epuckBTseteventfilter.c
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00001 /*
00002         Small tool to change the event filter of the e-puck's bluetooth module.
00003         Copyright (C) 2008 -- 2009:
00004                 Michael Bonani <michael dot bonani at epfl dot ch>
00005                 Stephane Magnenat <stephane at magnenat dot net>
00006                 Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
00007         
00008         This program is free software: you can redistribute it and/or modify
00009         it under the terms of the GNU Lesser General Public License as published
00010         by the Free Software Foundation, version 3 of the License.
00011         
00012         This program is distributed in the hope that it will be useful,
00013         but WITHOUT ANY WARRANTY; without even the implied warranty of
00014         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015         GNU Lesser General Public License for more details.
00016         
00017         You should have received a copy of the GNU Lesser General Public License
00018         along with this program. If not, see <http://www.gnu.org/licenses/>.
00019         
00020         Usage: on e-puck reset:
00021                 - if selector == 0, then fully transparent mode (no event), all leds on
00022                 - if selector != 0, then normal mode (connection and disconnection events), led 1 on
00023         The bluetooth module retains this settings across power off/on.
00024 */
00025 
00026 
00027 #include <motor_led/e_epuck_ports.h>
00028 #include <stdio.h>
00029 #include <uart/e_uart_char.h>
00030 #include <bluetooth/e_bluetooth.h>
00031 #include <motor_led/e_init_port.h>
00032 #include <motor_led/e_led.h>
00033 #include <string.h>
00034 
00035 int getselector()
00036 {
00037         return SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3;
00038 }
00039 
00040 void delay()
00041 {
00042         int wait;
00043         for (wait=0;wait<30000;wait++);
00044 }
00045 
00046 int main(void)
00047 {
00048         int i;
00049         char event;
00050         
00051         e_init_port();   //Configure port pins
00052         e_init_uart1();   //Initialize UART to 115200Kbaud
00053         
00054         if(RCONbits.POR)        //Reset if Power on (some problem for few robots)
00055         {
00056                 RCONbits.POR=0;
00057                 __asm__ volatile ("reset");
00058         }
00059         
00060         if(getselector()==0)
00061         {
00062                 e_bt_set_event_filter(3);
00063                 for (i=0;i<8;i++)
00064                 {
00065                         e_set_led(i,1);
00066                         delay();
00067                         e_set_led(i-1,0);
00068                         delay();
00069                 }
00070                 e_set_led(7,0);
00071                 delay();
00072                 e_set_led(8,1);
00073         }
00074         else
00075         {
00076                 e_bt_set_event_filter(1);
00077                 for (i=0;i<8;i++)
00078                 {
00079                         e_set_led(i,1);
00080                         delay();
00081                         e_set_led(i-1,0);
00082                         delay();
00083                 }
00084                 e_set_led(7,0);
00085                 delay();
00086                 event = e_bt_get_event_filter();
00087                 e_set_led(event,1);
00088         }
00089         
00090         while(1)
00091                 ;
00092 }


aseba
Author(s): Stéphane Magnenat
autogenerated on Sun Oct 5 2014 23:46:38