void handleCANmsg(uint8_t destID, uint8_t msgID, uint8_t* msg, uint8_t msgLen){
velocity = msg[0];
int size = sizeof(int)/sizeof(char);
sscanf(velocity, "%d", output);
UART_putString("\nHi\n");
UART_putString(output);
}
void Mavlink_send_Test_data(uint8_t uart_id, uint8_t data){
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
mavlink_msg_test_data_pack(MAV_NUMBER, COMP_ID, &msg, data);
uint16_t length = mavlink_msg_to_send_buffer(buf, &msg);
UART_putString(uart_id, buf, length);
}
void Mavlink_send_ACK(uint8_t uart_id, uint8_t Message_Name){
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
mavlink_msg_mavlink_ack_pack(MAV_NUMBER, COMP_ID, &msg, Message_Name);
uint16_t length = mavlink_msg_to_send_buffer(buf, &msg);
UART_putString(uart_id, buf, length);
}
static uint8_t programMode(){
int i = 0;
char confirm[3];
DELAY(API_DELAY);
DELAY(API_DELAY);
UART_putString(xbeeUartId, "+++", 3);
DELAY(API_DELAY);
//wait for "OK\r"
do {
confirm[i] = UART_getChar(xbeeUartId);
if (confirm[i] != 0)
i++;
} while(i < 3);
if (!(confirm[0] == 0x4F && confirm[1] == 0x4B && confirm[2] == 0x0D)){
return FAILURE;
}
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATRE\r", 5);// Resets to Factory settings
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATCH15\r", 7);
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATDH0\r", 6);
DELAY(API_DELAY);
#ifdef UNICAST_MSG
#ifdef IS_COMPAS
UART_putString(xbeeUartId, "ATDLAAC3\r", 9);
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATMYBC64\r", 9);
#else
UART_putString(xbeeUartId, "ATDLBC64\r", 9);
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATMYAAC3\r", 9);
#endif
DELAY(API_DELAY);
#endif
UART_putString(xbeeUartId, "ATWR\r", 5);//Writes the command to memory
DELAY(API_DELAY);
UART_putString(xbeeUartId, "ATCN\r", 5);//Leave the menu.
return SUCCESS;
}
/**
* @mainpage
* 04_UART: implements the UART0 at 115200N8. This example writes "UART0 Initialized..." ,
* and the proceeds to repeat everything received. this is polling-only, no interrupt.
**/
void _main (void)
{
LED_init();
UART_initUART(UART0,115200,STOP1,PARITY_NONE,FLOW_OFF);
UART_putString(UART0,"UART0 Initialized...\n",21);
while(1)
{
UART_putC(UART0,UART_getC(UART0));
}
return;
}
void Mavlink_send_start_rescue(uint8_t uart_id, uint8_t ack, uint8_t status, float latitude, float longitude){
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
mavlink_msg_start_rescue_pack(MAV_NUMBER, COMP_ID, &msg, ack, status, latitude, longitude);
uint16_t length = mavlink_msg_to_send_buffer(buf, &msg);
UART_putString(uart_id, buf, length);
if(ack == TRUE){
start_rescue.ACK_status = ACK_STATUS_WAIT;
int x;
for(x = 0; x <=MAVLINK_MAX_PACKET_LEN;x++){
start_rescue.last_buf[x] = buf[x];
}
start_rescue.last_length = length;
start_rescue.last_uart_id = uart_id;
}
}
void Mavlink_resend_message(ACK *message){
UART_putString(message->last_uart_id, message->last_buf, message->last_length);
message->ACK_status = ACK_STATUS_WAIT;
}