int main (int argc, char ** argv)
{
int execResult = 0;
picoInit();
// push to cut
execResult = setAllPins(pin_OFF,pin_OFF,pin_OFF,pin_OFF,pin_ON,pin_OFF,pin_ON,pin_ON, pin_ON,pin_ON);
if (execResult != 0)
{
fprintf(stderr, "Setting all pins in cut.c failed\n");
resetPins();
exit(2);
}
delay(1000); //TODO: check with team
execResult = initALBA();
if (execResult != 0)
{
fprintf(stderr, "initALBA() in cut.c failed = %d \n", execResult);
exit(3);
}
return 0;
}
/**
* \fn DSA::DSA(int DSApin, int STBpin, int ACKpin)
* \brief Constructor
*
* \param DSApin Pin to be used as "data" pin
* \param STBpin Pin to be used as "strobe" pin
* \param ACKpin Pin to be used as "acknowledge" pin
*/
DSA::DSA(int DSApin, int STBpin, int ACKpin)
{
_DSApin = DSApin;
_STBpin = STBpin;
_ACKpin = ACKpin;
resetPins();
}
/**
* \fn bool DSA::waitForMessage(byte *opcode, byte *parameter)
* \deprecated Try to avoid using this function. It will block your
* program for the timeout time when no message is received.
* Better keep checking transmitRequested() in you main loop.
* \brief Wait for a message to receive.
*
* When a message is expected this function will wait for the message to arrive.
* A timeout is set to abort this function at timeout.
* \param *opcode Pointer to the opcode variable that will updated after a successful transfer
* \param *parameter Pointer to the parameter variable that will updated after a successful transfer.
* \return True on a successful transfer, False on a timeout or communication error
*/
bool DSA::waitForMessage(byte *opcode, byte *parameter)
{
startTimeoutTimer(DSA_TIMEOUT);
while(!transmitRequested()) {
if(timeOut()) {
resetPins();
return false;
}
}
return receiveMessage(opcode, parameter);
}
// checks the keypad for key press. returns the first key press sensed.
// Returns the number of the key pressed (* = 14, # = 15)
int checkForInput() {
char scan;
PORTCbits.RC0 = 0; // check row1
Delay10TCYx(10);
scan = (PORTBbits.RB0 << 3 | PORTBbits.RB1 << 2 | PORTBbits.RB2 << 1 | PORTBbits.RB3);
switch (scan) {
case 0b00001110: // is on Bbits.RB3
return resetPins(1);
case 0b00001101: // on pin 5
return resetPins(2);
case 0b00001011: // on pin 6
return resetPins(3);
case 0b00000111: // on pin 7
return resetPins(10);
}
PORTCbits.RC0 = 1; // check row2
PORTCbits.RC1 = 0;
Delay10TCYx(10);
scan = (PORTBbits.RB0 << 3 | PORTBbits.RB1 << 2 | PORTBbits.RB2 << 1 | PORTBbits.RB3);
switch (scan) {
case 0b00001110: // is on Bbits.RB3
return resetPins(4);
case 0b00001101: // on pin 5
return resetPins(5);
case 0b00001011: // on pin 6
return resetPins(6);
case 0b00000111: // on pin 7
return resetPins(11);
}
PORTCbits.RC1 = 1; // check row3
PORTCbits.RC2 = 0;
Delay10TCYx(10);
scan = (PORTBbits.RB0 << 3 | PORTBbits.RB1 << 2 | PORTBbits.RB2 << 1 | PORTBbits.RB3);
switch (scan) {
case 0b00001110: // is on Bbits.RB3
return resetPins(7);
case 0b00001101: // on pin 5
return resetPins(8);
case 0b00001011: // on pin 6
return resetPins(9);
case 0b00000111: // on pin 7
return resetPins(12);
}
PORTCbits.RC2 = 1; // check row4
PORTCbits.RC3 = 0;
Delay10TCYx(10);
scan = (PORTBbits.RB0 << 3 | PORTBbits.RB1 << 2 | PORTBbits.RB2 << 1 | PORTBbits.RB3);
switch (scan) {
case 0b00001110: // is on Bbits.RB3
return resetPins(14);
case 0b00001101: // on pin 5
return resetPins(0);
case 0b00001011: // on pin 6
return resetPins(15);
case 0b00000111: // on pin 7
return resetPins(16);
}
return resetPins(-1); // assume no key was pressed.
}
/**
* \fn bool DSA::sendMessage(byte opcode, byte parameter)
* \brief Send a message.
*
* A DSA message contains a opcode and a parameter send as one 16bit command.
* \param opcode The DSA opcode to send.
* \param parameter The DSA parameter to send.
* \return True on a successful transfer, False on a communication error
*/
bool DSA::sendMessage(byte opcode, byte parameter)
{
/* synchPhase */
int command = opcode;
command = command << 8;
command += parameter;
digitalWrite(_DSApin, HIGH);
resetPins();
pinMode(_DSApin, OUTPUT);
startTimeoutTimer(DSA_TIMEOUT);
digitalWrite(_DSApin, LOW);
while(digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
digitalWrite(_DSApin, HIGH);
while(!digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
/* data transfer phase */
digitalWrite(_STBpin, HIGH);
pinMode(_STBpin, OUTPUT);
startTimeoutTimer(DSA_TIMEOUT);
unsigned int mask = 0x8000;
int i;
for (i = 0; i < 16; i++ ) {
if(!(command & mask))
digitalWrite(_DSApin, LOW);
digitalWrite(_STBpin, LOW);
while(digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
digitalWrite(_STBpin, HIGH);
digitalWrite(_DSApin, HIGH);
while(!digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
mask = mask >> 1;
}
/* acknowledge phase */
digitalWrite(_ACKpin, HIGH);
resetPins();
pinMode(_ACKpin, OUTPUT);
startTimeoutTimer(DSA_TIMEOUT);
digitalWrite(_ACKpin, LOW);
while(digitalRead(_STBpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
if(!digitalRead(_DSApin)) {
resetPins();
return false;
}
digitalWrite(_ACKpin, HIGH);
while(!digitalRead(_STBpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
resetPins();
return true;
}
/**
* \fn bool DSA::receiveMessage(byte *opcode, byte *parameter)
* \brief Receive a message.
*
* \param *opcode Pointer to the opcode variable that will updated after a successful transfer
* \param *parameter Pointer to the parameter variable that will updated after a successful transfer.
* \return True on a successful transfer, False on a communication error
*/
bool DSA::receiveMessage(byte *opcode, byte *parameter)
{
/* synchPhase */
word command = 0;
digitalWrite(_ACKpin, HIGH);
resetPins();
pinMode(_ACKpin, OUTPUT);
startTimeoutTimer(DSA_TIMEOUT);
digitalWrite(_ACKpin, LOW);
while(!digitalRead(_DSApin)) {
if(timeOut()) {
resetPins();
return false;
}
}
digitalWrite(_ACKpin, HIGH);
/* data transmission phase */
startTimeoutTimer(DSA_TIMEOUT);
unsigned int mask = 0x8000;
int i;
for (i = 0; i < 16; i++ ) {
while(digitalRead(_STBpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
if (digitalRead(_DSApin))
command = command | mask;
digitalWrite(_ACKpin, LOW);
while(!digitalRead(_STBpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
digitalWrite(_ACKpin, HIGH);
mask = mask >> 1;
}
/* acknowledge phase */
pinMode(_STBpin, OUTPUT);
pinMode(_DSApin, OUTPUT);
pinMode(_ACKpin, INPUT);
startTimeoutTimer(DSA_TIMEOUT);
while(digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
if(i != 16)
digitalWrite(_DSApin, LOW);
digitalWrite(_STBpin, LOW);
while(!digitalRead(_ACKpin)) {
if(timeOut()) {
resetPins();
return false;
}
}
digitalWrite(_DSApin, HIGH);
digitalWrite(_STBpin, HIGH);
*parameter = lowByte(command);
*opcode = highByte(command);
resetPins();
return true;
}