//Receive Repeat Response data from Blackfin, store into an array of size response_counter
void Blackfin_Echo(int response_counter) //echos # of characters expected for each command
{
int temp;
int counter=0;
rprintfInit(uart0SendByte);//change UART to bluetooth
while(1)
{
temp=uart3GetByte();//returns -1 if no data present
//rprintf("trapped!");
if (temp != -1)//if data received
{
rprintf("%c",temp);
response[counter]=temp & 0x0F;//store values into an array, &0x0F converts ascii to char
counter++;
if(counter >= response_counter || temp == '\n')
{
rprintf("\r\n\r\n");
uartFlushReceiveBuffer(3);//flush out receive camera buffer to stop phase shifting
break;
}
}
}
}
//to track green, use low U and low V
//to track blue and green, use low V only
//to see color space:http://en.wikipedia.org/wiki/YUV
void Blackfin_Blob_Detect(int bin_value)
{
rprintfInit(uart3SendByte);//change UART to Blackfin
uartFlushReceiveBuffer(3);//flush out receive camera buffer to stop phase shifting
rprintf("vb%d",bin_value);//poll for blob of a particular bin
Blackfin_Echo(99);
//decode array by summing up each part, Y_top, Y_bottom, X_left, X_right;
X_left=response[6]*100 + response[7]*10 + response[8];
X_right=response[10]*100 + response[11]*10 + response[12];
Y_top=response[14]*100 + response[15]*10 + response[16];
Y_bottom=response[18]*100 + response[19]*10 + response[20];
//long ints blow up in rprintf so divide by 10
pixels=(response[25]*1000 + response[26]*100 + response[27]*10 + response[28]);
X_centroid=(X_left+X_right)/2;
Y_centroid=(Y_top+Y_bottom)/2;
//test code, output centroid
rprintfInit(uart0SendByte);//change UART to bluetooth
rprintf("X_left=%d, X_right=%d Y_top=%d Y_bottom=%d Pix=%d",X_left,X_right,Y_top,Y_bottom,pixels);
rprintf(", X=%d Y=%d\r\n\r\n",X_centroid,Y_centroid);
}
//sets the range of a color bin (0-9)
//example: vc0090255000255000255 returns ##vc0
// 012345678901234567890
//sets color bin #0 using Y mean, 255, 0, 255, 0, 255 so
//pixels of higher than average brightness will appear in blob search
void Blackfin_Bin_Range(int bin, int y_min, int y_max, int u_min, int u_max, int v_min, int v_max)
{
rprintfInit(uart3SendByte);//change UART to Blackfin
uartFlushReceiveBuffer(3);//flush out receive camera buffer to stop phase shifting
rprintf("vc%d",bin);//start command, send bin #
rprintf("%d%d%d",y_min/100,y_min%100/10,y_min%100%10);
rprintf("%d%d%d",y_max/100,y_max%100/10,y_max%100%10);
rprintf("%d%d%d",u_min/100,u_min%100/10,u_min%100%10);
rprintf("%d%d%d",u_max/100,u_max%100/10,u_max%100%10);
rprintf("%d%d%d",v_min/100,v_min%100/10,v_min%100%10);
rprintf("%d%d%d",v_max/100,v_max%100/10,v_max%100%10);
Blackfin_Echo(6);//maybe 5?
//test code
rprintfInit(uart0SendByte);//change UART to bluetooth
rprintf("vc%d",bin);//start command, send bin #
rprintf("%d%d%d",y_min/100,y_min%100/10,y_min%100%10);
rprintf("%d%d%d",y_max/100,y_max%100/10,y_max%100%10);
rprintf("%d%d%d",u_min/100,u_min%100/10,u_min%100%10);
rprintf("%d%d%d",u_max/100,u_max%100/10,u_max%100%10);
rprintf("%d%d%d",v_min/100,v_min%100/10,v_min%100%10);
rprintf("%d%d%d\r\n",v_max/100,v_max%100/10,v_max%100%10);
}
/*
I believe 'vm'
command response header is 8 characters - "##vmean ", and then the Y,
U and V are each 4 characters, followed by the \n
Luminence, Chroma Blue, Chroma Red
*/
void Blackfin_YUV_Mean(void)
{
//int temp10;
rprintfInit(uart3SendByte);//change UART to Blackfin
uartFlushReceiveBuffer(3);//flush out receive camera buffer to stop phase shifting
rprintf("vm");//Send Blackfin command to find mean
Blackfin_Echo(19);
//output array
/*
for(temp10=0;temp10<19;temp10++)
rprintf("%d ",response[temp10]);
rprintf("\r\n");*/
//decode array by summing up each part
Y_mean=response[8]*100 + response[9]*10 + response[10];
U_mean=response[12]*100 + response[13]*10 + response[14];
V_mean=response[16]*100 + response[17]*10 + response[18];
//stay within limits, causes send command error if its out of bounds
/*if (Y_mean < 0)
Y_mean=0;
if (U_mean < 0)
U_mean=0;
if (V_mean < 0)
V_mean=0;
if (Y_mean > 255)
Y_mean=255;
if (U_mean > 255)
U_mean=255;
if (V_mean > 255)
V_mean=255;*/
//output for testing
rprintfInit(uart0SendByte);//change UART to bluetooth
rprintf("Y=%d U=%d V=%d\r\n\r\n",Y_mean, U_mean, V_mean);
}
int main(void)
{
unsigned char tempSec;
get_mcusr(); // Disable the watchdog timer
uartInit(); // Init both UARTs
uartSetBaudRate(0,BAUD);
uartSetBaudRate(1,BAUD);
stdout = stdin = &uart1_str; // Init the stdout and stdin (printf, scanf...) functions
stderr = &uart0_str; // Init the stderror functions
i2cInit();
i2cSetBitrate(100);
ds1307_enable(DS1307_I2C_ADDR); // Enable the DS1307 RTC
// Make a flash on LEDs connected to PORTB when starting / restarting
DDRB=0xff; // PORTB output
PORTB=0xff; // All bits on port B = 1
_delay_ms(1000); // Wait until XBee modem has started
PORTB=0x00; // All bits on port B = 0
// Empty the receive buffer of both UARTs
uartFlushReceiveBuffer(EthUART);
uartFlushReceiveBuffer(XBeeUART);
wdt_enable(WDTO_2S); // Enable watchdog, reset after 2 seconds
wdt_reset();
while(1)
{
wdt_reset(); // Reset the watchdog timer
tempSec=time.sec;
if(ds1307_gettime(DS1307_I2C_ADDR, &time))
{ //if(tempSec!=time.sec)
if((time.sec%2==0)&&(tempSec!=time.sec)) // True every 2nd second
{
while(!uartReceiveBufferIsEmpty(XBeeUART))
{
int i;
i=0;
signed char XBeePacket[12];
// Read data from slave module
while (i<13)
{
while (uartReceiveBufferIsEmpty(XBeeUART))
;;
// Syncronization
uartReceiveByte(XBeeUART, &XBeePacket[i]);
if (XBeePacket[i]=='~') // Counter is set to 0 if the current character is '~'
i=0;
if (XBeePacket[0]=='~') //Increment if the first character in received data is '~'
i++;
}
sm[XBeePacket[7]-'0'].temp=XBeePacket[12]-7; // Compensate for heat from components in slave module
// Check status of slave module and make status ready to send to webserver
if (XBeePacket[10]=='f')
sm[XBeePacket[7]-'0'].status=0;
else if (XBeePacket[10]=='n')
sm[XBeePacket[7]-'0'].status=1;
XBeePacketCounter[XBeePacket[7]-'0']=1; // Set packet counter for this slave module to 1
}
// Check packet counter of all modules, if false: status=2 is sent to the webserver
// Webserver will then now which modules that are unconnected
for (int i=0; i<noOfModules; i++)
{
if (!XBeePacketCounter[i])
sm[i].status=2;
XBeePacketCounter[i]=0;
}
// Receive data from webserver
if (checkForEthPacket(ethPacket))
{
if (ethPacket[pHour]<24)// edit time
{
time.yr=ethPacket[pYear];
time.mon=ethPacket[pMonth];
time.dat=ethPacket[pDate];
time.hr=ethPacket[pHour];
time.min=ethPacket[pMin];
ds1307_settime(DS1307_I2C_ADDR,time);
}
int number=0;
while (number<noOfModules)
{
sm_web[number].type=ethPacket[pType+number*pFieldsModules];
sm_web[number].status=ethPacket[pStatus+number*pFieldsModules];
sm_web[number].temp=ethPacket[pTemp+number*pFieldsModules];
switch (sm_web[number].type)
{
case 0:
if (sm_web[number].status==0) // Check if the current slave module is disabled on the website
sendSlaveModule(number,0); // Send data to slave module: turn off relay
else
{
if ((sm[number].temp)<(sm_web[number].temp-1)) // Measured temperature < wanted temperature - 1 ?
sendSlaveModule(number,1); // Send data to slave module: turn on relay
else if ((sm[number].temp)>(sm_web[number].temp+1)) // Measured temperature > wanted temperature + 1 ?
sendSlaveModule(number,0); // Send data to slave module: turn off relay
else
sendSlaveModule(number,2); // Send data to slave module
}
break;
}
number++; // next slave module
}
}
sendEthPacket(time, sm); // send packet with data to webserver
}
}
}
return 0;
}
int main(void){
uint16_t plen;
uint16_t dat_p;
uint8_t cmd;
// set the clock speed to "no pre-scaler" (8MHz with internal osc or
// full external speed)
// set the clock prescaler. First write CLKPCE to enable setting of clock the
// next four instructions.
CLKPR=(1<<CLKPCE); // change enable
CLKPR=0; // "no pre-scaler"
uartInit();
uartSetBaudRate(9600);
_delay_loop_1(50); // 12ms
/* enable PD2/INT0, as input */
DDRD&= ~(1<<DDD2);
// test button
cbi(DDRD,PIND6);
sbi(PORTD,PIND6); // internal pullup resistor on
_delay_loop_1(50); // 12ms
// read eeprom values unless, the PD6 pin is connected to GND during bootup
// PD6 is used to reset to factory default. Note that factory default is
// not stored back to eeprom.
if (eeprom_read_byte((uint8_t *)0x0) == 19 && ! bit_is_clear(PIND,PIND6)){
// ok magic number matches accept values
eeprom_read_block((uint8_t *)myip,(void *)1,sizeof(myip));
eeprom_read_block((uint8_t *)monitoredhost,(void *)6,sizeof(monitoredhost));
pinginterval=eeprom_read_byte((uint8_t *)11);
sendping=eeprom_read_byte((uint8_t *)12);
eeprom_read_block((char *)password,(void *)13,sizeof(password));
password[7]='\0'; // make sure it is terminated, should not be necessary
}
/*initialize enc28j60*/
enc28j60Init(mymac);
enc28j60clkout(2); // change clkout from 6.25MHz to 12.5MHz
_delay_loop_1(50); // 12ms
// LED
/* enable PB1, LED as output */
//DDRB|= (1<<DDB1);
/* set output to Vcc, LED off */
//LEDOFF;
// the transistor on PD7
DDRD|= (1<<DDD7);
PORTD &= ~(1<<PIND7);// transistor off
/* Magjack leds configuration, see enc28j60 datasheet, page 11 */
// LEDB=yellow LEDA=green
//
// 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
// enc28j60PhyWrite(PHLCON,0b0000 0100 0111 01 10);
enc28j60PhyWrite(PHLCON,0x476);
_delay_loop_1(50); // 12ms
//init the ethernet/ip layer:
init_ip_arp_udp_tcp(mymac,myip,MYWWWPORT);
timer_init();
_delay_ms(1000);
uartFlushReceiveBuffer();
sei(); // interrupt enable
while(1){
//uartSendByte('a');
//checkForEthPacket(ethPacket);
stop_timer=2;
if (checkForEthPacket(ethPacket))
{
sendEthPacket(time, sm);
time.hr = 99;
}
stop_timer=0;
// wait_data++;
// if (wait_data>40)
// wait_data=0;
//_delay_ms(500);
// spontanious messages must not interfer with
// web pages
if (pagelock==0 && enc28j60hasRxPkt()==0){
if (sendping && havemac==0){
client_arp_whohas(buf,monitoredhost);
havemac=2;
}
if (sendping && havemac==1 && pingnow){
pingnow=0;
client_icmp_request(buf,monitoredhost,PINGPATTERN);
pingtimer++; // otheweise we would call this function again
hoststatus++;
if (hoststatus==0xff){
hoststatus=1; // wrap to 1
}
}
}
// get the next new packet:
plen = enc28j60PacketReceive(BUFFER_SIZE, buf);
/*plen will be unequal to zero if there is a valid
* packet (without crc error) */
if(plen==0){
continue;
}
// arp is broadcast if unknown but a host may also
// verify the mac address by sending it to
// a unicast address.
if(eth_type_is_arp_and_my_ip(buf,plen)){
if (eth_type_is_arp_req(buf)){
make_arp_answer_from_request(buf);
}
if (eth_type_is_arp_reply(buf)){
if (client_store_gw_mac(buf,monitoredhost)){
havemac=1;
}
}
continue;
}
// check if ip packets are for us:
if(eth_type_is_ip_and_my_ip(buf,plen)==0){
continue;
}
if(buf[IP_PROTO_P]==IP_PROTO_ICMP_V && buf[ICMP_TYPE_P]==ICMP_TYPE_ECHOREPLY_V){
if (buf[ICMP_DATA_P]== PINGPATTERN){
if (check_ip_message_is_from(buf,monitoredhost)){
// ping reply is from monitored host and ping was from us
hoststatus=0;
hostbackafterreboot=1;
}
}
}
if(buf[IP_PROTO_P]==IP_PROTO_ICMP_V && buf[ICMP_TYPE_P]==ICMP_TYPE_ECHOREQUEST_V){
if (check_ip_message_is_from(buf,monitoredhost)){
// ping is from monitored host
hoststatus=0;
hostbackafterreboot=1;
}
// a ping packet, let's send pong
make_echo_reply_from_request(buf,plen);
continue;
}
// tcp port www start, compare only the lower byte
if (buf[IP_PROTO_P]==IP_PROTO_TCP_V&&buf[TCP_DST_PORT_H_P]==0&&buf[TCP_DST_PORT_L_P]==MYWWWPORT){
if (buf[TCP_FLAGS_P] & TCP_FLAGS_SYN_V){
make_tcp_synack_from_syn(buf);
// make_tcp_synack_from_syn does already send the syn,ack
continue;
}
if (buf[TCP_FLAGS_P] & TCP_FLAGS_ACK_V){
init_len_info(buf); // init some data structures
// we can possibly have no data, just ack:
dat_p=get_tcp_data_pointer();
if (dat_p==0){
if (buf[TCP_FLAGS_P] & TCP_FLAGS_FIN_V){
// finack, answer with ack
make_tcp_ack_from_any(buf);
}
// just an ack with no data, wait for next packet
continue;
}
if (strncmp("GET ",(char *)&(buf[dat_p]),4)!=0){
// head, post and other methods:
//
// for possible status codes see:
// http://www.w3.org/Protocols/rfc2616/rfc2616-sec10.html
plen=fill_tcp_data_p(buf,0,PSTR("HTTP/1.0 200 OK\r\nContent-Type: text/html\r\n\r\n<h1>200 OK</h1>"));
goto SENDTCP;
}
if (strncmp("/ ",(char *)&(buf[dat_p+4]),2)==0){
plen=print_webpage(buf);
goto SENDTCP;
}
cmd=analyse_get_url((char *)&(buf[dat_p+5]));
pagelock=1; // stop automatic actions until webpage is displayed
//
// error, default, will get overwritte in case
// something else is selected:
plen=fill_tcp_data_p(buf,0,PSTR("HTTP/1.0 200 OK\r\nContent-Type: text/html\r\n\r\n<h1>Error</h1>"));
plen=fill_tcp_data(buf,plen,errmsg);
plen=fill_tcp_data_p(buf,plen,PSTR("<br><br><a href=/>->continue</a>\n"));
// for possible status codes see:
// http://www.w3.org/Protocols/rfc2616/rfc2616-sec10.html
if (cmd==1){
resethost();
plen=print_webpage_confirm(buf);
}
if (cmd==2){
store_in_eeprom();
plen=print_webpage_confirm(buf);
}
if (cmd==7){
store_in_eeprom();
plen=print_webpage_confirm(buf);
reinitmac=1;
}
// start and stop of wd, this is not store in eeprom
if (cmd==5){
pingtimer=1; // wd on
plen=print_webpage_confirm(buf);
}
if (cmd==4){
pingtimer=0; // wd off
plen=print_webpage_confirm(buf);
}
if (cmd==3){
plen=print_webpage_now(buf);
}
if (cmd==6){
plen=print_webpage_config(buf);
}
// testing the temp OK / NOK
if (cmd==20){
sm[0].temp= atoi(strbuf);
plen=print_webpage_confirm(buf);
}
if (cmd==21){
sm[1].temp= atoi(strbuf);
plen=print_webpage_confirm(buf);
}
// on / off - slave-modules
// ON slave-module-1
if (cmd==34){
sm[0].status = atoi(strbuf);
plen=print_webpage_confirmrm1(buf);
}
// OFF slave-module-1
if (cmd==31){
sm[0].status = atoi(strbuf);
plen=print_webpage_confirmrm1(buf);
}
// ON slave-module-2
if (cmd==32){
sm[1].status = atoi(strbuf);
plen=print_webpage_confirmrm2(buf);
}
// OFF slave-module-2
if (cmd==33){
sm[1].status = atoi(strbuf);
plen=print_webpage_confirmrm2(buf);
}
if (cmd==35){
plen=print_webpage_confirmclk(buf);
}
if (cmd==36){
plen=print_webpage_confirmclk(buf);
}
// Room-1
if (cmd==10){
plen=print_webpage_room1(buf);
}
// ROom-2
if (cmd==11){
plen=print_webpage_room2(buf);
}
// Clock & date
if (cmd==12){
plen=print_webpage_clk(buf);
}
//
SENDTCP:
make_tcp_ack_from_any(buf); // send ack for http get
make_tcp_ack_with_data(buf,plen); // send data
continue;
}
}
// tcp port www end
//
// udp not implemented
}
return (0);
}
/* process messages coming from Commander
* format = 0xFF RIGHT_H RIGHT_V LEFT_H LEFT_V BUTTONS EXT checksum_cmdr */
int CmdrReadMsgs() {
//while(LISTEN.available() > 0){
while(uartReceiveBufferIsEmpty(LISTEN) == FALSE) {
if(index_cmdr == -1) { // looking for new packet
if(uartGetByte(LISTEN) == 0xff) { //read until packet start
index_cmdr = 0;
checksum_cmdr = 0;
}
} else if(index_cmdr == 0) {
vals[index_cmdr] = (unsigned char) uartGetByte(LISTEN);
if(vals[index_cmdr] != 0xff) {
checksum_cmdr += (int) vals[index_cmdr];
index_cmdr++;
}
} else {
vals[index_cmdr] = (unsigned char) uartGetByte(LISTEN); //loops will sequentially read bytes and store them here
checksum_cmdr += (int) vals[index_cmdr];
index_cmdr++;
// DEBUG: if all packets go through, shoudl see x2 through x7 when Commander input is being received.
// rprintf("x%u ",index_cmdr);
if(index_cmdr == 7) { // packet complete
if(checksum_cmdr%256 != 255) {
// packet error!
rprintf("\npacket error!\n");
index_cmdr = -1;
return 0;
} else {
char buttonval = vals[4];
short dowalking = zTRUE;
//rprintf("\t%d\t",(int)buttonval);
//Turn gait...
if((buttonval&0x40) > 0) { //if(buttonval & BUT_LT){
if(PRINT_DEBUG_COMMANDER) {
rprintf("lft\t");
}
turnleft = zTRUE;
turnright = zFALSE;
dowalking = zFALSE;
}
else if((buttonval&0x80) > 0) { //if(buttonval & BUT_RT){
if(PRINT_DEBUG_COMMANDER) {
rprintf("rgt\t");
}
turnright = zTRUE;
turnleft = zFALSE;
dowalking = zFALSE;
}
else { // Do nothing
turnright = zFALSE;
turnleft = zFALSE;
turn = zFALSE;
}
if((buttonval&BUT_L6) > 0) {
gunbutton = zTRUE;
if(PRINT_DEBUG_COMMANDER) {
rprintf("guns\t");
}
}
else {
gunbutton = zFALSE;
}
if((buttonval&BUT_R3) > 0) {
panicbutton = zTRUE;
if(PRINT_DEBUG_COMMANDER) {
rprintf("panic\t");
}
}
else {
panicbutton = zFALSE;
}
if((buttonval&BUT_L4) > 0) {
infobutton = zTRUE;
if(PRINT_DEBUG_COMMANDER) {
rprintf("info\t");
}
}
else {
infobutton = zFALSE;
}
if((buttonval&BUT_R2) > 0) {
pan_pos = PAN_CENTER;
tilt_pos = TILT_CENTER;
if(PRINT_DEBUG_COMMANDER) {
rprintf("look\t");
}
}
// else{infobutton = zFALSE;}
if((buttonval&BUT_R1) > 0) {
agitbutton = zTRUE;
if(PRINT_DEBUG_COMMANDER) {
rprintf("agit\t");
}
}
else {
agitbutton = zFALSE;
}
if((southpaw&0x01) > 0) { // SouthPaw
walkV = (signed char)( (int)vals[0]-128 );
walkH = (signed char)( (int)vals[1]-128 );
// lookV = (signed char)( (int)vals[2]-128 );
// lookH = (signed char)( (int)vals[3]-128 );
} else if (dowalking) {
// vals - 128 gives look a vlaue in the range from -128 to 127?
lookV = (signed char)( (int)vals[0]-128 );
lookH = (signed char)( (int)vals[1]-128 );
// if( (int)vals[0] >= 128){
// tilt_pos = interpolateU( (int)vals[0],128,128+102,TILT_CENTER,servo52Max);
// }
// else {
// tilt_pos = interpolateU( (int)vals[0],128-102,128,servo52Min,TILT_CENTER);
// }
int pan_add = (-(float)lookH)/17;
int tilt_add = (-(float)lookV)/25;
pan_pos = CLAMP(pan_pos + pan_add, servo51Min, servo51Max);
tilt_pos = CLAMP(tilt_pos + tilt_add, servo52Min, servo52Max);
//Default handling in original Commander.c - sets to range of -127 to 127 or so...
walkV = (signed char)( (int)vals[2]-128 );
walkH = (signed char)( (int)vals[3]-128 );
}
// pan = (vals[0]<<8) + vals[1];
// tilt = (vals[2]<<8) + vals[3];
// buttons = vals[4];
// ext = vals[5];
}
index_cmdr = -1;
//LISTEN.flush(); //flush after reading an entire packet... why?
uartFlushReceiveBuffer(LISTEN);
return 1;
}
}
}
return 0;
}
void control(void)
{
reset_timer5();
uartFlushReceiveBuffer(1);
a2dSetReference(ADC_REFERENCE_256V);
delay_us(100);
PORT_OFF(PORTB,7);
while(1) {
char read = uart1GetByte();
if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports!
uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22)
uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50);
uart0GetByte(); //we don't care about this byte
rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte());
uart0GetByte(); //we don't care about this byte
} else if(read == 'L') {
rprintf("%d\r\n", 255 - a2dConvert8bit(0));
} else if(read == 'R') {
rprintf("%d\r\n", 255 - a2dConvert8bit(1));
} else if(read == 'D') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'E') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'M') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'N') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'P') {
PORT_ON(PORTB,6);
} else if(read == 'p') {
PORT_OFF(PORTB,6);
} else if(read == 'Q') {
PORT_ON(PORTB,7);
} else if(read == 'q') {
PORT_OFF(PORTB,7);
} else if(read == 'X') {
PORT_ON(PORTB,4);
} else if(read == 'x') {
PORT_OFF(PORTB,4);
} else if(read == 'Y') {
PORT_ON(PORTB,5);
} else if(read == 'y') {
PORT_OFF(PORTB,5);
}
delay_us(50);
}
}