/***********************************************************************
* Name: get_ant_msg
*
* Description: wait and recieve a message from the nRF24AP2
*
* Author(s): Charles Wolf
*
* @param:
* int max_wait -> timeout in 1mSec increments
* UCHAR *MSG -> pointer to the message array
* @return:
* int -> 0 = message timeout
* 1 = message recieved
* Comments:
* ANT Message Structure
* SYNC (0xA4) 1 Byte
* length 1 Byte
* message ID 1 Byte
* Data length
* CheckSum 1 Byte
*
* ********************************************************************/
int get_ant_msg(int max_wait, UCHAR *MSG)
{
int count = 0;
int i = 0;
int outcome = 0;
int length = 0;
int checksum = 0;
softuart_turn_rx_on();
softuart_flush_input_buffer();
while((count < max_wait) && (outcome != 1))
{
//wait for data
while((softuart_kbhit() < 1) && (count < max_wait))
{
_delay_us(100); // 1bit = 208.333uSec
count++;
}
if ( softuart_kbhit() > 0 )
{
outcome = 2; //no sync
//check for sync
MSG[0] = softuart_getchar();
//softuart_getchar() is a possible place to get stuck waiting
if(MSG[0] == MESG_TX_SYNC)
{
MSG[1] = softuart_getchar(); //length
length = MSG[1]+2;
if(length > 17) length = 17; //protect length
for (i = 0; i < length; i++)
{
MSG[i+2] = softuart_getchar();
}
checksum = checkSum(&MSG[0], length+3);
if (checksum != MSG[length+4])
{
outcome = 3; //bad checksum
}
else
{
outcome = 1; //message recieved
}
}
}
}
softuart_turn_rx_off();
return outcome;
}
static void _cmd_setTimeout()
{
RecvCmd<10, 0> timeoutReceiver;
while (-1 == timeoutReceiver.addChar(softuart_getchar()));
unsigned int seconds = strtol(timeoutReceiver.buffer(), 0, 0);
timeoutTicks = seconds * 1000000 / timerTick_us;
}
int32_t motor_getPos(uint8_t motor, uint8_t * valid_val) {
if(softuart_kbhit(motor)){
char c;
int32_t r=0;
uint8_t is_negative= 0;
while( (c=softuart_getchar(motor))!='\r' ) { // MUST IMPLEMENT WATCHDOG TIMER HERE
if(c=='-') is_negative=1; // Assuming "-" is the first character.
else if(c>='0'&&c<='9') {
r*=10;
r+=c-'0';
}
}
if(is_negative)r*=-1;
softuart_getchar(motor); // for '\n', MUST IMPLEMENT WATCHDOG TIMER HERE
*valid_val = 1;
return r;
}
else{
*valid_val = 0;
return 0;
}
}
int main()
{
resetPin.low();
resetPin.input();
ledPin.low();
ledPin.output();
// Ensure that whatever is in the EEPROM is null-terminated. If it
// wasn't yet, we have just been flashed so set the stored
// timestamp to a null string.
if (0 != read1EEPROM(sizeof(lastTimestamp))) {
_cmd_clearmem();
}
softuart_init();
// Setup Timer1.
TCCR1 = 15; // Prescaler period 2^14.
FAST_SET(TCCR1, CTC1); // CTC mode with OCR1C register.
// Set the counter interval to 244, which produces the period of
// just under half a second (timerTick_us).
OCR1C = 244;
OCR1A = 244;
// Timer1 interrupt will only be enabled once the timeout is known.
sei();
RecvCmd<16, CMDNUM> cmdReceiver;
for (byte i = 0; i < CMDNUM; ++i) {
cmdReceiver.addCommand_P(commandStrings[i]);
}
softuart_turn_rx_on();
for (;;) {
auto status = cmdReceiver.addChar(softuart_getchar());
if (status == -2) {
softuart_puts_P("Invalid command!\n\r");
cmdReceiver.reset();
} else if (status >= 0) {
commands[(byte)status]();
cmdReceiver.reset();
}
}
return 0;
}
static void _cmd_reset()
{
char c = 0;
byte i = 0;
while ('\r' != (c = softuart_getchar())) {
if (c == '\n')
continue;
lastTimestamp[i] = c;
i = (i + 1) % sizeof(lastTimestamp);
}
lastTimestamp[i] = 0;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
ticks = 0;
}
// Reset also starts the watchdog. This way, it will also function
// with no configuration.
_cmd_start();
}
int main(void)
{
static char cmd[10];
char c, *p = cmd;
setup();
while(1)
{
if(softuart_kbhit()) {
c = softuart_getchar();
switch(c)
{
case '\n':
case '\r':
{
softuart_putchar(c);
*p = 0;
p = cmd;
if((cmd[0] == '\0') || (execute_cmd(cmd) == CMD_OK))
softuart_puts_p(PSTR("ok\r\n"));
else
softuart_puts_p(PSTR("error\r\n"));
break;
}
default:
{
if(p < cmd+(sizeof(cmd)))
{
*p++ = c;
softuart_putchar(c);
}
else
{
softuart_putchar(7); // bell
}
}
}
}
}
return 0;
}
/** Reads a character from the serial port
*
* This function reads one character from the serial port
* if available.
*
*/
unsigned char clixxIOSerial::read(void)
{
// Return a character
return softuart_getchar();
}
int main(void)
{
char c;
unsigned short cnt = 0;
#if (F_CPU > 4000000UL)
#define CNTHALLO (unsigned int)(0xFFFF)
#else
#define CNTHALLO (unsigned int)(0xFFFF/3)
#endif
unsigned short mycnt=0;
CLKPR=_BV(CLKPCE);
CLKPR=0;
pir=0;
DDRA |= 0xe2;
PORTA |= 0x81;
adc_init();
softuart_init();
TCCR1A=_BV(COM0B1)|_BV(WGM00);
TCCR1B=_BV(CS00);
softuart_turn_rx_on(); /* redundant - on by default */
sei();
#if WITH_STDIO_DEMO
stdio_demo_func();
#endif
OCR1A=0x10;
OCR1B=0xf0;
for (;;) {
if((PINB&4)==4 ) pir=1;
if ( softuart_kbhit() ) {
c = softuart_getchar();
//softuart_putchar( '[' );
//softuart_putchar( c );
//softuart_putchar( ']' );
if(c=='g')
{
c=softuart_getchar();
if(c==C_ID(ID))
{
softuart_putchar(3);
softuart_putchar(2);
send();
pir=0;
}
}
else if( c=='s')
{
unsigned int pwm;
c=softuart_getchar();
if(c==C_ID(ID))
{
sprintf(line,"made it");
// char line[32];
for(cnt=0;cnt<=31;cnt++)
{
c=softuart_getchar();
if(c=='\n') {line[cnt]=0; break;}
else line[cnt]=c;
}
int ret=sscanf_P(&line[0],PSTR("inTopic/pwm/"STD_ID(ID)" %d"),&pwm);
sprintf_P(dbg,PSTR("%dpwm:%d"),ret,pwm);
OCR1B=pwm;
}
}
}
}
return 0; /* never reached */
}
