int main(void) {
init();
int thrust = 0; // Holds thrust %age
int old_thrust = 0; // Holds old thrust value. Used to limit the number of bytes sent
int checksum = 0; // checksum for outgoing serial data. Integrity is important!
while(1) {
if (unlock) { // If the safety switch is active
LATBbits.LATB5 = 1; // Green LED
thrust = get_thrust(old_thrust);
clear_bt_buf();
__delay_ms(5);
} else { // System is locked!
LATBbits.LATB5 = 0; // Red LED
clear_bt_buf();
thrust = 0;
}
if (thrust != old_thrust) {
old_thrust = thrust;
uart_putChar('t', 2); // t for thrust, same as amarino
uart_putChar(thrust, 2);
checksum = ('t' ^ thrust); // Checksum is pretty simple for two bytes!
uart_putChar(checksum, 2);
}
}
return 0;
}
/*----------------------------------------------------------------------------
Write character to Serial Port
*----------------------------------------------------------------------------*/
int sendchar (int c) {
if (c == '\n') {
uart_putChar (0, 0x0D);
}
uart_putChar (0, c);
return (c);
}
void uart_putString (int uart, char *s)
{
while (*s != 0)
{
uart_putChar(uart,*s++);
}
}
void uart_putString(const char *s, char p){
while(*s)
uart_putChar(*s++, p); // Write a bunch of characters into the output buffer
}
