static void SendChar(unsigned char ch, UART_Desc *desc) {
desc->isSent = FALSE; /* this will be set to 1 once the block has been sent */
while (AS1_SendBlock(desc->handle, (LDD_TData*) &ch, 1) != ERR_OK) {
} /* Send char */
while (!desc->isSent) {
} /* wait until we get the green flag from the TX interrupt */
}
void GetConvolutionResultPacketHandler(void)
{
Communication.Error = AS1_SendBlock(AS1_DeviceData, &Camera.ConvolutionResult[0], PIXEL_NUM);
if(Communication.Error) {
}
}
void GetCameraDataPacketHandler(void)
{
Communication.Error = AS1_SendBlock(AS1_DeviceData, &Camera.readPointerToBuffer[0], PIXEL_NUM);
if(Communication.Error) {
}
}
/* ===================================================================*/
void AS1_OnBlockReceived(LDD_TUserData *UserDataPtr)
{
/* Write your code here ... */
char *TEXTO[40];
sprintf (TEXTO, "Recbido %s\n\r", UserDataPtr );
AS1_SendBlock(NULL, TEXTO, sizeof(TEXTO));
LED_VERD_On();WAIT1_Waitms(200);LED_VERD_Off();
}
void GetAccelerometerDataPacketHandler(void)
{
sprintf(&Communication.CommunicationString[0], "%i %i %i\n", Accelerometer.X, Accelerometer.Y, Accelerometer.Z);
Communication.Error = AS1_SendBlock(AS1_DeviceData, &Communication.CommunicationString[0], strlen(Communication.CommunicationString));
if(Communication.Error) {
}
}
/*
** ===================================================================
** Event : AS1_OnIdle (module Events)
**
** From bean : AS1 [AsynchroSerial]
** Description :
** This event is called when an idle condition on the
** receiver is detected.
** The event is available only when both <Interrupt
** service/event> and <Receiver > properties are enabled.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void AS1_OnIdle(void)
{
/* Write your code here ... */
extern float timecoefficient;
if(AS1_GetCharsInRxBuf()>0){
unsigned char cmd=255;
AS1_RecvChar(&cmd);
if(cmd==0){//handshake
unsigned char t=0;
unsigned char rply[2]={0};
unsigned short x;
//unsigned char r;
x=AS1_RecvChar(&t);
rply[1]=(t+17)&0xff;
AS1_SendBlock(rply,2,&x);
}else if(cmd==1){//general query
word x;
byte t[4];
AS1_RecvBlock(t,4,&x);
AS1_SendBlock((byte*)(t[0]+(t[1]<<8)),t[2]+(t[3]<<8),&x);
}else if(cmd==2){//inc
timecoefficient+=0.00001f;
}else if(cmd==3){//dec
timecoefficient-=0.00001f;
}
}
/* char cmd=0;
AS1_RecvChar(&cmd);
if(cmd==CMD_SETTIMECOEFFICIENT&&AS1_GetCharsInRxBuf()>=sizeof(float)){
char t=0;
AS1_RecvBlock((char *)&timecoefficient,sizeof(float),&t);
if(t!=sizeof(float)){
//error;
}
}else if(cmd==CMD_INC){
timecoefficient+=0.00001f;
}else if(cmd==CMD_DEC){
timecoefficient-=0.00001f;
}*/
}
/*
** ===================================================================
** Event : TI1_OnInterrupt (module Events)
**
** Component : TI1 [TimerInt]
** Description :
** When a timer interrupt occurs this event is called (only
** when the component is enabled - <Enable> and the events are
** enabled - <EnableEvent>). This event is enabled only if a
** <interrupt service/event> is enabled.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void TI1_OnInterrupt(void)
{
/* Write your code here ... */
LED_VERD_Neg();WAIT1_Waitms(333);
LED_AZUL_Neg();WAIT1_Waitms(333);
LED_VERM_Neg();WAIT1_Waitms(333);
LED_VERD_Off();
LED_AZUL_Off();
LED_VERM_Off();
AS1_SendBlock(NULL, "Serial.", 8);
}
static void SendChar(unsigned char ch) {
SentFlag = 0; /* this will be set to 1 once the block has been sent */
while(AS1_SendBlock(serialHandle, (LDD_TData*)&ch, 1)!=ERR_OK) {} /* Send char */
while(SentFlag==0) {} /* wait until we get the green flag from the TX interrupt */
}
byte sendData(){
byte error;
averagedData.uData.id = Hall_Effect_Bit_GetVal() ? 0xFF : 0x00; // Replace with hall pin
error = AS1_SendBlock(averagedData.rData, 4, &dataBlockSize);
return error;
}
void GetOdometryTotalDistancePacketHandler(void)
{
sprintf(&Communication.CommunicationString[0], "%lu\n", Odometry.TotalDistance);
Communication.Error = AS1_SendBlock(AS1_DeviceData, &Communication.CommunicationString[0], strlen(Communication.CommunicationString));
}
// Steering
void GetSteeringControllerConstantsCommandHandler(uint8_t* PacketPattern)
{
sprintf(&Communication.CommunicationString[0], "Kp: %ld Ki: %ld Kd: %ld Aw: %ld\n",Steering.Kp, Steering.Ki, Steering.Kd, Steering.AntiWindUp);
Communication.Error = AS1_SendBlock(AS1_DeviceData, &Communication.CommunicationString[0], strlen(Communication.CommunicationString));
}
