// Decoding event function
// Reading from UART
void sbus_common_decode_event(struct Sbus *sbus_p, struct uart_periph *dev)
{
uint8_t rbyte;
if (uart_char_available(dev)) {
do {
rbyte = uart_getch(dev);
switch (sbus_p->status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
if (rbyte == SBUS_START_BYTE) {
sbus_p->status++;
sbus_p->idx = 0;
}
break;
case SBUS_STATUS_GOT_START:
// Store buffer
sbus_p->buffer[sbus_p->idx] = rbyte;
sbus_p->idx++;
if (sbus_p->idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
}
sbus_p->status = SBUS_STATUS_UNINIT;
}
break;
default:
break;
}
} while (uart_char_available(dev));
}
}
// Decoding event function
// Reading from UART
void sbus_decode_event(void) {
uint8_t rbyte;
if (uart_char_available(&SBUS_UART_DEV)) {
do {
rbyte = uart_getch(&SBUS_UART_DEV);
switch (sbus.status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
if (rbyte == SBUS_START_BYTE) {
sbus.status++;
sbus.idx = 0;
}
break;
case SBUS_STATUS_GOT_START:
// Store buffer
sbus.buffer[sbus.idx] = rbyte;
sbus.idx++;
if (sbus.idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available);
}
sbus.status = SBUS_STATUS_UNINIT;
}
break;
default:
break;
}
} while (uart_char_available(&SBUS_UART_DEV));
}
}
int main( void ) {
unsigned char inc;
unsigned int rx_time=0, tx_time=0;
mcu_init();
sys_time_init();
led_init();
VCOM_allow_linecoding(1);
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
mcu_int_enable();
LED_ON(3);
#ifdef USE_UART0
while(1) {
if (T0TC > (rx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(1);
if (T0TC > (tx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(2);
if (uart_char_available(&uart0) && VCOM_check_free_space(1)) {
LED_ON(1);
rx_time = T0TC;
inc = uart_getch(&uart0);
VCOM_putchar(inc);
}
if (VCOM_check_available() && uart_check_free_space(&uart0, 1)) {
LED_ON(2);
tx_time = T0TC;
inc = VCOM_getchar();
uart_transmit(&uart0, inc);
}
}
#else
while(1) {
if (T0TC > (rx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(1);
if (T0TC > (tx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(2);
if (uart_char_available(&uart1) && VCOM_check_free_space(1)) {
LED_ON(1);
rx_time = T0TC;
inc = uart_getch(&uart1);
VCOM_putchar(inc);
}
if (VCOM_check_available() && uart_check_free_space(&uart1, 1)) {
LED_ON(2);
tx_time = T0TC;
inc = VCOM_getchar();
uart_transmit(&uart1, inc);
}
}
#endif
return 0;
}
void airspeed_uADC_event(void)
{
while (uart_char_available(&(uADC_DEV))) {
uint8_t ch = uart_getch(&(uADC_DEV));
airspeed_uadc_parse(ch);
}
}
static inline void main_periodic( void ) {
char ch;
uart_transmit(&uart1, 'a');
uart_transmit(&uart2, 'b');
uart_transmit(&uart3, 'c');
uart_transmit(&uart5, 'd');
LED_OFF(1);
LED_OFF(2);
if (uart_char_available(&uart1)) {
ch = uart_getch(&uart1);
if (ch == 'a') {
LED_ON(1);
} else {
LED_ON(2);
}
}
if (uart_char_available(&uart2)) {
ch = uart_getch(&uart2);
if (ch == 'b') {
LED_ON(1);
} else {
LED_ON(2);
}
}
if (uart_char_available(&uart3)) {
ch = uart_getch(&uart3);
if (ch == 'c') {
LED_ON(1);
} else {
LED_ON(2);
}
}
if (uart_char_available(&uart5)) {
ch = uart_getch(&uart5);
if (ch == 'd') {
LED_ON(1);
} else {
LED_ON(2);
}
}
}
void esc32_event(void) {
while (uart_char_available(esc32_priv.dev)) {
parse_esc32(&esc32_priv, uart_getch(esc32_priv.dev));
if (esc32_priv.msg_available) {
esc32_parse_msg(&esc32_priv, &esc32);
}
}
}
static inline void main_periodic(void)
{
static uint8_t expected_i = 0;
static float last_ts = 0;
static float recv_ts = 0;
if (uart_char_available(&TEST_UART)) {
uint8_t c = uart_getch(&TEST_UART);
RunOnceEvery(1, printf("%f, received: '%d'\n", get_sys_time_float(), c);)
if (c != expected_i) {
static inline void main_periodic(void)
{
const char *foo = "FooBarBaz";
static int i = 0;
if (i == strlen(foo)) {
i = 0;
}
uart_transmit(&TEST_UART, foo[i]);
printf("%f, transmit: '%c'\n", get_sys_time_float(), foo[i]);
if (uart_char_available(&TEST_UART)) {
char c = uart_getch(&TEST_UART);
printf("%f, received: '%c'\n", get_sys_time_float(), c);
}
i++;
}
int main(void) {
float v; // Current battery voltage
adc_init(); // time to init?
led_init();
mosfet_init();
uart_init(); // time to init?
uart_enable_interrupts();
// setup
charger_start(); // Charging by default
while (1) {
v = map(adc_read(0), ADC_MIN, ADC_MAX, V_MIN, V_MAX);
if (charging) {
if (v > V_FLT) {
// Stop charging
charger_stop();
}
} else {
if (v <= V_FLT - HYST) {
// Start charging
charger_start();
}
}
if (uart_char_available()) {
unsigned char cmd;
char buf[6];
cmd = uart_getchar();
switch (cmd) {
case 'v':
voltage_to_str(buf, v);
printf("voltage: %s ", buf);
printf(charging ? "(charging)\n" : "(not charging)\n");
break;
}
}
}
return 0;
}
