void executeSerialCommand(uint8_t string[], int length)
{
if(string[0] == '-') /* All commands start with a - */
{
switch(string[1])
{
case 'h': /* Help command */
sendSerialString("display help\n");
break;
case 'c':
sendSerialString("calibrate\n");
break;
case 't':
if (telemetryFlag == 0)
{
telemetryFlag = 1;
sendSerialString("Telemetry started\n");
}
else
{
telemetryFlag = 0;
sendSerialString("Telemetry stopped\n");
}
break;
}
}
}
void initSerial()
{
__DMA2_CLK_ENABLE();
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
huart1.Instance = USART1;
huart1.Init.BaudRate = BAUDRATE;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart1);
sendSerialString("[OK] Serial started..\n");
/* Start the receiver */
HAL_UART_Receive_DMA(&huart1, &rxBuffer, 1);
}
/* The Sensor reading task */
void vTaskSensor (void *pvParameters)
{
bool success;
unsigned char x;
char sendString [ADC_READING_STRING_LEN * MAX_NUM_ADCS + 1]; /* +1 for terminator */
CodedCommand codedSensorCommand;
portBASE_TYPE xStatus;
while (1)
{
xStatus = xQueueReceive (xSensorCommandQueue, &codedSensorCommand, portMAX_DELAY);
ASSERT_STRING (xStatus == pdPASS, "Failed to receive from sensor command queue.");
success = false; /* Assume failure */
/* Print out what command we're going to execute */
rob_lcd_goto_xy (0, 1);
rob_print_from_program_space (PSTR ("CMD: "));
if (codedSensorCommand.buffer[CODED_COMMAND_INDEX_POS] != CODED_COMMAND_INDEX_UNUSED)
{
rob_print_character ('#');
rob_print_unsigned_long (codedSensorCommand.buffer[CODED_COMMAND_INDEX_POS]);
rob_print_character (' ');
}
rob_print_character (codedSensorCommand.buffer[CODED_COMMAND_ID_POS]);
rob_lcd_goto_xy (0, 2);
/* Now do it */
switch (codedSensorCommand.buffer[CODED_COMMAND_ID_POS])
{
case '*': /* The only sensor command supported at the moment */
{
RobMemset (sendString, ' ', sizeof (sendString));
calibrateAdcs();
for (x = 0; x < MAX_NUM_ADCS; x++)
{
unsigned int milliVolts;
/* Write something like "FL:40 " (for ADC 2 of 6 (which is Front Left), object detected at 40 cm),
or "FL: " if nothing is there. */
memcpy (&sendString[ADC_READING_STRING_LEN * x], channelToString[x], SENSOR_STRING_LEN);
memcpy (&sendString[(ADC_READING_STRING_LEN * x) + SENSOR_STRING_LEN], NOTHING_THERE_STRING, NOTHING_THERE_STRING_LEN);
milliVolts = readAdc (x);
if (objectDetected (milliVolts))
{
itoa (voltageToDistance (milliVolts), &(sendString[(ADC_READING_STRING_LEN * x) + SENSOR_STRING_LEN + 1]), 10); /* +1 to leave the ':' there */
}
/* Overwrite the null terminator that itoa() puts in with a space */
sendString[RobStrlen (sendString)] = ' ';
}
sendString[sizeof (sendString) - 1] = 0; /* Add terminator */
sendSerialString (sendString, sizeof (sendString));
rob_print (sendString);
success = true;
}
break;
default:
{
ASSERT_ALWAYS_PARAM (codedSensorCommand.buffer[CODED_COMMAND_ID_POS]);
}
break;
}
if (!success)
{
sendSerialString (ERROR_STRING, sizeof (ERROR_STRING));
}
}
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
sendSerialString("[ERROR] Serial error\n");
}
