uart: fix compilation on recent avr-gcc

[aversive.git] / modules / comm / uart / test / main.c

diff --git a/modules/comm/uart/test/main.c b/modules/comm/uart/test/main.c
index b5ef729..23ed2f0 100644 (file)
--- 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;
 }