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-rw-r--r--digital/beacon/src/debug_avr.c151
1 files changed, 78 insertions, 73 deletions
diff --git a/digital/beacon/src/debug_avr.c b/digital/beacon/src/debug_avr.c
index 919eb778..022af2d9 100644
--- a/digital/beacon/src/debug_avr.c
+++ b/digital/beacon/src/debug_avr.c
@@ -46,6 +46,9 @@ uint8_t usartTxBuffer[APP_USART_TX_BUFFER_SIZE]; // USART Tx buffer
uint8_t debug_network = 0;
uint8_t debug_network_enable = 0;
+uint8_t rxBuffer[40];
+
+
/* This function initializes the USART interface for debugging on avr */
void initSerialInterface(void)
{
@@ -68,84 +71,86 @@ uint8_t debug_network_enable = 0;
/* RX USART Callback */
void usartRXCallback(uint16_t bytesToRead)
{
- uint8_t rxBuffer;
/* Read RX buffer from HAL */
- READ_USART(&appUsartDescriptor,&rxBuffer,bytesToRead);
+ 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;
- case 'a':
- uprintf("CodeWheel Value = %d\r\n",codewheel_get_value());
- break;
- case 'd':
- debug_start_stop_task();
- break;
- case 'z':
- codewheel_reset();
- break;
- case 'c':
- calibration_start_stop_task();
- break;
- case 'q':
- calibration_set_laser_flag(SET_SERVO_1);
- break;
- case 's':
- calibration_set_laser_flag(SET_SERVO_2);
- break;
- case 'r':
- reset_avr();
- break;
- case 't':
- motor_start_stop_control();
- break;
- case 'j':
- jack_on_off();
- break;
- case '0':
- network_send_data(NETWORK_RESET,0x1);
- break;
- case 'w':
- motor_set_target_speed(motor_get_target_speed()-1);
- uprintf("target speed = %d\r\n",motor_get_target_speed());
- break;
- case 'x':
- motor_set_target_speed(motor_get_target_speed()+1);
- uprintf("target speed = %d\r\n",motor_get_target_speed());
- break;
- case 'f':
- if(debug_network_enable == 1)
- {
- debug_network_enable = 0;
- debug_network = 0;
- }
- else
- {
- debug_network_enable = 1;
- debug_network = 1;
- }
- break;
- /* Default */
- default :
- uprintf(" ?? Unknown command ??\r\n");
- break;
+ switch(rxBuffer[0])
+ {
+ 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;
+ case 'a':
+ uprintf("CodeWheel Value = %d\r\n",codewheel_get_value());
+ break;
+ case 'd':
+ debug_start_stop_task();
+ break;
+ case 'z':
+ codewheel_reset();
+ break;
+ case 'c':
+ calibration_start_stop_task();
+ break;
+ case 'q':
+ calibration_set_laser_flag(SET_SERVO_1);
+ break;
+ case 's':
+ calibration_set_laser_flag(SET_SERVO_2);
+ break;
+ case 'r':
+ reset_avr();
+ break;
+ case 't':
+ motor_start_stop_control();
+ break;
+ case 'j':
+ jack_on_off();
+ break;
+ case '0':
+ // network_send_data(NETWORK_RESET,0x1);
+ break;
+ case 'w':
+ motor_set_target_speed(motor_get_target_speed()-1);
+ uprintf("target speed = %d\r\n",motor_get_target_speed());
+ break;
+ case 'x':
+ motor_set_target_speed(motor_get_target_speed()+1);
+ uprintf("target speed = %d\r\n",motor_get_target_speed());
+ break;
+ case 'f':
+ if(debug_network_enable == 1)
+ {
+ debug_network_enable = 0;
+ debug_network = 0;
+ }
+ else
+ {
+ debug_network_enable = 1;
+ debug_network = 1;
+ }
+ break;
+ /* Default */
+ default :
+ uprintf(" ?? Unknown command ??\r\n");
+ break;
+ }
}
+
}
/* This function starts the debug task */