uint8_t read_msg(uint8_t *buf)
{
uint16_t ret;
uint8_t *ret_data = (uint8_t*)&ret;
for(int i=0; i<3; i++)
{
top:
ret = uart0_getc();
if(!ret_data[0]) // If no error
buf[i] = ret_data[1];
else // Handling of errors, TODO
{
switch (ret)
{
case UART_NO_DATA:
sleep_mode();
goto top;
default: /* All other error cases*/
send_msg(NAK, ret);
uart0_flush(); // Flushing the receiving buffer, since
// we’re unable to continue anyway.
return ret_data[0];
}
}
}
return 0;
}
_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 = uart0Getch();
// c = uart0GetchW();
while ( !iFdvUart_kbhit() ) ;
c = (char) uart0_getc();
if (c == 0x0D) {
*p='\0';
break;
}
*p++ = c;
uart0_putc(c);
}
return len - i;
}
void uart0_gets(char *buf, int len)
{
int i;
for (i = 0; i < len - 1; i++)
{
buf[i] = uart0_getc();
if (buf[i] == '\r')
{
break;
}
//abc‘back'
//0123
//'back'
if (buf[i] == '\b' || buf[i] == 127)
{
i--;
if (i < 0)
{
continue;
}
uart0_putc('\b');
uart0_putc(' ');
uart0_putc('\b');
i--;
continue;
}
uart0_putc(buf[i]);
}
buf[i] = 0;
}
int
main (void)
{
uart0_init ();
while (1)
proto_accept (uart0_getc ());
}
int main(void)
{
timeCount = 0;
hardwareInit();
uart0_init(BAUD_SETTING);
/* Initialise timer to divide by 1025, giving 32ms time tick */
timer0Init(0,5);
rfm12_init();
wdtInit();
sei();
indx = 0;
for(;;)
{
wdt_reset();
uint8_t sendMessage = false;
uint16_t character = uart0_getc();
/* Wait for a serial incoming message to be built. */
if (character != UART_NO_DATA)
{
inBuf[indx++] = (uint8_t)(character & 0xFF);
/* Signal to transmit if a CR was received, or string too long. */
sendMessage = ((indx > MAX_MESSAGE) || (character == 0x0D));
}
/* Send a transmission if message is ready to send, or something was
received and time waited is too long. */
if (sendMessage || (timeCount++ > TIMEOUT))
{
/* Wait for the transmit buffer to be freed and message loaded. */
if ((indx > 0) && (rfm12_tx(indx, 0, inBuf) != RFM12_TX_OCCUPIED))
indx = 0;
timeCount = 0;
}
rfm12_tick();
/* If an RF incoming message has been received, take it from the buffer one
character at a time and transmit via the serial port. */
if (rfm12_rx_status() == STATUS_COMPLETE)
{
uint8_t *bufferContents = rfm12_rx_buffer();
uint8_t messageLength = rfm12_rx_len();
uint8_t i;
for (i=0;i<messageLength;i++)
{
uart0_putc(bufferContents[i]);
}
/* Clear the "in use" status of the receive buffer to be available for
rfm12lib. */
rfm12_rx_clear();
}
}
}
int
main (void)
{
spi_init (SPI_MASTER, SPI_MODE_0, SPI_MSB_FIRST, SPI_FOSC_DIV128);
uart0_init ();
sei ();
proto_send0 ('z');
while (1)
proto_accept (uart0_getc ());
}
static int uartstream_getchar(FILE *stream)
{
uint16_t res;
while(1){
res = uart0_getc();
if(res < 256){
if('\r' == res)
res = '\n';
break;
}
}
return (int) (res & 0xFF);
}
int
main (int argc, char **argv)
{
avr_init (argc, argv);
sei ();
uart0_init ();
proto_send0 ('z');
while (1)
{
uint8_t c = uart0_getc ();
proto_accept (c);
}
}
BaseType_t xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
{
BaseType_t xReturn;
/* Just call into the Altera support function, which has its own parameters,
so the parameters passed in here are not used. */
( void ) pxPort;
( void ) xBlockTime;
*pcRxedChar = uart0_getc();
if( *pcRxedChar != -1 )
{
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
return xReturn;
}
void check_wlan_cmd()
{
static unsigned char cmdstate = WLANCMD_NONE; // Status des aktuellen Befehls
static unsigned char cindex = 0; // Position in wlan_string (global)
unsigned int c; // zum Verarbeiten des aktuellen Zeichens
unsigned char exit; // für while-Schleifen-Ausstieg
unsigned char uarterror; // UART Empfangsfehler
exit = 0;
while(!exit)
{
// uart0_getc() returns in the lower byte the received character and in the higher byte (bitmask) the last receive error
// UART_NO_DATA is returned when no data is available.
uarterror = 0;
//c = uart0_getc(); //
#if defined( WLAN_UART_NR ) // WLAN_UART_NR = 1
c = uart1_getc();
#else // WLAN_UART_NR = 0
c = uart0_getc();
#endif // WLAN_UART_NR
if ( c & UART_NO_DATA ) //no data available from UART
{
exit = 1;
}
else // data available
{
// new data available from UART - check for Frame or Overrun error
if ( c & UART_FRAME_ERROR )
{
// Framing Error detected, i.e no stop bit detected
uarterror = 1;
}
if ( c & UART_OVERRUN_ERROR )
{
// Overrun, a character already present in the UART UDR register was
// not read by the interrupt handler before the next character arrived,
// one or more received characters have been dropped
uarterror = 2;
}
if ( c & UART_BUFFER_OVERFLOW )
{
// We are not reading the receive buffer fast enough, one or more received character have been dropped
uarterror = 3;
}
// empfangenes Zeichen verarbeiten
if (!uarterror) // falls kein Fehler aufgetreten ist
{
char d = (char)c;
if (d == 60) // > Befehl beginnt
{
cmdstate = WLANCMD_STARTED; // ab nun Zeichen nach wlan_string übernehmen
cindex = 0;
memset(wlan_string, 0, UART_MAXSTRLEN+1);
}
else if (d == 62) // > abschließendes Zeichen wurde empfangen
{
if (cmdstate == WLANCMD_STARTED) { befehl_auswerten(); }
cmdstate = WLANCMD_NONE;
}
else
{
if (cmdstate == WLANCMD_STARTED) // Zeichen in Befehl übernehmen
{
if (cindex < UART_MAXSTRLEN)
{
wlan_string[cindex] = d;
cindex++;
}
else { cmdstate = WLANCMD_NONE; } // Befehl ist zu lange - muss ignoriert werden!
}
}
}
else { cmdstate = WLANCMD_NONE; } // bei uarterror bisherige Befehlsdaten verwerfen
}
} // end while loop
} //end check_wlan_cmd()
int
main (void)
{
uint8_t i;
#ifndef HOST
uint8_t read_old = 0;
uint8_t old_ind = 0;
const int total = 5000;
#endif
timer_init ();
for (i = 0; i < AC_ENCODER_EXT_NB; i++)
encoder_init (i, &encoder[i]);
encoder_corrector_init (&encoder_corrector_right);
uart0_init ();
proto_send0 ('z');
sei ();
while (1)
{
timer_wait ();
if (count)
{
encoder_update ();
encoder_corrector_update (&encoder_corrector_right, &encoder[1]);
}
#ifndef HOST
if (read && !--read_cpt)
{
uint8_t r0, r1, r2, r3;
r0 = encoder_ext_read (0);
r1 = encoder_ext_read (1);
r2 = encoder_ext_read (2);
r3 = encoder_ext_read (3);
if (read_mode == 0 || (read_mode == 1 && r3 != read_old)
|| (read_mode == 2
&& (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0)))
{
proto_send4b ('r', r0, r1, r2, r3);
read_old = r3;
}
read_cpt = read;
}
if (ind && !--ind_cpt)
{
i = encoder_ext_read (3);
if (!ind_init && i != old_ind)
{
uint8_t eip = old_ind + total;
uint8_t eim = old_ind - total;
proto_send7b ('i', old_ind, i, eip, eim, i - eip, i - eim,
i == eip || i == eim);
}
old_ind = i;
ind_init = 0;
ind_cpt = ind;
}
#endif
if (count && !--count_cpt)
{
proto_send4w ('C', encoder[0].cur, encoder[1].cur,
encoder[2].cur, encoder[3].cur);
count_cpt = count;
}
while (uart0_poll ())
proto_accept (uart0_getc ());
}
}
/** Receive a single character
*
* Wait for a single character on the UART and return it.
*
* @return the character received.
*/
char uartRecv() {
return uart0_getc();
}
void uart() {
#define SIZE_BUF 128
char buf[SIZE_BUF];
int nbuf = 0;
for (int i = 0; i < SIZE_BUF; i++)
buf[i] = 0;
// init_frame();
// load(); // 初回はデータクリアいるかも？
int mode = 1;
unsigned char data[8];
for (int i = 0; i < 8; i++)
data[i] = 0;
int n = 0;
int cnt = 0;
int nframe = 0;
for (int i = 0;; i++) {
while (uart0_test()) {
int c = uart0_getc();
// println(buf);
if (c == '\n') {
buf[nbuf] = '\0';
if (startsWith(buf, "MATLED SHOW ")) {
decode(buf + (9 + 3), data);
println("SHOW");
} else if (startsWith(buf, "MATLED SET ")) {
char* pbuf = buf + 11;
int nf = parseInt(pbuf);
if (nf >= 0 && nf <= N_FRAME) {
int n = indexOf(pbuf, ' ');
if (n >= 0) {
pbuf += n + 1;
// println(pbuf);
decode(pbuf, fr->frame[nf]);
decode(pbuf, data); // 停止時の画面にも表示
n = indexOf(pbuf, ' ');
int nw = 100;
if (n >= 0) {
pbuf += n + 1;
nw = parseInt(pbuf);
}
fr->waitms[nf] = nw;
}
}
} else if (startsWith(buf, "MATLED CLEAR")) {
mode = 0;
init_frame();
} else if (startsWith(buf, "MATLED RUN")) {
mode = 1;
println("RUN");
} else if (startsWith(buf, "MATLED STOP")) {
mode = 0;
println("STOP");
} else if (startsWith(buf, "MATLED SAVE")) {
save();
println("SAVE");
} else if (startsWith(buf, "MATLED LOAD")) {
load();
println("LOAD");
}
nbuf = 0;
continue;
} else if (c == '\r') {
} else {
if (nbuf < SIZE_BUF - 1)
buf[nbuf++] = c;
}
}
if (mode == 0) {
setMatrix(data);
} else {
setMatrix(fr->frame[nframe]);
cnt++;
if (cnt >= fr->waitms[nframe]) {
cnt = 0;
int bknframe = nframe;
for (;;) {
nframe++;
if (nframe == N_FRAME)
nframe = 0;
if (fr->waitms[nframe])
break;
if (bknframe == nframe) {
mode = 0;
break;
}
}
}
}
}
}
/** Main (and infinite) loop. */
static void
main_loop (void)
{
while (1)
{
/* Wait until next cycle. */
timer_wait ();
/* Update chrono. */
chrono_update ();
/* Is match over? */
if (chrono_is_match_over ())
{
/* Power off doors. */
pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, 0);
pwm_set (BOT_PWM_DOOR_FRONT_TOP, 0);
pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, 0);
pwm_set (BOT_PWM_DOOR_BACK_TOP, 0);
pwm_set (BOT_PWM_CLAMP, 0);
/* End it and block here indefinitely. */
chrono_end_match (42);
return;
}
/* Handle commands from UART. */
while (uart0_poll ())
proto_accept (uart0_getc ());
/* Update IO modules. */
pwm_update ();
contact_update ();
pawn_sensor_update ();
if (usdist_update ())
{
position_t robot_pos;
asserv_get_position (&robot_pos);
main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos);
move_obstacles_update ();
simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
}
/* Update AI modules. */
logistic_update ();
path_decay ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
/* Send stats if requested. */
if (main_stats_asserv_ && !--main_stats_asserv_cpt_)
{
/* Get current position */
position_t cur_pos;
asserv_get_position (&cur_pos);
/* Send stats */
proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a);
/* Reset stats counter */
main_stats_asserv_cpt_ = main_stats_asserv_;
}
if (main_stats_contact_ && !--main_stats_contact_cpt_)
{
proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
main_stats_contact_cpt_ = main_stats_contact_;
}
if (main_stats_codebar_ && !--main_stats_codebar_cpt_)
{
proto_send2b ('B', codebar_get (DIRECTION_FORWARD),
codebar_get (DIRECTION_BACKWARD));
main_stats_codebar_cpt_ = main_stats_codebar_;
}
if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
{
proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
usdist_mm[3]);
main_stats_usdist_cpt_ = main_stats_usdist_;
}
}
}
