void laser_init()
{
char init = 'U';
char resp;
UART2_Write(&init, 1);
while (1) {
if (UART2_Read(&resp) == 0) { // Check for response
if (resp == ':') {
break;
}
}
}
}
unsigned int UART2_WriteBuffer(const uint8_t *buffer, const unsigned int bufLen) {
unsigned int numBytesWritten = 0;
while (numBytesWritten < (bufLen)) {
if ((uart2_obj.txStatus.s.full)) {
break;
} else {
UART2_Write(buffer[numBytesWritten++]);
}
}
return numBytesWritten;
}
unsigned long laser_read()
{
char read[] = "B";
UART2_Write(&read, 1);
unsigned long temp = 0;
while(1){
if(UART2_Read(&read) == 0)
{
temp |= (read[0] << 24);
break;
}
}
while(1){
if(UART2_Read(&read) == 0)
{
temp |= (read[0] << 16);
break;
}
}
while(1){
if(UART2_Read(&read) == 0)
{
temp |= (read[0] << 8);
break;
}
}
while(1){
if(UART2_Read(&read) == 0)
{
temp |= (read[0]);
break;
}
}
while(1){
if(UART2_Read(&read) == 0)
break;
}
while(1){
if(UART2_Read(&read) == 0)
break;
}
return temp;
}
/**
void DRV_UART2_Write( const uint8_t byte)
*/
void DRV_UART2_Write( const uint8_t byte)
{
UART2_Write( byte);
}
//UART2 write text and new line (carriage return + line feed)
void UART2_Write_Line(char *uart_text) {
UART2_Write_Text(uart_text);
UART2_Write(13);
UART2_Write(10);
}
/**
* Relays data from Radio to USB/Bluetooth
*/
void relayFromRadio()
{
/* UART1 - FTDI USB
* UART2 - Bluetooth
* UART3 - Radio */
if(!UART3_ReceiveBufferIsEmpty()) //New data on UART3 (Radio)
{
uint8_t rxByte = UART3_Read(); //Read byte from U3
if(relayUSBConneted())
{
// if(!UART1_TransmitBufferIsFull()) //There is free space in U1 tx buffer //commented this out to avoid random loss of connection -D Cironi 2015-05-11
// {
UART1_Write(rxByte); //Send to U1
// }
}
else
{
if(!UART2_TransmitBufferIsFull()) //There is free space in U2 tx buffer
{
UART2_Write(rxByte); //Read byte from U3 and send to U2
}
}
LandChannel = CheckRCLoop(rxByte); //check to see if data from radio is RC_Channel info
if(LandChannel != 0 && LandChannel < 1500 && MissionInjectStage == 0 && LandInjected == 0) //Valid reading and the mode we want for landing
{
MissionInjectStage = 1;
}
else if (LandChannel != 0 && LandChannel > 1500) //valid reading but not the mode we want
{
MissionInjectStage = 0;
LandInjected = 0;
Nop();
}
switch(MissionInjectStage) //inject a packet on each cycle
{
case 0:
//do nothing
break;
case 1:
InjectCount(4);
break;
case 2:
InjectWaypoint('h');
break;
case 3:
InjectWaypoint('1');
break;
case 4:
InjectWaypoint('2');
break;
case 5:
InjectWaypoint('3');
break;
case 6:
InjectAcknowledge();
break;
}
}
}
