int main(int argc, char ** argv)
{
if(argc < 2 || ((argc == 2) && (strcmp(argv[1], "-h") == 0) ))
{
printf("LCD-related Commands:\n");
printf("\t-c (clear screen)\n");
printf("\t-t line1 line2\n");
printf("\t-bloff (backlight on)\n");
printf("\t-blon (backlight off)\n");
printf("\t-blfl (backlight flash)\n");
printf("\nSafety commands:\n");
printf("\t-safe (disable thrusters)\n");
printf("\t-unsafe (enable thrusters)\n");
printf("\t-safe [n] (safe thruster n)\n");
printf("\t-unsafe [n] (unsafe thruster n)\n");
printf("\t-diagon (runtime diagnostics on)\n");
printf("\t-diagoff (runtime diagnostics off)\n");
printf("\t-tstop (send zero speed command)\n");
printf("\nPower commands:\n");
printf("\t-hardkill (kill power)\n");
printf("\t-extpower (switch to external power source)\n");
printf("\t-intpower (switch to batteries)\n");
printf("\t-batton n (enable battery n)\n");
printf("\t-battoff n (disable battery n)\n");
printf("\t-setovr a b (configure overcurrent parameters)\n");
printf("\t-readovr (read overcurrent parameters)\n");
printf("\t-setspeed a b c d e f (set speeds)\n");
printf("\nSonar commands:\n");
printf("\t-bfstart (starts the Blackfin processor)\n");
printf("\t-bfstop (stops the Blackfin processor)\n");
printf("\t-bfreset (reboots the Blackfin processor)\n");
printf("\t-sonar (retrieve latest sonar telemetry)\n");
printf("\nOther commands:\n");
printf("\t-check (crude system check)\n");
printf("\t-status (show sensor readings)\n");
printf("\t-baron (enable bar outputs)\n");
printf("\t-baroff (disable bar outputs)\n");
printf("\t-baron [n] (enable bar output n)\n");
printf("\t-baroff [n] (disable bar output n)\n");
printf("\t-marker {1|2} (drop marker 1 or 2)\n");
printf("\t-s (begin start sequence)\n");
printf("\t-setbars n (set bar outputs)\n");
printf("\t-noblink (stop animation)\n");
printf("\t-redgreen (start red/green animation)\n");
printf("\t-redblue (start red/blue animation)\n");
printf("\nDVL commands:\n");
printf("\t-dvlon (enable dvl)\n");
printf("\t-dvloff (disable dvl)\n");
printf("\nPneumatics Commands:\n");
printf("\t-firetorp # (fire torpedo number #)\n");
printf("\t-armtorp # (arm torpedo number #)\n");
printf("\t-voidtorp # (void torpedo number #)\n");
printf("\t-extgrabber (close the grabber)\n");
printf("\t-retgrabber (open the grabber)\n");
printf("\t-voidgrabber (void the grabber)\n");
printf("\t-voidall (void all pneumatics)\n");
printf("\t-pneuoff (turn off pneumatics)\n");
printf("\nDerpy Commands:\n");
printf("\t-derpypwr {on|off} (turn on or off derpy power)\n");
printf("\t-setderpy # (set derpy speed)\n");
printf("\t-stopderpy (set derpy speed to not move)\n");
return -1;
}
int fd = openSensorBoard("/dev/ttyUSB0");
if(fd == -1)
{
printf("\nCould not find device!\n");
printf("Is the right device set?\n");
printf("Has the serial number of this FTDI chip been added to udev?\n");
printf("Because that needs to be done for every board we make.\n");
close(fd);
return -1;
}
if(syncBoard(fd) != 0)
{
printf("\nCould not sync with board!\n");
close(fd);
}
if(strcmp(argv[1], "-readovr") == 0)
{
int a, b;
if(readOvrParams(fd, &a, &b) != SB_OK)
printf("Error reading parameters\n");
else
printf("a=%d, b=%d\n", a, b);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-setovr") == 0)
{
if(argc != 4)
{
printf("Bad number of arguments\n");
close(fd);
exit(1);
}
printf("reply was 0x%02x\n", setOvrParams(fd, atoi(argv[2]), atoi(argv[3])));
}
else if(strcmp(argv[1], "-bfreset") == 0)
{
printf("reply was 0x%02x\n", resetBlackfin(fd));
}
else if(strcmp(argv[1], "-bfstart") == 0)
{
printf("reply was 0x%02x\n", startBlackfin(fd));
}
else if(strcmp(argv[1], "-bfstop") == 0)
{
printf("reply was 0x%02x\n", stopBlackfin(fd));
}
else if(strcmp(argv[1], "-sonar") == 0)
{
struct sonarData sd;
getSonarData(fd, &sd);
printf("Vector: \t<%5.4f %5.4f %5.4f>\n", sd.vectorX, sd.vectorY, sd.vectorZ);
printf("Status: \t0x%02x\n", sd.status);
printf("Range: \t%u\n", sd.range);
printf("Timestamp:\t%u\n", sd.timeStampSec);
printf("Sample No:\t%u\n", sd.timeStampUSec);
// printf("reply was 0x%02x\n", resetBlackfin(fd));
}
else if(strcmp(argv[1], "-magpwron") == 0)
{
int ret;
if((ret = setMagPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwroff") == 0)
{
int ret;
if((ret = setMagPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-setspeed") == 0)
{
if(argc != 8)
{
printf("Bad number of arguments\n");
close(fd);
exit(1);
}
printf("Ctrl-C to quit.\n");
while(1)
{
setSpeeds(fd, atoi(argv[2]), atoi(argv[3]), atoi(argv[4]), atoi(argv[5]), atoi(argv[6]), atoi(argv[7]));
usleep(50000);
}
}
else if(strcmp(argv[1], "-status") == 0)
{
int ret;
int bStat = -1;
int bEnable = -1;
unsigned char temp[NUM_TEMP_SENSORS];
ret = readDepth(fd);
if(ret == SB_ERROR)
printf("Error reading depth!\n");
else
printf("Depth : %d (%s)\n", ret, (ret > 50) ? "Seems OK" : "Check Sensor");
ret = readTemp(fd, temp);
if(ret == SB_ERROR)
printf("Error reading temperature!\n");
else
{
int i;
printf("Temperature (C): ");
for(i=0; i<NUM_TEMP_SENSORS; i++)
if(temp[i] == 255)
printf("%c%c ", '?','?');
else
printf("%d ", temp[i]);
printf("\n");
}
ret = readThrusterState(fd);
if(ret == SB_ERROR)
printf("Error reading thruster state!\n");
else
{
printf("\nThruster state: 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & THRUSTER1_ENABLED) ? '1' : '-',
(ret & THRUSTER2_ENABLED) ? '2' : '-',
(ret & THRUSTER3_ENABLED) ? '3' : '-',
(ret & THRUSTER4_ENABLED) ? '4' : '-',
(ret & THRUSTER5_ENABLED) ? '5' : '-',
(ret & THRUSTER6_ENABLED) ? '6' : '-');
if(ret == 0x00)
printf(" (All safe)");
if(ret == 0x3F)
printf(" (All unsafe)");
}
ret = readOvrState(fd);
if(ret == SB_ERROR)
printf("\nError reading overcurrent register!\n");
else
{
printf("\nOver-current: \t0x%02X", ret);
printf("\t[%c%c%c%c%c%c]",
(ret & THRUSTER1_OVR) ? '1' : '-',
(ret & THRUSTER2_OVR) ? '2' : '-',
(ret & THRUSTER3_OVR) ? '3' : '-',
(ret & THRUSTER4_OVR) ? '4' : '-',
(ret & THRUSTER5_OVR) ? '5' : '-',
(ret & THRUSTER6_OVR) ? '6' : '-');
if(ret == 0x00)
printf(" (All ok)");
if(ret == 0xFF)
printf(" (All busted)");
}
ret = readBarState(fd);
if(ret == SB_ERROR)
printf("Error reading bar state!\n");
else
{
printf("\nBar state :\t0x%02X", ret);
printf("\t[%c%c%c%c%c%c%c%c]",
(ret & BAR1_ENABLED) ? '1' : '-',
(ret & BAR2_ENABLED) ? '2' : '-',
(ret & BAR3_ENABLED) ? '3' : '-',
(ret & BAR4_ENABLED) ? '4' : '-',
(ret & BAR5_ENABLED) ? '5' : '-',
(ret & BAR6_ENABLED) ? '6' : '-',
(ret & BAR7_ENABLED) ? '7' : '-',
(ret & BAR8_ENABLED) ? '8' : '-');
if(ret == 0x00)
printf(" (All off)");
if(ret == 0xFF)
printf(" (All on)");
}
ret = readBatteryEnables(fd);
if(ret == SB_ERROR)
printf("Error reading battery enables state!\n");
else
{
printf("\nBatt enables: 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & BATT1_ENABLED) ? '1' : '-',
(ret & BATT2_ENABLED) ? '2' : '-',
(ret & BATT3_ENABLED) ? '3' : '-',
(ret & BATT4_ENABLED) ? '4' : '-',
(ret & BATT5_ENABLED) ? '5' : '-',
(ret & BATT6_ENABLED) ? '6' : '-');
if(ret == 0x00)
printf(" (All off ? ? ? ? ?)");
if(ret == 0x1F)
printf(" (All on)");
bEnable = ret;
}
ret = readStatus(fd);
if(ret == SB_ERROR)
printf("Error reading board status!\n");
else
{
printf("\nBatt in use : 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & BATT1_INUSE) ? '1' : '-',
(ret & BATT2_INUSE) ? '2' : '-',
(ret & BATT3_INUSE) ? '3' : '-',
(ret & BATT4_INUSE) ? '4' : '-',
(ret & BATT5_INUSE) ? '5' : '-',
(ret & BATT6_INUSE) ? '6' : '-');
bStat = ret;
printf("\n\nStatus: 0x%02X\n", ret);
printf("\t%s\n\t%s\n\t%s\n",
(ret & STATUS_WATER) ? "Water present" : "No water detected.",
(ret & STATUS_STARTSW) ? "Start switch on" : "Start switch off",
(ret & STATUS_KILLSW) ? "Kill magnet present" : "No kill magnet");
}
struct powerInfo info;
ret = readMotorCurrents(fd, &info);
if(ret == SB_OK)
{
int i;
printf("\nOutput currents:\n\t[1-4]: ");
for(i=0; i<4; i++)
printf("\t%2.3fA", info.motorCurrents[i]);
printf("\n\t[5-8]: ");
for(i=0; i<4; i++)
printf("\t%2.3fA", info.motorCurrents[i+4]);
} else
printf("\nError reading motor currents\n");
printf("\n");
if(readBoardVoltages(fd, &info) == SB_OK &&
readBatteryVoltages(fd, &info) == SB_OK &&
readBatteryCurrents(fd, &info) == SB_OK)
{
printf("\nPower information:\n");
printf("\t5V Bus :\t% 2.3fV\t % 2.3fA\n", info.v5VBus, info.i5VBus);
printf("\t12V Bus:\t%-2.3fV\t % 2.3fA\n", info.v12VBus, info.i12VBus);
printf("\t26V Bus:\t% 2.3fV (Not implemented)\n", info.v26VBus);
printf("\tAux Current:\t %2.3fA\n", info.iAux);
if(bStat == -1 || bEnable == -1)
printf("Could not get enough information about batteries\n");
else
{
printf("\nBattery information:\n");
unsigned char enableFlags[]=
{
BATT1_ENABLED, BATT2_ENABLED, BATT3_ENABLED, BATT4_ENABLED, BATT5_ENABLED, BATT6_ENABLED
};
unsigned char useFlags[]=
{
BATT1_INUSE, BATT2_INUSE, BATT3_INUSE, BATT4_INUSE, BATT5_INUSE, BATT6_INUSE
};
int i;
printf("\tBAT\t Voltage\t Current EN?\tUsed?\n");
for(i=0; i<6; i++)
{
printf("\t");
if(i != 4)
printf("B%d ", i+1);
else
printf("EXT ");
printf("\t% 2.3fV\t% 2.3fA\t ", info.battVoltages[i], info.battCurrents[i]);
printf(" %c\t %c", bEnable & enableFlags[i] ? 'Y' : 'N',
bStat & useFlags[i] ? 'Y' : 'N');
printf("\n");
}
}
} else
printf("\nError reading power information\n");
}
else if(strcmp(argv[1], "-check") == 0)
{
int ret = pingBoard(fd);
if(ret == SB_OK)
printf("Ping: OK\n");
else
printf("Ping: Error (Code %d)\n", ret);
ret = checkBoard(fd);
if(ret == SB_OK)
printf("Self-test: OK\n");
else
printf("Self-test: Error (Code %d)\n", ret);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-marker") == 0)
{
if(argc == 3)
{
int t = atoi(argv[2]);
if(t != 1 && t != 2)
{
printf("Bad marker number: %d\n", t);
close(fd);
return -1;
}
dropMarker(fd, t-1);
} else
{
printf("Which marker? Specify 1 or 2.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-safe") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_THRUSTER1_OFF, CMD_THRUSTER2_OFF, CMD_THRUSTER3_OFF,
CMD_THRUSTER4_OFF, CMD_THRUSTER5_OFF, CMD_THRUSTER6_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 6)
{
printf("Bad thruster number: %d\n", t);
close(fd);
return -1;
}
thrusterCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<6; i++)
thrusterCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-battoff") == 0)
{
unsigned int cmdList[]=
{
CMD_BATT1_OFF, CMD_BATT2_OFF, CMD_BATT3_OFF, CMD_BATT4_OFF, CMD_BATT5_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 5)
{
printf("Bad battery number: %d\n", t);
close(fd);
return -1;
}
setBatteryState(fd, cmdList[t-1]);
} else
{
printf("Battery number not specified.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-batton") == 0)
{
unsigned int cmdList[]=
{
CMD_BATT1_ON, CMD_BATT2_ON, CMD_BATT3_ON, CMD_BATT4_ON, CMD_BATT5_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 5)
{
printf("Bad battery number: %d\n", t);
close(fd);
return -1;
}
setBatteryState(fd, cmdList[t-1]);
} else
{
printf("Battery number not specified.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-unsafe") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_THRUSTER1_ON, CMD_THRUSTER2_ON, CMD_THRUSTER3_ON,
CMD_THRUSTER4_ON, CMD_THRUSTER5_ON, CMD_THRUSTER6_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 6)
{
printf("Bad thruster number: %d\n", t);
close(fd);
return -1;
}
thrusterCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<6; i++)
thrusterCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-baroff") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_BAR1_OFF, CMD_BAR2_OFF, CMD_BAR3_OFF, CMD_BAR4_OFF,
CMD_BAR5_OFF, CMD_BAR6_OFF, CMD_BAR7_OFF, CMD_BAR8_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 8)
{
printf("Bad bar number: %d\n", t);
close(fd);
return -1;
}
barCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<8; i++)
barCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-baron") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_BAR1_ON, CMD_BAR2_ON, CMD_BAR3_ON, CMD_BAR4_ON,
CMD_BAR5_ON, CMD_BAR6_ON, CMD_BAR7_ON, CMD_BAR8_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 8)
{
printf("Bad bar number: %d\n", t);
close(fd);
return -1;
}
barCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<8; i++)
barCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-setbars") == 0)
{
if(argc == 1)
{
printf("Segmentation fault\n");
close(fd);
return -1;
}
int t = atoi(argv[2]);
setBarOutputs(fd, t);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-noblink") == 0)
{
setAnimation(fd, ANIMATION_NONE);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-redblue") == 0)
{
setAnimation(fd, ANIMATION_REDBLUE);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-redgreen") == 0)
{
setAnimation(fd, ANIMATION_REDGREEN);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-tstop") == 0)
{
setSpeeds(fd, 0, 0, 0, 0, 0, 0);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-hardkill") == 0)
{
hardKill(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-diagon") == 0)
{
setDiagnostics(fd, 1);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-diagoff") == 0)
{
setDiagnostics(fd, 0);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-bloff") == 0)
{
lcdBacklight(fd, LCD_BL_OFF);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-blon") == 0)
{
lcdBacklight(fd, LCD_BL_ON);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-blfl") == 0)
{
lcdBacklight(fd, LCD_BL_FLASH);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-intpower") == 0)
{
switchToInternalPower(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-extpower") == 0)
{
switchToExternalPower(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-c") == 0)
{
displayText(fd, 0, "");
displayText(fd, 1, "");
close(fd);
return 0;
}
else if(strcmp(argv[1], "-s") == 0)
{
displayText(fd, 0, "Please attach ");
displayText(fd, 1, "Start magnet ");
while((readStatus(fd) & STATUS_STARTSW) == 0)
{
usleep(100*1000);
}
displayText(fd, 0, "Ready to start ");
displayText(fd, 1, "");
while((readStatus(fd) & STATUS_STARTSW))
{
usleep(100*1000);
}
displayText(fd, 0, "Running...");
close(fd);
return 0;
}
else if(strcmp(argv[1], "-t") == 0)
{
displayText(fd, 0, argv[2]);
if(argc == 4)
displayText(fd, 1, argv[3]);
}
else if(strcmp(argv[1], "-dvlon") == 0)
{
int ret;
if((ret = DVLOn(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-dvloff") == 0)
{
int ret;
if((ret = DVLOn(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwron") == 0)
{
int ret;
if((ret = setMagPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwroff") == 0)
{
int ret;
if((ret = setMagPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-firetorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
} else if((ret = fireTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-armtorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
}
else if((ret = armTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidtorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
}
else if((ret = voidTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-extgrabber") == 0)
{
int ret;
if((ret = extendGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-retgrabber") == 0)
{
int ret;
if((ret = retractGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidgrabber") == 0)
{
int ret;
if((ret = voidGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidall") == 0)
{
int ret;
if((ret = voidSystem(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-pneuoff") == 0)
{
int ret;
if((ret = pneumaticsOff(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-derpypwr") == 0)
{
int ret;
if(argc != 3) {
printf("No parameter for -derpypwr!\n");
} else if(strcmp(argv[2], "on") == 0) {
if((ret = setDerpyPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
} else if(strcmp(argv[2], "off") == 0) {
if((ret = setDerpyPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
} else {
printf("Invalid parameter for -derpypwr!\n");
}
}
else if(strcmp(argv[1], "-setderpy") == 0)
{
int ret;
if(argc != 3) {
printf("No parameter for -setderpy!\n");
} else {
if((ret = setDerpySpeed(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
}
else if(strcmp(argv[1], "-stopderpy") == 0)
{
int ret;
if((ret = stopDerpy(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else {
printf("error: too much bullshit: %s\n", argv[1]);
return -1;
}
close(fd);
return 0;
}
void
main(
)
{
char cmd, blockSize, exit = 0;
long addr;
init();
#asm("sei")
if (PRGE) {
#ifdef __DEBUG__
printf("Program enable\r\n");
#endif /*__DEBUG__*/
do {
cmd = receiveByte();
switch(cmd) {
case LC_ERASE:
spiWriteEnable();
spiChipErase();
putchar(0x55); //ack
break;
case LC_LOAD:
blockSize = receiveByte();
addr = receiveByte(); //low address byte
addr |= ((long)receiveByte()) << 8; //high address byte
flushRxBuffer();
putchar(0x55); //ack
while (g_uRxCount < blockSize) ;
spiWriteEnable();
spiWriteBlock(addr, g_pbRxBuffer, blockSize);
flushRxBuffer();
putchar(0x55); //ack
break;
case LC_RESET_CHIP:
putchar(0x55); //ack
exit = 1;
break;
case LC_BLANK_CHECKING:
putchar(spiBlankChecking()? 0x55: 0xff);
break;
case LC_READ:
addr = receiveByte(); //low address byte
addr |= ((long)receiveByte()) << 8; //high address byte
putchar(0x55); //ack
putchar(spiRead8(addr));
break;
default:
flushRxBuffer();
putchar(0xfe); //error
putchar(cmd);
break;
}
} while (!exit);
}
else {
#ifdef __DEBUG__
printf("Program disable\r\n");
#endif /*__DEBUG__*/
}
#asm("cli");
//idle mode
resetBlackfin();
//TODO: sleep mode after running blackfin
while (1) {
}
}