// return true is a command was read, false if a reset was requested
uint8_t receive_cmd(char *cmd)
{
uint8_t num = 0, ch;
dprintf(">");
*cmd = 0;
for(; !check_reset();)
{
for(;!check_reset() && !serial_rx_nb(&ch);)
idle();
if (check_reset())
return 0;
serial_tx(ch);
if (ch == '\r')
{
serial_tx('\n');
cmd[num] = 0;
return 1;
}
cmd[num] = ch;
num++;
}
return 0;
}
void comm_test(void)
{
uint8_t ch;
// disable all interrupts and just echo every character received.
cli();
set_led_rgb(0, 255, 255);
for(; !check_reset();)
if (serial_rx_nb(&ch))
for(; !serial_tx_nb(ch) && !check_reset();)
;
sei();
}
void id_conflict(void)
{
// we failed to get an address. stop and wait for a reset
set_led_rgb(255, 0, 0);
for(; !check_reset();)
;
}
uint8_t address_exchange(void)
{
uint8_t ch;
uint8_t id;
set_led_rgb(0, 0, 255);
id = eeprom_read_byte((uint8_t *)ee_pump_id_offset);
if (id == 0 || id == 255)
{
// we failed to get a unique number for the pump. just stop.
set_led_rgb(255, 0, 0);
for(;;);
}
for(;;)
{
for(;;)
{
if (serial_rx_nb(&ch))
break;
if (check_reset())
return 0xFF;
}
if (ch == 0xFF)
break;
if (ch == '?')
serial_tx(id);
}
set_led_rgb(0, 255, 0);
return id;
}
/* Process any pending interrupt(s) after a group of parallel insns. */
void
frv_process_interrupts (SIM_CPU *current_cpu)
{
SI NE_flags[2];
/* Need to save the pc here because writeback may change it (due to a
branch). */
IADDR pc = CPU_PC_GET (current_cpu);
/* Check for a reset before anything else. */
if (check_reset (current_cpu, pc))
return;
/* First queue the writes for any accumulated NE flags. */
if (frv_interrupt_state.f_ne_flags[0] != 0
|| frv_interrupt_state.f_ne_flags[1] != 0)
{
GET_NE_FLAGS (NE_flags, H_SPR_FNER0);
NE_flags[0] |= frv_interrupt_state.f_ne_flags[0];
NE_flags[1] |= frv_interrupt_state.f_ne_flags[1];
SET_NE_FLAGS (H_SPR_FNER0, NE_flags);
}
/* If there is no interrupt pending, then perform parallel writeback. This
may cause an interrupt. */
if (frv_interrupt_state.queue_index <= 0)
frvbf_perform_writeback (current_cpu);
/* If there is an interrupt pending, then process it. */
if (frv_interrupt_state.queue_index > 0)
handle_interrupt (current_cpu, pc);
}
void run_motor_timed(uint32_t duration)
{
uint32_t t;
if (duration == 0)
return;
set_motor_speed(255, 1);
for(t = 0; t < duration && !check_reset(); t++)
_delay_ms(1);
stop_motor();
}
/*
*
* Process the SCSI command
*
* Called with:
* cdev -> Char dev file handle,
* cdb -> SCSI Command buffer pointer,
* struct vtl_ds -> general purpose data structure... Need better name
*
* Return:
* SAM status returned in struct vtl_ds.sam_stat
*/
static void processCommand(int cdev, uint8_t *cdb, struct vtl_ds *dbuf_p,
useconds_t pollInterval)
{
int err = 0;
struct scsi_cmd _cmd;
struct scsi_cmd *cmd;
cmd = &_cmd;
cmd->scb = cdb;
cmd->scb_len = 16; /* fixme */
cmd->dbuf_p = dbuf_p;
cmd->lu = &lunit;
cmd->pollInterval = pollInterval;
cmd->cdev = cdev;
MHVTL_DBG_PRT_CDB(1, cmd);
switch (cdb[0]) {
case REPORT_LUNS:
case REQUEST_SENSE:
case MODE_SELECT:
case INQUIRY:
dbuf_p->sam_stat = SAM_STAT_GOOD;
break;
default:
if (cmd->lu->online == 0) {
sam_not_ready(E_OFFLINE, &dbuf_p->sam_stat);
return;
}
if (check_reset(&dbuf_p->sam_stat))
return;
}
/* Skip main op code processing if pre-cmd returns non-zero */
if (cmd->lu->scsi_ops->ops[cdb[0]].pre_cmd_perform)
err = cmd->lu->scsi_ops->ops[cdb[0]].pre_cmd_perform(cmd, NULL);
if (!err)
dbuf_p->sam_stat = cmd->lu->scsi_ops->ops[cdb[0]].cmd_perform(cmd);
/* Post op code processing regardless */
if (cmd->lu->scsi_ops->ops[cdb[0]].post_cmd_perform)
cmd->lu->scsi_ops->ops[cdb[0]].post_cmd_perform(cmd, NULL);
return;
}
/*
*
* Process the SCSI command
*
* Called with:
* cdev -> Char dev file handle,
* cdb -> SCSI Command buffer pointer,
* struct vtl_ds -> general purpose data structure... Need better name
*
* Return:
* SAM status returned in struct vtl_ds.sam_stat
*/
static void processCommand(int cdev, uint8_t *cdb, struct vtl_ds *dbuf_p,
useconds_t pollInterval)
{
struct scsi_cmd _cmd;
struct scsi_cmd *cmd;
cmd = &_cmd;
cmd->scb = cdb;
cmd->scb_len = 16; /* fixme */
cmd->dbuf_p = dbuf_p;
cmd->lu = &lunit;
cmd->pollInterval = pollInterval;
MHVTL_DBG_PRT_CDB(1, cmd);
switch (cdb[0]) {
case REPORT_LUNS:
case REQUEST_SENSE:
case MODE_SELECT:
case INQUIRY:
dbuf_p->sam_stat = SAM_STAT_GOOD;
break;
default:
if (cmd->lu->online == 0) {
mkSenseBuf(NOT_READY, E_OFFLINE, &dbuf_p->sam_stat);
return;
}
if (check_reset(&dbuf_p->sam_stat))
return;
}
if (cmd->lu->scsi_ops->ops[cdb[0]].pre_cmd_perform)
cmd->lu->scsi_ops->ops[cdb[0]].pre_cmd_perform(cmd, NULL);
dbuf_p->sam_stat = cmd->lu->scsi_ops->ops[cdb[0]].cmd_perform(cmd);
return;
}
int main(void)
{
uint8_t id, rec, i, cs;
color_t c;
packet_t p;
setup();
stop_motor();
sei();
for(i = 0; i < 5; i++)
{
set_led_rgb(255, 0, 255);
_delay_ms(50);
set_led_rgb(255, 255, 0);
_delay_ms(50);
}
// get the current liquid level
update_liquid_level();
for(;;)
{
cli();
g_reset = 0;
g_current_sense_detected = 0;
g_current_sense_num_cycles = 0;
setup();
serial_init();
stop_motor();
set_led_rgb(0, 0, 255);
sei();
id = address_exchange();
for(; !check_reset();)
{
rec = receive_packet(&p);
if (rec == COMM_CRC_FAIL)
continue;
if (rec == COMM_RESET)
break;
if (rec == COMM_OK && (p.dest == DEST_BROADCAST || p.dest == id))
{
// If we've detected a over current sitatuion, ignore all comamnds until reset
cli();
cs = g_current_sense_detected;
sei();
switch(p.type)
{
case PACKET_PING:
break;
case PACKET_SET_MOTOR_SPEED:
if (!cs)
set_motor_speed(p.p.uint8[0], p.p.uint8[1]);
if (p.p.uint8[0] == 0)
flush_saved_tick_count(0);
break;
case PACKET_TICK_DISPENSE:
if (!cs)
{
dispense_ticks((uint16_t)p.p.uint32, 255);
flush_saved_tick_count(0);
}
break;
case PACKET_TIME_DISPENSE:
if (!cs)
{
run_motor_timed(p.p.uint32);
flush_saved_tick_count(0);
}
break;
case PACKET_IS_DISPENSING:
is_dispensing();
break;
case PACKET_LIQUID_LEVEL:
get_liquid_level();
break;
case PACKET_UPDATE_LIQUID_LEVEL:
update_liquid_level();
break;
case PACKET_LED_OFF:
set_led_pattern(LED_PATTERN_OFF);
break;
case PACKET_LED_IDLE:
if (!cs)
set_led_pattern(LED_PATTERN_IDLE);
break;
case PACKET_LED_DISPENSE:
if (!cs)
set_led_pattern(LED_PATTERN_DISPENSE);
break;
case PACKET_LED_DRINK_DONE:
if (!cs)
set_led_pattern(LED_PATTERN_DRINK_DONE);
break;
case PACKET_LED_CLEAN:
if (!cs)
set_led_pattern(LED_PATTERN_CLEAN);
break;
case PACKET_COMM_TEST:
comm_test();
break;
case PACKET_ID_CONFLICT:
id_conflict();
break;
case PACKET_SET_CS_THRESHOLD:
g_current_sense_threshold = p.p.uint16[0];
break;
case PACKET_SAVED_TICK_COUNT:
get_saved_tick_count();
break;
case PACKET_RESET_SAVED_TICK_COUNT:
reset_saved_tick_count();
break;
case PACKET_FLUSH_SAVED_TICK_COUNT:
flush_saved_tick_count(1);
break;
case PACKET_GET_LIQUID_THRESHOLDS:
get_liquid_thresholds();
break;
case PACKET_SET_LIQUID_THRESHOLDS:
set_liquid_thresholds(p.p.uint16[0], p.p.uint16[1]);
break;
case PACKET_TICK_SPEED_DISPENSE:
if (!cs)
{
dispense_ticks(p.p.uint16[0], (uint8_t)p.p.uint16[1]);
flush_saved_tick_count(0);
}
break;
case PACKET_PATTERN_DEFINE:
pattern_define(p.p.uint8[0]);
break;
case PACKET_PATTERN_ADD_SEGMENT:
c.red = p.p.uint8[0];
c.green = p.p.uint8[1];
c.blue = p.p.uint8[2];
pattern_add_segment(&c, p.p.uint8[3]);
break;
case PACKET_PATTERN_FINISH:
pattern_finish();
break;
}
}
}
}
return 0;
}
int mark(int argc, char *argv[], int retc, char *retv[] )
{
int firstarg, cmd_is_ds, mark_ret_val, num_num_args, reset_flag,
trace_flag;
double mark_args[ 4 ];
/************************************************************************/
/* Check for `reset' as a keyword. Need to verify syntax. Three */
/* situations: "reset" used improperly; "reset" used correctly; */
/* no "reset" keyword. */
/************************************************************************/
reset_flag = check_reset( argc, argv );
if (reset_flag < 0)
ABORT;
else if (reset_flag > 0) {
if (do_mark_reset() == 0)
RETURN;
else
ABORT;
}
/************************************************************************/
/* Check for `trace' as a keyword. Situation is similar to `reset', */
/* except there is no file name and the returned value distinguishes */
/* `trace' as first from `trace' as last argument (the only 2 choices) */
/************************************************************************/
firstarg = 1; /* Skip command name */
trace_flag = check_trace( argc, argv );
if (trace_flag < 0)
ABORT;
if (trace_flag != 0) {
if (retc > 2) {
Werrprintf(
"%s: cannot return more than 2 values when using `trace' keyword", argv[ 0 ]
);
ABORT;
}
if (trace_flag == 1) /* Skip over 1st argument */
firstarg = 2; /* if it was `trace' */
else /* Otherwise it was the last */
argc--; /* argument, so reduce total */
} /* number of arguments by 1 */
/************************************************************************/
/* Extract numeric values, number of numeric values. The `mark' */
/* command accepts 0, 1, 2 or 4 such arguments. If `num_vals_args' */
/* returns -1, the subroutine has already posted an error message. */
/************************************************************************/
num_num_args = num_vals_args( firstarg, argc, argv, &mark_args[ 0 ], 4 );
if (num_num_args < 0)
ABORT;
else if (num_num_args == 3 || num_num_args > 4) {
Werrprintf( "%s: incorrect number of numeric arguments", argv[ 0 ] );
ABORT;
}
/************************************************************************/
/* Get the current graphics command to establish if DS was the last */
/* such command executed. In that case, we perform a 1D operation */
/* unless MARK was called with 4 numeric arguments. */
/* */
/* Abort if current graphics command is not DS or DCONI. Add checks */
/* for other display commands (DCON, DPCON, etc.) here if required. */
/************************************************************************/
cmd_is_ds = WgraphicsdisplayValid( "ds" );
if ( !cmd_is_ds &&
!WgraphicsdisplayValid( "dconi" ) &&
num_num_args == 0 )
{
Werrprintf(
"%s: requires arguments when no data displayed", argv[ 0 ]
);
ABORT;
}
/************************************************************************/
/* `init2d' subroutine defines `d2flag' and many other important */
/* variables. First argument instructs `init2d' to set "reverse" */
/* flag if trace = "f1". Second argument instructs `init2d' to */
/* prepare chart variables for displaying data. */
/************************************************************************/
if (init2d( 1, 1 ))
ABORT;
/************************************************************************/
/* Now that `d2flag' is defined, check on 4 more error conditions: */
/* A. 2D data is present, last command not `ds', 1 numeric argument */
/* and no `trace' keyword. */
/* B. No 2D data present and 4 numeric arguments entered. */
/* C. No 2D data present and the `trace' keyword was used. */
/* D. No 2D data present and command returns more than 2 values. */
/************************************************************************/
if (d2flag) {
if (trace_flag == 0 && cmd_is_ds == 0 && num_num_args == 1) {
Werrprintf(
"%s: 'trace' keyword required with 2D data and 1 numeric argument", argv[ 0 ]
);
ABORT;
}
}
else { /* No 2D data */
if (num_num_args == 4) {
Werrprintf(
"%s: Cannot have 4 numeric arguments with 1D data", argv[ 0 ]
);
ABORT;
}
if (trace_flag) {
Werrprintf(
"%s: Cannot use 'trace' keyword with 1D data", argv[ 0 ]
);
ABORT;
}
if (retc > 2) {
Werrprintf(
"%s: Cannot return more than 2 values with 1D data", argv[ 0 ]
);
ABORT;
}
}
/* 2D operations. If 2D data is present and the `trace' keyword was
NOT selected, then there were either 2 or 4 numeric arguments. */
if (num_num_args == 4 || (d2flag && trace_flag == 0 && cmd_is_ds == 0)) {
mark_ret_val = do_2d_mark(
retc, retv,
num_num_args,
&mark_args[ 0 ]
);
}
/* 1D operations. Come here if
A. num_num_args != 4 AND
B. d2flag is clear OR trace_flag is set OR cmd_is_ds is set. */
else {
mark_ret_val = do_1d_mark(
cmd_is_ds,
retc, retv,
num_num_args,
&mark_args[ 0 ]
);
}
if (mark_ret_val == 0)
RETURN;
else
ABORT;
}
