void msp430_init_uart(){
// Serial on P3.4, P3.5
P3SEL |= BIT4 + BIT5;
P3DIR |= BIT4;
//UCA0CTL1 |= UCSWRST; /* disable UART */
UCA0CTL0 = 0x00;
//UCA0CTL0 |= UCMSB ;
UCA0CTL1 |= UCSSEL_2; // SMCLK
//UCA0BR0 = BAUD0EN; // 115200
//UCA0BR1 = BAUD1EN;
setbaud(5);//default baud, 115200
UCA0MCTL = 0; // Modulation UCBRSx = 5
UCA0CTL1 &= ~UCSWRST; // **Initialize USCI state machine**
//Leave this commented!
//Interrupt is handled by target code, not by bootloader.
//IE2 |= UCA0RXIE;
}
void SERPER (uae_u16 w)
{
int baud = 0, i, per;
static int warned;
if (serper == w) /* don't set baudrate if it's already ok */
return;
ninebit = 0;
serper = w;
if (w & 0x8000)
ninebit = 1;
w &= 0x7fff;
if (w < 13)
w = 13;
per = w;
if (per == 0)
per = 1;
per = 3546895 / (per + 1);
if (per <= 0)
per = 1;
i = 0;
while (allowed_baudrates[i] >= 0 && per > allowed_baudrates[i] * 100 / 97)
i++;
baud = allowed_baudrates[i];
serial_period_hsyncs = (((serper & 0x7fff) + 1) * (1 + 8 + ninebit + 1 - 1)) / maxhpos;
if (serial_period_hsyncs <= 0)
serial_period_hsyncs = 1;
#if SERIALLOGGING > 0
serial_period_hsyncs = 1;
seriallog = 1;
#endif
if (log_sercon) {
serial_period_hsyncs = 1;
seriallog = 1;
}
serial_period_hsync_counter = 0;
write_log (_T("SERIAL: period=%d, baud=%d, hsyncs=%d, bits=%d, PC=%x\n"), w, baud, serial_period_hsyncs, ninebit ? 9 : 8, M68K_GETPC);
if (ninebit)
baud *= 2;
if (currprefs.serial_direct) {
if (baud != 31400 && baud < 115200)
baud = 115200;
serial_period_hsyncs = 1;
}
serial_recv_previous = -1;
serial_send_previous = -1;
#ifdef SERIAL_PORT
setbaud (baud);
#endif
}
int main()
{
char key;
// Initialization
setbaud(BAUD19K);
rti_init();
while ( 1 );
return 0;
}
int main(int argc, char **argv)
{
char port[100], buf[1024], buf2[2048];
int fd, size, i;
if(argc > 1)
strcpy(port, argv[1]);
else
strcpy(port, "/dev/ttyS0");
ERR(fd = open(port, O_RDWR | O_NOCTTY), "open");
setbaud(fd);
setAPI(fd);
sendAPI(fd);
return 0;
}
//! Handles a monitor command.
void monitorhandle(unsigned char app,
unsigned char verb,
unsigned char len){
switch(verb){
case PEEK:
cmddata[0]=memorybyte[cmddataword[0]];
txdata(app,verb,1);
break;
case POKE:
//Todo, make word or byte.
memorybyte[cmddataword[0]]=cmddata[2];
cmddata[0]=memorybyte[cmddataword[0]];
txdata(app,verb,1);
break;
case MONITOR_CHANGE_BAUD:
//This command, and ONLY this command, does not reply.
setbaud(cmddata[0]);
//txdata(app,verb,0);
break;
case MONITOR_RAM_PATTERN:
monitor_ram_pattern();//reboots, will never return
break;
case MONITOR_RAM_DEPTH:
cmddataword[0]=monitor_ram_depth();
txdata(app,verb,2);
break;
case MONITOR_DIR:
P5DIR=cmddata[0];
txdata(app,verb,1);
break;
case MONITOR_IN:
cmddata[0]=P5IN;
txdata(app,verb,1);
break;
case MONITOR_OUT:
P5OUT=cmddata[0];
txdata(app,verb,1);
break;
}
}
void main(void)
{
real4 glat, glong, gspeed;
real2 gangle;
char b1[110], gvalid;
setbaud(BAUD9600);
PORTA = 0;
myprint("\nComplete LATLONG GPS data (binary) v1.0\n\n");
gps_sync();
while(1) {
gps_read(b1);
gvalid = b1[18];
glat.c[3] = b1[52];
glat.c[2] = b1[53];
glat.c[1] = b1[54];
glat.c[0] = b1[55];
glong.c[3] = b1[56];
glong.c[2] = b1[57];
glong.c[1] = b1[58];
glong.c[0] = b1[59];
gspeed.c[3] = b1[66];
gspeed.c[2] = b1[67];
gspeed.c[1] = b1[68];
gspeed.c[0] = b1[69];
gangle.c[1] = b1[70];
gangle.c[0] = b1[71];
PORTA = 0;
print_latlong(&glat, &glong, &gspeed, &gangle, gvalid);
PIOC = 0;
PORTB=glat.c[0];
}
}
int main()
{
int cTotal = 0;
int cState = STATE_READ;
char toggleOut = FALSE;
Signal motor1;
Signal motor2;
Signal estop;
Signal rcMode;
init_coridium();
setbaud(0, 17);
statusMessage[0] = '#';
statusMessage[1] = '%';
statusMessage[2] = 0x82;
INPUT(RC1); motor1.pin = RC1;
INPUT(RC2); motor2.pin = RC2;
INPUT(RC3); estop.pin = RC3;
INPUT(RC4); rcMode.pin = RC4;
OUTPUT(TX);
OUTPUT(ESTOP); LOW(ESTOP);
OUTPUT(RCMode);
OUTPUT(FreqPin);
OUTPUT(LIGHT);
motor1.state = STATE_WAIT;
motor1.duty = 0;
motor1.valid = 0;
motor2.state = STATE_WAIT;
motor2.duty = 0;
motor2.valid = 0;
estop.state = STATE_WAIT;
estop.duty = 0;
estop.valid = 0;
rcMode.state = STATE_WAIT;
rcMode.duty = 0;
rcMode.valid = 0;
SLEEP(2);
while (TRUE)
{
switch (cState)
{
case STATE_READ:
if (toggleOut)
{
toggleOut = FALSE;
HIGH(FreqPin);
}
else
{
toggleOut = TRUE;
LOW(FreqPin);
}
cTotal += getDuty(&motor1);
cTotal += getDuty(&motor2);
cTotal += getDuty(&estop);
cTotal += getDuty(&rcMode);
if (cTotal > 8)
{
cState = STATE_SERIAL;
cTotal = 0;
}
break;
case STATE_SERIAL:
if (estop.lastVal > 0)
{
sendESTOP(0);
gESTOP = FALSE;
if (rcMode.lastVal > 0)
{
HIGH(LIGHT);
HIGH(RCMode);
// 11 == Manual (teleop) Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0xFF;
statusMessage[5] = 0xFF;
statusMessage[6] = 0xFF;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
else
{
if (flashcount > 0)
{
HIGH(LIGHT);
}
else
{
LOW(LIGHT);
}
if (flashcount > LIGHTDUTY)
{
flashcount = -LIGHTDUTY;
}
LOW(RCMode);
// 00 == Autonomous Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0x00;
statusMessage[5] = 0x00;
statusMessage[6] = 0x00;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
}
else
{
HIGH(LIGHT);
HIGH(RCMode);
sendESTOP(1);
gESTOP = TRUE;
// 11 == Manual (teleop) Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0xFF;
statusMessage[5] = 0xFF;
statusMessage[6] = 0xFF;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
#ifdef DEBUG
putchar( binToHexstr((char)((motor1.lastVal >> 4) & 0x0F)) );
putchar( binToHexstr((char)(motor1.lastVal & 0x0F)) );
putchar(' ');
putchar( binToHexstr((char)((motor2.lastVal >> 4) & 0x0F)) );
putchar( binToHexstr((char)(motor2.lastVal & 0x0F)) );
putchar('\n');
//printf("%d\n", estop.lastVal);
#endif
// motor1 == forward value
// motor2 == left/right value
int left_motor = motor1.lastVal/2 - motor2.lastVal/2;
int right_motor = motor1.lastVal/2 + motor2.lastVal/2;
sendSerial(right_motor, 1);
sendSerial(left_motor, 0);
cState = STATE_READ;
break;
}
flashcount++;
}
return 0;
}
