void APP_Initialize ( void )
{
/* Place the App state machine in its initial state. */
appData.state = APP_STATE_INIT;
appData.InstructionNumber = 0;
irTimer = xTimerCreate("IR Timer", 100/portTICK_PERIOD_MS,pdTRUE, (void*) 1, readIR);
xTimerStart(irTimer, 100);
// these two timers run external interrupts
DRV_TMR1_Start();
DRV_TMR2_Start();
// this timer is used by the external interrupt?
DRV_TMR0_Start();
// these commands set up the PWM for the motors
DRV_OC0_Start();
DRV_OC1_Start();
PLIB_TMR_Period16BitSet(1,1000);
PLIB_OC_PulseWidth16BitSet(0,0);
PLIB_OC_PulseWidth16BitSet(1,0);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_C, PORTS_BIT_POS_14);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_1);
// these lines configure LEDs for operation
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_3);
PLIB_PORTS_PinSet (PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_3);
// this code declares my message queues, declared in the header
MsgQueue_MapEncoder_Interrupt = xQueueCreate( 50, sizeof( StandardMessage ) );
MsgQueue_MapSensor_Interrupt = xQueueCreate( 50, sizeof( StandardMessage ) );
MsgQueue_MapAlgorithm_Instructions = xQueueCreate( 50, sizeof( StandardMessage ) );
// this code declares some GPIO output pins as outputs for me
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_B, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_B, 'a');
appData.rightEncoderCount = 0; //SinceLastIntersection
appData.leftEncoderCount = 0; //SinceLastIntersection
appData.leftPath = 0;
appData.rightPath = 0;
appData.forwardPath = 0;
// this code starts tasks for mapper control threads
/*TaskHandle_t Handle_InterpretDataThread;
xTaskCreate((TaskFunction_t) InterpretDataThread,
"InterpretDataThread",
1024, NULL, 1, NULL);
vTaskStartScheduler();*/
}
static void CS_Init(void)
{
#if defined(PLIB_PORTS_ExistsPortsDirection)
if (PLIB_PORTS_ExistsPortsDirection(PORTS_ID_0))
{
PLIB_PORTS_PinDirectionOutputSet(PORTS_ID_0, WF_CS_PORT_CHANNEL, WF_CS_BIT_POS);
}
#endif
}
void APP_Initialize ( void )
{
/* Place the App state machine in its initial state. */
appData.state = APP_STATE_INIT;
/* TODO: Initialize your application's state machine and other
* parameters.
*/
tempUART_0 = DRV_USART_Open(DRV_USART_INDEX_1, DRV_IO_INTENT_READWRITE);
//TimerHandle_t mainTimer = xTimerCreate("Timer A", 50/portTICK_PERIOD_MS,pdTRUE, (void*) 1, changestate);
//xTimerStart(mainTimer, 100);
PLIB_PORTS_PinDirectionInputSet (PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_2);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_8);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_C, PORTS_BIT_POS_1);
appData.data = 'a';
}
void SYS_PORTS_PinDirectionSelect ( PORTS_MODULE_ID index,
SYS_PORTS_PIN_DIRECTION pinDir,
PORTS_CHANNEL channel,
PORTS_BIT_POS bitPos )
{
if (pinDir == SYS_PORTS_DIRECTION_OUTPUT)
{
PLIB_PORTS_PinDirectionOutputSet(index, channel, bitPos);
}
else
{
PLIB_PORTS_PinDirectionInputSet(index, channel, bitPos);
}
}
void WDRV_GPIO_OutHigh(int board)
{
switch (board) {
case MZ_ESK_BD:
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, WF_TEST_PORT_CHANNEL,WF_TEST_BIT_POS,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinDirectionOutputSet(PORTS_ID_0,WF_TEST_PORT_CHANNEL,WF_TEST_BIT_POS);
SYS_PORTS_PinSet (PORTS_ID_0, WF_TEST_PORT_CHANNEL,WF_TEST_BIT_POS);
break;
case MX_ESK_BD:
break;
case EXP16_BD:
break;
case MEB2_BD:
break;
default:
WDRV_ASSERT(false, "Unsupported board");
break;
}
}
/***********************************************
* Application USB Device Layer Event Handler.
***********************************************/
void APP_USBDeviceEventHandler ( USB_DEVICE_EVENT event, void * eventData, uintptr_t context )
{
USB_DEVICE_EVENT_DATA_CONFIGURED *configuredEventData;
static bool led;
switch ( event )
{
case USB_DEVICE_EVENT_SOF:
app2Data.sofEventHasOccurred = true;
break;
case USB_DEVICE_EVENT_RESET:
app2Data.isConfigured = false;
break;
case USB_DEVICE_EVENT_CONFIGURED:
/* Set the USBID pin to output (LED control) after configuration is done */
PLIB_PORTS_PinDirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_3);
(led) ? PLIB_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_3) : PLIB_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_3);
/* Check the configuration. We only support configuration 1 */
configuredEventData = (USB_DEVICE_EVENT_DATA_CONFIGURED*)eventData;
if ( configuredEventData->configurationValue == 1)
{
/* Register the CDC Device application event handler here.
* Note how the app2Data object pointer is passed as the
* user data */
USB_DEVICE_CDC_EventHandlerSet(USB_DEVICE_CDC_INDEX_0, APP_USBDeviceCDCEventHandler, (uintptr_t)&app2Data);
/* Mark that the device is now configured */
app2Data.isConfigured = true;
}
break;
case USB_DEVICE_EVENT_POWER_DETECTED:
led = PLIB_PORTS_PinGetLatched(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_3);
/* Set the USBID pin to input (floating) so that it will be configured as DEVICE */
PLIB_PORTS_PinDirectionInputSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_3);
/* VBUS was detected. We can attach the device */
USB_DEVICE_Attach(app2Data.deviceHandle);
break;
case USB_DEVICE_EVENT_POWER_REMOVED:
/* VBUS is not available any more. Detach the device. */
USB_DEVICE_Detach(app2Data.deviceHandle);
break;
case USB_DEVICE_EVENT_SUSPENDED:
break;
case USB_DEVICE_EVENT_RESUMED:
case USB_DEVICE_EVENT_ERROR:
default:
break;
}
}
void PWM_Initialize(void) {
// Timer Init
// Stop the timers
PLIB_TMR_Stop(APP_PWM_TMR_ID);
#ifdef APP_PWM2_OC1_ID
PLIB_TMR_Stop(APP_PWM2_TMR_ID);
#endif //ifdef APP_PWM2_OC1_ID
// Disable OC's
PLIB_OC_Disable(APP_PWM_OC1_ID);
#ifdef APP_PWM_OC2_ID
PLIB_OC_Disable(APP_PWM_OC2_ID);
#endif // ifdef APP_PWM_OC2_ID
#ifdef APP_PWM_OC3_ID
PLIB_OC_Disable(APP_PWM_OC3_ID);
#endif // ifdef APP_PWM_OC3_ID
#ifdef APP_PWM_OC4_ID
PLIB_OC_Disable(APP_PWM_OC4_ID);
#endif // ifdef APP_PWM_OC4_ID
#ifdef APP_PWM2_OC1_ID
PLIB_OC_Disable(APP_PWM2_OC1_ID);
#endif // ifdef APP_PWM2_OC1_ID
#ifdef APP_PWM2_OC2_ID
PLIB_OC_Disable(APP_PWM2_OC2_ID);
#endif // ifdef APP_PWM2_OC2_ID
// Set the prescaler, and set the clock source as internal
PLIB_TMR_ClockSourceSelect(APP_PWM_TMR_ID, TMR_CLOCK_SOURCE_PERIPHERAL_CLOCK);
PLIB_TMR_PrescaleSelect(APP_PWM_TMR_ID, APP_PWM_TMR_PRESCALE);
PWM_PreScale = APP_PWM_TMR_PRESCALE;
// Clear the timer
PLIB_TMR_Counter16BitClear(APP_PWM_TMR_ID);
// Load the period register
PLIB_TMR_Period16BitSet(APP_PWM_TMR_ID, APP_PWM_TMR_INIT);
PWM_Cycle = APP_PWM_TMR_INIT;
#ifdef APP_PWM2_OC1_ID
PLIB_TMR_ClockSourceSelect(APP_PWM2_TMR_ID, TMR_CLOCK_SOURCE_PERIPHERAL_CLOCK);
PLIB_TMR_PrescaleSelect(APP_PWM2_TMR_ID, APP_PWM2_TMR_PRESCALE);
PWM2_PreScale = APP_PWM2_TMR_PRESCALE;
// Clear the timer
PLIB_TMR_Counter16BitClear(APP_PWM2_TMR_ID);
// Load the period register
PLIB_TMR_Period16BitSet(APP_PWM2_TMR_ID, APP_PWM2_TMR_INIT);
PWM2_Cycle = APP_PWM2_TMR_INIT;
#endif // ifdef APP_PWM2_OC1_ID
// OC1 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM_OC1_PORTS_ID, APP_PWM_OC1_PORT_CHANNEL, APP_PWM_OC1_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM_OC1_PORTS_ID, APP_PWM_OC1_PORT_CHANNEL, APP_PWM_OC1_PIN);
APP_PWM_OC1_Mode;
PLIB_PORTS_RemapOutput(APP_PWM_OC1_PORTS_ID, APP_PWM_OC1_Function, APP_PWM_OC1_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM_OC1_ID, APP_PWM_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM_OC1_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM_OC1_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM_OC1_ID, APP_PWM_OC1_On);
PWM_Start1 = APP_PWM_OC1_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM_OC1_ID, APP_PWM_OC1_Off);
PWM_Stop1 = APP_PWM_OC1_Off;
#ifdef APP_PWM_OC2_ID
// OC2 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM_OC2_PORTS_ID, APP_PWM_OC2_PORT_CHANNEL, APP_PWM_OC2_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM_OC2_PORTS_ID, APP_PWM_OC2_PORT_CHANNEL, APP_PWM_OC2_PIN);
APP_PWM_OC2_Mode;
PLIB_PORTS_RemapOutput(APP_PWM_OC2_PORTS_ID, APP_PWM_OC2_Function, APP_PWM_OC2_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM_OC2_ID, APP_PWM_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM_OC2_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM_OC2_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM_OC2_ID, APP_PWM_OC2_On);
PWM_Start2 = APP_PWM_OC2_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM_OC2_ID, APP_PWM_OC2_Off);
PWM_Stop2 = APP_PWM_OC2_Off;
#endif // ifdef APP_PWM_OC2_ID
#ifdef APP_PWM_OC3_ID
// OC3 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM_OC3_PORTS_ID, APP_PWM_OC3_PORT_CHANNEL, APP_PWM_OC3_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM_OC3_PORTS_ID, APP_PWM_OC3_PORT_CHANNEL, APP_PWM_OC3_PIN);
APP_PWM_OC3_Mode;
PLIB_PORTS_RemapOutput(APP_PWM_OC3_PORTS_ID, APP_PWM_OC3_Function, APP_PWM_OC3_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM_OC3_ID, APP_PWM_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM_OC3_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM_OC3_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM_OC3_ID, APP_PWM_OC3_On);
PWM_Start3 = APP_PWM_OC3_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM_OC3_ID, APP_PWM_OC3_Off);
PWM_Stop3 = APP_PWM_OC3_Off;
#endif // ifdef APP_PWM_OC3_ID
#ifdef APP_PWM_OC4_ID
// OC4 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM_OC4_PORTS_ID, APP_PWM_OC4_PORT_CHANNEL, APP_PWM_OC4_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM_OC4_PORTS_ID, APP_PWM_OC4_PORT_CHANNEL, APP_PWM_OC4_PIN);
APP_PWM_OC4_Mode;
PLIB_PORTS_RemapOutput(APP_PWM_OC4_PORTS_ID, APP_PWM_OC4_Function, APP_PWM_OC4_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM_OC4_ID, APP_PWM_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM_OC4_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM_OC4_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM_OC4_ID, APP_PWM_OC4_On);
PWM_Start4 = APP_PWM_OC4_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM_OC4_ID, APP_PWM_OC4_Off);
PWM_Stop4 = APP_PWM_OC4_Off;
#endif // ifdef APP_PWM_OC4_ID
#ifdef APP_PWM2_OC1_ID
// PWM2 / OC1 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM2_OC1_PORTS_ID, APP_PWM2_OC1_PORT_CHANNEL, APP_PWM2_OC1_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM2_OC1_PORTS_ID, APP_PWM2_OC1_PORT_CHANNEL, APP_PWM2_OC1_PIN);
APP_PWM2_OC1_Mode;
PLIB_PORTS_RemapOutput(APP_PWM2_OC1_PORTS_ID, APP_PWM2_OC1_Function, APP_PWM2_OC1_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM2_OC1_ID, APP_PWM2_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM2_OC1_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM2_OC1_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM2_OC1_ID, APP_PWM2_OC1_On);
PWM2_Start1 = APP_PWM2_OC1_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM2_OC1_ID, APP_PWM2_OC1_Off);
PWM2_Stop1 = APP_PWM2_OC1_Off;
#endif // ifdef APP_PWM2_OC1_ID
#ifdef APP_PWM2_OC2_ID
// PWM2 / OC2 Init
// port inits
PLIB_PORTS_PinClear(APP_PWM2_OC2_PORTS_ID, APP_PWM2_OC2_PORT_CHANNEL, APP_PWM2_OC2_PIN);
PLIB_PORTS_PinDirectionOutputSet(APP_PWM2_OC2_PORTS_ID, APP_PWM2_OC2_PORT_CHANNEL, APP_PWM2_OC2_PIN);
APP_PWM2_OC2_Mode;
PLIB_PORTS_RemapOutput(APP_PWM2_OC2_PORTS_ID, APP_PWM2_OC2_Function, APP_PWM2_OC2_PPSOut);
//Select timer base
PLIB_OC_TimerSelect(APP_PWM2_OC1_ID, APP_PWM2_OC_TMR_BASE);
// Select compare mode
PLIB_OC_ModeSelect(APP_PWM2_OC2_ID, OC_DUAL_COMPARE_CONTINUOUS_PULSE_MODE);
// Set buffer size to 16-bits
PLIB_OC_BufferSizeSelect(APP_PWM2_OC2_ID, OC_BUFFER_SIZE_16BIT);
// Set buffer(primary compare) value
PLIB_OC_Buffer16BitSet(APP_PWM2_OC2_ID, APP_PWM2_OC2_On);
PWM2_Start2 = APP_PWM2_OC2_On;
// Set pulse width(secondary compare) value
PLIB_OC_PulseWidth16BitSet(APP_PWM2_OC2_ID, APP_PWM2_OC2_Off);
PWM2_Stop2 = APP_PWM2_OC2_Off;
#endif // ifdef APP_PWM2_OC2_ID
}
static void CS_Init(void)
{
PLIB_PORTS_PinDirectionOutputSet(PORTS_ID_0, WF_CS_PORT_CHANNEL, WF_CS_BIT_POS);
}
/*********************************************************************
* Function: void SYS_ArduinoMonitorTask(void)
*
* PreCondition: None
*
* Input: None
*
* Output: Receive and monitor communications with the Arduino-shield serial comms channel
*
* Side Effects: None
*
* Overview: This function implements the task for monitoring comms from the Arduino shield.
*
* Note: None
********************************************************************/
void SYS_ArduinoMonitorTask(FlowThread thread, void *taskParameters)
{
char incomingChar = 0;
#define ARDUINO_SERIAL_PORT 6
#define ARDUINO_SERIAL_BAUD 115200
// power the PMODRS232
#if defined(MICROCHIP_PIC32)
/*
* UART 6 - Shield RS232 port
* - u6Txd on pin RPB15
* - u6RXd on pin RPC2
*/
// TXd Pin setup.
PLIB_PORTS_PinModePerPortSelect (PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_15, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinDirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_15 );
RPB15R = 0x04;
// RXd Pin setup.
PLIB_PORTS_PinModePerPortSelect (PORTS_ID_0, PORT_CHANNEL_C, PORTS_BIT_POS_2, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinDirectionInputSet( PORTS_ID_0, PORT_CHANNEL_C, PORTS_BIT_POS_2 );
U6RXR = 0x0C;
// RPG8 3V3 supply Digilent PMODRS232
PLIB_PORTS_PinModePerPortSelect (PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinDirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8 );
PLIB_PORTS_PinSet( PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8 );
// RPG7 0V supply to Digilent PMODRS232
PLIB_PORTS_PinModePerPortSelect (PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_7, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinDirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_7 );
PLIB_PORTS_PinClear( PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_7 );
#endif
arduinoSerial = FlowSerial_Init(ARDUINO_SERIAL_PORT, ARDUINO_SERIAL_BAUD);
#define ARDUINO_CMD_BUFFER_LENGTH 255
char commandBuffer[ARDUINO_CMD_BUFFER_LENGTH+1];
char* cursor = commandBuffer;
unsigned int freeBufferSize = ARDUINO_CMD_BUFFER_LENGTH;
bool processCommand = false;
memset(commandBuffer, '\0', ARDUINO_CMD_BUFFER_LENGTH+1);
while(1)
{
while (FlowSerial_Ready(arduinoSerial))
{
incomingChar = FlowSerial_Getc(arduinoSerial);
if (freeBufferSize > 0 && incomingChar != '\n' && incomingChar != '\r')
{
*cursor = incomingChar;
freeBufferSize--;
cursor++;
}
else
{
*cursor = '\0';
processCommand = true;
}
if (processCommand)
{
cmdRequestID++;
// Create a request to send to device owner
StringBuilder request = StringBuilder_New(256);
// Response Header
request = StringBuilder_Append(request, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
request = StringBuilder_Append(request, "<command>");
char* datetime = CommandHandlers_GetTimeString();
request = StringBuilder_Append(request, "<sent type=\"datetime\">");
request = StringBuilder_Append(request, datetime);
request = StringBuilder_Append(request, "</sent>");
Flow_MemFree((void **) &datetime);
request = StringBuilder_Append(request, "<to>");
request = StringBuilder_Append(request, g_OwnerAoR);
request = StringBuilder_Append(request, "</to>");
request = StringBuilder_Append(request, "<from>");
request = StringBuilder_Append(request, g_DeviceAoR);
request = StringBuilder_Append(request, "</from>");
request = StringBuilder_Append(request, "<clientid type=\"integer\">");
request = StringBuilder_Append(request, g_ClientID);
request = StringBuilder_Append(request, "</clientid>");
request = StringBuilder_Append(request, "<requestid type=\"integer\">");
request = StringBuilder_AppendInt(request, cmdRequestID);
request = StringBuilder_Append(request, "</requestid>");
request = StringBuilder_Append(request, "<details>MIF DISPLAY ");
request = StringBuilder_Append(request, commandBuffer);
request = StringBuilder_Append(request, "</details>");
request = StringBuilder_Append(request, "</command>");
if (FlowMessaging_SendMessageToUser((FlowID) g_OwnerID, "text/plain", (char *)StringBuilder_GetCString(request), StringBuilder_GetLength(request), 60))
{
FlowConsole_Printf("\n\rSuccessfully forwarded command received from Arduino-shield comms interface ('%s').\n\r", commandBuffer);
}
else
{
FlowConsole_Puts("\n\rWarning: Could not forward command received from Arduino-shield comms interface.");
}
// Clean up
StringBuilder_Free(&request);
processCommand = false;
cursor = commandBuffer;
freeBufferSize = ARDUINO_CMD_BUFFER_LENGTH;
}
}
vTaskDelay( 100 / portTICK_RATE_MS );
}
}
