From 56d9bdd39ed36c36e9a61411b86c76d5228b2133 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 11 Feb 2007 18:32:03 +0000
Subject: Added lot's of code-files used during work

---
 source/ct-Bot/mcu/bot-2-pc.c | 111 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 source/ct-Bot/mcu/bot-2-pc.c

(limited to 'source/ct-Bot/mcu/bot-2-pc.c')

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
+
-- 
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