packedCom.c

/*******************************************************************************
* examples/packedCom.c                                                         *
* ====================                                                         *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 06.12.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
#include <tucbot_additionals/structio.h>
#include <tucbot_additionals/packedCom.h>
 
//*********************************<Types>**************************************
struct sTestPackedCom {
    uint8_t  data1;
    uint8_t  data2;
    uint16_t data3;
} testPackedComReceive;
 
//*********************************<Variables>**********************************
volatile uint8_t testPackedCom_count_packets_custom;
 
//*********************************<Methods>************************************
void packedCom_customRxPacket(uint8_t pd, uint8_t pLen, uint8_t *buffer);
void testPackedCom(void);
int main(void);
 
//*********************************[packedCom_customRxPacket]*******************
void packedCom_customRxPacket(uint8_t pd, uint8_t pLen, uint8_t *buffer) {
 
    uint8_t i;
    uint8_t *data;
 
    if (pd != 0xb1) {
        return;
    }
    if (pLen != sizeof(testPackedComReceive)) {
        return;
    }
 
    data = (uint8_t *) (&testPackedComReceive);
 
    for (i = 0; i < pLen; i++) {
        data[i] = buffer[i];
    }
 
    testPackedCom_count_packets_custom++;
}
 
//*********************************[testPackedCom]******************************
void testPackedCom(void) {
 
    uint8_t value_active = 0x00;
    uint8_t value_count  = 0;
    uint8_t value_error  = 0;
    uint16_t value_data  = 0;
 
    uint16_t temp;
    struct sTestPackedCom testPackedComSend;
    testPackedComSend.data1 = 'T';
    testPackedComSend.data2 = 'S';
    testPackedComSend.data3 =  0;
 
    testPackedCom_count_packets_custom = 0;
 
    lcdclr();
    lcdstr_p(PSTR("packedCom #  ###"));
    lcdxy(0,1);
    lcdstr_p(PSTR("err=###  v=#####"));
 
    packedCom_activate();
 
    while (1) {
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> send packed data via serstructsendx
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            testPackedComSend.data3++;
            // send data through UART0 and UART1
            // (data will be send via usb-connector and xbee)
            serstructsend0(&testPackedComSend, sizeof(testPackedComSend),
              0xb1);
            serstructsend1(&testPackedComSend, sizeof(testPackedComSend),
              0xb1);
        } else if (buttons_get(kButtonRight)) {
            // right button --> toggle packed communication (on/off)
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            if (value_active) {
                packedCom_deactivate();
            } else {
                packedCom_activate();
            }
        }
 
        // update display
        temp = packedCom_get(kPackedComGetActive);
        if (temp != value_active) {
            value_active = temp;
            lcdxy(10,0);
            if (temp) {
                lcdout('-');
            } else {
                lcdout('!');
            }
        }
 
        temp = testPackedCom_count_packets_custom;
        if (temp != value_count) {
            value_count = temp;
            lcdxy(13,0); uint16tostr(lcdout,temp,3);
        }
 
        temp = packedCom_get(kPackedComGetErrorCount);
        if (temp != value_error) {
            value_count = temp;
            lcdxy(4,1); uint16tostr(lcdout,temp,3);
 
        }
 
        cli();
        temp = testPackedComReceive.data3;
        sei();
        if (temp != value_data) {
            value_data = temp;
            lcdxy(11,1); uint16tostr(lcdout,temp,5);
        }
 
        mdelay(100);
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testPackedCom();
 
    return (0);
}