void uartLoopBack(void *p) {
unsigned char znak;
UsartBuffer * pc_usart_buffer = usartBufferInitialize(&PC_USART, BAUD19200, 128);
usartBufferPutString(pc_usart_buffer, "\n\n\rXMEGA ready", 10);
while (1) {
if (usartBufferGetByte(pc_usart_buffer, &znak, 0)) {
usartBufferPutByte(pc_usart_buffer, znak, 10);
}
}
}
/* -------------------------------------------------------------------- */
void mainTask(void *p) {
// packet used to handle incoming communication
csp_packet_t * outcomingPacket = csp_buffer_get(CSP_PACKET_SIZE);
// character received from uart
char inChar;
/* The variable used to receive from the queue. */
xCSPStackEvent_t xReceivedEvent;
int i; // iterator
// text buffer for uart
char text[20];
// infinite while loop of the program
while (1) {
if (xQueueReceive(xCSPEventQueue, &xReceivedEvent, 1)) {
switch (xReceivedEvent.eEventType) {
case generalCommEvent:
// send its content to the uart
for (i = 0; i < ((csp_packet_t *) xReceivedEvent.pvData)->length; i++) {
usartBufferPutByte(pc_usart_buffer, ((csp_packet_t *) xReceivedEvent.pvData)->data[i], 10);
}
break;
case pingReceivedEvent:
// calculate the ping return time
if ((int16_t) milisecondsTimer - (int16_t) pingSent > 0)
timediff = milisecondsTimer - pingSent;
else
timediff = (int16_t) milisecondsTimer - (int16_t) pingSent + (int16_t) 1000;
itoa(timediff, text, 10);
usartBufferPutString(pc_usart_buffer, "ping received in ", 10);
usartBufferPutString(pc_usart_buffer, text, 10);
usartBufferPutString(pc_usart_buffer, "ms\n\r", 10);
break;
default:
/* Should not get here. */
break;
}
}
// if there is something from the uart
if (usartBufferGetByte(pc_usart_buffer, &inChar, 0)) {
outcomingPacket->data[0] = inChar;
outcomingPacket->length = 1;
switch (inChar) {
// ask board for free memory heap
case 'm':
csp_sendto(CSP_PRIO_NORM, CSP_BOARD_ADDRESS, 16, 15, CSP_O_NONE, outcomingPacket, 10);
break;
// ask board for status
case 'h':
csp_sendto(CSP_PRIO_NORM, CSP_BOARD_ADDRESS, 17, 15, CSP_O_NONE, outcomingPacket, 10);
break;
// ask board for status
case 'a':
csp_sendto(CSP_PRIO_NORM, CSP_BOARD_ADDRESS, 18, 15, CSP_O_NONE, outcomingPacket, 10);
break;
// ask board for status
case 'p':
outcomingPacket->data[0] = 0;
outcomingPacket->length = 1;
pingSent = milisecondsTimer;
csp_sendto(CSP_PRIO_NORM, CSP_BOARD_ADDRESS, 1, 32, CSP_O_NONE, outcomingPacket, 10);
break;
// sends the char and is supposed to receive it back
default:
csp_sendto(CSP_PRIO_NORM, CSP_BOARD_ADDRESS, 15, 15, CSP_O_NONE, outcomingPacket, 10);
break;
}
}
}
}