static size_t gdbserial_recv ( char *buf, size_t len ) {
assert ( len > 0 );
while ( ! uart_data_ready ( &gdbserial_uart ) ) {}
buf[0] = uart_receive ( &gdbserial_uart );
return 1;
}
/**
* Check for character ready to read from serial console
*
* @ret True Character available to read
* @ret False No character available to read
*/
static int serial_iskey ( void ) {
/* Do nothing if we have no UART */
if ( ! serial_console.base )
return 0;
/* Check UART */
return uart_data_ready ( &serial_console );
}
/**
* Get character from serial console
*
* @ret character Character read from console
*/
static int serial_getchar ( void ) {
uint8_t data;
/* Do nothing if we have no UART */
if ( ! serial_console.base )
return 0;
/* Wait for data to be ready */
while ( ! uart_data_ready ( &serial_console ) ) {}
/* Receive data */
data = uart_receive ( &serial_console );
/* Strip any high bit and convert DEL to backspace */
data &= 0x7f;
if ( data == 0x7f )
data = 0x08;
return data;
}
void main(void)
{
/* Initialization functions called below */
ConfigureOscillator();
uart_init(9600);
ecan_init();
enable_interrupts();
/* While doing recurring functions */
while(1)
{
/* Check if UART contains data*/
if(uart_data_ready())
{
Message mess;
char num = uart_read();
if (num == 'i')
{
mess.sid = 0x00A;
mess.len = 1;
uart_write_text("Command Sent (Array Idle)\r\n");
mess.data[0] = 0x00;
ecan_send(&mess);
}
else if (num == 'f')
{
mess.sid = 0x00A;
mess.len = 1;
uart_write_text("Command Sent (Array Forward)\r\n");
mess.data[0] = 0x01;
ecan_send(&mess);
}
else if (num == 'b')
{
mess.sid = 0x00A;
mess.len = 1;
uart_write_text("Command Sent (Array Backward)\r\n");
mess.data[0] = 0x02;
ecan_send(&mess);
}
else if (num == '0')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 0)\r\n");
mess.data[0] = 0x00;
ecan_send(&mess);
}
else if (num == '1')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 1)\r\n");
mess.data[0] = 0x01;
ecan_send(&mess);
}
else if (num == '2')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 2)\r\n");
mess.data[0] = 0x02;
ecan_send(&mess);
}
else if (num == '3')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 3)\r\n");
mess.data[0] = 0x03;
ecan_send(&mess);
}
else if (num == '4')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 4)\r\n");
mess.data[0] = 0x04;
ecan_send(&mess);
}
else if (num == '5')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 5)\r\n");
mess.data[0] = 0x05;
ecan_send(&mess);
}
else if (num == '6')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 6)\r\n");
mess.data[0] = 0x06;
ecan_send(&mess);
}
else if (num == '7')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 7)\r\n");
mess.data[0] = 0x07;
ecan_send(&mess);
}
else if (num == '8')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 8)\r\n");
mess.data[0] = 0x08;
ecan_send(&mess);
}
else if (num == '9')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 9)\r\n");
mess.data[0] = 0x09;
ecan_send(&mess);
}
else if (num == '-')
{
mess.sid = 0x007;
mess.len = 1;
uart_write_text("Command Sent (Motor Speed 10)\r\n");
mess.data[0] = 0x0A;
ecan_send(&mess);
}
else if (num == '!') //! brake!
{
mess.sid = 0x00B;
mess.len = 1;
uart_write_text("Command Sent (Brake On)\r\n");
mess.data[0] = 0x01;
ecan_send(&mess);
}
else if (num == 'g') //go - brake off
{
mess.sid = 0x00B;
mess.len = 1;
uart_write_text("Command Sent (Brake Off)\r\n");
mess.data[0] = 0x00;
ecan_send(&mess);
}
}
}
}
