Serial Communication Via Bluetooth in C Language

[sunny120786]

I want the program to send a signal from Robot1 via Bluetooth to Robot2
Expand Post »
hello,

I want to write 2 programs with C , one work on Robot1, the other work on Robot2.

So I want the program to send a signal from Robot1 via Bluetooth to Robot2 and Robot2 handles and accepts this signal (message)and reply to Robot1. how to code this?

please I need any kind of help.
-------------------------------------------------------------------------------------API of my robot:

/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length)
{
unsigned char i = 0;
UCSRB = 0x08; // enable transmitter
while (length > 0) {
    if (UCSRA & 0x20) { // wait for empty transmit buffer
        UDR = data[i++];
        length --;
    }
}
while (!(UCSRA & 0x40)); 
for (i = 0; i < 0xFE; i++)
    for(length = 0; length < 0xFE; length++); 
}

void SerRead(unsigned char *data, unsigned char length,unsigned int timeout)
{
unsigned char i = 0;
unsigned int  time = 0;
UCSRB = 0x10; // enable receiver
/* non blocking */
if (timeout != 0) {
    while (i < length && time++ < timeout) {
        if (UCSRA & 0x80) {
            data[i++] = UDR;
            time = 0;
        }
    }
    if (time > timeout) data[0] = 'T';
}
/* blocking */
else {
    while (i < length) {
        if (UCSRA & 0x80) 
            data[i++] = UDR;
    }
}   
}
--------------------------------------------------------------------------------------
Bluetooth model code


#include "asuro.h"

void Sekunden(unsigned int s)       //Unterprogramm für Sekundenschleife (maximal 65s)
    {
    unsigned int t;                 // Definierung t als Vorzeichenloses int
    for(t=0;t<s*1000;t++)           // 1000*s durchlaufen
        {
        Sleep(72);                  // = 1ms
        }
    }

int main (void)
{
unsigned char daten[2], merker=0;   //Speicher bereitstellen, merker für start/stop
Init();
UBRRL = 0x67;   //4800bps @ 8MHz
Marke:                              // Endlosschleife
SerRead(daten,1,0);                 // Daten einlesen
switch (daten[0])                   //und verarbeiten
{
    case 0x38:  MotorDir(FWD,FWD);  // Vorwärts
                MotorSpeed(merker*120,merker*120);
                SerWrite("Vor                 \r",22);
                break;
    case 0x36:  MotorDir(FWD,FWD);  // Links
                MotorSpeed(merker*120,merker*170);
                SerWrite("Links               \r",22);
                break;
    case 0x37:  MotorDir(RWD,RWD);  // Rückwärts
                MotorSpeed(merker*120,merker*120);
                SerWrite("Zurueck             \r",22);
                break;
    case 0x34:  MotorDir(FWD,FWD);  // Rechts
                MotorSpeed(merker*170,merker*120);
                SerWrite("Rechts              \r",22);
                break;
    case 0x35:  if(merker==1)
                {
                MotorDir(FREE,FREE);// Stop
                MotorSpeed(0,0);
                SerWrite("Stop                \r",22);
                merker=0;
                break;
                }
                else
                {
                MotorDir(FWD,FWD);// Start
                MotorSpeed(120,120);
                SerWrite("Start                \r",22);
                merker=1;
                break;
                }

}