static void radioComSendControlSignalsNow()
{
// Assumption: txBytesLoaded is 0 (we are not in the middle of populating a data packet)
// Assumption: radioLinkTxAvailable() >= 1
uint8 XDATA * packet;
packet = radioLinkTxCurrentPacket();
packet[0] = 1; // Payload length is one byte.
packet[1] = radioComTxSignals;
sendSignalsSoon = 0;
radioLinkTxSendPacket(PAYLOAD_TYPE_CONTROL_SIGNALS);
}
void radioComTxSendByte(uint8 byte)
{
// Assumption: The user called radioComTxAvailable recently and it returned a non-zero value.
if (txBytesLoaded == 0)
{
txPointer = packetPointer = radioLinkTxCurrentPacket();
}
txPointer++;
*txPointer = byte;
txBytesLoaded++;
if (txBytesLoaded == RADIO_LINK_PAYLOAD_SIZE)
{
radioComSendDataNow();
}
}
void processByte(uint8 c)
{
uint8 XDATA *tmt;
switch(c) {
// these cases handle encoder readings; a better
// implementation would use sscanf in the processBytesUart0
// function
case '0':
usbComTxSendByte(c);
break;
case '1':
usbComTxSendByte(c);
break;
case '2':
usbComTxSendByte(c);
break;
case '3':
usbComTxSendByte(c);
break;
case '4':
usbComTxSendByte(c);
break;
case '5':
usbComTxSendByte(c);
break;
case '6':
usbComTxSendByte(c);
break;
case '7':
usbComTxSendByte(c);
break;
case '8':
usbComTxSendByte(c);
break;
case '9':
usbComTxSendByte(c);
break;
case '\r':
usbComTxSendByte(c);
break;
case '\n':
usbComTxSendByte(c);
break;
// just in case we can't print anything to screen
// this command allows for a visual that we are
// at least getting serial commands
case COMMAND_TOGGLE_YELLOW_LED:
yellowLedOn ^= 1;
break;
case COMMAND_RESET_DSPIC:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_RESET_DSPIC; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_ENABLE_QEI:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_ENABLE_QEI; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_DISABLE_QEI:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_DISABLE_QEI; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_READ_QEI:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_READ_QEI; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_SEND_T:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_SEND_T; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_RUN_MOTOR:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_RUN_MOTOR; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_HALT_MOTOR:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_HALT_MOTOR; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_RUN_FASTER:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_RUN_FASTER; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_RUN_SLOWER:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_RUN_SLOWER; // payload data
radioLinkTxSendPacket(0);
}
break;
case COMMAND_INVERT_DIRECTION:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_INVERT_DIRECTION; // payload data
radioLinkTxSendPacket(0);
yellowLedOn ^= 1;
}
break;
case COMMAND_READ_ADC:
tmt = radioLinkTxCurrentPacket();
if(tmt != NULL) {
tmt[0] = 1; // payload length
tmt[1] = COMMAND_READ_ADC; // payload data
radioLinkTxSendPacket(0);
yellowLedOn ^= 1;
}
break;
}
}
