int do_input( a) {
static int c, f = EOF;
if (a == 0) {
if (f == EOF)
f = char_input();
if (f != EOF)
c = f;
return 2 + (f != EOF);
} else if (a == 1) { /*data port*/
if (f == EOF)
f = char_input();
if (f != EOF) {
c = f;
f = EOF;
}
return c;
}
}
int main(void) {
BOARD_Init();
SERIAL_Init();
//Init the motors, duh
initMotors();
char input;
dbprintf("Welcome to the Motor Test Harness\n");
dbprintf("Speed: 0-10, f: forward, s: backward\n");
dbprintf("r: right motor, l: left motor, b: battery\n");
while (1) {
input = GetChar();
char_input(input);
DELAY(A_BIT)
}
return 0;
}
int char_input(void) {
int c, w, sum;
if (!xmstat) {
if (infile) {
c = getc(infile);
if (c == EOF) {
fclose(infile);
infile = 0;
return char_input();
}
if (c == '\n')
c = '\r';
return c;
} else
return getchar();
} else if (xmstat == 1) {
if (xidx) {
c = xmbuf[xidx++];
if (xidx == 132) {
xidx = 0;
rcvdnak = EOF;
acknak = 6;
}
} else {
if (acknak == 21 && rcvdnak == 21 || acknak == 6 && rcvdnak == 6) {
rcvdnak = 0;
memset(xmbuf, 0, 132);
w = fread(xmbuf + 3, 1, 128, xfile);
if (w) {
printf("Block %3d transmitted, ", blocknum);
xmbuf[0] = 1;
xmbuf[1] = blocknum;
xmbuf[2] = 255 - blocknum;
blocknum = (blocknum + 1) & 255;
sum = 0;
for (w = 3; w < 131; w++)
sum = (sum + xmbuf[w]) & 255;
xmbuf[131] = sum;
acknak = 6;
c = 1;
xidx = 1;
} else {
printf("EOT transmitted, ");
acknak = 4;
c = 4;
}
} else if (rcvdnak == 21) {
rcvdnak = 0;
printf("Block %3d retransmitted, ", xmbuf[1]);
c = xmbuf[xidx++]; /*retransmit the same block */
} else
c = EOF;
}
return c;
} else {
if (acknak == 4) {
c = 6;
acknak = 0;
fclose(xfile);
xfile = 0;
xmstat = 0;
} else if (acknak) {
c = acknak;
acknak = 0;
} else
c = EOF;
if (c == 6)
printf("ACK\n");
if (c == 21)
printf("NAK\n");
return c;
}
}
