void rfid_task() {
for(;;) {
char temp;
rfid_t msg;
int bytes_read;
int i;
// Wait for wakeup from interrupt
vTaskDelay(portTICK_RATE_MS * 100);
xSemaphoreTake(rfid_top_sem, portMAX_DELAY);
/* Wait until we get a 4C (start of header) */
while(1) {
bytes_read = UART_get_rx(&g_rfid_uart, (unsigned char*)&temp, 1);
if(bytes_read == 0) {
break;
} else if(temp == 0x4C) {
bytes_read = UART_get_rx(&g_rfid_uart, (unsigned char*)&temp, 1);
if(bytes_read == 0 || temp != 0x57) {
/* Good read */
break;
}
/* Don't care about the transponder type */
bytes_read = UART_get_rx(&g_rfid_uart, (unsigned char*)&temp, 1);
/* RXRDY is high when data is available in the receive data buffer/FIFO.
This bit is cleared by reading the Receive Data Register. */
bytes_read = UART_get_rx(&g_rfid_uart, (unsigned char*)&msg.data, RFID_LEN);
if(bytes_read != RFID_LEN) {
break;
}
msg.data[RFID_MSG_LEN-1] = '\0';
/* Pass ID to control unit */
xQueueSendToBack(g_rfid_queue, &msg, 0);
vTaskDelay(portTICK_RATE_MS * 1000); //Ignore rfid for a short bit
/* Break out of while loop */
break;
}
}
/* Clear the buffer until it's empty */
while((bytes_read = UART_get_rx(&g_rfid_uart, (unsigned char*)&temp, 1)) > 0);
MSS_GPIO_enable_irq(MSS_GPIO_1);
}
}
/**
* UartRx data ready interrupt handler
* This function is called whenever there is data available in the UART
* Rx unit. Note that this function should always empty the UART fifo,
* else the interrupt keeps active.
*/
static void vSerialRXTask(void *pvParameters)
{
(void) pvParameters;
uint8_t rx_data[MAX_RX_DATA_SIZE] = { 0 };
uint8_t rx_size = 0;
for(;;){
rx_size = UART_get_rx(&g_uart, rx_data, sizeof(rx_data));
for(int i = 0; i < rx_size; i++){
xQueueSend(xRxQueue, &rx_data[i], 0);
}
}
}
uint8_t get_key_selection(void)
{
uint8_t rx_data;
uint8_t rx_size =0;
do {
rx_size = UART_get_rx(&g_stdio_uart, &rx_data,1);
}while(rx_size == 0);
//dp_display_text("\n\r Selected fuction is: ");
UART_send (&g_stdio_uart, &rx_data,sizeof (rx_data));
return rx_data;
}
/* This function reads the user input such as address and data required for any
* memory read/write operation
*
* */
void read_user_input (uint8_t *rx_char_ptr)
{
uint8_t recv_char=0;
uint8_t size=0;
uint8_t index = 0;
for(index = 0; index < 10; index++)
{
rx_char[index] = '0';
}
index = 0;
while(recv_char != CHAR_LINE_FEED) //'\n'
{
size = UART_get_rx(&g_stdio_uart, &recv_char,1);
if(size > 0)
{
rx_char_ptr[index] = recv_char;
UART_send (&g_stdio_uart, (uint8_t *)&recv_char,sizeof(recv_char));
index++;
size = 0; // clear the rcvd flag
}
}
}
void modify_mem_data (uint16_t addr,uint8_t ByteCount){
uint16_t mem_addr,mem_data;
uint8_t recv_char=0;
uint8_t size, index = 0;
uint16_t input_data;
uint8_t i=0;
uint8_t m=0;
uint8_t key;
/* Clear the buffer before getting any new data */
for(index = 0; index < 10; index++)
{
rx_char[index] = '0';
}
index = 0;
mem_addr = addr;
dp_display_text("Enter New data(0x10fe,1234, 0b1010110)\r\n");
for ( i=0; i <= ByteCount ;i++) {
dp_display_text("\r\n");
dp_display_value(i,DEC);
dp_display_text("\t");
dp_display_value(mem_addr,HEX);
dp_display_text(":");
mem_data= HW_get_16bit_reg(mem_addr);
dp_display_value(mem_data,HEX);
dp_display_text("->");
key = get_key_selection();
if ( key == CHAR_ESC){ // ESC key == exit from writing
return;
}else if ( key == CHAR_LINE_FEED) // Return key, move to next address
{
mem_addr = mem_addr + 1;
} else
{
rx_char[0] = key; // put the previosly rxvd character to buffer;
index = 1;
while(recv_char != CHAR_LINE_FEED) //'\n'
{
size = UART_get_rx(&g_stdio_uart, &recv_char,1);
if(size > 0)
{
rx_char[index] = recv_char;
UART_send (&g_stdio_uart, (uint8_t *)&recv_char,sizeof(recv_char));
index++;
size = 0; // clear the rcvd flag
}
}
rx_char_ptr = rx_char;
xatoi ( &rx_char_ptr, &input_data);
HW_set_16bit_reg(mem_addr,input_data);
mem_addr = mem_addr + 1;
recv_char = '-'; // DUMMY VALUE TO CHANGE THE DETECTION OF NEW LINE CHAR
}
}
}
inline size_t BT_get_rx(uint8_t* rx_buffer, size_t buffer_size) {
return UART_get_rx(&g_bt, rx_buffer, buffer_size);
}
int main(){
pwm_init();
MSS_GPIO_init();
range_init();
MSS_GPIO_config(MSS_GPIO_31, MSS_GPIO_OUTPUT_MODE);
UART_init(&g_uart, COREUARTAPB0_BASE_ADDR, 162, (DATA_8_BITS | NO_PARITY));
uint8_t buff[BUFFER_SIZE];
int offset = 0;
size_t received;
int joyx, joyy, cx, cy, start, fire;
int startDown = 0;
int mode = 0; // 0 for manual, 1 for automatic
uint8_t tx[100];
int txSize;
firing = 0;
curr_angle = 0;
MSS_GPIO_set_output(MSS_GPIO_31, 0);
/*while(1) {
wheel2(255);
//wheel4(255);
//wheel2(-255);
//wheel3(255);
//wheel4(-255);
}*/
while (1) {
while (!(received = UART_get_rx(&g_uart, buff+offset, sizeof(buff)-offset)));
offset += received;
//printf("Received: %d\n\r", received);
if (buff[offset-1] == '\0') { // message fully received
//printf("%s\n\r", buff);
if (6 != sscanf(buff, "%d %d %d %d %d %d", &joyx, &joyy, &cx, &cy, &fire, &start)) {
bzero(buff, BUFFER_SIZE);
continue;
}
offset = 0;
if (start && !startDown) {
mode = !mode;
startDown = 1;
}
if (!start && startDown)
startDown = 0;
joyx = joyx * .65;
joyy = joyy * .65;
if (joyx < 0)
joyx -= 150;
else if (joyx > 0)
joyx += 150;
if (joyy < 0)
joyy -= 150;
else if (joyy > 0)
joyy += 150;
printf("JoyX: %3d, JoyY: %3d, CX: %3d, CY: %3d, Fire: %d, Start: %d\n\r", joyx, joyy, cx, cy, fire, start);
wheel1(joyy);
wheel2(joyx);
wheel3(joyy);
wheel4(joyx);
moveTurret(cy);
if (fire && !firing) {
start_gun();
}
if (firing && fire_counter <= FIRE_TIME)
fire_counter++;
if (!fire && firing && fire_counter >= FIRE_TIME)
stop_gun();
}
else continue;
txSize = sprintf(tx, "%d %d", mode, get_range()) + 1;
UART_send(&g_uart, tx, txSize);
}
/*while(1){
set_gun_angle(0);
wheel1(-255);
}*/
return 0;
}
