/*!
* Displays the Tracking data over serial
*/
void dispRawRange()
{
unsigned int j;
const char us_rng_string[] = "US Range: ";
const char ir_string[] = "IR Range: ";
const char separator[] = "\t";
char unitsR[] = "mm";
char num[5];
unsigned int irRange = rawRangeIR();
unsigned int usRange = rawRangeUS();
// If in tracking mode, Display the Azimuth, Elevation and Range
if (m_currentMenu.menuID == RANGE_RAW && transmitComplete())
{
sendROM(CLEAR_LINE_STRING);
transChar('\r');
transmit(us_rng_string);
sprintf(num, "%u", usRange);
transmit(num);
transmit(unitsR);
transmit(separator);
transmit(ir_string);
sprintf(num, "%u", irRange);
transmit(num);
transmit(unitsR);
}
}
void dispSearching()
{
// Clear display and search!
if (m_currentMenu.menuID == TRACKING && transmitComplete())
{
// Transmit the buffer to clear the extra chars
transChar('\r');
transmit(CLEAR_LINE_STRING);
transChar('\r');
sendROM(autoSearching);
}
}
/*!
* Displays the Tracking data over serial
*/
void dispTrack(TrackingData target)
{
unsigned int j;
const char rng_string[] = "Range: ";
const char inc_string[] = "Elevation: ";
const char az_string[] = "Azimuth: ";
const char separator[] = "\t";
char unitsR[] = "mm";
char unitsD[] = "deg";
char num[5];
if (target.azimuth > 100 || target.azimuth < -100) return;
// If in tracking mode, Display the Azimuth, Elevation and Range
if (m_currentMenu.menuID == TRACKING && transmitComplete())
{
sendROM(CLEAR_LINE_STRING);
transChar('\r');
transmit(rng_string);
sprintf(num, "%d", target.range);
transmit(num);
transmit(unitsR);
transmit(separator);
transmit(az_string);
sprintf(num, "%d", target.azimuth);
transmit(num);
transmit(unitsD);
transmit(separator);
transmit(inc_string);
sprintf(num, "%d", target.elevation);
transmit(num);
transmit(unitsD);
transmit(separator);
}
}
/* called by the main application to poll for events */
void usbll_poll( void )
{
int epNum ;
unsigned gstate ;
unsigned isr = UDP->UDP_ISR ;
if( isr != prevISR ){
prevISR = isr ;
}
if( isr & AT91C_UDP_EPINT0 ){
UDP->UDP_ICR = AT91C_UDP_EPINT0 ;
}
if( isr & AT91C_UDP_WAKEUP ){
DEBUGMSG( "UDP_WAKEUP\r\n" );
UDP->UDP_ICR = AT91C_UDP_WAKEUP ;
}
if( isr & AT91C_UDP_RXRSM ){
DEBUGMSG( "UDP_RXRSM\r\n" );
UDP->UDP_ICR = AT91C_UDP_RXRSM ;
}
if( isr & AT91C_UDP_EXTRSM ){
DEBUGMSG( "UDP_EXTRSM\r\n" );
UDP->UDP_ICR = AT91C_UDP_EXTRSM ;
}
if( isr & AT91C_UDP_SOFINT ){
// DEBUGMSG( "UDP_SOFINT\r\n" );
UDP->UDP_ICR = AT91C_UDP_SOFINT ;
}
if( isr & AT91C_UDP_ENDBUSRES ){
// write( DEFUART, "GLBSTATE == " ); writeHex( DEFUART, UDP->UDP_GLBSTATE ); write( DEFUART, "\r\n" );
UDP->UDP_FADDR = AT91C_UDP_FEN ;
UDP_CLEAREPFLAGS(&UDP->UDP_GLBSTATE,AT91C_UDP_CONFG|AT91C_UDP_FADDEN);
UDP->UDP_RSTEP = 0xffffffff ;
UDP->UDP_RSTEP = 0 ;
UDP_SETEPFLAGS(UDP->UDP_CSR + 0, AT91C_UDP_EPEDS);
UDP_CLEAREPFLAGS(UDP->UDP_CSR + 0, AT91C_UDP_DIR);
UDP->UDP_ICR = AT91C_UDP_ENDBUSRES ;
abortTransmitters();
// write( DEFUART, "UDP_ENDBUSRES 0x" );writeHex( DEFUART, UDP->UDP_GLBSTATE ); write( DEFUART, "\r\n" );
}
gstate = UDP->UDP_GLBSTATE;
for( epNum = 0 ; epNum < UDP_MAXENDPOINTS ; epNum++ ){
unsigned int dStatus = UDP->UDP_CSR[epNum];
if( dStatus & AT91C_UDP_TXCOMP ){
transmitComplete(epNum);
} // transmit completed
if( dStatus & AT91C_UDP_RXSETUP ){
unsigned char setupBuf[16];
unsigned short rxLength = ( dStatus >> 16 ) & 0x7FF ;
if( sizeof(struct S_usb_request) <= rxLength ){
struct S_usb_request const *rxSetup = (struct S_usb_request const *)setupBuf ;
rxLength = sizeof(*rxSetup);
unsigned i ;
unsigned char volatile *const fifo = (unsigned char *)&UDP->UDP_FDR[epNum];
for( i = 0 ; i < rxLength ; i++ ){
setupBuf[i] = *fifo ;
}
if( rxSetup->bmRequestType & 0x80) {
UDP_SETEPFLAGS(UDP->UDP_CSR + epNum, AT91C_UDP_DIR);
}
UDP_CLEAREPFLAGS(UDP->UDP_CSR + epNum, AT91C_UDP_RXSETUP);
if( 0 != (UDP->UDP_CSR[epNum] & (AT91C_UDP_TXPKTRDY|AT91C_UDP_TXCOMP|AT91C_UDP_STALLSENT)) ){
write( DEFUART, "rxSetup: txPending\r\n" );
}
if( setupCallback ){
completeTransmit(epNum);
setupCallback( setupOpaque, setupBuf, rxLength );
}
}
else {
write( DEFUART, "rxSetup too small 0x" ); writeHexChar( DEFUART, rxLength ); write( DEFUART, "\r\n" );
UDP_CLEAREPFLAGS(UDP->UDP_CSR + epNum, AT91C_UDP_RXSETUP);
}
}
if( dStatus & AT91C_UDP_STALLSENT ){
UDP_CLEAREPFLAGS(UDP->UDP_CSR + epNum, AT91C_UDP_STALLSENT);
}
unsigned int rxMask = dStatus & (AT91C_UDP_RX_DATA_BK0|AT91C_UDP_RX_DATA_BK1);
if( rxMask ){
rxData(epNum,rxMask);
} // received something
}
