unsigned long UARTgeth(uint8_t UART, uint8_t digits)
{
if (digits > 8) digits = 8;
char digs[8];
uint8_t a, b, c;
// Clear the leading non-number characters
c = UARTpeekBlocking(UART);
while (!((c > 47 && c < 58) || (c > 64 && c < 71)))
{
UARTgetc(UART); // Clear the peeked character
c = UARTpeekBlocking(UART);
}
// Read in digits
for (a = 0; a < digits; a++)
{
digs[a] = UARTgetc(UART);
if (!((digs[a] > 47 && digs[a] < 58) || (digs[a] > 64 && digs[a] < 71)))
break;
}
// Convert to integer
unsigned long h = 0;
for (b = 0; b < a; b++)
{
if (digs[b] < 58) h += (digs[b] - 48) * power(16, a - b - 1);
else h += (digs[b] - 55) * power(16, a - b - 1);
}
return h;
}
long UARTgeti(uint8_t UART)
{
char digs[10];
uint8_t a, b, c, neg = 0;
// Clear the leading non-number characters
c = UARTpeekBlocking(UART); // Peeked char is now in peekedChar
while ((c < 48 || c > 57) && c != '-')
{
UARTgetc(UART); // Clear the peeked character
c = UARTpeekBlocking(UART);
}
// Read in digits
for (a = 0; a < 10; a++)
{
digs[a] = UARTgetc(UART);
if (digs[a] == '-')
{
neg ^= 1;
a--; // No digit was read
continue;
}
else if (digs[a] < 48 || digs[a] > 57) break;
}
// Convert to integer
long i = 0;
for (b = 0; b < a; b++)
i += (digs[b] - 48) * power(10, a - b - 1);
if (neg) i = -i;
return i;
}
unsigned long UARTgetu(uint8_t UART, uint8_t digits)
{
char digs[10];
uint8_t a, b, c;
if (digits > 10) digits = 10;
// Clear the leading non-number characters
c = UARTpeekBlocking(UART); // Peeked char is now in peekedChar
while (c < 48 || c > 57)
{
UARTgetc(UART); // Clear the peeked character
c = UARTpeekBlocking(UART);
}
// Read in digits
for (a = 0; a < digits; a++)
{
digs[a] = UARTgetc(UART);
if (digs[a] < 48 || digs[a] > 57) break;
}
// Convert to integer
unsigned long u = 0;
for (b = 0; b < a; b++)
u += (digs[b] - 48) * power(10, a - b - 1);
return u;
}
void NatcarUartUpdate(void)
{
if(!Enabled) return;
if (CurrentState == LISTEN) {
// listen for the command chars
if(UARTRxBytesAvail() >= 3) {
CurrentCommand[0] = UARTgetc();
CurrentCommand[1] = UARTgetc();
CurrentCommand[2] = UARTgetc();
// MAYBE? check the commands?
CurrentState = ACTIVE;
}
} else if (CurrentState == ACTIVE) {
// process commands
// if..else handle each command
if (strcmp(CurrentCommand, "HAI") == 0) {
// write back "AOK"
UARTwrite("AOK", 3);
UARTFlushRx();
CurrentState = LISTEN;
} else if (strcmp(CurrentCommand, "PID") == 0) {
// write in pid values ->
for ( ; UARTRxBytesAvail() > 0; )
NU_Buffer = NUB_Append(NU_Buffer, UARTgetc());
// if we have sufficient data in NU_Buffer and we haven't
// actually processed any data yet
if (NUB_Len(NU_Buffer) >= 4 && NU_MessageLength == -1) {
// read message length
char msgLen[4];
NU_Buffer = NUB_PopFront(NU_Buffer, &msgLen[0]);
NU_Buffer = NUB_PopFront(NU_Buffer, &msgLen[1]);
NU_Buffer = NUB_PopFront(NU_Buffer, &msgLen[2]);
NU_Buffer = NUB_PopFront(NU_Buffer, &msgLen[3]);
// do something with newfound data
NU_MessageLength = atoi(msgLen);
}
// if buffer has enough data
if (NUB_Len(NU_Buffer) >= NU_MessageLength) {
// set variables accordingly
}
} else {
// comamnd not recognized.. done with command and restart
UARTFlushRx();
CurrentState = LISTEN;
}
// if (done with command) then
// clear buffers
// CurrentState = LISTEN;
} else {
// shouldn't be here...
// flush buffer and set to LISTEN
}
}
/// User code entry point ///
///
int main(void)
{
char adr, value;
//int i = 0;
// Initialize
//
ROM_SysCtlClockSet (SYSCTL_SYSDIV_1 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// 1ms SysTick
SysTickPeriodSet(SysCtlClockGet() / 1000);
SysTickIntEnable();
SysTickEnable();
// Serial console
Launchpad_UART_Init();
// Booster pack
BP_RFID_Init();
IntMasterEnable();
printf("[START]\n");
for (;;)
{
printf("> ");
switch(UARTgetc())
{
case 'c':
adr = UARTgetc();
printf("[direct command 0x%02x]\n", adr);
BP_RFID_TRF_Write_Command(adr);
break;
case 'w':
adr = UARTgetc();
value = UARTgetc();
BP_RFID_TRF_Write_Register(adr, value);
printf("[write 0x%02x < 0x%02x]\n");
break;
case 'r':
adr = UARTgetc();
printf("[read 0x%02x > 0x%02x]\n", adr, BP_RFID_TRF_Read_Register(adr));
break;
case 'x':
BP_ISO15693_Init();
break;
case '\n':
case '\r':
break;
default:
printf("[unknown command]\n");
}
}
}
extern void Task_TempChange( void *pvParameters ) {
//
// No set-up necessary
//
//char UARTgetTest[12];
//UARTprintf(UARTgets(UARTgetTest, 12));
//
// Enter task loop
//
while ( 1 ) {
printf( "SysTickTime: %08X\n", xPortSysTickCount );
//char buf[256];
//sprintf(buf, "%d", UARTgets(UARTgetTest, 12));
char changeChar = UARTgetc();
if(changeChar == '+')
temperature++;
else if(changeChar == '-')
temperature--;
printf("Custom Char: %c ", changeChar);
printf("New Temperature: %c \n", temperature);
vTaskDelay( 1 );
}
}
char *UARTgets(uint8_t UART, char *str, int num)
{
int a = 0;
while (a < num - 1)
{
str[a] = UARTpeekBlocking(UART); // Waits for a character
if (str[a] == '\n' || str[a] == '\r') break;
UARTgetc(UART); // Permits peek() to move on to the next char
a++;
}
// Clear the trailing newline char(s)
while (UARTpeek(UART) == '\n' || UARTpeek(UART) == '\r')
UARTgetc(UART);
str[a] = '\0';
return str;
}
void get_command()
{
unsigned char c = 0;
unsigned char i = 0;
current_command[0] = 0;
while((c = UARTgetc()) != '\r' && i < CMD_LEN)
{
UARTprintf("%c", c);
current_command[i++] = c;
}
current_command[i] = 0;
UARTprintf("\r\n");
}
float UARTgetf(uint8_t UART)
{
char digs[12];
uint8_t a, c;
// Clear the leading non-number characters
c = UARTpeekBlocking(UART);
while (c < 45 || c > 57 || c == 47)
{
UARTgetc(UART); // Clear the peeked character
c = UARTpeekBlocking(UART);
}
// Read in digits
for (a = 0; a < 12; a++)
{
digs[a] = UARTgetc(UART);
if (digs[a] < 45 || digs[a] > 57 || digs[a] == 47) break;
}
digs[a] = 0;
// Convert to float
return atof(digs);
}
// Main entry point
int main(void) {
volatile uint32_t ui32Loop;
// Set the clocking to run directly from the crystal.
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
SYSCTL_RCGC2_R = SYSCTL_RCGC2_GPIOF;
ui32Loop = SYSCTL_RCGC2_R;
GPIO_PORTF_DIR_R = 0x08;
GPIO_PORTF_DEN_R = 0x08;
ConfigureUART();
for (ui32Loop = 0; ui32Loop < 200000; ui32Loop++) { }
//UARTprintf("AT+NAMEGloveKey");
UARTCharPut(UART1_BASE, 'f');
for (ui32Loop = 0; ui32Loop < 2000000; ui32Loop++) { }
while(1)
{
UARTprintf("Hi Clark\r\n");
if (UARTCharsAvail(UART1_BASE)) {
unsigned char temp = UARTgetc();
UARTCharPutNonBlocking(UART0_BASE, temp);
}
GPIO_PORTF_DATA_R |= 0x08;
for (ui32Loop = 0; ui32Loop < 200000; ui32Loop++)
{
}
GPIO_PORTF_DATA_R &= ~(0x08);
for (ui32Loop = 0; ui32Loop < 200000; ui32Loop++)
{
}
}
return 0;
}
void interfazHumana(void * parametrosTarea)
{
portTickType ticker = xTaskGetTickCount();
int estado = MAINMENU;
char input;
while(1)
{
if (estado == ESTACIONADO)
showAlertaSeguridad(&consolaBT);
if (estado == ANDANDO) showAlertaSalud(&consolaBT);
showMenu(&consolaBT, estado);
// lee un caracter desde el BT
if (!ColaVacia(&consolaBT.colaRx))
{
input = UARTgetc(&consolaBT);
inputBTChar(&estado, input, &consolaBT);
}
}
}
char getc(void) {
char ch = UARTgetc();
return ch;
}
int main(){
unsigned long ulClockMS=0;
//
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
//
MAP_FPUEnable();
MAP_FPULazyStackingEnable();
//
// Set the clocking to run directly from the crystal.
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
MAP_IntMasterDisable();
configureQEI();
configurePWM();
/*leftmotor_pid.setMaxOutput(255);
leftmotor_pid.setMinOutput(-255);
leftmotor_pid.setGains(12.0,5.0,0.0);
leftmotor_pid.setSampleTime(1.0/QEILOOPFREQUENCY);*/
leftmotor_pid.setInputLimits(-100,100);
leftmotor_pid.setOutputLimits(-255,255);
leftmotor_pid.setBias(0.0);
leftmotor_pid.setMode(AUTO_MODE);
configureUART();
MAP_IntMasterEnable();
// Get the current processor clock frequency.
ulClockMS = MAP_SysCtlClockGet() / (3 * 1000);
int char_counter=0;
char inputbuffer[10];
while(1){
inputbuffer[char_counter]=UARTgetc();
char_counter++;
if (char_counter==3){
inputbuffer[3]=0;
goal_vel=atoi(inputbuffer);
char_counter=0;
}
//uint32_t pos = MAP_QEIPositionGet(QEI1_BASE);
/*uint32_t vel = MAP_QEIVelocityGet(QEI1_BASE);
//UARTprintf("pos : %u \n",pos);QEIDirectionGet(QEI1_BASE)*/
/*UARTprintf("vel : %d pwm %d\n",vel,pwm_value);
MAP_SysCtlDelay(ulClockMS*50);*/
}
return 0;
}
int getdataz(void) {
return UARTgetc();
}
unsigned char Getc(void)
{
return UARTgetc();
}
