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132 lines
2.7 KiB
132 lines
2.7 KiB
/** @file ir_uart_demo1.c
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@author M. P. Hayes, UCECE
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@date 3 October 2013
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@brief Test program for IR UART communications showing encoding.
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*/
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#include "system.h"
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#include "navswitch.h"
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#include "tinygl.h"
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#include "task.h"
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#include "uint8toa.h"
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#include "ir_uart.h"
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#define DISPLAY_TASK_RATE 200
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#define IR_UART_TX_TASK_RATE 20
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#define IR_UART_RX_TASK_RATE 20
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#define NAVSWITCH_TASK_RATE 20
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typedef enum {XPOS, YPOS} tx_message_t;
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typedef enum {SEND_XPOS, SEND_YPOS} tx_state_t;
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static tinygl_point_t this_pos;
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static tinygl_point_t other_pos;
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static void display_task (__unused__ void *data)
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{
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tinygl_update ();
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}
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static void ir_uart_tx_task (__unused__ void *data)
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{
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static uint8_t state = SEND_XPOS;
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/* Alternately, send x position and y position messages. */
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switch (state)
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{
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case SEND_XPOS:
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ir_uart_putc ((XPOS << 4) | (this_pos.x & 0x0f));
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state = SEND_YPOS;
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break;
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case SEND_YPOS:
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ir_uart_putc ((YPOS << 4) | (this_pos.y & 0x0f));
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state = SEND_XPOS;
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break;
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}
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}
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static void ir_uart_rx_task (__unused__ void *data)
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{
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uint8_t c;
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if (!ir_uart_read_ready_p ())
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return;
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tinygl_draw_point (other_pos, 0);
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c = ir_uart_getc ();
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/* Decode the received message. */
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switch (c >> 4)
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{
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case XPOS:
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other_pos.x = c & 0x0f;
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break;
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case YPOS:
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other_pos.y = c & 0x0f;
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break;
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}
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tinygl_draw_point (other_pos, 1);
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}
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static void navswitch_task (__unused__ void *data)
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{
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tinygl_point_t newpos;
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navswitch_update ();
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newpos = this_pos;
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if (navswitch_push_event_p (NAVSWITCH_NORTH))
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newpos.y--;
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if (navswitch_push_event_p (NAVSWITCH_SOUTH))
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newpos.y++;
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if (navswitch_push_event_p (NAVSWITCH_EAST))
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newpos.x++;
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if (navswitch_push_event_p (NAVSWITCH_WEST))
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newpos.x--;
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/* Note, there is no checking that have moved off screen. */
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if (this_pos.x != newpos.x || this_pos.y != newpos.y)
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{
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tinygl_draw_point (this_pos, 0);
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this_pos = newpos;
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tinygl_draw_point (this_pos, 1);
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}
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}
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int main (void)
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{
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task_t tasks[] =
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{
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{.func = display_task, .period = TASK_RATE / DISPLAY_TASK_RATE},
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{.func = ir_uart_rx_task, .period = TASK_RATE / IR_UART_RX_TASK_RATE},
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{.func = ir_uart_tx_task, .period = TASK_RATE / IR_UART_TX_TASK_RATE},
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{.func = navswitch_task, .period = TASK_RATE / NAVSWITCH_TASK_RATE},
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};
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system_init ();
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ir_uart_init ();
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tinygl_init (DISPLAY_TASK_RATE);
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this_pos = tinygl_point (TINYGL_WIDTH / 2, TINYGL_HEIGHT / 2);
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tinygl_draw_point (this_pos, 1);
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task_schedule (tasks, 4);
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return 0;
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}
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