void UART1_IRQHandler(void)
{
while ((itid = UART_GetPendingITID(UART0)) != UART_ITID_None) {
if (itid == UART_ITID_RxLineStatus) {
tmp = UART_GetLineStatus(UART);
if (tmp & UART_BI) { /* BREAK */
} else if (tmp & (UART_OE | UART_PE | UART_FE)) {
/* Overflow / Parity / Framing Error */
}
UART_Recv(UART0);
continue;
} else if ((itid == UART_ITID_RxDataAvailable)
|| (itid == UART_ITID_CharacterTimeout))
{
tmp = UART_Recv(UART);
} else if (itid == UART_ITID_TxEmpty) {
} else if (itid == UART_ITID_ModemStatus) {
} else {
/* UART_ITID_CharacterTimeOut */
}
}
}
/** @brief Initialize a UART for communication.
*
* @param [in] uart The UART to initialize
* @param [in] baud Baud rate to configure on the UART
*
* @return None.
*/
void init_uart(UART_Type *uart, uint32_t baud)
{
uint32_t uart_divisor;
uint32_t apb_clock;
/* Determine the UART divisor for the given baud rate. */
apb_clock = SystemCoreClock / SYSCON_GetAPBClockDivider();
uart_divisor = ((apb_clock / 16) + (baud / 2)) / baud;
#if (LPC2XXX_MODEL == 2148) || (LPC2XXX_MODEL == 2138) || (LPC2XXX_MODEL == 2106) \
|| (LPC2XXX_MODEL == 2103)
/* Configure IO pins & power on the given UART */
if (uart == UART0) {
/* Configure pins for UART0 use */
PINSEL_SetPinConfig(PINSEL_PinConfig_0_0_TXD0);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_1_RXD0);
/* Power on UART0 */
SYSCON_EnablePeriphPowerLines(SYSCON_PeriphPowerLine_UART0);
} else if (uart == UART1) {
/* Configure pins for UART1 use */
PINSEL_SetPinConfig(PINSEL_PinConfig_0_8_TXD1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_9_RXD1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_10_RTS1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_11_CTS1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_12_DSR1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_13_DTR1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_14_DCD1);
PINSEL_SetPinConfig(PINSEL_PinConfig_0_15_RI1);
/* Power on UART1 */
SYSCON_EnablePeriphPowerLines(SYSCON_PeriphPowerLine_UART1);
}
#else
#error No current definition set up for the given microcontroller model.
#endif
/* Configure baud rate & terminal settings (given baud @ 8n2) */
UART_SetDivisor(uart, uart_divisor);
UART_SetWordLength(uart, UART_WordLength_8b);
UART_SetStopBits(uart, UART_StopBits_2);
UART_SetParity(UART, UART_Parity_No);
/* Enable FIFOs (necessary) and flush them */
UART_EnableFifos(UART);
UART_FlushRxFifo(UART);
UART_FlushTxFifo(UART);
/* Enable transmitting on the UART */
UART_EnableTx(UART);
/* Clear the receive buffer register */
UART_Recv(uart);
}
/** @brief Receive a character via UART
*
* @param [in] uart The UART on which to receive the character
*
* @return The received character
*
* Blocks until the UART has a character available to read.
*/
uint8_t uart_getchar(UART_Type *uart)
{
uint8_t c;
/* Wait for a character to be ready */
while ((UART_GetLineStatus(uart) & UART_LineStatus_RxData) == 0);
/* Receive it */
c = UART_Recv(uart);
return c;
}
int main(int argc, char **argv)
{
int serial_fd = 0;
UART_Init();
char buf[]="hello world";
char buf1[10];
UART_Send(serial_fd, buf, 10);
printf("\n");
UART_Recv(serial_fd, buf1, 10);
printf("uart receive %s\n", buf1);
close(serial_fd);
return 0;
}
int main(int argc, char **argv)
{
int fd = FALSE;
int ret;
char rcv_buf[512];
char send_buf[512];
int i;
if(argc != 2){
printf("Usage: %s /dev/ttySn \n",argv[0]);
return FALSE;
}
fd = UART_Open(fd,argv[1]);
if(FALSE == fd){
printf("open error\n");
exit(1);
}
ret = UART_Init(fd,9600,0,8,1,'N');
if (FALSE == fd){
printf("Set Port Error\n");
exit(1);
}
strcpy(send_buf,"ff0161\n");
ret = UART_Send(fd,send_buf,strlen(send_buf));
if(FALSE == ret){
printf("write error!\n");
exit(1);
}
printf("command: %s\n",send_buf);
memset(rcv_buf,0,sizeof(rcv_buf));
for(i=0;;i++)
{
ret = UART_Recv(fd, rcv_buf,512);
if( ret > 0){
rcv_buf[ret]='\0';
printf("%s",rcv_buf);
} else {
printf("cannot receive data1\n");
//break;
}
if('\n' == rcv_buf[ret-1]) break;
}
UART_Close(fd);
return 0;
}
static int RFID_Response(int fd, void *infostruct, unsigned int blocktime,
unsigned int *err) {
int len = 0;
unsigned char rcv_buf[1024];
len = UART_Recv(fd, rcv_buf, blocktime, err);
if (len == -1 || len == 's') {
goto end;
}
if (rcv_buf[0] != 0xBB) {
*err = ERR_CODE_FRAME_HEAD;
len = -1;
goto end;
} else if (rcv_buf[len - 1] != 0x0A) {
*err = ERR_CODE_FRAME_TAIL_2ND;
len = -1;
goto end;
} else if (rcv_buf[len - 2] != 0x0D) {
*err = ERR_CODE_FRAME_TAIL_1ST;
len = -1;
goto end;
}
#ifdef DEBUG
int i=0;
printf("recv %d:",len);
for(i=0; i<len; i++)
{
printf("%.2X ",rcv_buf[i]);
}
printf("\n");
#endif // DEBUG
LOGD("type:%x", rcv_buf[1]);
switch (rcv_buf[1]) {
case 0x80:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x81:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x82:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x83:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x87:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x88:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x89:
my_setstate((unsigned char*) infostruct, rcv_buf);
break;
case 0x8A:
gethardware((prfid) infostruct, rcv_buf);
break;
case 0x8B:
getfirmware((prfid) infostruct, rcv_buf);
break;
case 0x8C:
gettxpower((prfid) infostruct, rcv_buf);
break;
case 0x8D:
getradiostate((prfid) infostruct, rcv_buf);
break;
case 0x8E:
getrflinkprofile((prfid) infostruct, rcv_buf);
break;
case 0x90:
getcurrentantenna((prfid) infostruct, rcv_buf);
break;
case 0x91:
gethzzone((prfid) infostruct, rcv_buf);
break;
case 0x92:
getcurrenttemperature((prfid) infostruct, rcv_buf);
break;
case 0x93:
getgpiostate((char *) infostruct, rcv_buf);
break;
case 0x94:
getgen2((prfid) infostruct, rcv_buf);
break;
case 0x96:
getepcsingle((pepc) infostruct, rcv_buf);
break;
case 0x97:
getepcmulti((pepc) infostruct, rcv_buf);
break;
case 0x98:
//my_setstate((unsigned char *) infostruct, rcv_buf);
len = -8;
break;
case 0x99:
getlabeldata((plabeldata) infostruct, rcv_buf);
break;
case 0x9A:
my_setstate((unsigned char *) infostruct, rcv_buf);
break;
case 0x9B:
my_setstate((unsigned char *) infostruct, rcv_buf);
break;
case 0x9C:
my_setstate((unsigned char *) infostruct, rcv_buf);
break;
case 0x9D:
my_setstate((unsigned char *) infostruct, rcv_buf);
break;
case 0x9E:
getmlabertimer((unsigned short*) infostruct, rcv_buf);
break;
case 0x9F:
my_setstate((unsigned char *) infostruct, rcv_buf);
break;
case 0xA0:
getantandwaittime((unsigned short *) infostruct, rcv_buf);
break;
case 0xFF:
geterrorinfo(err, rcv_buf);
len = -1;
break;
default:
*err = ERR_CODE_FRAME_CMD;
len = -1;
break;
}
end: return len;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "nav");
ros::NodeHandle n;
//ros::Publisher chatter_pub = n.advertise<mini::naviLoc>("navmsg", 1);
tf::TransformBroadcaster br;
tf::Transform transform_v2c,transform_w2v;
tf::Quaternion q(-sqrt(2)/2,0,0,sqrt(2)/2); //need calibration
transform_v2c.setOrigin(tf::Vector3(-0.025,0.125,0.23)); //need calibration
transform_v2c.setRotation(q);
transform_v2c = transform_v2c.inverse();
int fd = -1;
fd = UART_Open(fd,"/dev/ttyS4");
UART_Init(fd,115200,0,8,1,'N');
int data_len = 10;
char rcv_buf[100];
//FILE* fp = fopen("/home/haha/catkin_ws/odom.txt","w");
int ret;
while (ros::ok())
{
mini::naviLoc msg;
struct timeval tv;
while(1)
{
//ROS_INFO(" ");
ret = UART_Recv(fd, rcv_buf,1);
//ROS_INFO("[%d]",ret);
//usleep(10000);
if(ret==1)
{
//ROS_INFO("[%02X]",rcv_buf[0]);
}
if(ret==1 && rcv_buf[0]==char(0xA2))
{
break;
}
}
int counter = 1;
while(counter<data_len)
{
//ROS_INFO(" ");
ret = UART_Recv(fd, &rcv_buf[counter],1);
//ROS_INFO("[%d]",ret);
/*for(int i=0;i<ret;i++)
{
printf("%02X ",rcv_buf[i]);
}
printf("\n");*/
if(ret==-1)
{
continue;
}
counter++;
}
gettimeofday(&tv,0);
if(rcv_buf[data_len-1]!=char(0x2A))
{
continue;
}
unsigned int timeStamp = tv.tv_sec%100000*1000+tv.tv_usec/1000;
SerialData2Msg(timeStamp, rcv_buf, data_len, msg);
ros::Time ros_time = ros::Time::now();
transform_w2v.setOrigin(tf::Vector3(msg.x,msg.y,0.0));
q.setRPY(0.0,0.0,msg.theta);
transform_w2v.setRotation(q);
transform_w2v = transform_w2v.inverse();
br.sendTransform(tf::StampedTransform(transform_w2v, ros_time, "/base_frame","/odom_frame"));
br.sendTransform(tf::StampedTransform(transform_v2c, ros_time, "/camera_rgb_optical_frame","/base_frame"));
//chatter_pub.publish(msg);
ROS_INFO("[%d],[%f],[%f],[%f]",msg.timestamp,msg.x,msg.y,msg.theta);
//fprintf(fp,"%d %f %f %f\n",msg.timestamp,msg.x,msg.y,msg.theta);
//fflush(fp);
ros::spinOnce();
}
UART_Close(fd);
//fclose(fp);
return 0;
}
int main(int argc, char *argv[])
{
/******MQTT*******/
MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
int rc = 0;
char buf[200];
int buflen = sizeof(buf);
int mysock = 0;
MQTTString topicString = MQTTString_initializer;
char* payload = "mypayload";
int payloadlen = strlen(payload);
int len = 0;
char *host = "192.168.8.241";
int port = 1883;
/******UART*******/
int fd = FALSE;
int ret;
char rcv_buf[512];
int i;
if(argc < 2){
printf("Usage: %s /dev/ttySn \n",argv[0]);
return FALSE;
}
if (argc > 2)
host = argv[2];
if (argc > 3)
port = atoi(argv[3]);
fd = UART_Open(fd,argv[1]);
if(FALSE == fd){
printf("open error\n");
exit(1);
}
ret = UART_Init(fd,9600,0,8,1,'N');
if (FALSE == fd){
printf("Set Port Error\n");
exit(1);
}
ret = UART_Send(fd,"*IDN?\n",6);
if(FALSE == ret){
printf("write error!\n");
exit(1);
}
printf("command: %s\n","*IDN?");
memset(rcv_buf,0,sizeof(rcv_buf));
/**************MQTT tansport*************/
mysock = transport_open(host,port);
if(mysock < 0)
return mysock;
printf("Sending to hostname %s port %d\n", host, port);
data.clientID.cstring = "me";
data.keepAliveInterval = 20;
data.cleansession = 1;
data.username.cstring = "testuser";
data.password.cstring = "testpassword";
data.MQTTVersion = 4;
for(i=0;;i++)
{
ret = UART_Recv(fd, rcv_buf,512);
if(ret > 0)
{
rcv_buf[ret]='\0';
printf("%s",rcv_buf);
len = MQTTSerialize_connect((unsigned char *)buf, buflen, &data);
topicString.cstring = "mytopic";
len += MQTTSerialize_publish((unsigned char *)(buf + len), buflen - len, 0, 0, 0, 0, topicString, (unsigned char *)rcv_buf, ret+1);
len += MQTTSerialize_disconnect((unsigned char *)(buf + len), buflen - len);
rc = transport_sendPacketBuffer(mysock, buf, len);
if (rc == len)
printf("Successfully published\n");
else
printf("Publish failed\n");
}
else
{
printf("cannot receive data1\n");
break;
}
}
exit:
UART_Close(fd);
transport_close(mysock);
return 0;
}
