static void ifaceSetupHook(unsigned hook __attribute__((unused)), void *requestvp) {
uint8 request = *(uint8*)requestvp;
// Ignore requests we're not interested in.
if (request != USB_CDCACM_SET_CONTROL_LINE_STATE) {
return;
}
#ifdef SERIAL_USB
// We need to see a negative edge on DTR before we start looking
// for the in-band magic reset byte sequence.
uint8 dtr = usb_cdcacm_get_dtr();
switch (reset_state) {
case DTR_UNSET:
reset_state = dtr ? DTR_HIGH : DTR_LOW;
break;
case DTR_HIGH:
reset_state = dtr ? DTR_HIGH : DTR_NEGEDGE;
break;
case DTR_NEGEDGE:
reset_state = dtr ? DTR_HIGH : DTR_LOW;
break;
case DTR_LOW:
reset_state = dtr ? DTR_HIGH : DTR_LOW;
break;
}
#endif
#if defined(BOOTLOADER_robotis)
uint8 dtr = usb_cdcacm_get_dtr();
uint8 rts = usb_cdcacm_get_rts();
if (rts && !dtr) {
reset_state = DTR_NEGEDGE;
}
#endif
if ((usb_cdcacm_get_baud() == 1200) && (reset_state == DTR_NEGEDGE)) {
iwdg_init(IWDG_PRE_4, 10);
while (1);
}
}
/**
* Ticking
*/
static void dxl_serial_tick(volatile struct dxl_device *self)
{
struct serial *serial = (struct serial*)self->data;
static int baudrate = DXL_DEFAULT_BAUDRATE;
// Timeout on sending packet, this should never happen
if (!serial->txComplete && ((millis() - serial->packetSent) > 3)) {
serial_received(serial);
}
/*
if (!serial->txComplete) {
if (serial->dmaEvent) {
// DMA completed
serial->dmaEvent = false;
serial->txComplete = true;
//serial->port->waitDataToBeSent();
receiveMode(serial);
serial->syncReadStart = syncReadTimer.getCount();
}
}
*/
if (serial->txComplete) {
if (syncReadMode) {
bool processed = false;
if (syncReadDevices <= 0 && syncReadResponse == &self->packet) {
// The process is over, no devices are currently trying to get packet and we
// are the device that will respond
syncReadResponse->process = true;
syncReadMode = false;
} else if (serial->syncReadCount) {
if (serial->syncReadCurrent == 0xff) {
// Sending the first packet
serial->syncReadCurrent = 0;
syncReadSendPacket(serial);
} else {
// Reading available data from the port
while (serial->port->available() && !serial->syncReadPacket.process) {
dxl_packet_push_byte(&serial->syncReadPacket, serial->port->read());
}
if (serial->syncReadPacket.process && serial->syncReadPacket.parameter_nb == syncReadLength) {
// The packet is OK, copying data to the response at correct offset
ui8 i;
ui8 off = serial->syncReadOffsets[serial->syncReadCurrent]*(syncReadLength+1);
syncReadResponse->parameters[off] = serial->syncReadPacket.error;
for (i=0; i<syncReadLength; i++) {
syncReadResponse->parameters[off+1+i] = serial->syncReadPacket.parameters[i];
}
processed = true;
} else if (syncReadTimer.getCount()-serial->syncReadStart > 65) {
// The timeout is reached, answer with code 0xff
ui8 off = serial->syncReadOffsets[serial->syncReadCurrent]*(syncReadLength+1);
syncReadResponse->parameters[off] = 0xff;
processed = true;
}
if (processed) {
serial->syncReadCurrent++;
if (serial->syncReadCurrent >= serial->syncReadCount) {
// The process is over for this bus
syncReadDevices--;
serial->syncReadCount = 0;
} else {
// Sending the next packet
syncReadSendPacket(serial);
}
}
}
}
} else {
if (self->redirect_packets == NULL && baudrate != usb_cdcacm_get_baud()) {
// baudrate = usb_cdcacm_get_baud();
// initSerial(serial, baudrate);
}
// Reading data that come from the serial bus
while (serial->port->available() && !self->packet.process) {
dxl_packet_push_byte(&self->packet, serial->port->read());
if (self->packet.process) {
// A packet is coming from our bus, noting it in the devices allocation
// table
devicePorts[self->packet.id] = serial->index;
}
}
}
}
}
