/*****************************************************************************
*
* Description:
* Output routine that adds extra line feeds at line breaks.
*
* Params:
* [in] charToSend - The character to print (to uart #1)
*
****************************************************************************/
void
uart1SendCh(tU8 charToSend)
{
if(charToSend == '\n')
uart1SendChar('\r');
uart1SendChar(charToSend);
}
void uart1SendString(char* data, int length) {
int i;
for(i=0; i<length; i++) {
uart1SendChar(data[i]);
}
}
void uart1SendString(unsigned char *s)
{
char a;
while ((a = *s++)) {
uart1SendChar(a);
}
}
void uart1SendFloat(float data) {
int i;
char* ptr;
ptr = (char*)&data;
for (i = 0; i < 4; i++) {
uart1SendChar(*(ptr + i));
}
}
/*********************************************************************************************************
** Function name: UART1_IRQHandler
** Descriptions: UART1ÖжϷþÎñº¯Êý
** input parameters: none
** output parameters: none
** Returned value: none
** Created by:
** Created date:
**--------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
*********************************************************************************************************/
void UART1_IRQHandler (void)
{
UART_MemMapPtr uartPtr = UART1_BASE_PTR; /* ·¢ËÍÖжϴ¦Àí³ÌÐò */
#if UART1_SEND_IRQ /* Óû§¶¨Òå */
#endif
#if UART1_RECEIVE_IRQ
while (UART_S1_REG(uartPtr) & UART_S1_RDRF_MASK){ /* Çå³ýÖжϱêÖ¾ */
uart1SendChar(UART_D_REG(uartPtr)); /* ·µ»Ø½ÓÊÕÊý¾Ý */
// while (!UART0_D_REG(uartPtr)); /* Çå½ÓÊÕ»º³åÇø */
}
#endif
}
void sendReceive(unsigned char directionL, int ref_speedL, unsigned char directionR, int ref_speedR ){
int i=0;
int wait=0;
unsigned char header_com=210;
int time=readRTC();
uart1SendChar(header_com);
uart1SendChar(directionL);
uart1SendChar((unsigned char)ref_speedL);
//printf("I send1 %c %c \r\n", ref_speedL, directionL);
while(!uart1Signal()){
sLch = 0;
//printf(" i'm busy ");
wait++;
if (wait>1000)
{break;
//goto et;
}
}
if(uart1Signal()){
sLch = uart1GetCh();
if (i==0)
{//printf("I receive left speed: \r\n");
//printf(" %d %d ",time, sLch*2);
delayMS(2);
}
}
uart1SendChar(header_com);
uart1SendChar(directionR);
uart1SendChar(( unsigned char) ref_speedR);
//printf("I send2 %c %c \r\n", ref_speedR, directionR);
wait=0;
while(!uart1Signal()){
sRch = 0;
//printf(" i'm busy right");
wait++;
if (wait>1000)
{break;
//goto et;
}
}
if(uart1Signal()){
sRch = uart1GetCh();
if (i==0)
{//printf("I receive right speed: \r\n");
//printf(" %d \r\n", sRch*2);
delayMS(2);
}
}
}
/*********************************************************************************************************
** Function name: uart2SendString
** Descriptions: UART·¢ËÍÒ»¸ö×Ö·û´®
** input parameters: pucBuf:´ý·¢ËÍ×Ö·û´®Ö¸Õë
** output parameters: none
** Returned value: none
** Created by:
** Created date:
**--------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
*********************************************************************************************************/
void uart2SendString (INT8U *pucBuf)
{
while (*pucBuf != '\0') {
uart1SendChar(*pucBuf++);
}
}
void uart1SendChars(unsigned char *buf, unsigned int size)
{
while (size--) {
uart1SendChar(*buf++);
}
}
/*****************************************************************************
*
* Description:
* Print a fixed number of bytes (as opposed to NULL-terminated string).
*
* Params:
* [in] pBuff - The character to print (to uart #1)
* [in] count - Number of characters to print
*
****************************************************************************/
void
uart1SendChars(char *pBuff, tU16 count)
{
while (count--)
uart1SendChar(*pBuff++);
}
