// main
int main(void)
{
USART_init();
DDRD = LED_MASK;
char buf;
char tmp[] = "blubjes\r\n";
unsigned int l1 = 0;
unsigned int l2 = 0;
unsigned int l3 = 0;
for (;;) {
buf = USART_receive();
l1++;
l2++;
l3++;
if (l1 >= 20)
{
PORTD ^= (1 << 5);
l1 = 0;
}
if (l2 >= 10)
{
PORTD ^= (1 << 6);
l2 = 0;
}
if (l3 >= 5)
{
PORTD ^= (1 << 7);
l3 = 0;
}
USART_putstring(tmp);
}
return 0;
}
unsigned char * receiveString(){
unsigned char * result;
int i = 0;
while(1) {
unsigned char dataread = USART_receive();
result[i] = dataread;
if(dataread == 10) {
//USART_putstring(String);
break;
}
i ++;
}
result[i] = '\0';
return result;
}
static uint8_t are_sides_stored(void)
{
static uint8_t ct = 0;
ct++;
uint8_t i, k, res, st;
res = 0;
for (k = 0; k < 2; k++)
{
//res = 0;
for (i = 0; i < /*SIDE_CB*/ 2; i++)
{
if ((res & _BV(i)) == 0)
{ // Confirmation not received yet
DISABLE_GLOBAL_INTERRUPTS;
//_delay_ms(10);
send_no_data_command(GET_MCU_ADDRESS_FROM_SIDE_NUM(i), USART_STORE_CONFIRM);
//_delay_ms(10);
st = USART_receive(100000 /*TODO 1 million is equal ~1 sec */);
if (st == USART_STATE_STORED)
res |= _BV(i);
ENABLE_GLOBAL_INTERRUPTS;
}
}
if (res == /*0x7F*/0x3)
{
//USART_transmit(0, 0x5A);
send_side_colors(1, colors_2);
return TRUE;
}
_delay_ms(100);
send_side_colors(0, colors_1);
}
send_side_colors(0, colors_1);
// USART_transmit(0, 0xb4);
//USART_transmit(0, (ct << 4) + k);
// USART_transmit(0, 0xB4);
return FALSE;
}
/////////////////////////////////////////////////////////////////////////////////
// function definitions
int user_waypoint_test (WayPoint wps[],int numwps) {
int i;
int uj = numwps + 1;
int uloop1 = 1;
int userchk1;
int userchk2;
float ulat;
float ulon;
float ulat_d;
float ulat_dist;
float ulon_dist;
float ulon_d;
char entwp[3];
char *ptr_entwp = entwp;
char entlat[ULAT_TYPE];
char *ptr_entlat = entlat;
char entlat_dist[ULAT_TYPE];
char *ptr_entlat_dist = entlat_dist;
char entlon[ULONG_TYPE];
char *ptr_entlon = entlon;
char entlon_dist[ULONG_TYPE];
char *ptr_entlon_dist = entlon_dist;
char entlon_d[ULONG_TYPE];
char *ptr_e_d = entlon_d;
char yes[3] = "y";
char *ptr_yes = yes;
char no[3] = "n";
char *ptr_no = no;
char *ptr_1 = "Please enter Latitude ";
char *ptr_2 = ":";
char *ptr_3 = "Please enter Longitude ";
char *ptr_4 = "Would you like to enter another way point? (y or n):";
char *ptr_6 = "Finished entering way points";
char *ptr_7 = "Invalid, please try again";
char *ptr_8 = " ";
// user enter first lat
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_1); debug_printi(uj); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (i = 0; i < UENTLAT; i++) {
entlat[i] = USART_receive(USART_PC);
}
/*entlat_dist[0]=entlat[0];
entlat_dist[1]=entlat[1];
entlat_dist[2]=entlat[3];
entlat_dist[3]=entlat[4];
entlat_dist[4]=entlat[5];
entlat_dist[5]=entlat[6];
entlat_dist[6]=entlat[7];
entlat_dist[7]=0x00;*/
ulat = atof (ptr_entlat);
//ulat_dist = atof (ptr_entlat_dist);
ulat_d = ulat;
debug_printf(ulat);debug_print(ptr_8);debug_printf(ulat_d);
wps[numwps].latitude = ulat;
//wps[numwps].latitude_dist = ulat_dist;
wps[numwps].latitude_deg = ulat_d;
// user enter first long
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_3); debug_printi(uj); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (i = 0; i < UENTLON; i++) {
entlon[i] = USART_receive(USART_PC);
}
/*entlon_dist[0]=entlon[0];
entlon_dist[1]=entlon[1];
entlon_dist[2]=entlon[2];
entlon_dist[3]=entlon[4];
entlon_dist[4]=entlon[5];
entlon_dist[5]=entlon[6];
entlon_dist[6]=entlon[7];
entlon_dist[7]=entlon[8];
entlon_dist[8]=0x00;*/
entlon_d[0]=entlon[1];
entlon_d[1]=entlon[2];
entlon_d[2]=entlon[3];
entlon_d[3]=entlon[4];
entlon_d[4]=entlon[5];
entlon_d[5]=entlon[6];
entlon_d[6]=entlon[7];
entlon_d[7]=entlon[8];
entlon_d[8]=0x00;
ulon = atof (ptr_entlon);
//ulon_dist = atof (ptr_entlon_dist);
ulon_d = atof (ptr_e_d);
debug_printf(ulon);debug_print(ptr_8);debug_printf(ulon_d);
wps[numwps].longitude = ulon;
//wps[numwps].longitude_dist = ulon_dist;
wps[numwps].longitude_deg = ulon_d;
//-----------------------------------------------------------
numwps = numwps + 1;
// prompt if user wants to enter another way point
USART_putstring(USART_PC,"\n\r"); debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
entwp[1]=0x00;
debug_println(ptr_entwp);
while (uloop1 == 1) {
userchk1 = strcmp(ptr_entwp,ptr_yes);
userchk2 = strcmp(ptr_entwp,ptr_no);
if(userchk1 == 0) {
numwps = userwaypoint(wps,numwps);
USART_putstring(USART_PC,"\n\r");debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
debug_println(ptr_entwp);
}
else if (userchk2 == 0) {
debug_println(ptr_6);
uloop1 = 0;
}
else {
debug_println(ptr_7); USART_putstring(USART_PC,"\n\r");debug_println(ptr_4);
for (i = 0; i < 1; i++) {
entwp[i] = USART_receive(USART_PC);
}
debug_println(ptr_entwp);
}
}
return(numwps);
}
int userwaypoint(WayPoint wps[],int nwps) {
int i = nwps;
int j;
int k;
float uulat;
float uulat_dist;
float uulat_d;
float uulon;
float uulon_dist;
float uulon_d;
char entlat[ULAT_TYPE];
char *ptr_entlat = entlat;
char entlat_dist[ULAT_TYPE];
char *ptr_entlat_dist = entlat_dist;
char entlon[ULONG_TYPE];
char *ptr_entlon = entlon;
char entlon_dist[ULONG_TYPE];
char *ptr_entlon_dist = entlon_dist;
char entlon_d[ULONG_TYPE];
char *ptr_e_d = entlon_d;
char *ptr_1 = "Please enter Latitude ";
char *ptr_2 = ":";
char *ptr_3 = "Please enter Longitude ";
char *ptr_4 = " ";
j = i + 1;
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_1); debug_printi(j); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (k = 0; k < UENTLAT; k++) {
entlat[k] = USART_receive(USART_PC);
}
//-----------------------------------------------------------
/*entlat_dist[0]=entlat[0];
entlat_dist[1]=entlat[1];
entlat_dist[2]=entlat[3];
entlat_dist[3]=entlat[4];
entlat_dist[4]=entlat[5];
entlat_dist[5]=entlat[6];
entlat_dist[6]=entlat[7];
entlat_dist[7]=0x00;*/
uulat = atof (ptr_entlat);
//uulat_dist = atof (ptr_entlat_dist);
uulat_d = uulat;
debug_printf(uulat);debug_print(ptr_4);debug_printf(uulat_d);
wps[i].latitude = uulat;
//wps[i].latitude_dist = uulat_dist;
wps[i].latitude_deg = uulat;
//-----------------------------------------------------------
USART_putstring(USART_PC,"\n\r"); debug_print(ptr_3); debug_printi(j); debug_print(ptr_2);USART_putstring(USART_PC,"\n\r");
for (k = 0; k < UENTLON; k++) {
entlon[k] = USART_receive(USART_PC);
}
//-----------------------------------------------------------
/*entlon_dist[0]=entlon[0];
entlon_dist[1]=entlon[1];
entlon_dist[2]=entlon[2];
entlon_dist[3]=entlon[4];
entlon_dist[4]=entlon[5];
entlon_dist[5]=entlon[6];
entlon_dist[6]=entlon[7];
entlon_dist[7]=entlon[8];
entlon_dist[8]=0x00;*/
entlon_d[0]=entlon[1];
entlon_d[1]=entlon[2];
entlon_d[2]=entlon[3];
entlon_d[3]=entlon[4];
entlon_d[4]=entlon[5];
entlon_d[5]=entlon[6];
entlon_d[6]=entlon[7];
entlon_d[7]=entlon[8];
entlon_d[8]=0x00;
uulon = atof (ptr_entlon);
//uulon_dist = atof (ptr_entlon_dist);
uulon_d = atof (ptr_e_d);
debug_printf(uulon);debug_print(ptr_4);debug_printf(uulon_d);
wps[i].longitude = uulon;
//wps[i].longitude_dist = uulon_dist;
wps[i].longitude_deg = uulon_d;
//-----------------------------------------------------------
i = i + 1;
return(i);
}