void lab08_USARTsimpleReceive(void)
{
SystemInit();
MF_USART_init();
for(;;)
{
usartPutChar('\n');
usartPutChar('p');
usartPutChar('r');
usartPutChar('e');
usartPutChar('s');
usartPutChar('s');
usartPutChar(' ');
usartPutChar('a');
usartPutChar('n');
usartPutChar('y');
usartPutChar(' ');
usartPutChar('k');
usartPutChar('e');
usartPutChar('y');
usartPutChar(' ');
uint8_t dataFromUser = usartGetChar();
usartPutChar(dataFromUser);
}
}
/***************************************************************************//**
* @brief
* Flush uart buffer, Always use this when switching between tx/rx operation.
*
******************************************************************************/
void usartFlushBuffer(void)
{
uint8_t byte;
/* Flush buffer first to make sure we don't have stale data when switching between RX/TX. */
while(usartGetChar(&byte) != UART_STATUS_NOT_ENOUGH_BYTES_RECEIVED);
}
int main (void)
{
char textBuffer[50];
uint8_t batReqs=0;
uint8_t heartbeats=0;
uint8_t statusFlag=0;
uint8_t gpsFlag=0;
uint8_t batFlag=0;
setCurBuf(0);
setPwrBuf(0,0);
setAltBuf(0);
setAirBuf(0);
setGPSBuf(0,0,0,0,0,0);
TWISlaveInit();
#ifdef TIMEIT
TimerInit();
#endif
mavlink_system.sysid = 1;
mavlink_system.compid = 50;
USART_Init();
mavlink_message_t msg;
mavlink_status_t status;
while(1)
{
uint8_t byte=usartGetChar();
if(mavlink_parse_char(MAVLINK_COMM_0, byte,&msg,&status))
{
switch(msg.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
heartbeats++;
for (int n=1;n<10;n++)
PORTB ^= (1<<PB5);
// After a couple of heartbeats, try up to 3 times to get the battery capacity
if((heartbeats>2)&&(!batFlag)&&(batReqs<3))
{
mavlink_msg_param_request_read_send(MAVLINK_COMM_0,0x01,0x00,capName,-1);
batReqs++;
}
// if you go 2 heartbeats without getting the status or GPS message, re-request the telemetry stream
if(((!statusFlag)||(!gpsFlag))&&(heartbeats>2))
{
mavlink_msg_request_data_stream_send(MAVLINK_COMM_0, 0x01, 0x00, 0x01, 0x200, 0x01);
heartbeats=0;
}
else
{
statusFlag=0;
gpsFlag=0;
}
break;
case MAVLINK_MSG_ID_PARAM_VALUE:
mavlink_msg_param_value_get_param_id(&msg,textBuffer);
float value=mavlink_msg_param_value_get_param_value(&msg);
if(strncmp(textBuffer,capName,16)==0)
{
batteryCapacity=(uint16_t)value;
batFlag=1;
}
break;
case MAVLINK_MSG_ID_SYS_STATUS:
setPwrBuf(mavlink_msg_sys_status_get_voltage_battery(&msg),mavlink_msg_sys_status_get_battery_remaining(&msg));
setCurBuf(mavlink_msg_sys_status_get_current_battery(&msg));
statusFlag=1;
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
setAltBuf(mavlink_msg_gps_raw_int_get_alt(&msg));
#ifdef TIMEIT
TCNT1=0;
#endif
setGPSBuf(mavlink_msg_gps_raw_int_get_lat(&msg),mavlink_msg_gps_raw_int_get_lon(&msg),mavlink_msg_gps_raw_int_get_alt(&msg),
mavlink_msg_gps_raw_int_get_vel(&msg),mavlink_msg_gps_raw_int_get_cog(&msg),
mavlink_msg_gps_raw_int_get_satellites_visible(&msg));
#ifdef TIMEIT
timeVal=TCNT1;
#endif
setAirBuf(mavlink_msg_gps_raw_int_get_vel(&msg));
gpsFlag=1;
break;
case MAVLINK_MSG_ID_STATUSTEXT:
mavlink_msg_statustext_get_text(&msg,textBuffer);
// Set status for Powerbox when the low battery message is received
if(strncmp(textBuffer,lowBattery,strlen(lowBattery))==0)
alarm |= (1<<LOW_BATTERY);
break;
default:
break;
}
}
}
}
int main(void) {
inir();
intic();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15 | GPIO_Pin_14 | GPIO_Pin_13
| GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7 /*| GPIO_Pin_2 | GPIO_Pin_3*/;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
stop();
int a=0;
char b=0;
while (1) {
static int count = 0;
static int i;
// TIM2->CCR4 = 4200;
// TIM2->CCR3 = 4200;
//for (i = 0; i < 10000000; ++i);
//printf("%d\r\n", ++count);
do{
b=usartGetChar();
printf("%d\n", b);
if(b==1){
przod();
GPIO_SetBits(GPIOD, GPIO_Pin_15);
GPIO_ResetBits(GPIOD, GPIO_Pin_14|GPIO_Pin_13|GPIO_Pin_12);
}
else if(b==2){
prawo();
GPIO_SetBits(GPIOD, GPIO_Pin_12);
GPIO_ResetBits(GPIOD, GPIO_Pin_14|GPIO_Pin_13|GPIO_Pin_15);
}
else if(b==3){
tyl();
GPIO_SetBits(GPIOD, GPIO_Pin_13);
GPIO_ResetBits(GPIOD, GPIO_Pin_14|GPIO_Pin_12|GPIO_Pin_15);
}
else if(b==4){
lewo();
GPIO_SetBits(GPIOD, GPIO_Pin_14);
GPIO_ResetBits(GPIOD, GPIO_Pin_13|GPIO_Pin_12|GPIO_Pin_15);
}
else if(b==5){
stop();
GPIO_ResetBits(GPIOD, GPIO_Pin_14|GPIO_Pin_13|GPIO_Pin_12|GPIO_Pin_15);
}
else if(b>10&&b<22){
f_Z(b);
}
else{
f_V(b);
}
}while(USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == RESET);
}
}
