/* Sends the JAviator data to the Gumstix
*/
void send_javiator_data( void )
{
uint8_t data[ JAVIATOR_LDAT_SIZE ];
//////////////////////////////////////////////////////////////////////////
javiator_data.id = motor_signals.id;
//////////////////////////////////////////////////////////////////////////
/* encode JAviator data */
javiator_ldat_to_stream( &javiator_data, data, JAVIATOR_LDAT_SIZE );
/* transmit JAviator data */
serial_send_data( COMM_JAVIATOR_DATA, data, JAVIATOR_LDAT_SIZE );
//////////////////////////////////////////////////////////////////////////
javiator_data.state = 0;
//////////////////////////////////////////////////////////////////////////
#if 0
/* increment motor signals ID before being sent on round trip */
++motor_signals.id;
/* encode motor signals ID and enable-sensors flag, which
corresponds to the inverted shut-down flag */
data[0] = (uint8_t)( motor_signals.id >> 8 );
data[1] = (uint8_t)( motor_signals.id );
data[2] = (uint8_t)( !flag_shut_down );
/* request new sensor data */
parallel_send_data( COMM_SENSOR_DATA, data, 3 );
#endif
/* request new IMU data */
dm3gx1_request( );
/* convert battery data */
adc_convert( ADC_CH_BATT );
}
int main(void)
{
serial_initialise();
button_t button_1 = debounce_init("PB0");
button_t button_2 = debounce_init("PB2");
button_auto_acknowledge(button_2);
sei();
serial_send_data("Off we go\r\n");
while (1)
{
if(button_check(button_1) == BUTTON_PRESS_SHORT) {
serial_send_data("Button 1 short");
button_acknowledge(button_1);
}
if(button_check(button_1) == BUTTON_PRESS_LONG) {
serial_send_data("Button 1 long");
button_acknowledge(button_1);
}
switch (button_check(button_2)) {
case BUTTON_PRESS_SHORT:
serial_send_data("Button 2 short");
break;
case BUTTON_PRESS_LONG:
serial_send_data("Button 2 long");
break;
}
_delay_ms(200);
serial_send_data("Canary\r\n");
}
}
