From b2d836a2eb5b804ceb8fb12753363bb19af8d90d Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Fri, 28 Oct 2016 20:59:32 +0200
Subject: [PATCH] [switch_uart] retrieve status

---
 conf/modules/switch_uart.xml                |  3 +++
 sw/airborne/modules/switching/switch_uart.c | 25 ++++++++++++++++-----
 sw/airborne/modules/switching/switch_uart.h |  3 +++
 3 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/conf/modules/switch_uart.xml b/conf/modules/switch_uart.xml
index af22ecbe0d..708dfab123 100644
--- a/conf/modules/switch_uart.xml
+++ b/conf/modules/switch_uart.xml
@@ -15,12 +15,15 @@
           <strip_button name="3" value="3" group="switching"/>
           <strip_button name="4" value="4" group="switching"/>
         </dl_setting>
+        <dl_setting var="switch_uart_status" min="0" step="1" max="255" module="switching/switch_uart">
+        </dl_setting>
       </dl_settings>
     </dl_settings>
   </settings>
   <header>
     <file name="switch_uart.h"/>
   </header>
+  <periodic fun="periodic_switch_uart()" period="0.05" autorun="TRUE"/>
   <makefile>
     <file name="switch_uart.c"/>
     <configure name="SWITCH_UART_PORT" default="uart1" case="upper|lower"/>
diff --git a/sw/airborne/modules/switching/switch_uart.c b/sw/airborne/modules/switching/switch_uart.c
index 24708d6002..a2c91619e3 100644
--- a/sw/airborne/modules/switching/switch_uart.c
+++ b/sw/airborne/modules/switching/switch_uart.c
@@ -27,26 +27,39 @@
 #include "mcu_periph/uart.h"
 
 uint8_t switch_uart_channel = 0;
+uint8_t switch_uart_status = 0;
 
 static uint8_t drop_string[] = "<Drop_Paintball_Now";
 #define DROP_STRINGLEN 19
 
-void drop_ball(uint8_t number) {
-  for(uint8_t i = 0; i < DROP_STRINGLEN; i++)
+
+void periodic_switch_uart(void)
+{
+  while (uart_char_available(&SWITCH_UART_PORT)) {
+    uint8_t r = uart_getch(&SWITCH_UART_PORT);
+    switch_uart_status = r;
+  }
+}
+
+void drop_ball(uint8_t number)
+{
+  for (uint8_t i = 0; i < DROP_STRINGLEN; i++) {
     uart_put_byte(&SWITCH_UART_PORT, 0, drop_string[i]);
+  }
 
   // Drop next ball
   uint8_t last = '>';
 
   // Or Drop a specific ball
-  if(number == 1) {
+  if (number == 1) {
     last = '1';
-  } else if(number == 2) {
+  } else if (number == 2) {
     last = '2';
-  } else if(number == 3) {
+  } else if (number == 3) {
     last = '3';
-  } else if(number == 4) {
+  } else if (number == 4) {
     last = '4';
   }
   uart_put_byte(&SWITCH_UART_PORT, 0, last);
+
 }
diff --git a/sw/airborne/modules/switching/switch_uart.h b/sw/airborne/modules/switching/switch_uart.h
index eae2267530..3c009fa616 100644
--- a/sw/airborne/modules/switching/switch_uart.h
+++ b/sw/airborne/modules/switching/switch_uart.h
@@ -31,8 +31,11 @@
 #define switch_uart_SwitchUartChannel(X) ({switch_uart_channel=X;drop_ball(switch_uart_channel); false;})
 
 extern uint8_t switch_uart_channel;
+extern uint8_t switch_uart_status;
 
 extern void drop_ball(uint8_t number);
 
+extern void periodic_switch_uart(void);
+
 #endif