// Send a byte array of UBX protocol to the GPS
void sendUBX(uint8_t *MSG, uint8_t len)
{
int i;
for(i=0; i<len; i++) {
uart0SendByte(MSG[i]);
}
}
_ssize_t _write_r (
struct _reent *r,
int file,
const void *ptr,
size_t len)
{
int i;
const uint8_t *p =
(const uint8_t *) ptr;
for (i = 0; i < len; i++) {
if (*p == '\n' ) {
uart0SendByte('\r');
}
uart0SendByte(*p++);
}
return len;
}
// new code for _read_r provided by Alexey Shusharin - Thanks
_ssize_t _read_r(struct _reent *r, int file, void *ptr, size_t len)
{
char c;
int i;
unsigned char *p;
p = (unsigned char*)ptr;
for (i = 0; i < len; i++)
{
c = uart0GetByteWait();
*p++ = c;
uart0SendByte(c);
if (c == 0x0D && i <= (len - 2))
{
*p = 0x0A;
uart0SendByte(0x0A);
return i + 2;
}
}
return i;
}
void control(void)
{
reset_timer5();
uartFlushReceiveBuffer(1);
a2dSetReference(ADC_REFERENCE_256V);
delay_us(100);
PORT_OFF(PORTB,7);
while(1) {
char read = uart1GetByte();
if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports!
uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22)
uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50);
uart0GetByte(); //we don't care about this byte
rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte());
uart0GetByte(); //we don't care about this byte
} else if(read == 'L') {
rprintf("%d\r\n", 255 - a2dConvert8bit(0));
} else if(read == 'R') {
rprintf("%d\r\n", 255 - a2dConvert8bit(1));
} else if(read == 'D') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'E') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'M') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'N') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'P') {
PORT_ON(PORTB,6);
} else if(read == 'p') {
PORT_OFF(PORTB,6);
} else if(read == 'Q') {
PORT_ON(PORTB,7);
} else if(read == 'q') {
PORT_OFF(PORTB,7);
} else if(read == 'X') {
PORT_ON(PORTB,4);
} else if(read == 'x') {
PORT_OFF(PORTB,4);
} else if(read == 'Y') {
PORT_ON(PORTB,5);
} else if(read == 'y') {
PORT_OFF(PORTB,5);
}
delay_us(50);
}
}
