X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fcomm%2Fuart%2Ftest%2Fmain.c;h=23ed2f012fd012b1bd10623a7d142fbaa6cf1f79;hp=b5ef729dfe1f4e52dd5088293d4654090f710a3d;hb=3b7b449237422537c8cdf124b0f4dde827787e14;hpb=92b0749bee9fba8b5105590bf2c2f15786c55cee

diff --git a/modules/comm/uart/test/main.c b/modules/comm/uart/test/main.c
index b5ef729..23ed2f0 100644
--- a/modules/comm/uart/test/main.c
+++ b/modules/comm/uart/test/main.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -18,25 +18,51 @@
  *  Revision : $Id: main.c,v 1.15.10.5 2008-12-27 16:29:08 zer0 Exp $
  *
  */
-#include <uart.h>
 #include <aversive/wait.h>
+#include <aversive/pgmspace.h>
+
+#include <uart.h>
 
 #include <stdio.h>
 
-#include <avr/io.h>
-#include <avr/pgmspace.h>
+/* sending "pop" on cmdline uart resets the robot */
+void emergency(char c)
+{
+	static uint8_t i = 0;
+
+	printf("%c\n", c);
+
+	if ((i == 0 && c == 'p') ||
+	    (i == 1 && c == 'o') ||
+	    (i == 2 && c == 'p'))
+		i++;
+	else if ( !(i == 1 && c == 'p') )
+		i = 0;
+	if (i == 3) {
+#ifdef HOST_VERSION
+		hostsim_uart_exit();
+#endif
+		reset();
+	}
+}
 
 /*
  * This code sends a counter value to uart.
  */
 int main(void)
-{  
+{
 	int i;
 
+#ifdef HOST_VERSION
+	hostsim_uart_init();
+	hostsim_ittimer_enable(100000);
+#endif
+
 	/* initialize uart with the default parameters ( see
 	 * uart_config.h ) */
-	uart_init();  
- 
+	uart_init();
+	uart_register_rx_event(0, emergency);
+
 	/* enable interrupts */
 	sei();
 
@@ -47,24 +73,26 @@ int main(void)
 		wait_ms(100);
 	}
 	uart_send(0, '\n');
-  
+
+#ifndef HOST_VERSION
 	/* now we want to do a printf : we must register the
 	 * uart0_send as stdout. Here no receive function is
 	 * specified. */
 	fdevopen(uart0_dev_send, NULL);
-  
+#endif
+
 	/** ready to do a nice printf on the uart */
 	printf("Uart is cool !!\n");
-  
-  	/* one drawback of the previous printf is that the format
-	 * chain is srored in RAM and this can take a huge size if
+
+	/* one drawback of the previous printf is that the format
+	 * chain is stored in RAM and this can take a huge size if
 	 * there are many printf. To avoid this problem, please use
-	 * printf_P together with PSTR, like in the next example. */ 
+	 * printf_P together with PSTR, like in the next example. */
 	while (1) {
 		printf_P(PSTR("This format string takes no RAM "
 			      "space. %i\n"), i++);
 		wait_ms(1000);
 	}
-  
+
 	return 0;
 }