[Gene F]

I have written the following code for talking to the TTL port. When I run the code on the EDUBot it works great I then try it on the Robot controller and I don't get any characters coming in. I have placed my SensorInitializePort() in the User_Initialization () routine and my SensorPackRead () routine in the Default_Routine() in the respective projects.

Note: If this is hard to read because of the tabs being removed by the forum I have attached the files in word format.
// Definition of the data structure and routines for reading the sensor pack

#ifndef __sensors_h_
#define __sensors_h_

#define STX (0x02)

typedef union
{
struct Data_tag
{
short xPos;
short yPos;
short PosError;
unsigned char DDCompas;
char AngleError;
unsigned char NullByte;
};
char chars[9];
} SensorPackType;

extern SensorPackType Sensors;

void SensorInitializePort (void);
void SensorPackRead (void);



#endif







#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "sensors.h"
#include "printf_lib.h"
// Added by Gene
#include <usart.h>
#include "delays.h"

SensorPackType Sensors;

/************************************************** *****************************
* FUNCTION NAME: InitializeSensorPort
* PURPOSE: Opens the serial port 2 for communicating with the scensors at
* 19.2k baud, 8 bits, no parity, one stop bit, and no flow control.
* CALLED FROM: user_routines.c
* ARGUMENTS: none
* RETURNS: void
************************************************** *****************************/
void SensorInitializePort (void)
{
Open2USART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH,
128);

Delay1KTCYx( 50 ); /* Settling time */
}

/* Code to read Bills device. */
/************************************************** *****************************
* FUNCTION NAME: ReadSensorPack
* PURPOSE: Talks to the sensor pack to read the current data
* CALLED FROM: user_routines.c
* ARGUMENTS: none
* RETURNS: void
************************************************** *****************************/
void SensorPackRead (void)
{
int i, j;
RCSTA2bits.CREN = 1; // Re-enable the receiver
// Send an STX to the sensor pack to tell it to send the data
putc2USART(STX);

// Loop for the number of characters in the sensor pack data
for ( j = 0; j < 8/*sizeof(SensorPackType)*/; j++ )
{
// Wait a finite amount of time for the next character to arrive.
for ( i = 0; i < 20000; i++ )
if ( DataRdy2USART())
break;

// If a character arrived (we didn't timeout)
if ( i != 20000 )
{
// Grab the next charcter from the USART ant place it in our data structure
Sensors.chars[j] = getc2USART();
}
else
{
// If it failed then clear any possible errors
RCSTA2bits.CREN = 0; // Disable the receiver
RCSTA2bits.CREN = 1; // Re-enable the receiver
printf("Rx Fail DataRdy = %d\n",(int)DataRdy2USART());
}
}
RCSTA2bits.CREN = 0; // Disable the receiver
printf("x=%6d,y=%6d,pe=%6d,dd=%4d,ae=%4d\n",
Sensors.xPos,
Sensors.yPos,
Sensors.PosError,
(int)(unsigned char)Sensors.DDCompas,
(int)( char)Sensors.AngleError );

}