void usart_gets(RAM_SCLS char *buffer, unsigned char len)
{
unsigned char i;
unsigned char dat;
for(i=0;i<len;i++)
{
while(!usart_drdy());
dat = usart_getc();
*buffer = dat;
buffer++;
/* read until a \0 is received */
if(!dat)return;
}
}
int uart_GetString (char *str)
{
int pos=0;
char *str_old = str;
while ( *(str-1)!=0x0d )
{
if (usart_drdy())
{
*str= usart_getc();
usart_putc (*str);
if (*str==0x08)
str--;
else
str++;
}
}
*str=0;
return (str-str_old);
}
// Regardless of what the USB is up to, we check the USART to see
// if there's something we should be doing.
static void checkEcho()
{
static char bDebug=0, antDebug;
static int giro=0;
char buffer[80];
if (usart_drdy())
{
// Have a character to huh
unsigned char rxByte;
rxByte = usart_getc();
usart_putc(rxByte);
switch (rxByte)
{
case ' ':
bDebug=!bDebug;
printf ("\n\rDebug=%d ",bDebug);
setMotorsDebug (bDebug);
break;
case 'a':
velocidad++;
motorSpeed (velocidad, MOTOR_1);
motorSpeed (velocidad, MOTOR_2);
break;
case 'z':
velocidad--;
motorSpeed (velocidad, MOTOR_1);
motorSpeed (velocidad, MOTOR_2);
break;
case 'e':
antDebug=bDebug;
setMotorsDebug (0);
printf ("\n\rEntre velocidad: ");
uart_GetString(buffer);
velocidad = atoi (buffer);
printf ("\n\rVelocidad = %d",velocidad);
motorSpeed (velocidad, MOTOR_1);
motorSpeed (velocidad, MOTOR_2);
setMotorsDebug (antDebug);
break;
case 'X':
if(deviceState == DETACHED)
printf("Detached\r\n");
else if(deviceState == ATTACHED)
printf("Attached\r\n");
else if(deviceState == POWERED)
printf("Powered\r\n");
else if(deviceState == DEFAULT)
printf("Default\r\n");
else if(deviceState == ADDRESS)
printf("Address\r\n");
else if(deviceState == CONFIGURED)
printf("Configured\r\n");
else
printf("Unknown state\r\n");
printf("UCON: %x, UCFG: %x\r\n", UCON, UCFG);
break;
}
}
}
