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authorFlorent Duchon2012-04-04 00:00:20 +0200
committerFlorent Duchon2012-04-04 00:00:20 +0200
commitb4e9e77b680402882b8c525cbda1f253314950f9 (patch)
tree2c2104961316a6a13998d7acf8c170e5a6848ef5
parent7f9d0acca718ad5e1fc276d5c59c43525f61ab40 (diff)
digital/beacon: Add servomotor control via serial debug
-rw-r--r--digital/beacon/src/debug.c22
1 files changed, 18 insertions, 4 deletions
diff --git a/digital/beacon/src/debug.c b/digital/beacon/src/debug.c
index 4b8b8c0b..9c30d77e 100644
--- a/digital/beacon/src/debug.c
+++ b/digital/beacon/src/debug.c
@@ -22,10 +22,10 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-
+#include <stdarg.h>
#include "configuration.h"
#include "debug.h"
-
+#include "servo.h"
HAL_UsartDescriptor_t appUsartDescriptor; // USART descriptor (required by stack)
uint8_t usartRxBuffer[APP_USART_RX_BUFFER_SIZE]; // USART Rx buffer
@@ -55,18 +55,32 @@ uint8_t usartTxBuffer[APP_USART_TX_BUFFER_SIZE]; // USART Tx buffer
void usartRXCallback(uint16_t bytesToRead)
{
uint8_t rxBuffer;
- READ_USART(&appUsartDescriptor,&rxBuffer,1);
+ READ_USART(&appUsartDescriptor,&rxBuffer,bytesToRead);
switch(rxBuffer)
{
case 'o':
+ /* Increase servo 1 angle */
+ uprintf("SERVO_1 = %d\r\n",servo_angle_increase(SERVO_1));
+ break;
+ case 'l':
+ /* Decrease servo 1 angle */
+ uprintf("SERVO_1 = %d\r\n",servo_angle_decrease(SERVO_1));
+ break;
+ case 'p':
+ /* Increase servo 2 angle */
+ uprintf("SERVO_2 = %d\r\n",servo_angle_increase(SERVO_2));
+ break;
+ case 'm':
+ /* Decrease servo 2 angle */
+ uprintf("SERVO_2 = %d\r\n",servo_angle_decrease(SERVO_2));
break;
/* Default */
default :
uprintf(" ?? Unknown command ??\r\n");
}
}
-#include <stdarg.h>
+
/* This function sends data string via the USART interface */
void uprintf(char *format, ...)
{