtrl();
}
value = (input&VAL_MSK) >> 3;
if (input & SPD_BIT) { //SPEED
clearSpeed();
if (input & NEG_BIT) { //REVERSE
spd[0] = ON;
}
else { //FORWARD
switch (value) {
default:
case 4:
spd[4+SPD_OFFSET] = ON;
case 3:
spd[3+SPD_OFFSET] = ON;
case 2:
spd[2+SPD_OFFSET] = ON;
case 1:
spd[1+SPD_OFFSET] = ON;
break;
case 0:
spd[0+SPD_OFFSET] = ON;
break;
}
}
displaySpeed();
}
else { //DIRECTION
clearDir();
if (input & NEG_BIT) { //LEFT
switch (value) {
default:
case 4:
dir[DIR_OFFSET+1-4] = ON;
case 3:
dir[DIR_OFFSET+1-3] = ON;
case 2:
dir[DIR_OFFSET+1-2] = ON;
case 1:
dir[DIR_OFFSET+1-1] = ON;
break;
case 0:
break;
}
}
else { //RIGHT
switch (value) {
default:
case 4:
dir[4+DIR_OFFSET] = ON;
case 3:
dir[3+DIR_OFFSET] = ON;
case 2:
dir[2+DIR_OFFSET] = ON;
case 1:
dir[1+DIR_OFFSET] = ON;
break;
case 0:
break;
}
}
displayDirection();
}
}
return 0;
}
static int32_t USART1_Receive (void *data, uint32_t num)
{
return USART_Receive (data, num, &USART1_Resources);
}
/**
* The main loop which waits for commands via blue tooth and
* then acts based on commands received.
*
* @author Jacob Moyer,
* Ed Droesch,
* Aaron Pederson, &
* Matthew Backes
*
* @date 12/13/2013
*/
void main()
{
///Initializes the open_interface struct to be used throughout the program.
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);
initializer();
char key =0;
///Waits for commands from the USART connection,
///Then performs the command and returns that the command was performed.
while(1)
{
char message[32] = "";
key = USART_Receive();
///Returns what the current tape sensor is reading.
if (key == 'p')
{
oi_update(sensor_data);
sprintf(message,"sensor->signal =%d\r\n",(int)sensor_data->cliff_frontleft_signal);
string_tran(message);
}
///Moves the servo motor to the 0 degree position.
if(key == 'c')
{
calibrate_servo(0);
}
///Scans 0 - 180 degrees in front of the robot and returns the readings,
///it also guesses where objects are and returns their angle and width.
if(key == 'j')
{
fullScan();
string_tran("Scan Complete.\r\n");
}
///Moves FORWARD_DISTANCE centimeters forward.
if(key =='w')
{
sprintf(message,"Moved %d\r\n",move(sensor_data, FORWARD_DISTANCE,&sensors));
string_tran(message);
}
///Moves BACKWARD_DISTANCE centimeters backwards.
if(key=='s')
{
sprintf(message,"Moved %d\r\n",move(sensor_data, BACKWARD_DISTANCE,&sensors));
string_tran(message);
}
///Rotates ROTATE_DEGREES counterclockwise.
if(key=='a')
{
turn_CCW(sensor_data,ROTATE_DEGREES);
sprintf(message,"Rotated %d\r\n",ROTATE_DEGREES);
string_tran(message);
}
///Rotates ROTATE_DEGREES clockwise.
if(key=='d')
{
turn_CCW(sensor_data,-ROTATE_DEGREES);
sprintf(message,"Rotated %d\r\n",-ROTATE_DEGREES);
string_tran(message);
}
///Plays the Morrowind theme song.
if(key=='r')
{
play_morrowind();
string_tran("Playing song.");
}
}
}
void mainTick(){
static unsigned char button;
static unsigned char pressed; //decrease states for buttonpress
button = ~PINA;
switch(gameStatus){
case intro:
if(GetBit(button,0)){
gameStatus = play;
playTime = 0;
pressed = 1;
currScore = 0;
lcdTick();
if(USART_IsSendReady())
USART_Send(0x41);
}
else if(USART_HasReceived()){
tempMessage = USART_Receive();
if( tempMessage == 0xC1 ){
gameStatus = highscore;
playTime = 0;
lcdTick();
}
else if( tempMessage == 0xC2){
gameStatus = resetHighScore;
currHighScore = 0;
eeprom_write_byte ((uint8_t*) 46, currHighScore);
playTime = 0;
lcdTick();
}
}
else
gameStatus = intro;
break;
case highscore:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else
gameStatus = highscore;
break;
case resetHighScore:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else
gameStatus = resetHighScore;
break;
case play:
if(!(GetBit(button,0) && !pressed) && playTime < 4000 )
gameStatus = play;
else if((GetBit(button,0) && !pressed) || playTime == 4000){
gameStatus = gameOver;
lcdTick();
playTime = 0;
if(currScore > currHighScore){
currHighScore = currScore;
eeprom_write_byte ((uint8_t*) 46, currHighScore);
}
if(USART_IsSendReady())
USART_Send(0x40);
}
else
gameStatus = play;
break;
case gameOver:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else if(playTime < 500)
gameStatus = gameOver;
else
gameStatus = gameOver;
break;
}
switch(gameStatus){
case intro:
PORTB = 0;
currScore = 0;
break;
case highscore:
playTime++;
break;
case resetHighScore:
playTime++;
break;
case play:
if(!GetBit(button,0))
pressed = 0;
playTime++;
if(USART_HasReceived()){
tempMessage = USART_Receive();
if(GetBit(tempMessage,7) && !GetBit(tempMessage,6))
if((tempMessage & 0x3F) != currScore)
updateScore(tempMessage & 0x3F);
}
break;
case gameOver:
playTime++;
break;
}
}
void Tick_Fct(){
distance = read_ultrasonic();
if (USART_HasReceived(0))
{
direction = USART_Receive(0);
PORTC = direction;
}
switch(state){//transitions
case init:
state = start;
break;
case start:
if(direction == 0xFF){
state = wait_impact;
}else{
state = controlled;
}break;
case controlled:
if(direction == 0xFF){
state = wait_impact;
}else{
count_1 = 0;
state = hold_direction;
}break;
case hold_direction:
if(count_1 < 30){
state = hold_direction;
}else{
state = reset_direction;
}
break;
case reset_direction:
state = controlled;
break;
case wait_impact:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && distance > 30){
state = wait_impact;
}else {
state = stop_car;
count = 0;
PORTA = 0x00;
}
break;
case stop_car:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && count < 100){
state = stop_car;
}
else if(direction == 0xFF && !(count < 100)){
state = turn_left;
count = 0;
}
break;
case turn_left:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && count < 100){
state = turn_left;
}
else if(direction == 0xFF && !(count < 100)){
state = wait_impact;
}
break;
default:
state = init;
break;
}
switch(state){//actions
case wait_impact:
PORTA = 0x04;
break;
case stop_car:
count++;
PORTA = 0x42;
break;
case turn_left:
count++;
PORTA = 0x24;
break;
case start:
PORTA = 0x00;
break;
case controlled:
if(direction == 0x0A){
PORTA = 0x00;
}else if (direction == 0x01){
PORTA = 0x44;//forward
}else if (direction == 0x02){//reverse or backward
PORTA = 0x42;
}else if (direction == 0x04){//left
PORTA = 0x24;
}else if(direction == 0x08){//right
PORTA = 0x44;
}
break;
case hold_direction:
count_1++;
break;
case reset_direction:
PORTA = 0x00;
break;
default:
break;
}
}
int TickFct_BluetoothReceiver(int state){
switch(state){
case bluetoothWait:
if(USART_HasReceived(0) && !bluetoothEnable){
USART_Flush(0);
state = bluetoothWait;
}
else if(USART_HasReceived(0) && bluetoothEnable){
state = bluetoothReceived;
position = 0;
lastReceivedChar = 0;
clearInputPin();
}
else{
state = bluetoothWait;
}
break;
case bluetoothReceived:
if(!bluetoothEnable){
state = bluetoothWait;
}
else if(lastReceivedChar != '*'){
state = bluetoothWaitForNext;
}
else{
state = bluetoothWait;
}
break;
case bluetoothWaitForNext:
if(!bluetoothEnable){
state = bluetoothWait;
}
else if(!USART_HasReceived(0)){
state = bluetoothWaitForNext;
}
else{
state = bluetoothReceived;
}
break;
default:
state = bluetoothWait;
break;
}
switch(state){
case bluetoothWait:
break;
case bluetoothReceived:
while(lastReceivedChar != '*'){
lastReceivedChar = USART_Receive(0);
if(lastReceivedChar != '*'){
inputPin[position++] = lastReceivedChar;
}
else{
inputPin[position] = '\0';
pinInputComplete = 1;
}
}
break;
case bluetoothWaitForNext:
break;
}
return state;
}
int main(int argc, char *argv[])
{
int i=0;
int h=0;
int bupi=0;
cli();
memset(command,'$',58);
init();
timer0_init();
timer1_init();
timer3_init();
timer4_init();
timer5_init();
//lcd_init();
//lcd_string("Welcome");
//lcd_move(0,1);
//lcdconfig();
//lcd_string("Give me a code:");
//lcd_move(0,2);
UART_init();
//adc_init();
//lcdsenddata('F');
//lcd_num(123456);
_delay_ms(1500);
sei();
while(1)
{
//-------------------------------------------------scan for input
while(mode==0)
{
while(1)//scan line
{
if(command[comm]=USART_Receive())
{
if((command[comm]==13||command[comm]=='\n'||command[comm]==59)&&(comm<59))
{
break;
}
if(echo==1)
{
//USART_Transmit('[');
// USART_Transmit(comm+48);
// USART_Transmit(']');
USART_Transmit(command[comm]);
}
comm++;
}
else
{
}
}
mode=1;
if(echo==1)
{
USART_String_Transmit("\nTransition to parsing.");
}
}
//-------------------------------------------------parse commands
while(mode==1)//parse commands
{
for(i=0;i<comm;i++)//cycling i till \n-1
{
if(command[i]=='N'&&command[i+1]>47&&command[i+1]<58)//GET LINE NUMBER
{
if(echo)
{
USART_String_Transmit("\n Getting line number.");
}
temp_line_number=fetchlong(command,i,'N');
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='5')//GET EXTRUDER TEMP
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='4')//SET EXTRUDER TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='9')//SET EXTRUDER TEMP AND WAIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='4'&&command[i+3]=='0')//SET BED TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='9'&&command[i+3]=='0')//WAIT FOR BED TEMP TO HIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='7')//FAN OFF
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='6')//FAN ON WITH FAN SPEED S255MAX
{
}
if(command[i]=='M'&&command[i+1]=='8'&&command[i+2]=='2'&&command[i+3]==' ')//EXTRUDER TO ABSOLUTE MODE
{
}
if(command[i]=='G'&&command[i+1]=='2'&&command[i+2]=='1'&&command[i+3]==' ')//METRIC VALUES
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='0'&&command[i+3]==' ')//ABSOLUTE POSITIONING
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='2'&&command[i+3]==' ')//ZERO EXTRUDED LENGTH WITH E0 otherwise set origin?
{
}
if(command[i]=='G'&&command[i+1]=='0'&&command[i+2]==' ')//MOVE WITHOUT EXTUSION
{
if(echo)
{
USART_String_Transmit("\nG0 command.");
}
line_engine(double_scan_x,double_scan_y,double_scan_z,double_scan_e,i);
if((echo==1)&&(xroll==1)&&(yroll=1))
{
USART_String_Transmit("\n Xroll=1");
USART_String_Transmit("\n Yroll=1");
}
mode==2;
}
if(command[i]=='G'&&command[i+1]=='1'&&command[i+2]==' ')//MOVE WITH EXTRUSION
{
}
if(command[i]=='Q'&&command[i+1]=='1')//MOTOR TEST {
{
if(echo)
{
USART_String_Transmit("\n Motor test on.");
//xroll=1;
yroll=1;
//testval=(threefetchdouble(command,i,'E')/0.01)*16;
}
}
if(command[i]=='Q'&&command[i+1]=='0')//MOTOR TEST
{
if(echo)
{
USART_String_Transmit("\n Motor test off.");
}
//xroll=0;
yroll=0;
}
}
mode=2;
if(echo)
{
USART_String_Transmit("\nTransition to set outputs.");
}
}
//-------------------------------------------------setting outputs
while(mode==2)
{
while(zroll==1||eroll==1||xroll==1||yroll==1)
{
if(USART_Receive()=='.')
{
zroll=0;
eroll=0;
xroll=0;
yroll=0;
USART_String_Transmit("\nSW Emergency stopped, please reset!");
// PINK|=0b00000001;
// PINA|=0b00000100;
// PINF|=0b00000100;
// PIND|=0b10000000;
}
}
if(zroll==0&&eroll==0&&xroll==0&&yroll==0)
{
if(echo)
{
USART_String_Transmit("\nTransition to mode 3, reseting parameters.");
}
mode=3;
}
}
//-------------------------------------------------clear things
while(mode==3)
{
cli();
memset(command,'$',58);
comm=0;
i=0;
double_scan_x=-1.0;
double_scan_y=-1.0;
double_scan_z=-1.0;
double_scan_e=-1.0;
if(echo)
{
USART_String_Transmit("\nParameters reseted returning to scanning mode");
}
USART_String_Transmit("\n\rok");
sei();
mode=0;
}
//-------------------------------------------------
while(mode==4)
{
}
}
return 0;
}
