epuckBTseteventfilter.c

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/*
        Small tool to change the event filter of the e-puck's bluetooth module.
        Copyright (C) 2008 -- 2009:
                Michael Bonani <michael dot bonani at epfl dot ch>
                Stephane Magnenat <stephane at magnenat dot net>
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 of the License.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser General Public License
        along with this program. If not, see <http://www.gnu.org/licenses/>.
        
        Usage: on e-puck reset:
                - if selector == 0, then fully transparent mode (no event), all leds on
                - if selector != 0, then normal mode (connection and disconnection events), led 1 on
        The bluetooth module retains this settings across power off/on.
*/


#include <motor_led/e_epuck_ports.h>
#include <stdio.h>
#include <uart/e_uart_char.h>
#include <bluetooth/e_bluetooth.h>
#include <motor_led/e_init_port.h>
#include <motor_led/e_led.h>
#include <string.h>

int getselector()
{
        return SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3;
}

void delay()
{
        int wait;
        for (wait=0;wait<30000;wait++);
}

int main(void)
{
        int i;
        char event;
        
        e_init_port();   //Configure port pins
        e_init_uart1();   //Initialize UART to 115200Kbaud
        
        if(RCONbits.POR)        //Reset if Power on (some problem for few robots)
        {
                RCONbits.POR=0;
                __asm__ volatile ("reset");
        }
        
        if(getselector()==0)
        {
                e_bt_set_event_filter(3);
                for (i=0;i<8;i++)
                {
                        e_set_led(i,1);
                        delay();
                        e_set_led(i-1,0);
                        delay();
                }
                e_set_led(7,0);
                delay();
                e_set_led(8,1);
        }
        else
        {
                e_bt_set_event_filter(1);
                for (i=0;i<8;i++)
                {
                        e_set_led(i,1);
                        delay();
                        e_set_led(i-1,0);
                        delay();
                }
                e_set_led(7,0);
                delay();
                event = e_bt_get_event_filter();
                e_set_led(event,1);
        }
        
        while(1)
                ;
}