int main(int argc, char **argv)
{
if (argc == 2) {
port_name = argv[1];
}
//printf("Using %s as serial device.\n", port_name);
char ttybuf[255];
tty_fd = open_tty();
if (tty_fd < 0) {
//printf("Error opening terminal.\n");
return (1);
}
install_sighandler();
if (init() < 0) {
//printf("Cannot open port.\r\n");
exit(1);
}
while (1) {
int n = read(tty_fd, ttybuf, sizeof(ttybuf));
int i;
/* check for 0x3 (ctrl-c), clean exit */
for (i = 0; i < n; i++) {
if (ttybuf[i] == 0x3) {
if (i > 0) {
write_serial_port(ttybuf, i);
}
close_serial_port();
close_tty();
system("tset -c");
return 0;
}
}
write_serial_port(ttybuf, n);
}
close_tty();
close_serial_port();
return 0;
}
void serial_test()
{
int a =20, b, ret, fd;
unsigned char buffer[100];
if((fd = serial_init(0)) < 0) {
perror("serial init failed\r\n");
}
log_printf("serial fd = %d \r\n", fd);
while(1) {
log_printf("serial\r\n");
if ((ret = write_serial_port(fd,TEST_STRING, sizeof(TEST_STRING))) < 0) {
log_printf("com error\r\n");
} else {
sleep(1);
log_printf("number data = %d\r\n", ret);
}
}
}
void *serial_thread(void *arg)
{
int fd, nread, count, result ,iread;
fd_set inputs,outputs;
struct timeval serial_timeout;
unsigned char buffer[100];
serial_timeout.tv_sec = 1;
serial_timeout.tv_usec = 0;
if((fd = serial_init(0)) < 0) {
perror("serial init failed\r\n");
}
FD_ZERO(&inputs);
FD_SET(fd, &inputs);
FD_ZERO(&outputs);
FD_SET(fd, &outputs);
for(;;) {
result = select(fd + 1, &inputs, NULL , (fd_set *)NULL, &serial_timeout);
switch(result) {
case 0: //time out
FD_ZERO(&inputs);
FD_SET(fd, &inputs);
serial_timeout.tv_sec = 10;
serial_timeout.tv_usec = 0;
perror("com select timeout\r\n");
break;
case -1: //error
return result;
default:
if(FD_ISSET(fd,&inputs)) {
ioctl(fd, FIONREAD, &iread);
if(iread == 0) {
continue;
}
nread = read(fd, buffer, sizeof(buffer));
buffer[nread] = 0;
log_printf("%s", buffer);
}else if(FD_ISSET(fd,&outputs)){/*this meeans serial buffer is writravke*/
log_printf("serial writable\r\n");
if ((write_serial_port(fd,TEST_STRING, sizeof(TEST_STRING))) < 0) {
log_printf("com write error\r\n");
}
}else {
assert(-1);
}
}//end of switch
}
}
static int device_request(size_t size)
{
int result;
device_buffer[size] = device_checksum(device_buffer, size);
if ((result = write_serial_port(device_buffer, size + 1)))
return result;
if ((result = read_serial_port(device_buffer, 1)))
return result;
return device_buffer[0] == 0x79 ? DONE : INVALID_DEVICE_REPLY;
}
void do_term_input(gpointer data, int fd, GdkInputCondition cond)
{
char buf[256];
int num, flags;
flags = fcntl(term_fd, F_GETFL);
fcntl(term_fd, F_SETFL, flags | O_NONBLOCK);
num = read(term_fd, buf, sizeof(buf));
fcntl(term_fd, F_SETFL, flags);
if (num > 0) {
if (download_in_progress) {
download_rx_term(buf, num);
} else {
write_serial_port(buf, num);
}
}
}
static int try_to_handshake_device(void)
{
int result;
device_buffer[0] = 0x7F;
if ((result = wait_serial_port(5)))
return result;
if ((result = flush_serial_port()))
return result;
if ((result = write_serial_port(&device_buffer, 1)))
return result;
if ((result = read_serial_port(&device_buffer, 1)))
return result;
return device_buffer[0] == 0x79 ? DONE : INVALID_DEVICE_REPLY;
}
int writepacket(uint8_t *packet_buf, size_t size)
{
uint8_t packet_tmp[2 * BUFFER_SIZE];
uint8_t *byte_ptr = packet_buf;
uint8_t *tmp_ptr = packet_tmp;
if (2 * size + 1 > BUFFER_SIZE) {
return -1;
}
while ((byte_ptr - packet_buf) < size) {
switch(*byte_ptr) {
case (END): {
*byte_ptr = END_ESC;
*tmp_ptr = ESC;
tmp_ptr++;
break;
}
case (ESC): {
*byte_ptr = ESC_ESC;
*tmp_ptr = ESC;
tmp_ptr++;
break;
}
default: {
break;
}
}
*tmp_ptr = *byte_ptr;
byte_ptr++;
tmp_ptr++;
}
*tmp_ptr++ = END;
write_serial_port(packet_tmp, tmp_ptr - packet_tmp);
return 0;
}
int main(void) {
int i;
int reading1;
int reading2;
int address;
int test_array[100];
for(i=0;i<100;i++) {
motor(0,i); //spin the left motor forward
motor(1,i); //spin the right motor forward
}
i=0;
while(i>-100) {
motor(0,i); //spin the left motor backwards
motor(1,i); //spin the right motor backwards
i--;
}
i=50;
set_servo(0,i); //set servo motor 0 to move to 50 degrees
set_servo(3,i); //set servo motor 3 to move to 50 degrees
delay_milliseconds(100); //pause 100 milliseconds
delay_seconds(1); //pause 1 second
lcd_clear();
lcd_cursor(0,0);
printf ("Test1\n"); //the LCD will be 8x2 (8chars x 2lines)
printf ("Test2\n");
reading1 = analog(0); //get a reading from analog pin 0
reading2 = analog(5); //get a reading from analog pin 5
reading1 = digital(0); //get a reading from digital pin 0
reading2 = digital(1); //get a reading from digital pin 1
if (reading1 > 100) {
printf ("%d\n", reading1);
}
reading1 = accelerometer(0); //read x-axis
reading2 = accelerometer(1); //read y-axis
reading1 = accelerometer(2); //read z-axis
reading1 = battery_voltage(); //battery voltage
reading1 = read_serial_port(); //get a byte from the serial port
write_serial_port(reading1); //send a byte on the serial port
led1(1); //turn on on-board led1
led1(0); //turn off on-board led1
reading1 = read_ir(); //get a reading from the IR receiver
reset(); //reset the board
write_eeprom(address, reading1); //write a value to the non-volatile eeprom (these values will be stored across resets)
reading1 = read_eeprom(address); //get a reading from the non-volatile eeprom
reading1 = button(); //read the state of the on-board button
return 0;
}
