/******************************************************************************
*
* Function Name: uart0Puts()
*
* Description:
* This function writes a NULL terminated 'string' to the UART output
* queue, returning a pointer to the next character to be written.
*
* Calling Sequence:
* address of the string
*
* Returns:
* a pointer to the next character to be written
* (\0 if full string is written)
*
*****************************************************************************/
const char *uart0Puts(const char *string)
{
register char ch;
while ((ch = *string) && (uart0Putch(ch) >= 0))
string++;
return string;
}
int putch (int c){
int retval;
do{
retval = uart0Putch(c);
}while(retval == -1);
return c;
}
/******************************************************************************
*
* Function Name: uart0Write()
*
* Description:
* This function writes 'count' characters from 'buffer' to the UART
* output queue.
*
* Calling Sequence:
*
*
* Returns:
* 0 on success, -1 if insufficient room, -2 on error
* NOTE: if insufficient room, no characters are written.
*
*****************************************************************************/
int uart0Write(const char *buffer, uint16_t count)
{
#ifdef UART0_TX_INT_MODE
if (count > uart0Space())
return -1;
#endif
while (count && (uart0Putch(*buffer++) >= 0))
count--;
return (count ? -2 : 0);
}
const char *uart0Puts(const char *string)
{
char ch;
while ((ch = *string)) {
if (uart0Putch(ch)<0) break;
string++;
}
return string;
}
int getche (void){
int c;
int retval;
do {
c = uart0Getch();
}while(c == -1);
do{
retval = uart0Putch(c);
}while(retval == -1);
return c;
}
// old version - no longer in use
_ssize_t _read_r(
struct _reent *r,
int file,
void *ptr,
size_t len)
{
char c;
int i;
unsigned char *p;
p = (unsigned char*)ptr;
for (i = 0; i < len; i++) {
// c = uart0Getch();
c = uart0GetchW();
if (c == 0x0D) {
*p='\0';
break;
}
*p++ = c;
uart0Putch(c);
}
return len - i;
}
int main (void)
{
int ch = 0;
int i = 0;
// are we ready to relay scribbler output
// by default we wait until we get a scribbler request from
// the user before relaying scribbler messages via bluetooth
int relay_scrib_messages = 0;
// is the current command a scribbler command
int scribbler_cmd = 0;
// are we processing a get_info packet
int get_info = 0;
// setup the directionality of the pins
setup_pins();
// setup the PLL - 60 MHz
setup_pll();
// setup the instruction prefetch
setup_mam();
// give some time to let everything settle
msleep(100);
// The scribbler UART(0) is 38400 8N1
uart0Init(B38400, UART_8N1, UART_FIFO_8); // setup UART 0
// The CM-5 UART (0) is 57600 8N1
// uart0Init(B57600, UART_8N1, UART_FIFO_8); // setup UART 0
// The Robonova UART (0) is 9600 or 115200 8N1
// uart0Init(B115200, UART_8N1, UART_FIFO_8); // setup UART 0
// The bluetooth UART(1)
#if (VERSION_OF_BOARD == 3)
uart1Init(B57600, UART_8N1, UART_FIFO_8); // setup UART 1
#else
uart1Init(B460800, UART_8N1, UART_FIFO_8); // setup UART 1
#endif
// synchronize with autobaud
for (i = 1; i < 512; i++)
{
uart1Putch(i);
}
// Set up VIC and enable interrupts
vic_init();
//set timer0 prescalaer to around 1 usec
TIMER0_PR = 0x39;
// Start timer0 for benchmarking
TIMER0_TCR = 1;
// Set up the transmit queue
uart1_queue_init();
// setup interrupts for receiving IR messages
ir_rx_init();
// set back configurable LED off
set_led(0);
// set front LED off
led_off();
// turn IR power to 135
set_ir(135);
// set external bluetooth to max; internal amplifier is throttled via pskeys
set_bluetooth(255);
// slow camera down
write_camera(OV_CLKRC, 1);
// turn off auto white balance
//write_camera(OV_COMA, 0x14 & ~(1<<2));
// turn off auto gain and auto exposure
//write_camera(OV_COMB, 0xA3 & ~(0x3));
//flush out any old characters
for (i = 0; i < 200; i++)
{
getch();
}
/* read in scribbler orientation
*
* - scribbler forward is stored as 0xDF in serial memory to avoid
* coincidental settings
*/
read_mem(0, 0, &scribbler_orientation, 1);
if (scribbler_orientation == 0xDF)
{
scribbler_orientation = 0;
}
else
{
scribbler_orientation = 1;
}
while (1)
{
//led_on();
ch = getch();
//led_off();
// body of the firmware - process the byte code sent over bluetooth
if (ch != -1)
{
cur_rqst[rqst_idx] = ch;
// process the cmd if its intended for the fluke
if (rqst_idx == 0)
{
scribbler_cmd = 0;
if (ch == SET_WINDOW) serve_set_window();
else if (ch == SET_RLE) serve_set_rle();
else if (ch == GET_RLE) serve_rle();
else if (ch == GET_BLOB) serve_blob();
else if (ch == GET_BLOB_WINDOW) serve_blob_window();
else if (ch == GET_IMAGE) serve_image();
else if (ch == GET_WINDOW) serve_image_window();
else if (ch == GET_WINDOW_LIGHT) serve_image_window_sum();
else if (ch == GET_BATTERY) serve_battery();
else if (ch == SET_DONGLE_LED_ON) led_on();
else if (ch == SET_DONGLE_LED_OFF) led_off();
else if (ch == SET_DIMMER_LED) serve_back_led();
else if (ch == SET_DONGLE_IR) serve_ir_power();
else if (ch == SET_RESET_SCRIBBLER) serve_reset_scribbler();
else if (ch == SET_RESET_SCRIBBLER2) serve_reset_scribbler2();
else if (ch == GET_SERIAL_MEM) serve_get_serial_mem();
else if (ch == SET_SERIAL_MEM) serve_set_serial_mem();
else if (ch == SET_SERIAL_ERASE) serve_erase_serial_mem();
else if (ch == GET_DONGLE_R_IR) serve_ir(0x1);
else if (ch == GET_DONGLE_L_IR) serve_ir(0x2);
else if (ch == GET_DONGLE_C_IR) serve_ir(0x4);
else if (ch == SET_SCRIB_PROGRAM) serve_set_scrib_program();
else if (ch == SET_SCRIB_BATCH) serve_set_scrib_program_batch();
else if (ch == GET_SCRIB_PROGRAM) serve_get_scrib_program();
else if (ch == SET_START_PROGRAM) serve_start_scrib_program();
else if (ch == SET_START_PROGRAM2) serve_start_scrib2_program();
else if (ch == SET_UART0) serve_set_uart0();
else if (ch == SET_PASS_BYTE) serve_send_byte();
else if (ch == SET_PASSTHROUGH) serve_set_passthrough();
else if (ch == SET_PASS_N_BYTES) serve_set_pass_n_bytes();
else if (ch == SET_PASSTHROUGH_ON) relay_scrib_messages = 1;
else if (ch == SET_PASSTHROUGH_OFF) relay_scrib_messages = 0;
else if (ch == GET_PASS_N_BYTES) serve_get_pass_n_bytes();
else if (ch == GET_PASS_BYTES_UNTIL) serve_get_pass_bytes_until();
else if (ch == SET_FORWARDNESS) serve_set_forwardness();
else if (ch == SET_WHITE_BALANCE) serve_set_wb();
else if (ch == SET_NO_WHITE_BALANCE) serve_unset_wb();
else if (ch == GET_CAM_PARAM) serve_read_camera();
else if (ch == SET_CAM_PARAM) serve_write_camera();
else if (ch == SAVE_EEPROM) serve_save_eeprom();
else if (ch == RESTORE_EEPROM) serve_restore_eeprom();
else if (ch == UPDATE_FIRMWARE) serve_update_firmware();
else if (ch == WATCHDOG_RESET) serve_fluke_reset();
else if (ch == GET_JPEG_GRAY_HEADER) serve_jpeg_gray_header();
else if (ch == GET_JPEG_COLOR_HEADER)serve_jpeg_color_header();
else if (ch == GET_JPEG_GRAY_SCAN) serve_jpeg_gray_scan();
else if (ch == GET_JPEG_COLOR_SCAN) serve_jpeg_color_scan();
else if (ch == GET_VERSION) serve_version();
else if (ch == GET_IR_MESSAGE) serve_get_ir_message();
else if (ch == SEND_IR_MESSAGE) serve_send_ir_message();
else if (ch == SET_IR_EMITTERS) serve_set_ir_emitters();
else if (ch == GET_ROBOT_ID) serve_identify_robot();
else scribbler_cmd = 1;
}
if (scribbler_cmd)
{
// Flush if this is the first time we have talked to the scribbler
if (relay_scrib_messages == 0)
{
for (i = 0; i < 100; i++)
{
uart0Getch();
}
}
relay_scrib_messages = 1;
// we just got a GET_INFO request; pass it on to the scribbler
if ((rqst_idx == 0) && (ch == GET_INFO))
{
get_info = 1;
}
// scribbler should now have the whole GET_INFO request
else if ((rqst_idx == 8) && get_info == 1)
{
get_info = 2;
}
// flip motors forward to backwards
if ((cur_rqst[0] == SET_MOTORS) && scribbler_orientation && rqst_idx < 3)
{
// now send the packet with left/right swapped
if ((rqst_idx == 2))
{
uart0Putch(cur_rqst[0]);
//msleep(10);
uart0Putch(200-cur_rqst[2]);
//msleep(10);
uart0Putch(200-cur_rqst[1]);
}
}
// pass on character to the scribbler
else
{
uart0Putch(ch);
}
// take care of scribbler packet indexing
rqst_idx ++;
if (rqst_idx > 8)
{
rqst_idx = 0;
}
}
} /* end if it received a request */
/*
* if we are talking to the scribbler see if it has anything
* for us to relay over the bluetooth link
*/
if (relay_scrib_messages)
{
ch = uart0Getch();
if (ch != -1)
{
// Process GET_INFO request we got the last character
if (get_info > 500 && ch == 0x0A)
{
get_info = 0;
}
// Process GET_INFO we just sent our GET_INFO string
if (get_info >= 500 && get_info < 50000)
{
putch(',');
get_info = 50000;
}
putch(ch);
}
}
/*
* send our GET_INFO information
*
* the GET_INFO handling is pretty hideous to preserve backward
* compatibility with other bluetooth serial and serial links.
*/
if (get_info > 1)
{
get_info ++;
if (get_info == 400)
{
putstr(VERSION);
get_info = 500;
}
if (get_info == 100000)
{
putch(0x0A);
get_info = 0;
}
}
update_low_battery_light();
}
}
