RP6ArduinoTest.c

#include "mastersettings.h"
#include <avr/io.h>
#include <util/delay.h>
#include "twiMaster.h"
#include "usart_fnct.h"
#include <stdbool.h>

#include <avr/interrupt.h>
#define BAUDRATE 9600
#define UBRRVAL ((F_CPU/(BAUDRATE*16UL))-1)

#define byte char

// Define the packet data length
#define PACKET_DATA_LENGTH 8
#define PACKET_SEPARATION_BYTE 0x00

// Declare the xBee input stream buffers
bool xBeeBuffEnabled = false;
byte xBeeBuffData[8];
int xBeeBuffIndex = 0;

void handleIncomingByte(byte b);

/**
 * Called when a malformed packet is received from the Xbee.
 */
void onPacketReceivedMalformedXbee();

/**
 * Called when a packet is received from the Xbee.
 *
 * @param data The received packet data.
 */
void onPacketReceivedXbee(byte data[8]);

void USART_Init(void)
{
	//Set baud rate
	UBRR0L=(uint8_t)UBRRVAL; //low byte
	UBRR0H=(UBRRVAL>>8); //high byte
	//Set data frame format: asynchronous mode,no parity, 1 stop bit, 8 bit size
	UCSR0C=/*(1<<URSEL)|*/(0<<UMSEL00)|(0<<UPM01)|(0<<UPM00)|(0<<USBS0)|(0<<UCSZ02)|(1<<UCSZ01)|(1<<UCSZ00);
	//Enable Transmitter and Receiver and Interrupt on receive complete
	UCSR0B= (1<<RXEN0)|(1<<RXCIE0);
	//enable global interrupts
}

uint8_t USART_vReceiveByte(void)
{
	// Wait until a byte has been received
	while((UCSR0A & (1 << RXC0)) == 0);
	// Return received data
	return UDR0;
}

ISR(USART0_RX_vect)
{
	UDR0 = 0; //clear UART buffer
	byte data = USART_vReceiveByte(); //receive data
	handleIncomingByte(data);
}

void handleIncomingByte(byte b) {
	// Check whether we're receiving xBeeBuffer data
	if(xBeeBuffEnabled) {
		// Check whether the buffer is full
		if(xBeeBuffIndex >= PACKET_DATA_LENGTH) {
			// Make sure this byte is a separation byte
			if(b == PACKET_SEPARATION_BYTE)
			onPacketReceivedMalformedXbee();

			else
			// Call the data received function
			onPacketReceivedXbee(xBeeBuffData);

			// Clear the buffer
			for(int i = 0; i < PACKET_DATA_LENGTH; i++)
			xBeeBuffData[i] = 0x00;

			// Reset the index
			xBeeBuffIndex = 0;

			// Set the receiving boolean to false
			xBeeBuffEnabled = false;

			} else {
			// Append the received byte to the data buffer
			xBeeBuffData[xBeeBuffIndex] = b;
			xBeeBuffIndex++;
		}

		} else {
		// Check whether a separation character is received
		if(b == PACKET_SEPARATION_BYTE)
		// Start the xBee packet listener
		xBeeBuffEnabled = true;
	}
}

int main(void)
{
	DDRB=0xFF;//make PORTC output
	PORTB=0x00;//set all outputs to 0
	sei();//enable global interrupts
	USART_Init();
	
	while(1) {
		
	}
}

void onPacketReceivedMalformedXbee() { }

void onPacketReceivedXbee(byte data[8]) {
	PORTB = 0xFF;
	_delay_ms(500);
	PORTB = 0x00;
	_delay_ms(500);
	
	
	/*// Start the transmission
	Wire.beginTransmission(2);

	// Send the packet data followed by a separation byte
	Wire.write(data, PACKET_DATA_LENGTH);
	Wire.write(PACKET_SEPARATION_BYTE);*/
}