int main(void)
{
int c;
int led = 0;
unsigned long count = 0;
unsigned long baud = 1000000;
init();
uart1_putstr("\r\nStarting CM720 Dynamixel relay controller\r\n");
uart1_printf("Switching serial to %lu baud...\r\n", baud);
_delay_ms(100);
uart1_setbaud(baud);
uart1_printf("\r\nRunning serial at %lu baud\r\n", baud);
_delay_ms(100);
while (1) {
count++;
if (count % 1000 == 0) {
// Toggle MON and Dynamixel Leds
if (led) {
led = 0;
sbi(PORTC, PORTC4);
rs485_putstrn("\xFF\xFF\xFE\x04\x03\x19\x00\xE1", 8);
}
else {
led = 1;
cbi(PORTC, PORTC4);
rs485_putstrn("\xFF\xFF\xFE\x04\x03\x19\x01\xE0", 8);
}
}
c = uart1_getchar();
while (c != EOF) {
// RxD LED on
cbi(PORTC, PORTC1);
rs485_putchar(c);
c = uart1_getchar();
}
// RxD LED off
sbi(PORTC, PORTC1);
c = rs485_getchar();
while (c != EOF) {
// TxD LED on
cbi(PORTC, PORTC2);
uart1_putchar(c);
c = rs485_getchar();
}
// TxD LED off
sbi(PORTC, PORTC2);
}
return 0;
}
int init()
{
uart0_init();
uart1_init();
uart0_setbaud(HOST_COM_BAUD_RATE);
uart1_setbaud(XBEE_COM_BAUD_RATE);
//enable global interrupts
sei ();
return 0;
}
void init(void)
{
// Enable outputs
DDRC = 0b11111111;
PORTC = 0xFF;
// Turn on PWR Led
PORTC &= ~(_BV(PORTC0));
// adc_init();
uart1_init();
uart1_setbaud(57600);
rs485_init();
rs485_setbaud(1000000);
timer1_init();
timer1_set_ovf_callback(t1_ovf_callback);
sei();
}
