boolean GetChanelValueFromPacket(BowlerPacket * Packet) {
uint8_t pin = Packet->use.data[0];
uint8_t mode = GetChannelMode(pin);
uint8_t numValues = 1;
int32_t data;
if (getChanelValueHWPtr != NULL) {
getChanelValueHWPtr(pin,
&numValues,
&data);
} else {
return false;
}
if(isOutputMode(GetChannelMode(pin))==false ){
setDataTableCurrentValue(pin,data);
}else{
if(mode== IS_UART_RX){
setDataTableCurrentValue(pin,data);
}else{
data = getBcsIoDataTable(pin)->PIN.currentValue;
}
}
set32bit(Packet, data, 1);
numValues = 4;
Packet->use.head.DataLegnth = 4 + 1 + numValues;
FixPacket(Packet);
return true;
}
boolean GetAllChanelValueFromPacket(BowlerPacket * Packet) {
int32_t * data = (int32_t *) (&Packet->use.data[1]);
if (getAllChanelValueHWPtr != NULL) {
int i;
int32_t tmp;
getAllChanelValueHWPtr(data);
for (i = 0; i < GetNumberOfIOChannels(); i++) {
tmp = data[i];
if(isOutputMode(GetChannelMode(i))==false){
setDataTableCurrentValue(i,tmp);
}else{
if(GetChannelMode(i) == IS_SERVO){
tmp = GetServoPos(i);
}else if(GetChannelMode(i)== IS_UART_RX){
setDataTableCurrentValue(i,tmp);
}else{
tmp = getBcsIoDataTable(i)->PIN.currentValue;
}
}
set32bit(Packet, tmp, (i*4)+1);
}
Packet->use.data[0]=(GetNumberOfIOChannels());
Packet->use.head.RPC=GetRPCValue("gacv");
Packet->use.head.DataLegnth = 4+1+(GetNumberOfIOChannels()*4);
} else
return false;
FixPacket(Packet);
return true;
}
boolean SetAllChannelValueFromPacket(BowlerPacket * Packet) {
int32_t * data = (int32_t *) (&Packet->use.data[5] );
int32_t tmp;
if (setAllChanelValueHWPtr != NULL) {
uint32_t time;
uint8_t i;
time=get32bit(Packet, 0);
for (i = 0; i < GetNumberOfIOChannels(); i++) {
if(isOutputMode(GetChannelMode(i))==true){
tmp = get32bit(Packet, (i*4) +5);
// if(GetChannelMode(i) == IS_SERVO)
// data[i] = (tmp & 0x000000ff) | (time<<16);
// else
data[i] = tmp;
}else{
data[i] = getBcsIoDataTable(i)->PIN.currentValue;
}
}
setAllChanelValueHWPtr(data, time);
for (i = 0; i < GetNumberOfIOChannels(); i++) {
if(isOutputMode(GetChannelMode(i))==true){
//println_E(__FILE__);println_E("SetAllChannelValueFromPacket");
if(GetChannelMode(i)!=IS_SERVO)
setDataTableCurrentValue(i,data[i]);
}
}
//READY(Packet, 3, 3);
GetAllChanelValueFromPacket(Packet);
} else {
return false;
}
return true;
}
uint8_t SetAllCoProcValues() {
int i = 0;
boolean send = true;
int32_t tmp;
if (send) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue("sacv");
set32bit(&downstreamPacketTemp, 0, 0); // setting the translation time
downstreamPacketTemp.use.data[4] = GetNumberOfIOChannels();
for (i = 0; i < GetNumberOfIOChannels(); i++) {
tmp = getBcsIoDataTable(i)->PIN.currentValue;
down[i].changeValue = false;
set32bit(&downstreamPacketTemp, tmp, (i * 4) + 5);
}
downstreamPacketTemp.use.head.DataLegnth = 4 + 4 + 1
+ (4 * GetNumberOfIOChannels());
SendPacketToCoProc(&downstreamPacketTemp);
}
for (i = 0; i < GetNumberOfIOChannels(); i++) {
int index = (i * 4) + 1;
if (isOutputMode(GetChannelMode(i)) == false) {
tmp= get32bit(&downstreamPacketTemp, index);
boolean back = (tmp != getBcsIoDataTable(i)->PIN.currentValue);
setDataTableCurrentValue(i,tmp);
if (back) {
getBcsIoDataTable(i)->PIN.asyncDataenabled = true;
}
}
if (GetChannelMode(i) == IS_SERVO) {
SetServoPos(i, get32bit(&downstreamPacketTemp, index) & 0x000000ff);
}
if (GetChannelMode(i) == IS_UART_RX) {
}
}
return true;
}
