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Diffstat (limited to 'source/ct-Bot/mcu/bot-2-pc.c')
| -rw-r--r-- | source/ct-Bot/mcu/bot-2-pc.c | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/source/ct-Bot/mcu/bot-2-pc.c b/source/ct-Bot/mcu/bot-2-pc.c new file mode 100644 index 0000000..377f117 --- /dev/null +++ b/source/ct-Bot/mcu/bot-2-pc.c @@ -0,0 +1,111 @@ +/* + * c't-Sim - Robotersimulator fuer den c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file bot-2-pc.c + * @brief Verbindung zwischen c't-Bot und PC + * @author Benjamin Benz (bbe@heise.de) + * @date 28.2.06 +*/ + +#include "ct-Bot.h" +#include "command.h" +#include "uart.h" +#include "bot-2-pc.h" +#include "sensor.h" +#include "motor.h" +#include "led.h" +#include "mouse.h" +#include "log.h" +#include <stdlib.h> + +#ifdef MCU +#ifdef BOT_2_PC_AVAILABLE + +/*! + * Diese Funktion nimmt die Daten vom PC entgegen + * und wertet sie aus. dazu nutzt er die Funktion command_evaluate() + */ +void bot_2_pc_listen(void){ +// LOG_DEBUG(("%d bytes recvd",uart_data_available())); + if (uart_data_available() >= sizeof(command_t)){ +// LOG_DEBUG(("%d bytes recvd",uart_data_available())); + if (command_read() ==0){ + LOG_DEBUG(("command received")); + command_evaluate(); + }else { + // TODO Fehlerbehandlung + } + } +} + +/*! + * Diese Funktion informiert den PC ueber alle Sensor und Aktuator-Werte + */ +void bot_2_pc_inform(void){ + int16 value1, value2; + + command_write(CMD_AKT_MOT, SUB_CMD_NORM ,(int16*)&speed_l,(int16*)&speed_r,0); + value1=(int16)led; + command_write(CMD_AKT_LED, SUB_CMD_NORM ,&value1,&value1,0); + + command_write(CMD_SENS_IR, SUB_CMD_NORM ,(int16*)&sensDistL,(int16*)&sensDistR,0); + command_write(CMD_SENS_ENC, SUB_CMD_NORM ,(int16*)&sensEncL,(int16*)&sensEncR,0); + command_write(CMD_SENS_BORDER, SUB_CMD_NORM ,(int16*)&sensBorderL,(int16*)&sensBorderR,0); + command_write(CMD_SENS_LINE, SUB_CMD_NORM ,(int16*)&sensLineL,(int16*)&sensLineR,0); + + command_write(CMD_SENS_LDR, SUB_CMD_NORM ,(int16*)&sensLDRL,(int16*)&sensLDRR,0); + + value1= (int16) sensTrans; value2=0; + command_write(CMD_SENS_TRANS, SUB_CMD_NORM ,&value1,&value2,0); + + value1= (int16) sensDoor; + command_write(CMD_SENS_DOOR, SUB_CMD_NORM ,&value1,&value2,0); + + #ifdef MAUS_AVAILABLE + value1=(int16)sensMouseDX; + value2=(int16)sensMouseDY; + command_write(CMD_SENS_MOUSE, SUB_CMD_NORM ,&value1,&value2,0); + #endif + + value1=(int16)sensError; value2=0; + command_write(CMD_SENS_ERROR, SUB_CMD_NORM ,&value1,&value2,0); +// command_write(CMD_SENS_RC5, SUB_CMD_NORM ,(int16*)&RC5_Code,&value2,0); +} + + + +#include <stdio.h> +#include <string.h> + +/*! + * Meldet den Bot am c't-Sim an + */ +void bot_2_pc_init(void){ + int16 null =0; + uint8 j; + + uart_init(); + + for(j=0;j<5;j++) + command_write(CMD_WELCOME, SUB_WELCOME_REAL ,&null,&null,0); +} + +#endif +#endif + |