//__attribute__((naked)) //To avoid gcc from putting garbage before and after main function, especially with stuffs using stack...
int main(int argc, char **argv)
{
serial_init();
serial_puts("\r\n\r\nHello world!\n\r\n\rBrought to you by Florent Guignabert & Axel Schumacher\r\n\r\n");
char c = serial_getc();
while (c != 27 /*echap*/)
{
serial_putc(c);
c = serial_getc();
}
serial_puts("\n\r");
return EXIT_SUCCESS;
}
int
console_wait_for_key(void)
{
union key key;
key.ax = serial_getc(true);
return key.code.ascii;
}
void TaskStart (void *data)
{
unsigned char i;
char key;
data = data; /* Prevent compiler warning */
JZ_StartTicker(OS_TICKS_PER_SEC); /* os_cfg.h */
printf("uC/OS-II, The Real-Time Kernel MIPS Ported version\n");
printf("EXAMPLE #1 %s %s\n",__DATE__,__TIME__);
while(0)
{
if(serial_tstc())
{
key = serial_getc();
printf("you pressed: %c\n",key);
if(key == 0x1B)
{ /* see if it's the ESCAPE key */
printf(" Escape display of statistic\n");
os_TaskDelete(TASK_START_PRIO);
}
}
printf("time: %d\n",os_TimeGet());
os_TimeDelayHMSM(0, 0, 1, 0); /* Wait one second */
}
NandTest();
}
int do_ramdump(cmd_tbl_t *cmdtp, int flag, int argc, char *argv[])
{
exynos_usbd_dn_addr = USBD_DOWN_ADDR; /* Default Address */
exynos_receive_done = 0;
exynos_usbctl_init();
exynos_usbc_activate();
printf("Now, Waiting for USB RAMDUMP\n");
while (1) {
if (EXYNOS_USBD_DETECT_IRQ()) {
exynos_udc_int_hndlr();
EXYNOS_USBD_CLEAR_IRQ();
}
if (exynos_receive_done)
break;
if (serial_tstc()) {
serial_getc();
break;
}
}
/* when operation is done, usbd must be stopped */
exynos_usb_stop();
printf("Finished RAMDUMP\n");
return 0;
}
void gets(char *s)
{
char c;
while((c = serial_getc()) != '\n')
*s++ = c;
*s = 0;
}
static int
calc_looperms(void)
{
int i, count, c;
int totalloops = 0;
serial_init();
serial_set(TESTBAUD); /* set 300 baud */
serial_loopback(1); /* enable loop back mode */
for (i=0; i < NBYTES; i++)
{
count = 1;
serial_putc(0xaa); /* xmit character */
/*
* The timing loop is the same as the loops in serial_read.
* Any changes to the loops in serial_read should be reflected
* here.
*/
do
{
c = serial_getc();
} while (c < 0 && count++ > 0);
totalloops += count;
}
serial_loopback(0);
return(totalloops/TOTAL_MS);
}
int getDebugChar(void)
{
if (kgdb_debugport == 0)
kgdb_debugport = serial_init(KGDB_PORT, NULL);
return(serial_getc(kgdb_debugport));
}
int main() {
//initialize all necessary sensors and utilities
lcd_init();
timer1_init();
timer3_init();
move_servo(90);
ADC_init();
USART_Init(MYUBRR);
init_push_buttons();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);
audioInit(sensor_data);
//oi_play_song(1);
while(1) {
//empty currentObjects before proceeding by setting all stored objects to "invalid" - ignored by later checks
for (int i = 0; i < 20; i++) {
currentObjects[i].isValid = 0;
}
char received = serial_getc(); //take keyboard input from putty
takeDirectionInput(received, currentObjects); //translate keyboard input into functionality
}
return 0;
}
/**
* shell_getline
*
* Read a line of user input and place it in an input buffer.
*/
static void shell_getline(char *buffer, int minlen, int maxlen)
{
int ch;
char *lp;
int ch_count = 0;
lp = buffer;
while (1) {
ch = serial_getc();
switch (ch) {
case '\n':
case '\r':
serial_puts("\n");
*lp++ = '\0';
return;
case '\b':
case '\177':
if (lp >= (buffer + minlen - 1)) {
serial_puts("\b \b");
lp--;
}
continue;
default:
if ((ch > '\040' || ch < '\177') && ch_count < maxlen) {
serial_putc(ch);
*lp++ = ch;
ch_count++;
}
}
}
return;
}
int main(int argc)
{
// Allocate memory and setup sensorData struct
sensorData = oi_alloc();
initAll(sensorData);
serial_puts("Press 's' to initiate connection with robot\n\r");
while(start != 's') // Wait for Start Command
{
start = serial_getc();
}
serial_puts("Robot communication initiated.\n\r\n\r");
display_help();
running_LED();
while(1)
{
read_user_input_string(sensorData);
}
//START TRAVERSING CODE
while("NOT DONE") //While the robot is not in the Final Zone
{
//TODO Interface and Movement
}
//TODO FLASH LEDS WHEN DONE
}
/* 'inline' - We have to do it fast */
static inline void mdm_readline(char *buf, int bufsiz)
{
char c;
char *p;
int n;
n = 0;
p = buf;
for(;;) {
c = serial_getc();
/* dbg("(%c)", c); */
switch(c) {
case '\r':
break;
case '\n':
*p = '\0';
return;
default:
if(n++ > bufsiz) {
*p = '\0';
return; /* sanity check */
}
*p = c;
p++;
break;
}
}
}
static void serial_isr_func(int n)
{
uint32_t c;
c = serial_getc();
mbox_post(&console_mbox, &c);
}
int do_pause (cmd_tbl_t * cmdtp, int flag, int argc, char *argv[])
{
int pause_time;
unsigned int delay_time;
int break_loop = 0;
/* display value if no argument */
if (argc < 2) {
pause_time = 1;
}
else if (argc > 2) {
printf ("Too many arguments\n");
return -1;
} else {
pause_time = simple_strtoul (argv[1], NULL, 0);
}
printf ("Pausing with a poll time of %d, press any key to reactivate\n", pause_time);
delay_time = pause_time * ONE_SECOND;
while (break_loop == 0) {
udelay (delay_time);
if (serial_tstc () != 0) {
break_loop = 1;
/* eat user key presses */
while (serial_tstc () != 0) {
serial_getc ();
}
}
}
return 0;
}
/*
* * Initialise the serial port with the given baudrate. The settings
* * are always 8 data bits, no parity, 1 stop bit, no start bits.
* *
* */
int serial_init (void)
{
SIO_Open(&gUart1Channel, 115200);
/* clear input buffer */
if(serial_tstc())
serial_getc();
return 0;
}
void jshIdle() {
/*static bool foo = false;
foo = !foo;
jshPinSetValue(LED1_PININDEX, foo);*/
while (serial_readable(&mbedSerial[0])>0)
jshPushIOCharEvent(EV_SERIAL1, serial_getc(&mbedSerial[0]));
}
int spl_start_uboot(void)
{
/* break into full u-boot on 'c' */
if (serial_tstc() && serial_getc() == 'c')
return 1;
return 0;
}
int getc (void)
{
if (gd->flags & GD_FLG_DEVINIT) {
return fgetc (stdin);
}
return serial_getc ();
}
void CONSOL_GetChar(unsigned char *ch)
{
int r;
r = serial_getc();
if (r > 0)
*ch = (unsigned char)r;
else
*ch = 0;
}
void BufferedSerial::rxIrq(void)
{
// read from the peripheral and make sure something is available
if(serial_readable(&_serial)) {
_rxbuf = serial_getc(&_serial); // if so load them into a buffer
}
return;
}
int getc (void)
{
if (gd->flags & GD_FLG_DEVINIT) {
/* Get from the standard input */
return fgetc (stdin);
}
/* Send directly to the handler */
return serial_getc ();
}
int jz_std_gets(unsigned char *s,unsigned int count)
{
unsigned int i = 0;
if(jz_std_sem == NULL) jz_std_sem = os_SemaphoreCreate(1);
OP_STD_LOCK();
while(i++ < count)
*s++ = serial_getc();
OP_STD_UNLOCK();
return (count);
}
static int ameba_uart_getc (struct rt_serial_device *serial)
{
struct device_uart* uart = serial->parent.user_data;
if(!serial_readable(&uart->serial))
return -1;
/* Receive Data Available */
return serial_getc(&uart->serial);
}
/**
* read bytes from uart
*/
int suli_uart_read_bytes(UART_T *uart, uint8_t *buff, int len)
{
uint8_t *ptr = buff;
uint8_t *end = ptr + len;
while (ptr != end)
{
int c = serial_getc(uart);
*ptr++ = c;
}
return ptr - buff;
}
void UARTClass1::IrqHandler(SerialIrq event)
{
PHAL_RUART_ADAPTER pHalRuartAdapter=(PHAL_RUART_ADAPTER)&(this->sobj.hal_uart_adp);
u8 uart_idx = pHalRuartAdapter->UartIndex;
uint8_t data = 0;
if ( event == RxIrq ) {
data = serial_getc(&(this->sobj));
_rx_buffer->store_char(data);
}
}
/* Return: 1 - boot to U-Boot. 0 - boot OS (falcon mode) */
int spl_start_uboot(void)
{
/* break into full u-boot on 'c' */
if (serial_tstc() && serial_getc() == 'c')
return 1;
#ifdef CONFIG_SPL_ENV_SUPPORT
if (env_get_yesno("boot_os") != 1)
return 1;
#endif
return 0;
}
int do_usbd_dnw ( cmd_tbl_t *cmdtp, int flag, int argc, char *argv[])
{
if (argv[0][0] == 'u') {
DNW = 0;
}
else {
DNW = 1;
exynos_got_header = 0;
}
switch (argc) {
case 1 :
exynos_usbd_dn_addr = USBD_DOWN_ADDR; /* Default Address */
break;
case 2 :
exynos_usbd_dn_addr = simple_strtoul(argv[1], NULL, 16);
break;
default:
printf ("Usage:\n%s\n", cmdtp->usage);
return 1;
}
exynos_receive_done = 0;
exynoy_usb_phy_on();
printf("Download address 0x%08x\n", exynos_usbd_dn_addr);
printf("Now, Waiting for DNW to transmit data\n");
while (1) {
if (!exynos_usb_wait_cable_insert()) {
exynos_usbctl_init();
exynos_usbc_activate();
}
if (EXYNOS_USBD_DETECT_IRQ()) {
exynos_udc_int_hndlr();
EXYNOS_USBD_CLEAR_IRQ();
}
if (exynos_receive_done)
break;
if (serial_tstc()) {
serial_getc();
break;
}
}
/* when operation is done, usbd must be stopped */
exynos_usb_stop();
return 0;
}
/**
*
* Function to put the iRobot into manual control in putty
* will be used to control the iRobot through the course
*/
void courseMode()
{
// stay in this loop until course is finished
while(isFinished != 0)
{
// move the iRobot with the putty/keyboard, wasd controls
keyboardInput(serial_getc());
// separate each command
serial_puts("------------------------------------------------------");
}
}
int getc(void)
{
while (1) {
#if defined(CONFIG_SERIAL_CPM_CONSOLE) || defined(CONFIG_SERIAL_8250_CONSOLE) \
|| defined(CONFIG_SERIAL_MPC52xx_CONSOLE)
if (serial_tstc(com_port))
return (serial_getc(com_port));
#endif /* serial console */
if (keyb_present)
if(CRT_tstc())
return (CRT_getc());
}
}
/**
*
* Function to let the robot be in idle until we start
*/
void start()
{
// stay in while loop until ready when 1 is entered
while(1)
{
if(serial_getc() == '1')
break;
}
// play introduction song (Lost Woods)
oi_play_song(3);
}
/**
* read bytes from uart with timeout ms
*/
int suli_uart_read_bytes_timeout(UART_T *uart, uint8_t *buff, int len, int timeout_ms)
{
uint8_t *ptr = buff;
uint8_t *end = ptr + len;
uint32_t t = suli_millis();
while (ptr != end)
{
if ((suli_millis() - t) > timeout_ms) break;
int c = serial_getc(uart);
*ptr++ = c;
}
return ptr - buff;
}