int main(void)
{
CLKSYS_Prescalers_Config( CLK_PSADIV_1_gc, CLK_PSBCDIV_1_1_gc );
// CLKOUT on PC7
PORTC.DIRSET = (1<<7);
PORTCFG.CLKEVOUT = PORTCFG_CLKOUT_PC7_gc;
tbar_init();
xb_init();
PORTB.DIRSET = 1; // set PB0 as output
DEBUG_PORT.DIRSET = DEBUG_RED + DEBUG_GREEN;
while(1)
{
//uint8_t i;
// wait for incoming transmission from Zigbee
// TODO : make this into interrupt-driven stuffs
_delay_ms(600);
// signal that we're ready
debug_blink(DEBUG_GREEN);
while(1)
{
//debug_blink(DEBUG_GREEN);
char byte = 0;
XB_GetChar(byte);
if(byte == 0x7e)
{
uint8_t length = xb_decode_packet(packet);
if(length>0)
{
uint8_t i;
for(i=0;i<length; i++)
{
TB_PutChar(packet[i]);
}
debug_blink(DEBUG_GREEN);
}
else
debug_blink(DEBUG_RED);
}
}
// signal that we've started receiving
debug_blink(DEBUG_RED);
// decode packet
// send data out T port
/*
for (i=0; i<sizeof(Coord.name)/sizeof(char); i++)
{
while( (USARTT.STATUS & USART_DREIF_bm) == 0);
USARTT.DATA = Coord.name[i];
}
*/
/* xb_send_array_new(blah, sizeof(blah)/sizeof(char), &Coord);
xb_send_array_new(blah, sizeof(blah)/sizeof(char), &Gizmo1);*/
// flash green led
//USARTT_PORT.OUTTGL = (1<<USARTT_TX);
}
}
// Take input from a computer and load it onto the cube buffer
void rs232()
{
char tempval;
int x = 0;
int y = 0;
int escape = 0;
while (current_mode == MODE_BINARY)
{
// Switch state on red LED for debugging
// Should switch state every time the code
// is waiting for a byte to be received.
debug_blink(LED_RED);
// Wait until a byte has been received
while(!HasChars());
// Load the received byte from rs232 into a buffer.
receive_char(&tempval);
// Uncommet this to echo data back to the computer
// for debugging purposes.
//SendChar(tempval);
// Every time the cube receives a 0xff byte,
// it goes into sync escape mode.
// if a 0x00 byte is then received, the x and y counters
// are reset to 0. This way the x and y counters are
// always the same on the computer and in the cube.
// To send an 0xff byte, you have to send it twice!
// Go into sync escape mode
if (tempval == 0xff)
{
// Wait for the next byte
while(!HasChars());
// Get the next byte
receive_char(&tempval);
// Sync signal is received.
// Reset x and y counters to 0.
if (tempval == 0x00)
{
x = 0;
y = 0;
escape = 1;
}
// if no 0x00 byte is received, proceed with
// the byte we just received.
}
if (escape == 0)
{
// Load data into the current position in the buffer
fb[x][y] = tempval;
// Check if we have reached the limits of the buffer array.
if (y == 7)
{
if (x == 7)
{
// All data is loaded. Reset both counters
y = 0;
x = 0;
// Copy the data onto the cube.
tmp2cube();
}
else
{
// A layer is loaded, reset y and increment x.
x++;
y = 0;
}
}
else
{
// We are in the middle of loading a layer. increment y.
y++;
}
}
else
{
escape = 0;
}
}
}
