static void cmdDirDumpRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned int *frame, req_addr, req_pan, i, size;
pld = macGetPayload(packet);
frame = (unsigned int*) payGetData(pld);
req_addr = frame[0];
req_pan = frame[1];
// Send all if both addresses 0
if(req_addr == 0 && req_pan == 0) {
size = dirGetSize();
DirEntry entries[size];
dirGetEntries(entries); // Assume we get size # of entries
i = 0;
while(i < size) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) entries[i]);
while(!radioEnqueueTxPacket(response));
i++;
}
} else {
DirEntry entry;
entry = dirQueryAddress(req_addr, req_pan);
if(entry == NULL) { return; }
while(1) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
//paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) &entry);
memcpy(payGetData(pld), entry, sizeof(DirEntryStruct));
while(!radioEnqueueTxPacket(response));
break;
}
}
}
/*****************************************************************************
* Function Name : test_motor
* Description : Turns on a specified motor for a specified period of time
* and duty cycle
* Parameters : type - The type field of the motor test packet
* status - Status field of the motor test packet (not yet used)
* length - The length of the payload data array
* data - data[0] = motor number
* data[1:2] = on time (milli secs)
* data[3:4] = duty cycle (percent)
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_motor(unsigned char type, unsigned char status, \
unsigned char length, unsigned char* data)
{ unsigned int motor_id;
int on_time;
int dutycycle;
char ack_string[40]="motor OK\n";
MacPacket packet;
Payload pld;
motor_id = (unsigned int) data[0];
on_time = (unsigned long)( (data[3] << 8) + data[2]);
dutycycle = (int)((data[5] << 8) + data[4]);
tiHSetDC(motor_id, dutycycle);
swatchDelayMs(on_time);
tiHSetDC(motor_id, 0);
// send an ack packet back - could have data later...
// Get a new packet from the pool
packet = radioRequestPacket(sizeof(ack_string));
if(packet == NULL) return 0;
//macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read message data into the payload
memcpy(payGetData(pld), & ack_string, sizeof(ack_string)); // copy ack_string to packet
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
return 1; //success
}
static void cmdDirUpdateResponse(MacPacket packet) {
typedef struct {
unsigned long long UUID;
unsigned long timestamp;
unsigned int address;
}UpdateEntry;
Payload pld;
unsigned int i, num_entries;
DirEntry entry;
UpdateEntry *update;
pld = macGetPayload(packet);
update = (UpdateEntry*) payGetData(pld);
num_entries = payGetDataLength(pld)/sizeof(UpdateEntry);
for(i = 0; i < num_entries; i++) {
entry = dirQueryID(update[i].UUID); // Retrieve entry
if(entry == NULL) { // If not seen, create
entry = dirAddNew();
if(entry == NULL) { continue; } // Check for creation failure
// Skip updates older than current info
} else if(update[i].timestamp < entry->timestamp){ continue; }
entry->uuid = update[i].UUID;
entry->address = update[i].address;
entry->pan_id = netGetLocalPanID();
entry->timestamp = update[i].timestamp;
}
}
static void cmdSetRegulatorTempRotation(MacPacket packet) {
Quaternion *rot = payGetData(macGetPayload(packet));
rgltrSetTempRot(rot);
}
static void cmdCamParamResponse(MacPacket packet) {
Payload pld;
unsigned char *frame;
CamParamStruct *params;
LStrobeParamStruct lstrobe_params;
DirEntry entry;
unsigned int addr, pan;
pld = macGetPayload(packet);
frame = payGetData(pld);
params = (CamParamStruct*) frame;
addr = macGetSrcAddr(packet);
pan = macGetSrcPan(packet);
entry = dirQueryAddress(addr, pan);
if(entry == NULL) { return; }
entry->frame_period = params->frame_period;
entry->frame_start = params->frame_start;
lstrobe_params.period = 5*(params->frame_period/4);
lstrobe_params.period_offset = (params->frame_start/4) % (params->frame_period/4);
lstrobe_params.on_time = 625/4; // 1 ms
lstrobe_params.off_time = lstrobe_params.period - lstrobe_params.on_time;
lstrobeSetParam(&lstrobe_params);
lstrobeStart();
}
void clksyncHandleRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned long* frame;
unsigned long s0, m1, m2;
pld = macGetPayload(packet);
frame = (unsigned long*) payGetData(pld);
s0 = frame[0]; // Read requester time of flight
m1 = packet->timestamp + sclockGetOffsetTicks(); // Read local time of reception
response = radioRequestPacket(12); // Sending 3 longs
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
macSetDestPan(response, macGetSrcPan(packet));
pld = macGetPayload(response); // Create response packet
paySetType(pld, CMD_CLOCK_UPDATE_RESPONSE);
paySetData(pld, 4, (unsigned char*) &s0);
payAppendData(pld, 4, 4, (unsigned char*) & m1);
// Empty TX queue to minimize time of flight error
while(!radioTxQueueEmpty()) { radioProcess(); }
m2 = sclockGetGlobalTicks(); // Get approximate time of flight
payAppendData(pld, 8, 4, (unsigned char*) & m2);
while(!radioEnqueueTxPacket(response)) { radioProcess(); }
radioProcess();
}
/*****************************************************************************
* Function Name : test_hall
* Description : send out over the radio a the current position readings from the
Austria Microsystems AS5048B absolute Hall sensors
* Parameters : type - The type field of the hall test packet
* status - Status field of Hall test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_hall(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{ int i;
MacPacket packet;
Payload pld;
// refresh Hall reading
for(i = 0; i< NUM_ENC; i++)
{
amsGetPos(i);
}
// Get a new packet from the pool
packet = radioRequestPacket(sizeof(encPos));
if(packet == NULL) return 0;
//macSetDestAddr( RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read Hall data into the payload
memcpy(payGetData(pld), & encPos, sizeof(encPos)); // copy Hall data to packet
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
return 1; //success
}
static void cmdRotateRefLocal(MacPacket packet) {
Quaternion *rot = payGetData(macGetPayload(packet));
rateApplyLocalRotation(rot);
}
static void cmdSetRateSlew(MacPacket packet) {
Payload pld = macGetPayload(packet);
Rate slew = (Rate)payGetData(pld);
rateSetGlobalSlew(slew);
}
void cmdSetSlewLimit(MacPacket packet) {
float *data;
data = (float *) payGetData(macGetPayload(packet));
slewSetLimit(*data);
}
static void cmdSetRegulatorRef(MacPacket packet) {
Payload pld = macGetPayload(packet);
Quaternion *ref = (Quaternion*)payGetData(pld);
rgltrSetQuatRef(ref);
}
static void cmdHallPIDSetInput(MacPacket packet) {
Payload pld;
unsigned int *frame;
pld = macGetPayload(packet);
frame = (unsigned int*) payGetData(pld);
hallPIDSetInput(frame[0],frame[1]);
}
static void cmdGetMemContents(MacPacket packet) {
Payload pld;
MacPacket data_packet;
unsigned char *frame;
DfmemGeometryStruct geo;
pld = macGetPayload(packet);
frame = payGetData(pld);
dfmemGetGeometryParams(&geo);
unsigned int start_page = frame[0] + (frame[1] << 8);
unsigned int end_page = frame[2] + (frame[3] << 8);
unsigned int tx_data_size = frame[4] + (frame[5] << 8);
unsigned int page, j;
unsigned char count = 0;
// Send back memory contents
for (page = start_page; page < end_page; ++page) {
j = 0;
while (j + tx_data_size <= geo.bytes_per_page) {
data_packet = NULL;
while(data_packet == NULL) {
data_packet = radioRequestPacket(tx_data_size);
}
macSetDestAddr(data_packet, macGetSrcAddr(packet));
macSetDestPan(data_packet, macGetSrcPan(packet));
pld = macGetPayload(data_packet);
dfmemRead(page, j, tx_data_size, payGetData(pld));
paySetStatus(pld, count++);
paySetType(pld, CMD_RESPONSE_TELEMETRY);
while(!radioEnqueueTxPacket(data_packet));
j += tx_data_size;
delay_ms(20);
}
}
// Signal end of transfer
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
}
void cmdSetTelemSubsample(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned int* frame = (unsigned int*) payGetData(pld);
unsigned int count = frame[0];
telemSetSubsampleRate(count);
}
static void cmdSetRemoteControlValues(MacPacket packet) {
Payload pld = macGetPayload(packet);
float* frame = (float *)payGetData(pld);
// parameters are: thrust, steer, and elevator
rgltrSetRemoteControlValues(frame[0], frame[1], frame[2]);
}
static void cmdToggleEight(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned char flag = *(payGetData(pld));
if(flag == 0) {
rgltrStopEight();
} else if(flag == 1) {
rgltrStartEight();
}
}
static void cmdSetHallGains(MacPacket packet) {
Payload pld;
unsigned char *frame;
hallGains *params;
pld = macGetPayload(packet);
frame = payGetData(pld);
params = (hallGains*) frame;
hallSetGains(¶ms[0]);
}
// set up velocity profile structure - assume 4 set points for now, generalize later
static void cmdSetVelProfile(MacPacket packet){
Payload pld;
unsigned char *frame;
hallVelCmd *params;
pld = macGetPayload(packet);
frame = payGetData(pld);
params = (hallVelCmd*) frame;
hallSetVelProfile(¶ms[0]);
}
static void cmdRunGyroCalib(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned int* frame = (unsigned int*) payGetData(pld);
unsigned int count = frame[0];
radioSetWatchdogState(0);
gyroRunCalib(count);
radioSetWatchdogState(1);
}
static void cmdSetRateMode(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned char flag = *(payGetData(pld));
if(flag == 0) {
rateDisable();
} else if(flag == 1) {
rateEnable();
}
}
static void cmdSetEstimateRunning(MacPacket packet) {
Payload pld = macGetPayload(packet);
//unsigned char status = payGetStatus(pld);
unsigned char* frame = payGetData(pld);
if (frame[0] == 0) {
attSetRunning(0);
} else {
attSetRunning(1);
}
}
static void cmdSetRegulatorPid(MacPacket packet) {
Payload pld;
unsigned char *frame;
PidParamsStruct *params;
pld = macGetPayload(packet);
frame = payGetData(pld);
params = (PidParamsStruct*) frame;
rgltrSetYawPid(¶ms[0]);
rgltrSetPitchPid(¶ms[1]);
rgltrSetRollPid(¶ms[2]);
}
// ====== Telemetry and Sensors ===============================================
static void cmdSetLogging(MacPacket packet) {
Payload pld;
unsigned char *frame, flag;
pld = macGetPayload(packet);
frame = payGetData(pld);
flag = frame[0];
if(flag) {
telemStartLogging();
} else {
telemStopLogging();
}
}
static void cmdSetRegulatorRateFilter(MacPacket packet) {
Payload pld;
unsigned int *frame;
RateFilterParamsStruct params;
pld = macGetPayload(packet);
frame = (unsigned int*) payGetData(pld);
params.order = frame[0];
params.type = frame[1];
params.xcoeffs = frame + 2; // Order + 1 floats per array;
params.ycoeffs = params.xcoeffs + (params.order + 1); // Typed pointer magic
rgltrSetYawRateFilter(¶ms);
rgltrSetPitchRateFilter(¶ms);
rgltrSetRollRateFilter(¶ms);
}
void cmdHandleRadioRxBuffer(void) {
Payload pld;
unsigned char command, status;
if ((pld = radioReceivePayload()) != NULL) {
status = payGetStatus(pld);
command = payGetType(pld);
//Due to bugs, command may be a surprious value; check explicitly
if (command <= MAX_CMD_FUNC) {
cmd_func[command](status, pld->data_length, payGetData(pld));
}
payDelete(pld);
}
return;
}
/*-----------------------------------------------------------------------------
* AUX functions
-----------------------------------------------------------------------------*/
static void cmdEcho(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned char status = payGetStatus(pld);
unsigned char* frame = payGetData(pld);
unsigned int length = payGetDataLength(pld);
unsigned int srcAddr = macGetSrcAddr(packet);
MacPacket response;
response = radioRequestPacket(length);
if(response == NULL) { return; }
macSetDestAddr(response, srcAddr);
pld = response->payload;
paySetData(pld, length, frame);
paySetStatus(pld, status);
paySetType(pld, CMD_ECHO);
while(!radioEnqueueTxPacket(response));
}
/*****************************************************************************
* Function Name : test_gyro
* Description : Create and send out over the radio a number of test packets that
* contain the three X,Y, and Z values read from the gyro.
* Parameters : type - The type field of the gyro test packet
* status - Status field of gyro test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_gyro(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{ MacPacket packet;
Payload pld;
// refresh MPU reading
mpuUpdate();
// Get a new packet from the pool
packet = radioRequestPacket(sizeof(mpu_data));
if(packet == NULL) return 0;
//macSetDestAddr(RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read gyro data into the payload
memcpy(payGetData(pld), & mpu_data, sizeof(mpu_data)); // copy gyro data to packet
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
return 1; //success
}
void clksyncHandleResponse(MacPacket packet) {
Payload pld;
unsigned long* frame;
unsigned long s0, m1, m2, s3;
long residual_offset;
pld = macGetPayload(packet);
frame = (unsigned long *) payGetData(pld);
s0 = frame[0];
m1 = frame[1];
m2 = frame[2];
s3 = packet->timestamp + sclockGetOffsetTicks();
residual_offset = (s0 + s3 - m1 - m2)/2;
status.accumulator += residual_offset;
status.responses++;
if(status.responses >= SAMPLES_PER_ITERATION) {
clksyncProcessSamples(&status);
}
}
/*****************************************************************************
* Function Name : test_dflash
* Description : Write four different strings to a page in the data flash,
* then read them back and send their contents out over the
* radio. Bonus points if you can identify the film without
* reverting to the internet.
* Parameters : type - The type field of the dflash test packet
* status - Status field of the dflash test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_dflash(unsigned char type, unsigned char status,
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
char mem_data[256] = {};
//char* str1 = "You must be here to fix the cable."; // 38+1
char str1[] = "D"; // 38+1
char str2[] = "Lord. You can imagine where it goes from here."; //46+1
char str3[] = "He fixes the cable?"; //19+1
char str4[] = "Don't be fatuous, Jeffrey."; //26+1
int page = 0x100;
strcpy(mem_data, str1);
strcpy(mem_data + strlen(str1), str2);
strcpy(mem_data + strlen(str1) + strlen(str2), str3);
strcpy(mem_data + strlen(str1) + strlen(str2) + strlen(str3), str4);
// Write into dfmem
dfmemWrite((unsigned char *)(mem_data), sizeof(mem_data), page, 0, 1);
// ---------- string 1 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str1));
if(packet == NULL) return 0;
//macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, 0, strlen(str1), payGetData(pld));
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
// ---------- string 2 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str2));
if(packet == NULL) return 0;
//macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1), strlen(str2), payGetData(pld));
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
// ---------- string 3 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str3));
if(packet == NULL) return 0;
//macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1) + strlen(str2), strlen(str3),
payGetData(pld));
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
// ---------- string 4 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str4));
if(packet == NULL) return 0;
//macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1) + strlen(str2) + strlen(str3), strlen(str4),
payGetData(pld));
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
return 1; //success
}
static void cmdSetRegulatorMode(MacPacket packet) {
unsigned char* frame = payGetData(macGetPayload(packet));
rgltrSetMode(frame[0]);
}
