char UART_RcvEscapeSeq()
{
while (!UARTDataAvailable());
if (UART_receive() != 0x5B)
return 0;
while (!UARTDataAvailable());
return UART_receive();
}
int glove_init (void) {
UART_send (0x41);
if (UART_receive()!=0x55)
return 0;
else
return 1;
}
void get_glove_data (glove_data *data) {
int sy,cs;
UART_send (0x43);
sy=UART_receive ();
data->f1=UART_receive ();
data->f2=UART_receive ();
data->f3=UART_receive ();
data->f4=UART_receive ();
data->f5=UART_receive ();
data->pitch=UART_receive ();
data->raw=UART_receive ();
cs=UART_receive ();
if (sy!=0x80) {
/* error */
}
}
int main(void)
{
int counter = 100; // 카운터
int index = 0; // 수신 버퍼에 저장할 위치
int process_data = 0; // 문자열 처리
char buffer[20] = ""; // 수신 데이터 버퍼
char data; // 수신 데이터
UART_INIT(); // UART 통신 초기화
UART_printString("Current Counter Value : ");
UART_print16bitNumber(counter);
UART_printString("\n");
while(1)
{
data = UART_receive(); // 데이터 수신
if(data == TERMINATOR){ // 종료 문자를 수신한 경우
buffer[index] = '\0';
process_data = 1; // 수신 문자열 처리 지시
}
else{
buffer[index] = data; // 수신 버퍼에 저장
index++;
}
if(process_data == 1){ // 문자열 처리
if(strcmp(buffer, "DOWN") == 0){ // 카운터 감소
counter--;
UART_printString("Current Counter Value : ");
UART_print16bitNumber(counter);
UART_printString("\n");
}
else if(strcmp(buffer, "UP") == 0){ // 카운터 증가
counter++;
UART_printString("Current Counter Value : ");
UART_print16bitNumber(counter);
UART_printString("\n");
}
else{ // 잘못된 명령어
UART_printString("** Unknown Command **");
UART_printString("\n");
}
index = 0;
process_data = 0;
}
}
}
int main(void)
{
UART_init();
spi_init();
delay_ms(100);
LCD_init ();
delay_ms(100);
LCD_clear ();
// send the init frame
//UART_transmit(0xFB);
UART_transmit(0xFB);
UART_transmit(0x0A);
UART_transmit(0x0A);
UART_transmit(0x0A);
UART_transmit(0x0D);
// upload the pixel array
done = 0;
while (done == 0) {
// receive data frame
df_data = UART_receive();
df_seq_msb = UART_receive();
df_seq_lsb = UART_receive();
df_end = UART_receive();
df_cr = UART_receive();
// store into byte pixel array
if (df_seq_msb == 0x01) {
byte_pixel[256 + df_seq_lsb] = df_data;
}
else {
byte_pixel[df_seq_lsb] = df_data;
}
// send the ack
UART_transmit(0xFA);
UART_transmit(df_seq_msb);
UART_transmit(df_seq_lsb);
UART_transmit(0x0A);
UART_transmit(0x0D);
// break when the last byte (503) is received
if ((df_seq_msb == 0x01) && (df_seq_lsb == 247)) {
done = 1;
}
}
// set the cursor
LCD_gotoXY(0,0);
// write byte_pixel by byte_pixel
for (index = 0; index < 504; index++) {
LCD_writeData(byte_pixel[index]);
}
/*
//LCD_drawBorder ( );
LCD_gotoXY (4,2);
//LCD_writeChar (0x41);
//LCD_writeString_F("Thermometer");
//LCD_writeString_F("0123");
LCD_writeChar (0x20);
LCD_writeChar (0x20);
LCD_writeChar (0x68);
LCD_writeChar (0x6f);
LCD_writeChar (0x77);
LCD_writeChar (0x64);
LCD_writeChar (0x79);
LCD_gotoXY (4,3);
//LCD_writeChar (0x43);
//LCD_writeString_F("by DHARMANI");
//LCD_writeString_F("6789");
LCD_writeChar (0x44);
LCD_writeChar (0x61);
LCD_writeChar (0x6D);
LCD_writeChar (0x6D);
LCD_writeChar (0x69);
LCD_writeChar (0x74);
LCD_writeChar (0x21);
*/
}
void main(void)
{
unsigned char bufPos = 0;
unsigned char cursorPos = 0;
unsigned char localEcho = 1;
unsigned char c;
int i;
unsigned char gpibIndex = 0;
unsigned char command = 0;
int result = 0;
unsigned char msgLen = 0;
unsigned char msgEOI = 1;
GPIO_init();
/* timer & interrupt initialize */
TIMSK = _BV(TOIE0); // wlacz obsluge przerwan T/C0
TCNT0 = T0_INIT; // wartosc poczatkowa T/C0
TCCR0 = _BV(CS00)|_BV(CS02); // preskaler 1024
sei();
ReconfigureGPIO_GPIBNormalMode();
UART_init();
fdevopen(uart_putchar, NULL);
#if 1
if (0 == (PINB & _BV(PB5))) // printer mode
{
ledBlinking = SLOW;
ReconfigureGPIO_GPIBReceiveMode();
_delay_ms(1);
while (1)
{
result = GPIB_Receive(gpibBuf, GPIB_BUF_SIZE-2, &gpibIndex);
if (gpibIndex != 0)
{
for (i=0; i<gpibIndex; i++)
UART_transmit(gpibBuf[i]);
}
else
{
_delay_ms(10);
}
}
}
localEcho = (PINB & _BV(PB7))?1:0;
#endif
SetLed(1);
while (1) //main loop
{
selectedCommand = savedCommands;
if (localEcho && !bufPos)
printf("<GPIB> ");
do
{
while (!UARTDataAvailable());
c = UART_receive();
if (0x08 == c) //backspace
{
if ((bufPos > 0) && (cursorPos == bufPos))
{
--bufPos;
--cursorPos;
if (localEcho)
{
UART_transmit(0x08);
UART_transmit(' ');
UART_transmit(0x08);
}
}
else if ((bufPos > 0) && (cursorPos > 0))
{
--bufPos;
--cursorPos;
memmove(&buf[cursorPos], &buf[cursorPos+1], bufPos-cursorPos);
if (localEcho)
{
UART_transmit(0x08);
buf[bufPos] = 0;
printf("%s ", &buf[cursorPos]);
for (i=cursorPos; i<(bufPos+1); i++)
UART_transmit(0x08);
}
}
}
else if (10 == c) //ignore LF
{
}
/* else if (9 == c) //tab key
{
printf("<bufPos=%d cursorPos=%d>", bufPos, cursorPos);
}
*/ else if (0x1b == c) //escape character
{
switch (UART_RcvEscapeSeq())
{
case ESC_KEY_UP:
selectedCommand = selectedCommand?selectedCommand-1:0;
memmove(&buf[0], &commandsHistory[selectedCommand*BUF_SIZE], BUF_SIZE);
if (localEcho)
{
while (cursorPos < bufPos)
{
UART_transmit(' ');
cursorPos++;
}
while (bufPos--)
{
UART_transmit(0x08);
UART_transmit(' ');
UART_transmit(0x08);
}
printf("%s", &buf[0]);
}
bufPos = strlen((char*)&buf[0]);
cursorPos = bufPos;
break;
case ESC_KEY_DOWN:
if ((selectedCommand+1) == savedCommands) //current command is last command in buffer
{
selectedCommand = savedCommands;
if (localEcho)
{
while (cursorPos < bufPos)
{
UART_transmit(' ');
cursorPos++;
}
while (bufPos--)
{
UART_transmit(0x08);
UART_transmit(' ');
UART_transmit(0x08);
}
}
bufPos = 0;
cursorPos = 0;
}
else if ((selectedCommand+1) < savedCommands) // <MAX_COMMANDS
{
selectedCommand++;
memmove(&buf[0], &commandsHistory[selectedCommand*BUF_SIZE], BUF_SIZE);
if (localEcho)
{
while (cursorPos < bufPos)
{
UART_transmit(' ');
cursorPos++;
}
while (bufPos--)
{
UART_transmit(0x08);
UART_transmit(' ');
UART_transmit(0x08);
}
printf("%s", &buf[0]);
}
bufPos = strlen((char*)&buf[0]);
cursorPos = bufPos;
}
break;
case ESC_KEY_LEFT:
if (cursorPos)
{
--cursorPos;
if (localEcho)
{
UART_transmit(0x1B);
UART_transmit(0x5B);
UART_transmit('D');
}
}
break;
case ESC_KEY_RIGHT:
if (cursorPos < bufPos)
{
cursorPos++;
if (localEcho)
{
UART_transmit(0x1B);
UART_transmit(0x5B);
UART_transmit('C');
}
}
break;
default:
break;
}
}
else if (13 == c)
{
if (localEcho)
{
UART_transmit(13); //CR
UART_transmit(10); //LF
}
if (bufPos)
command = toupper(buf[0]);
else
command = EMPTY_LINE;
}
else
{
if (bufPos < BUF_SIZE-1)
{
if (cursorPos == bufPos)
{
buf[bufPos++] = c;
cursorPos++;
if (localEcho)
UART_transmit(c); //local echo
}
else
{
memmove(&buf[cursorPos+1], &buf[cursorPos], bufPos-cursorPos);
buf[cursorPos++] = c;
bufPos++;
buf[bufPos] = 0;
if (localEcho)
{
UART_transmit(c); //local echo
printf("%s", &buf[cursorPos]);
for (i=cursorPos; i<bufPos; i++)
UART_transmit(0x08);
}
}
}
}
} while (!command);
if ('D' == command) //send data
{
if (!listenMode)
{
if (1 == msgEndSeq)
buf[bufPos++] = 13; //CR
else if (2==msgEndSeq)
buf[bufPos++] = 10; //LF
else if (3==msgEndSeq)
{
buf[bufPos++] = 13; //CR
buf[bufPos++] = 10; //LF
}
result = GPIB_Transmit(buf+1, bufPos-1, 1);
if (result == 255) // transmit ok
printf("OK\r\n");
else //timeout
printf("TIMEOUT\r\n");
if ((1==msgEndSeq) || (2==msgEndSeq))
--bufPos;
else if (3==msgEndSeq)
bufPos -= 2;
}
else
printf("ERROR\r\n");
}
else if ('M' == command) //send data without EOI
{
if (!listenMode)
{
if (1 == msgEndSeq)
buf[bufPos++] = 13; //CR
else if (2==msgEndSeq)
buf[bufPos++] = 10; //LF
else if (3==msgEndSeq)
{
buf[bufPos++] = 13; //CR
buf[bufPos++] = 10; //LF
}
result = GPIB_Transmit(buf+1, bufPos-1, 0);
if (result == 255) // transmit ok
printf("OK\r\n");
else //timeout
printf("TIMEOUT\r\n");
if ((1==msgEndSeq) || (2==msgEndSeq))
--bufPos;
else if (3==msgEndSeq)
bufPos -= 2;
}
else
printf("ERROR\r\n");
}
else if ('C' == command) //send command
{
for (i=1; i<bufPos; i++)
{
if ((buf[i] == '?') || (buf[i] == (64+listenAddress)))//unlisten
{
listenMode = 0;
ledBlinking = OFF;
SetLed(1);
}
else if (buf[i] == (32+listenAddress))
{
listenMode = 1;
ledBlinking = FAST;
}
}
if (1 == msgEndSeq)
buf[bufPos++] = 13; //CR
else if (2==msgEndSeq)
buf[bufPos++] = 10; //LF
else if (3==msgEndSeq)
{
buf[bufPos++] = 13; //CR
buf[bufPos++] = 10; //LF
}
ReconfigureGPIO_GPIBNormalMode();
SetATN(0);
_delay_us(100);
result = GPIB_Transmit(buf+1, bufPos-1, 1);
if (result == 255) // transmit ok
printf("OK\r\n");
else //timeout
printf("TIMEOUT\r\n");
SetATN(1);
if ((1==msgEndSeq) || (2==msgEndSeq))
--bufPos;
else if (3==msgEndSeq)
bufPos -= 2;
if (listenMode)
ReconfigureGPIO_GPIBReceiveMode();
else
ReconfigureGPIO_GPIBNormalMode();
listenMode_prev = listenMode;
}
else if ('R' == command)
{
SetREN(0);
remoteState = 1;
printf("OK\r\n");
}
else if ('L' == command)
{
SetREN(1);
remoteState = 0;
printf("OK\r\n");
}
else if ('I' == command)
{
SetIFC(0);
_delay_ms(1);
SetIFC(1);
if (listenMode)
{
listenMode = 0;
ledBlinking = OFF;
SetLed(1);
ReconfigureGPIO_GPIBNormalMode();
}
printf("OK\r\n");
}
else if ('S' == command)
{
UART_transmit(remoteState?'1':'0');
UART_transmit((0 == (PINC & SRQ))?'1':'0');
UART_transmit(listenMode?'1':'0');
UART_transmit(13);
UART_transmit(10);
}
else if ('P' == command)
{
listenMode_prev = 0; //cancel listen mode
listenMode = 0; //cancel listen mode
ledBlinking = SLOW;
ReconfigureGPIO_GPIBReceiveMode();
// if (localEcho)
// printf("PRINTER MODE, send <ESC> to return to normal mode\r\n");
_delay_ms(1);
while (c != 27)
{
if (UARTDataAvailable())
c = UART_receive();
result = GPIB_Receive(gpibBuf, GPIB_BUF_SIZE-2, &gpibIndex);
if (gpibIndex != 0)
{
for (i=0; i<gpibIndex; i++)
UART_transmit(gpibBuf[i]);
}
else
{
_delay_ms(10);
}
}
c = 0;
ReconfigureGPIO_GPIBNormalMode();
ledBlinking = OFF;
SetLed(1);
}
else if ('X' == command) //ascii receive
{
if (!listenMode)
{
ReconfigureGPIO_GPIBReceiveMode();
_delay_ms(1);
}
result = GPIB_Receive_till_eoi(gpibBuf, GPIB_BUF_SIZE-2, &gpibIndex);
if (gpibIndex != 0)
{
gpibBuf[gpibIndex] = 0;
printf("%s",gpibBuf);
}
else
printf("TIMEOUT\r\n");
if (!listenMode)
ReconfigureGPIO_GPIBNormalMode();
}
else if ('Y' == command) //binary receive
{
if (!listenMode)
{
ReconfigureGPIO_GPIBReceiveMode();
_delay_ms(1);
}
result = GPIB_Receive_till_eoi(gpibBuf, GPIB_BUF_SIZE-2, &gpibIndex);
UART_transmit(gpibIndex);
for (i=0; i<gpibIndex; i++)
{
UART_transmit(gpibBuf[i]);
}
if (!listenMode)
ReconfigureGPIO_GPIBNormalMode();
}
else if ('Z' == command) //hex receive
{
if (!listenMode)
{
ReconfigureGPIO_GPIBReceiveMode();
_delay_ms(1);
}
result = GPIB_Receive_till_eoi(gpibBuf, GPIB_BUF_SIZE-2, &gpibIndex);
printf("%02x", gpibIndex);
for (i=0; i<gpibIndex; i++)
printf("%02x",gpibBuf[i]);
printf("\r\n");
if (!listenMode)
ReconfigureGPIO_GPIBNormalMode();
}
else if ('?' == command)
{
ShowHelp();
}
else if ('E' == command)
{
if (bufPos == 1)
printf("%d\r\n", localEcho);
else if ((bufPos==2) && ('0' == buf[1]))
{
localEcho = 0;
printf("OK\r\n");
}
else if ((bufPos==2) && ('1' == buf[1]))
{
localEcho = 1;
printf("OK\r\n");
}
else
printf("ERROR\r\n");
}
else if ('H' == command) //show history
{
for (i=0; i<savedCommands; i++)
printf("%d: %s\r\n", i, &commandsHistory[i*BUF_SIZE]);
command = 0; //to avoid saving this command in history
}
else if ('A' == command) //listen address
{
if (bufPos == 1)
printf("%02d\r\n", listenAddress);
else if ((bufPos==3) && isdigit(buf[1]) && isdigit(buf[2]))
{
i = atoi((char*)buf+1);
if ((i>=0) && (i<=30))
{
listenAddress = i;
printf("OK\r\n");
}
else
printf("ERROR\r\n");
}
else
printf("ERROR\r\n");
}
else if ('Q' == command)
{
if (bufPos == 1)
printf("%d\r\n", msgEndSeq);
else if ((2==bufPos) && (('0'==buf[1]) || ('1'==buf[1]) || ('2'==buf[1]) || ('3'==buf[1])))
{
if ('0'==buf[1])
msgEndSeq = 0;
else if ('1'==buf[1])
msgEndSeq = 1;
else if ('2'==buf[1])
msgEndSeq = 2;
else if ('3'==buf[1])
msgEndSeq = 3;
printf("OK\r\n");
}
else
printf("ERROR\r\n");
}
else if ('T' == command)
{
if (CheckHexMsg(&buf[1], bufPos-1, msgBuf, &msgLen, &msgEOI))
{
if ('D' == toupper(buf[2])) //send data
{
result = GPIB_Transmit(msgBuf, msgLen, msgEOI);
if (result == 255) // transmit ok
printf("OK\r\n");
else //timeout
printf("TIMEOUT\r\n");
}
else //send command
{
for (i=0; i<msgLen; i++)
{
if ((msgBuf[i] == '?') || (msgBuf[i] == (64+listenAddress)))//unlisten
{
listenMode = 0;
ledBlinking = OFF;
SetLed(1);
}
else if (buf[i] == (32+listenAddress))
{
listenMode = 1;
ledBlinking = FAST;
}
}
ReconfigureGPIO_GPIBNormalMode();
SetATN(0);
_delay_us(100);
result = GPIB_Transmit(msgBuf, msgLen, 1);
if (result == 255) // transmit ok
printf("OK\r\n");
else //timeout
printf("TIMEOUT\r\n");
SetATN(1);
if (listenMode)
ReconfigureGPIO_GPIBReceiveMode();
else
ReconfigureGPIO_GPIBNormalMode();
listenMode_prev = listenMode;
}
}
else
printf("ERROR\r\n");
}
else
{
if (bufPos)
printf("WRONG COMMAND\r\n");
command = 0;
}
if (command && bufPos)
{
buf[bufPos] = 0; //add string termination
//avoids saving same command twice
if ((savedCommands > 0) && (0 == strcmp(&commandsHistory[(savedCommands-1)*BUF_SIZE], (char*)&buf[0])))
{
command = 0;
}
else //save command
{
if (savedCommands < MAX_COMMANDS)
{
memmove(&commandsHistory[savedCommands*BUF_SIZE], &buf[0], BUF_SIZE);
++savedCommands;
}
else
{
memmove(&commandsHistory[0], &commandsHistory[BUF_SIZE], BUF_SIZE*(savedCommands-1));
memmove(&commandsHistory[(savedCommands-1)*BUF_SIZE], &buf[0], BUF_SIZE);
}
}
}
command = 0;
bufPos = 0;
cursorPos = 0;
buf[0] = 0;
} //end of endless loop block
}
