PAcketizer Example - PalouseRobosub/SUBLIBinal GitHub Wiki

/********************************************************
 *   File Name: packetizer.c
 *
 *   Description:
 *              Main file
 *
 *
 *********************************************************/

/*************************************************************************
 System Includes
 ************************************************************************/
#include "sublibinal.h"
#include "sublibinal_config.h"

//forward declarations
void timer_callback(void);
void packetizer_callback(uint8* data, uint8 size);

/*************************************************************************
 Main Function
 ************************************************************************/
int main(void) {

    //buffer for uart ISRs
    uint8 uart_tx_buffer[128], uart_rx_buffer[128];

    //structures for configuring peripherals
    
    //Note, it is important to initialize these structures to 0 before use. If not, the variables can be populated with random numbers
    //if the callback is not set and left as a random number, the program will crash as it will be dereferencing a pointer that does not
    //point to a valid function.
    
    UART_Config uart_config = {0};
    Timer_Config timer_config = {0};
    Packetizer_Config packetizer_config = {0};
    
    //temp buffer
    uint8 blah;
    
    //setup timer peripheral
    timer_config.frequency = 1000; //We will set our timer to fire at 1 KHz
    timer_config.pbclk = PB_CLK; //Specify peripheral bus clock speed
    timer_config.which_timer = Timer_1; //We will use timer_1, a type A timer
    timer_config.callback = &timer_callback; //we will set the callback to the timer_callback function
                                             //Any time the timer triggers an interrupt, this function will be called.
    timer_config.enabled = 1; //Enable the timer on initialization
    initialize_Timer(timer_config); //initialize the timer and begin its execution

    //Configure the UART peripheral
    uart_config.which_uart = UART_CH_1; //select the first UART channel for us
    uart_config.pb_clk = PB_CLK; //tell the program how fast our peripheral bush clock is running
    uart_config.speed = 115200; //provide a baud rate that you wish the microcontroller to transmit and receive at
    uart_config.rx_buffer_ptr = uart_rx_buffer; //hand the uart a buffer of data to use for a queue
    uart_config.rx_buffer_size = sizeof(uart_rx_buffer); //tell the program the size of our data buffer
    uart_config.rx_pin = Pin_RPB13; //set the UART rx pin to be RPB13
	uart_config.rx_en = 1; //enable the receive buffer
    uart_config.tx_buffer_ptr = uart_tx_buffer; //hand the uart configuration a buffer for transmission data
    uart_config.tx_buffer_size = sizeof(uart_tx_buffer); //tell the program the size of the buffer
    uart_config.rx_pin = Pin_RPB15; //set the UART tx pin to be RPB15
	uart_config.tx_en = 1; //enable transmission on the UART
	initialize_UART(uart_config);//initialize all of our UART parameters and begin functionality of the UART as per our specifications
    
    
    //Configure the packetizer
    packetizer_config.callback = &packetizer_callback; //There will be no callback associated with the packetizer. It is unnecessary
    packetizer_config.control_byte = '!'; //We will use the exclamation point character as our control byte.
    packetizer_config.uart_config = uart_config; //we must hand the packetizer the uart configuration for proper set up
    packetizer_config.which_channel = PACKET_UART_CH_1; //our packetizer is running on uart channel 1
    initialize_packetizer(packetizer_config); //initialize the packetizer
    
    //Global interrupt enable. Do this last!
	enable_Interrupts();

    while (1) {
        bg_process_packetizer(PACKET_UART_CH_1);
    }

    return 0;
}


void packetizer_callback(uint8 * data, uint8 size) {
    //packetizer callback
    
    //simply echo the packet back across the UART communication channel as a heartbeat
    send_packet(PACKET_UART_CH_1, data, size);
    
}
void timer_callback(void)
{
    uint8 data[3];

    data[0] = 'a';
    data[1] = 'b';
    data[2] = 'c';

    //send a data packet
    //The first byte will be the control byte
    //The second byte will be the size of the data being sent in the packet
    //The remaining bytes will be the rest of the data that you are sending; in this case, 'a','b','c'
    send_packet(PACKET_UART_CH_1, data, sizeof(data));
}

//Configure the UART peripheral
    uart_config.which_uart = UART_CH_1; //select the first UART channel for us
    uart_config.pb_clk = PB_CLK; //tell the program how fast our peripheral bush clock is running
    uart_config.speed = 115200; //provide a baud rate that you wish the microcontroller to transmit and receive at
    uart_config.rx_buffer_ptr = uart_rx_buffer; //hand the uart a buffer of data to use for a queue
    uart_config.rx_buffer_size = sizeof(uart_rx_buffer); //tell the program the size of our data buffer
    uart_config.rx_en = 1; //enable the receive buffer
    uart_config.tx_buffer_ptr = uart_tx_buffer; //hand the uart configuration a buffer for transmission data
    uart_config.tx_buffer_size = sizeof(uart_tx_buffer); //tell the program the size of the buffer
    uart_config.tx_en = 1; //enable transmission on the UART
    initialize_UART(uart_config);//initialize all of our UART parameters and begin functionality of the UART as per our specifications
    
    
    //Configure the packetizer
    packetizer_config.callback = &packetizer_callback; //There will be no callback associated with the packetizer. It is unnecessary
    packetizer_config.control_byte = '!'; //We will use the exclamation point character as our control byte.
    packetizer_config.uart_config = uart_config; //we must hand the packetizer the uart configuration for proper set up
    packetizer_config.which_channel = PACKET_UART_CH_1; //our packetizer is running on uart channel 1
    initialize_packetizer(packetizer_config); //initialize the packetizer

    while (1) {
        bg_process_packetizer(PACKET_UART_CH_1);
    }

void packetizer_callback(uint8 * data, uint8 size) {
    //packetizer callback
    
    //simply echo the packet back across the UART communication channel as a heartbeat
    send_packet(PACKET_UART_CH_1, data, size);
    
}

void timer_callback(void)
{
    uint8 data[3];

    data[0] = 'a';
    data[1] = 'b';
    data[2] = 'c';

    //send a data packet
    //The first byte will be the control byte
    //The second byte will be the size of the data being sent in the packet
    //The remaining bytes will be the rest of the data that you are sending; in this case, 'a','b','c'
    send_packet(PACKET_UART_CH_1, data, sizeof(data));
}