put() and get() should work together fine. There may be some interaction
with the CommControl.init() that you have. If you are trying to use
GenericComm it also uses the UART code...
I would back out to your basic working versions of put and get and see
if simplifying things helps. Also, hmm, robot control...just an idle
architecture question, but the ATMEGA chip is basically a grown up PIC,
why are you doing what looks like motor control off chip?
MS
Kidd, Yvonne wrote:
Hi,
I am trying to implement a two way uart communication. I am
communicating between a PIC microcontroller and a mote. My application
works fine with using HPLUART.put. I have tested the serial
communication and the PIC does send bytes to the mote and the mote does
act accordingly, using HPLUART.get. However when I try to use code that
implements both HPLUART.put and HPLUART.get I get no communication to
the PIC at all. Below is some of my code listing. Is it possibly a
problem with asynchronous use of HPLUART.get?
// This function implements HPLUART.put
task void cmdInterpret() {
struct RobotCmdMsg * cmd = (struct RobotCmdMsg *) msg->data;
// do local packet modifications: update the hop count and packet source
cmd->hop_count++;
cmd->source = TOS_LOCAL_ADDRESS;
// Interpret the command: Display the level on red and green led
if (cmd->hop_count & 0x1)
call Leds.greenOn();
else
call Leds.greenOff();
if (cmd->hop_count & 0x2)
call Leds.redOn();
else
call Leds.redOff();
// Execute the command
switch (cmd->action) {
case FORWARD_2:
call Leds.yellowToggle();
move = 'f';
break;
case FORWARD:
call Leds.yellowToggle();
move = 'g';
break;
case BACK_2:
call Leds.yellowToggle();
move = 'b';
break;
case BACK:
call Leds.yellowToggle();
move = 'c';
break;
case RIGHT_90:
call Leds.yellowToggle();
move = 'r';
break;
case RIGHT:
call Leds.yellowToggle();
move = 't';
break;
case LEFT_90:
call Leds.yellowToggle();
move = 'l';
break;
case LEFT:
call Leds.yellowToggle();
move = 'm';
break;
case STOP:
call Leds.yellowToggle();
move = 's';
break;
}
atomic
{
if(canSend)
{
atomic canSend = FALSE;
//call Leds.redToggle();
call HPLUART.put(move);
move = 'q';
call HPLUART.put(move);
}
}
pending =0;
signal ProcessCmd.done(msg, SUCCESS);
}
/**
* Initialization for the application:
* 1. Initialize module static variables
* 2. Initialize communication layer
* @return Returns <code>SUCCESS</code> or <code>FAILED</code>
**/
command result_t StdControl.init() {
msg = &buf;
pending = 0;
atomic canSend = TRUE;
call HPLUART.init();
return rcombine(call CommControl.init(), call Leds.init());
}
// This function is my HPLUART.get
async event result_t HPLUART.get(uint8_t data){
if (data =='r') call SounderControl.start();
else call SounderControl.stop
}
Yvonne Kidd
------------------------------------------------------------------------
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