int main()
{
PCComms_SetCustomInterruptHandler(&SerialCB);
DisableAll();
PCComms_Start();
MotorComms_Start();
Timer_1_Start();
CyGlobalIntEnable;
OpenExhaust_Write(1);
CloseExhaust_Write(1);
for(;;)
{
CyDelay(10);
if(linesz !=0)
{
if(line[linesz-1]=='\n' || line[linesz-1]=='\r') //Assume that the computer isn't doing anything funky.
//Q. What is our computer's favorite dance?
//A. The Robot!
{
parseSerial(line,linesz);
line[linesz]='\0';
linesz=0;
}
}
else
MotorComms_UartPutString("Boop");
}
}
void main(void)
{
// Initialise system
setup();
// used for debugging.
TRISBbits.RB4 = 0;
PORTBbits.RB4 = 0;
// Loop until the system is turned off
while (req_state & POWER_ON)
{
int serial_data;
switch (cur_state)
{
case ST_WEIGH: weigh(); break;
case ST_COUNT_I:
case ST_COUNT_F: count(); break;
case ST_CALIBRATE: calibrate(); break;
}
serial_data = parseSerial();
if (serial_data != RS232_NO_DATA)
{
RS232writeByte(COMM_DEBUG);
RS232writeByte(cur_state);
RS232writeByte(disp_type);
//RS232writeByte(serial_data);
}
if (req_state != ST_NONE)
{
// int timeout = 0xFFFF;
// int serial_return;
cur_state = req_state;
// Send Change to GUI.
if (!st_chng_rs232_flag)
{
if (cur_state == ST_COUNT_F)
{
RS232sendData_b_i(COMM_CHANGE_STATE, cur_state, number_items);
}
else
{
RS232sendData_b(COMM_CHANGE_STATE, cur_state);
}
}
st_chng_rs232_flag = 0;
req_state = ST_NONE;
}
}
powerDown(); // Save state and power down.
}
// Called when a byte arrived at UART
void serialEvent()
{
// Read up to 5 bytes at once
availableBytes = Serial.available();
if (availableBytes >5)
availableBytes = 5;
for (availableBytesCnt = 0; availableBytesCnt<availableBytes; ++availableBytesCnt)
{
inByte = (uint8_t)Serial.read();
lastReceivedByteMillis = currentMillis;
// If a recent attempt to read a packet was aborted,
// read all remaining bytes until the end of the packet is
// reached. The end of the packet and the begining of the
// new packet have the value '\0'.
if(ignorePacket)
{
if(inByte == escape)
{
#ifndef OBLIFY
Serial.println("\nReset ignorePacket");
#endif
ignorePacket = 0;
}
else
{
#ifndef OBLIFY
Serial.print(".");
#endif
return;
}
}
#ifndef OBLIFY
if (recPos < 11)
{
parseSerial();
return;
}
#endif
processSerialEvent();
}
}
