void write_code_EE_2( unsigned long address, unsigned char* data, char blocksize, char lastblock )
{
unsigned char i, tries;
char blockcounter;
tries = 0;
restart:
I2C_start();
I2C_write( 0xA0 | (address >= 0x10000? 8: 0) ); //Device Address + 0=write
I2C_write( (unsigned char) ((address & 0xFF00) >> 8) ); //MSB
I2C_write( (unsigned char) ((address & 0x00FF)) ); //LSB
for( blockcounter = 0; blockcounter < blocksize; blockcounter++ )
{
i = (unsigned int) I2C_write( data[blockcounter] );
if( i == 1 ) // received a NACK
{
for( i = 0; i < 4; i++ ) {
setLeds( 7);
DelayMs(125);
setLeds(0);
DelayMs( 125 );
}
I2C_stop();
DelayMs(30);
if( tries < 2 )
goto restart;
return; // what else to do??
}
}
I2C_stop();
DelayMs( 30 );
}
task usercontrol()
{
word button5U2Last,
button5D2Last;
// User control code here, inside the loop
while (true)
{
arcade4(vexRT[Ch1], vexRT[Ch3], flWheel, blWheel, frWheel, brWheel);
joyDigiMtr2(roller, vexRT[Btn6U], 127, vexRT[btn6D], -127);
setMotor(elevator, vexRT[Ch2Xmtr2]);
if(vexRT[Btn5UXmtr2] && !button5U2Last) {
flyTarget += 5;
}
else if(vexRT[Btn5DXmtr2] && !button5D2Last) {
flyTarget -= 5;
}
if(vexRT[Btn5U]) {
if(abs(flyTarget - velAvg) > flyThresh + 50 || abs(lVelAvg - rVelAvg) > lRFlyThresh) {
setLeds(0);
}
else if(abs(flyTarget - velAvg) < flyThresh + 50 && abs(flyTarget - velAvg) > flyThresh) {
setLeds(1);
}
else {
setLeds(2);
}
if(abs(lVelAvg - rVelAvg) > lRFlyThresh) {
if(lVelAvg > rVelAvg) {
motor[blFly] = motor[tlFly] = 95;
motor[brFly] = motor[trFly] = 127;
}
else {
motor[brFly] = motor[trFly] = 95;
motor[blFly] = motor[tlFly] = 127;
}
}
else if(flyTarget - velAvg > flyThresh) {
setFlywheel(127);
}
else if(velAvg - flyTarget > flyThresh) {
setFlywheel(63);
}
else {
setFlywheel(79);
}
}
else if(vexRT[Btn5D] && velAvg <= 50) {
setFlywheel(-31);
}
else {
setFlywheel(0);
setLeds(3);
}
button5U2Last = vexRT[Btn5UXmtr2];
button5D2Last = vexRT[Btn5DXmtr2];
wait1Msec(20);
}
}
void N800Hardware::chargingChanged(bool charging)
{
if (charging)
setLeds(101);
else
setLeds(batterySource->charge());
}
void write_code_EE_1( unsigned long address, unsigned char* data, char blocksize, char lastblock )
{
//FIXME: This currently dowsn't work as the app sends too many bytes for the write cache (2-16bytes depending on model)
unsigned char i, tries;
char blockcounter;
tries = 0;
restart:
I2C_start();
I2C_write( 0xA0 | ((int)address>>7)&0x0E ); //Device Address + 0=write
I2C_write( (unsigned char) ((address & 0x00FF)) ); //LSB
for( blockcounter = 0; blockcounter < blocksize; blockcounter++ )
{
i = (unsigned int) I2C_write( data[blockcounter] );
if( i == 1 ) // received a NACK
{
for( i = 0; i < 4; i++ ) {
setLeds( 7);
DelayMs(125);
setLeds(0);
DelayMs( 125 );
}
I2C_stop();
DelayMs(30);
if( tries < 2 )
goto restart;
return; // what else to do??
}
}
I2C_stop();
DelayMs( 10 );
}
int main(int argc, char * argv[])
{
struct pwcmech * pwcmech;
pwcmech->dev = ifinit_pwcblock();
pwcmech->com = ifinit_usbcom();
ifbind_pwcblock(pwcmech->dev, pwcmech->com);
//use driver
usb_init(pwcmech->com);
if ( usb_open(pwcmech->com) )
{
finish(pwcmech);
return 0;
}
//should work seamlessly
usb_if_claim(pwcmech->com, pwcmech->com->standard_descriptors.highspeed.cameraStream.cameraStreamConf);
setVideoMode(pwcmech, 9);
setLeds(pwcmech, 10,5);
usb_release_interface(pwcmech->com, pwcmech->com->standard_descriptors.highspeed.cameraStream.cameraStreamConf);
usb_close(pwcmech->com);
finish(pwcmech);
return 0;
}
int main(void)
{
halInit();
chSysInit();
initLed();
setLeds( 7 );
initRead();
initWrite();
initI2c();
initUsb();
/*IWDGConfig cfg;
cfg.div = IWDG_DIV_256;
cfg.counter = (40000 / 256 / 2 );
iwdgInit();
iwdgStart( &IWDGD, &cfg );
iwdgReset( &IWDGD );*/
while (TRUE)
{
//iwdgReset( &IWDGD );
processShell();
chThdSleepMilliseconds( 250 );
}
return 0;
}
/******************************************************************************
* Function: void BlinkUSBStatus(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: BlinkUSBStatus turns on and off LEDs corresponding to
* the USB device state.
*
* Note: mLED macros can be found in io_cfg.h
* usb_device_state is declared in usbmmap.c and is modified
* in usbdrv.c, usbctrltrf.c, and usb9.c
*****************************************************************************/
void BlinkUSBStatus(void)
{
static word led_count=0;
static char startup_state=0xFF;
if(led_count == 0)led_count = 10000U;
led_count--;
if(UCONbits.SUSPND == 1)
{
//USBWakeFromSuspend();
if(led_count==0)
{
mLED_1_Off();
mLED_2_Off();
mLED_3_Toggle();
}//end if
}
else
{
if(usb_device_state == DETACHED_STATE)
{
setLeds(1);
}
else if(usb_device_state == ATTACHED_STATE)
{
setLeds(2);
}
else if(usb_device_state == POWERED_STATE)
{
setLeds(4);
}
else if(usb_device_state == DEFAULT_STATE)
{
setLeds(2);
}
else if(usb_device_state == ADDRESS_STATE)
{
setLeds(LEDS_ON);
}
else if(usb_device_state == CONFIGURED_STATE)
{
startup_state=0;
}
}
}
int main(){
initLedButtons();
char buttonState;
while(1){
char t = readButtons();
if (t != buttonState){
buttonState =t;
setLeds(buttonState);
}
}
closeLedButtons();
}
/******************************************************************************
*
* Description:
* Set LED states (on or off).
*
* Params:
* [in] ledOnMask - The LEDs that should be turned on. This mask has
* priority over ledOffMask
* [in] ledOffMask - The LEDs that should be turned off.
*
*****************************************************************************/
void pca9532_setLeds (uint16_t ledOnMask, uint16_t ledOffMask)
{
/* turn off leds */
ledStateShadow &= (~(ledOffMask) & 0xffff);
/* ledOnMask has priority over ledOffMask */
ledStateShadow |= ledOnMask;
/* turn off blinking */
blink0Shadow &= (~(ledOffMask) & 0xffff);
blink1Shadow &= (~(ledOffMask) & 0xffff);
setLeds();
}
void isr() { //uint8_t* toggle) {
// todo do PWM signal
setLeds(G_LED0);
/* if(toggle) {
setLeds(G_LED0);
*toggle = 0;
} else {
setLeds(~G_LED0);
*toggle = 1;
}
*/
timer_irq_ack(&timer_handle);
}
task autonomous()
{
startTask(rpmCalc);
while(true) {
if(abs(flyTarget - velAvg) > flyThresh + 50 || abs(lVelAvg - rVelAvg) > lRFlyThresh) {
setLeds(0);
}
else if(abs(flyTarget - velAvg) < flyThresh + 50 && abs(flyTarget - velAvg) > flyThresh) {
setLeds(1);
}
else {
setLeds(2);
}
if(abs(lVelAvg - rVelAvg) > lRFlyThresh) {
if(lVelAvg > rVelAvg) {
motor[blFly] = motor[tlFly] = 95;
motor[brFly] = motor[trFly] = 127;
}
else {
motor[brFly] = motor[trFly] = 95;
motor[blFly] = motor[tlFly] = 127;
}
}
else if(flyTarget - velAvg > flyThresh) {
setFlywheel(127);
}
else if(velAvg - flyTarget > flyThresh) {
setFlywheel(63);
}
else {
setFlywheel(79);
motor[elevator] = 127;
}
wait1Msec(20);
}
}
int main(void)
{
cli();
// Disable the watchdog
wdt_disable();
// Setup LEDS
setupLeds();
// Two second blink
setLeds(0xFF);
_delay_ms(2000);
setLeds(0);
setupTimer();
setupInterrupt();
// Enable interrupts
sei();
// Halt
while(1);
}
// Initialise the software
TICK_COUNT appInitSoftware(TICK_COUNT loopStart){
for (int i=0; i < 14; i+=1){
led[i].r = 0;
led[i].g = 0;
led[i].b = 0;
}
setLeds();
halfperiods[0] = 500000; // us
halfperiods[1] = 625000;
switchtime = clockGetus();
newbrightness = minbright;
return 0;
}
int main(void)
{
halInit();
chSysInit();
initCpuIo();
initLed();
initDfu( 5000 );
setLeds( 3 );
// Use virtual timer to execute regular firmware within
// some time if nothing happens.
while ( 1 )
{
processCpuIo();
}
return 0;
}
/*
* This method is called when a packet is received
*
* @param recv_func Function pointer to either serial or radio receive function
* @p Parameters of environment
*/
void bs_receive(error_t (*recv_func)(message_t*, uint32_t, am_id_t), bs_params_t* p) {
message_t m;
BlinkToRadioMsg_t* btrpkt;
for(;;) {
if( (*(recv_func))(&m, 0, AM_RECEIVE_FROM_ANY) == SUCCESS ) {
btrpkt = (BlinkToRadioMsg_t*)radioGetPayload(&m, sizeof(BlinkToRadioMsg_t));
if( isValidMsgID(btrpkt->msgID) ) { //only accept if new msgID
messageID = btrpkt->msgID; //save newest msgID
if(isValidDestination(btrpkt->destMask)){ //check if current mote is addressed
setLeds(btrpkt->ledID);
}
mutex_lock( &(p->mutex) );
while( enqueueMsg(p, &m) == FAIL )
condvar_wait( &(p->condvar), &(p->mutex) );
mutex_unlock( &(p->mutex) );
condvar_signalAll( &(p->condvar) );
}
}
}
}
/**
* Set port A as output and B as input.
*/
void Controls::init() {
Serial.println("Expander: setting port A as out");
// setting port A as output
Wire.beginTransmission(EXPANDER_CONTROLS_ADDRESS);
Wire.write(0x00); // IODIRA register
Wire.write(0x00); // set all of port A to outputs
byte results = Wire.endTransmission();
checkError(results);
Serial.println("Expander: setting port B as out");
// setting port B as input
Wire.beginTransmission(EXPANDER_CONTROLS_ADDRESS);
Wire.write(0x01); // IODIRB register
Wire.write(0x00); // set all of port B to outputs
results = Wire.endTransmission();
checkError(results);
Serial.println("Expander: setting leds");
setLeds(0xAA);
Serial.println("Controls initialized.");
}
DWORD LED_Write(DWORD dwOpen, LPVOID pBuffer, DWORD dwCount)
{
PDRVCONTEXT pDrv = (PDRVCONTEXT)dwOpen;
RETAILMSG(RETAIL_ON, (DTAG TEXT("LED_Write++ dwContext: %x\r\n"), dwOpen));
// Verify that the context handle is valid
if(pDrv && (pDrv->dwSize != sizeof(DRVCONTEXT))){
return 0;
}
char* input = (char*) pBuffer;
setLeds(pDrv->pGpioRegs, *input);
// Count the number of opens
InterlockedDecrement((long *)&pDrv->nNumOpens);
RETAILMSG(RETAIL_ON, (TEXT("LED_Write-- \r\n")));
return 1;
}
int main(){
initScreen();
initSound();
initLedButtons();
lcdTest();
while(1){
fillBoard();
printBoard();
for (int i = 0; i < 100; i++){
setLeds((char)i);
setFrequency(120*(i%20));
playerStep();
printBoard();
playSounds();
if (readButtons() & 0x01 > 0) break;
}
}
closeLedButtons();
closeScreen();
closeSound();
}
void ProcessIO(void)
{
char oldPGDtris;
char PIN;
static byte counter=0;
int nBytes;
unsigned long address;
unsigned char i;
input_buffer[0]=UART1RX(); //USBGenRead((byte*)input_buffer,64);
// if(nBytes>0)
// {
switch(input_buffer[0])
{
case CMD_ERASE:
setLeds(LEDS_ON | LEDS_WR);
getBytes(1,1);//get more data, #bytes, where to insert in input buffer array
output_buffer[0]=bulk_erase(picfamily,pictype,input_buffer[1]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_ID:
setLeds(LEDS_ON | LEDS_RD);
switch(picfamily)
{
case DSPIC30:
read_code(picfamily,pictype,0xFF0000,(unsigned char*)output_buffer,2,3);
break;
case PIC18:
read_code(picfamily,pictype,0x3FFFFE,(unsigned char*)output_buffer,2,3); //devid is at location 0x3ffffe for PIC18 devices
break;
case PIC16:
set_vdd_vpp(picfamily, pictype, 0);
read_code(picfamily,pictype,0x2006,(unsigned char*)output_buffer,2,3); //devid is at location 0x2006 for PIC16 devices
break;
}
counter=2;
setLeds(LEDS_ON);
break;
case CMD_WRITE_CODE:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_code(picfamily,pictype,address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_CODE:
setLeds(LEDS_ON | LEDS_RD);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
read_code(picfamily,pictype,address,(unsigned char*)output_buffer,input_buffer[1],input_buffer[5]);
counter=input_buffer[1];
setLeds(LEDS_ON);
break;
case CMD_WRITE_DATA:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_data(picfamily,pictype,address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_DATA:
setLeds(LEDS_ON | LEDS_RD);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
read_data(picfamily,pictype,address,(unsigned char*)output_buffer,input_buffer[1],input_buffer[5]);
counter=input_buffer[1];
setLeds(LEDS_ON);
break;
case CMD_WRITE_CONFIG:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_config_bits(picfamily, pictype, address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_SET_PICTYPE:
output_buffer[0]=set_pictype(input_buffer+1);
//output_buffer[0]=1; //Ok
counter=1;
setLeds(LEDS_ON);
break;
case CMD_FIRMWARE_VERSION:
for(counter=0; counter<18; counter++)output_buffer[counter]=upp_version[counter];
counter=18;
setLeds(LEDS_ON);
break;
case CMD_DEBUG:
setLeds(LEDS_ON | LEDS_WR | LEDS_RD);
switch(input_buffer[1])
{
case 0:
set_vdd_vpp(dsP30F, DSPIC30, 1);
output_buffer[0]=1;
counter=1;
break;
case 1:
set_vdd_vpp(dsP30F, DSPIC30, 0);
output_buffer[0]=1;
counter=1;
break;
case 2:
dspic_send_24_bits(((unsigned long)input_buffer[2])|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4])<<16);
output_buffer[0]=1;
counter=1;
break;
case 3:
nBytes = dspic_read_16_bits();
output_buffer[0]=(unsigned char)nBytes;
output_buffer[1]=(unsigned char)(nBytes>>8);
counter=2;
break;
}
break;
case CMD_GET_PIN_STATUS:
switch(input_buffer[1])
{
case SUBCMD_PIN_PGC:
if((!TRISPGC_LOW)&&(!PGC_LOW)) //3.3V levels
{
if(PGC) output_buffer[0] = PIN_STATE_3_3V;
else output_buffer[0] = PIN_STATE_0V;
}
else //5V levels
{
if(PGC) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
counter=1;
break;
case SUBCMD_PIN_PGD:
if(TRISPGD)//PGD is input
{
if(PGD_READ) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
else
{
if((!TRISPGD_LOW)&&(!PGD_LOW)) //3.3V levels
{
if(PGD) output_buffer[0] = PIN_STATE_3_3V;
else output_buffer[0] = PIN_STATE_0V;
}
else //5V levels
{
if(PGD) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
}
counter=1;
break;
case SUBCMD_PIN_VDD:
//if(VDD) output_buffer[0] = PIN_STATE_FLOAT;
//else output_buffer[0] = PIN_STATE_5V;
output_buffer[0] = PIN_STATE_5V;
counter = 1;
break;
case SUBCMD_PIN_VPP:
counter=1;
if(!VPP){output_buffer[0] = PIN_STATE_12V;break;}
if(VPP_RST){output_buffer[0] = PIN_STATE_0V;break;}
if(VPP_RUN){output_buffer[0] = PIN_STATE_5V;break;}
output_buffer[0] = PIN_STATE_FLOAT;
break;
case SUBCMD_PIN_VPP_VOLTAGE:
ReadAdc(output_buffer);
counter=2;
break;
default:
output_buffer[0]=3;
counter=1;
break;
}
break;
case CMD_SET_PIN_STATUS:
switch(input_buffer[1])
{
case SUBCMD_PIN_PGC:
switch(input_buffer[2])
{
case PIN_STATE_0V:
TRISPGC = 0;
PGC = 0;
TRISPGC_LOW = 1;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_3_3V:
TRISPGC = 0;
PGC = 1;
TRISPGC_LOW = 0;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
TRISPGC = 0;
PGC = 1;
TRISPGC_LOW = 1;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_PGD:
switch(input_buffer[2])
{
case PIN_STATE_0V:
TRISPGD = 0;
PGD = 0;
TRISPGD_LOW = 1;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_3_3V:
TRISPGD = 0;
PGD = 1;
TRISPGD_LOW = 0;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
TRISPGD = 0;
PGD = 1;
TRISPGD_LOW = 1;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_INPUT:
TRISPGD_LOW = 1;
TRISPGD = 1;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_VDD:
switch(input_buffer[2])
{
case PIN_STATE_5V:
//VDD = 0;
output_buffer[0]=1;
break;
case PIN_STATE_FLOAT:
//VDD = 1;
output_buffer[0]=1;
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_VPP:
switch(input_buffer[2])
{
case PIN_STATE_0V:
VPP = 1;
VPP_RST = 1;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
VPP = 1;
VPP_RST = 0;
VPP_RUN = 1;
output_buffer[0]=1;//ok
break;
case PIN_STATE_12V:
VPP = 0;
VPP_RST = 0;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_FLOAT:
VPP = 1;
VPP_RST = 0;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
default:
output_buffer[0]=3;
}
counter=1;
break;
}
//} //if nBytes>0
if(counter != 0)
{
//if(!mUSBGenTxIsBusy())
//USBGenWrite((byte*)&output_buffer,counter);
for(i=0; i<counter; i++) UART1TX(output_buffer[i]);
counter=0;
}
}//end ProcessIO
static msg_t i2cThread( void *arg )
{
(void)arg;
chRegSetThreadName( "i" );
// To all LOW/HIGH levels on address pins to reach their levels.
chThdSleepMilliseconds( I2C_IO_TIMEOUT_MS );
while ( 1 )
{
// Read ADDRESS pins.
uint16_t ind = palReadPad( ADDR_PORT, ADDR_0_PIN ) |
( palReadPad( ADDR_PORT, ADDR_1_PIN ) << 1 ) |
( palReadPad( ADDR_PORT, ADDR_2_PIN ) << 2 );
ind = (~ind) & 0x0007;
static uint8_t master;
static msg_t status;
static systime_t tmo;
tmo = MS2ST( I2C_IO_TIMEOUT_MS );
master = ( ind == 0 ) ? 1 : 0;
// I/O with other boards.
static uint32_t dataOut = 0;
static uint32_t pendDataOut = 0;
static uint32_t dataIn = 0;
setLeds( master ? 1 : 0 );
if ( master )
{
// First the board itself.
chMtxLock( &mutex );
ins[0] = valueRead();
write( pendOuts[0] );
chMtxUnlock();
// After all slave boards.
static int8_t i;
for ( i=0; i<I2C_SLAVES_CNT; i++ )
{
// To make IO thread safe IO itself takes place in separate variables.
// But storage arrays are filled within locked mutex.
// Get output.
chMtxLock( &mutex );
pendDataOut = pendOuts[i+1];
dataOut = outs[i+1];
chMtxUnlock();
// Write only if data to write differs from already written.
if ( pendDataOut != dataOut )
{
// IO itself.
status = i2cMasterTransmitTimeout( &I2CD1, I2C_BASE_ADDR+i,
(uint8_t *)(&pendDataOut), sizeof(pendDataOut),
0, 0,
tmo );
if ( status == RDY_OK )
{
chMtxLock( &mutex );
outs[i+1] = pendDataOut;
chMtxUnlock();
toggleLedsImmediate( 2 );
}
else
{
setLeds( 7 );
i2cStop( &I2CD1 );
chThdSleepMilliseconds( 10 );
i2cStart( &I2CD1, &i2cfg1 );
continue;
}
}
status = i2cMasterReceiveTimeout( &I2CD1, I2C_BASE_ADDR+i,
(uint8_t *)(&dataIn), sizeof(dataIn),
tmo );
if ( status == RDY_OK )
{
toggleLedsImmediate( 4 );
}
else
{
setLeds( 7 );
i2cStop( &I2CD1 );
chThdSleepMilliseconds( 10 );
i2cStart( &I2CD1, &i2cfg1 );
continue;
}
// Get back input.
chMtxLock( &mutex );
//ins[i+1] = (dataIn & 0x0000FFFF);
ins[i+1] = dataIn;
chMtxUnlock();
}
// Here is generic I2C io.
i2cIo();
chThdSleepMilliseconds( I2C_QUERY_PERIOD_MS );
}
else
{
static uint8_t addr;
addr = I2C_BASE_ADDR + ind - 1;
//setLeds( addr );
dataIn = valueRead();
do {
//dataIn = 0x12345678;
status = i2cSlaveIoTimeout( &I2CD1, addr,
(uint8_t *)&dataOut, sizeof( dataOut ),
(uint8_t *)&dataIn, sizeof( dataIn ),
i2cRxCb, i2cTxCb, tmo );
if ( status != RDY_OK )
{
i2cStart( &I2CD1, &i2cfg1 );
setLeds( 7 );
}
} while ( status != RDY_OK );
// Managed to initialize I2C slave IO.
setLeds( 0 );
while ( 1 )
{
/*
status = i2cSlaveIoTimeout( &I2CD1, addr,
(uint8_t *)&dataOut, sizeof( dataOut ),
(uint8_t *)&dataIn, sizeof( dataIn ),
i2cRxCb, i2cTxCb, tmo );
*/
chThdSleepMilliseconds( I2C_QUERY_PERIOD_MS );
pendDataOut = valueRead();
chSysLock();
dataIn = pendDataOut;
chSysUnlock();
write( dataOut );
}
}
/*if ( a == 0b00000111 )
{
setLeds( 1 );
static uint32_t out = 0x12345678;
status = RDY_OK;
status = i2cMasterTransmitTimeout( &I2CD1, testAddr,
(uint8_t *)(&out), sizeof(out),
0, 0,
tmo );
}
else
setLeds( 2 );
*/
}
return 0;
}
int main(void) {
unsigned int b;
unsigned char c;
init_all();
lcd_puts("Ready.", FIRST);
for(;;)
{
/*
* Get received character from ringbuffer
* uart_getc() returns in the lower byte the received character and
* in the higher byte (bitmask) the last receive error
* UART_NO_DATA is returned when no data is available.
*
*/
b = uart_getc();
if ( b & UART_NO_DATA )
{
/*
* no data available from UART
*/
}
else
{
/*
* new data available from UART
* check for Frame or Overrun error
*/
if ( b & UART_FRAME_ERROR )
{
/* Framing Error detected, i.e no stop bit detected */
lcd_puts("UART Frame Error", FIRST);
}
if ( b & UART_OVERRUN_ERROR )
{
/*
* Overrun, a character already present in the UART UDR register was
* not read by the interrupt handler before the next character arrived,
* one or more received characters have been dropped
*/
lcd_puts("UART Overrun Error", FIRST);
}
if ( b & UART_BUFFER_OVERFLOW )
{
/*
* We are not reading the receive buffer fast enough,
* one or more received character have been dropped
*/
lcd_puts("Buffer overflow error", FIRST);
}
/*
* send received character back
*/
c = (unsigned char) b;
switch(c) {
case 0x16:
uart_putc(button);
button = 0;
break;
case 0x00:
break;
case 0x07: //BELL
beep(); //BEEP!!!
break;
case 0x11: //DEVICE CONTROL 1
setLeds(getLeds() ^ RED); //rote LED togglen
break;
case 0x12: //DEVICE CONTROL 2
setLeds(getLeds() ^ GREEN); //gruene LED togglen
break;
case 0x13: //DEVICE CONTROL 3
lcd_clearLine(FIRST); //Erste Zeile leeren und ab da schreiben
break;
case 0x14: //DEVICE CONTROL 4
lcd_clearLine(SECOND); //Zweite Zeile leeren und ab da schreiben
break;
default: // Normales Zeichen
lcd_putc(c); //Zeichen schreiben
break;
}
}
}
return 0;
}
static void set_leds( uint8_t * args )
{
setLeds( args[0] );
}
void i2cIo( void )
{
static msg_t status;
static uint8_t st;
// Debug code.
/*
static uint16_t nnn = 0;
if ( nnn++ > 50 )
nnn = 0;
else
return;
g_i2cAddr = 64;
g_i2cStatus = 1;
g_i2cTxSz = 4;
g_i2cRxSz = 0;
g_i2cOutBuffer[0] = 6;
g_i2cOutBuffer[1] = 1;
g_i2cOutBuffer[2] = 0x0F;
g_i2cOutBuffer[3] = 0x70;
*/
// / Debug code.
chMtxLock( &mutex );
st = g_i2cStatus;
chMtxUnlock();
if ( st == 1 )
{
static systime_t tmo;
tmo = MS2ST( 300 );
if ( g_i2cTxSz > 0 )
{
status = i2cMasterTransmitTimeout( &I2CD1, g_i2cAddr,
g_i2cOutBuffer, g_i2cTxSz,
0, 0,
tmo );
if ( status == RDY_OK )
toggleLedsImmediate( 2 );
else
setLeds( 7 );
if ( status != RDY_OK )
{
chMtxLock( &mutex );
g_i2cStatus = 2;
chMtxUnlock();
i2cStart( &I2CD1, &i2cfg1 );
return;
}
}
if ( g_i2cRxSz > 0 )
{
status = i2cMasterReceiveTimeout( &I2CD1, g_i2cAddr,
g_i2cInBuffer, g_i2cRxSz,
tmo );
if ( status == RDY_OK )
toggleLedsImmediate( 4 );
else
setLeds( 7 );
if ( status != RDY_OK )
{
chMtxLock( &mutex );
g_i2cStatus = 3;
chMtxUnlock();
i2cStart( &I2CD1, &i2cfg1 );
return;
}
}
chMtxLock( &mutex );
g_i2cStatus = 0;
chMtxUnlock();
int main(int argc, char *argv[])
{
int i, iRet = 0;
struct pwcmech * pwcmech;
//
// Signal Handling
//
sigset_t block_no_signals;
sigemptyset(&block_no_signals);
struct sigaction pwc_sig_handler;
struct sigaction standard_sig_handler;
struct sigaction video_io_sig_handler;
pwc_sig_handler.sa_flags = 0;
pwc_sig_handler.sa_handler = &sig_handler;
sigaction(SIGINT, &pwc_sig_handler, &standard_sig_handler);
sigaction(SIGTERM, &pwc_sig_handler, &standard_sig_handler);
video_io_sig_handler.sa_flags = 0;
video_io_sig_handler.sa_handler = &ioctl_callback;
sigaction(SIGIO, &video_io_sig_handler, &standard_sig_handler);
//
// Userspace Driver Interfaces
//
struct devClass * video_dev;
struct images * p_img;
//
// Buffering Initialization
//
printf("Allocating buffers...");
frames = alloc_buffers();
if ( frames == NULL )
{
printf("failed?!\n");
goto finish;
}
init_data_buffer(frames);
printf("done!\n");
//
// Device Initialization
//
printf("Create camera device...");
pwcmech = pwc_devmech_start();
if ( pwcmech_register_driver(pwcmech) )
{
printf("failed?!\n");
goto release_buffers;
}
printf("done!\n");
printf("Initialize camera device...");
if ( pwcmech_register_handler(pwcmech) )
{
perror("Failed opening camera device");
printf("failed?!\n");
goto stop_usb;
}
printf("done!\n");
printf("Set camera's video mode...");
//if_claim should work seamslessly somehow
iRet = usb_if_claim(pwcmech->com, pwcmech->com->standard_descriptors.highspeed.cameraStream.cameraStreamConf);
if ( iRet )
{
perror("Failed setting camera's video mode");
printf("failed?!\n");
goto close_camera;
}
iRet = setVideoMode(pwcmech, 9); //still old way, pre-setting instead of from V4L
if ( iRet )
{
perror("Failed setting camera's video mode");
printf("failed?!\n");
goto close_camera;
}
set_ctrl0_timeout(pwcmech->com, 1000);
setLeds(pwcmech, 0,0); //don't bother with the light
iRet = sendVideoCommand(pwcmech, video_mode_string, VIDEO_MODE_STRING_LEN);
if ( iRet )
{
perror("Failed setting camera's video mode");
printf("failed?!\n");
goto close_camera;
}
printf("done!\n");
//
// Decompression
//
printf("Initializing decompression system...");
p_img = alloc_images();
if ( p_img == NULL )
{
printf("failed?!\n");
goto close_camera;
}
if ( ( iRet = init_images(p_img) ) )
{
printf("failed?!\n");
goto free_p_img;
}
printf("done!\n");
#ifndef NO_IMG
//
// Open video pipe
//
printf("Opening the video pipe (vl4 device emulation)...");
video_dev = alloc_devClass();
if ( video_dev == NULL )
{
printf("failed?!\n");
goto free_p_img;
}
p_img->img_buf = init_devClass(video_dev, argv[1], p_img);
if ( p_img->img_buf == NULL )
{
perror("Initializing device class failed");
printf("failed?!\n");
printf("Did you input the device path, \"/dev/video0\"?\"\n\n\n");
goto free_video_dev;
}
printf("done!\n");
#endif
//
// ISO transfers
//
printf("Create USB isochronous transfers...");
for (i = 0; i < ISO_BUFFERS_NR; i++)
{
iRet = assignVideoBuffer(pwcmech, frames->iso_buffer[i], ISO_BUFFER_SIZE);
if (iRet)
{
perror("Failed creating image transfer");
printf("failed?!\n");
goto unregister_buffers;
}
}
printf("done!\n");
//
// Threads
//
printf("Set-up threads...");
int active_threads = 0;
pthread_t threads[NUM_THREADS];
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
struct acqArg * acq_arg;
acq_arg = malloc(sizeof(struct acqArg));
if ( acq_arg == NULL )
{
printf("failed?!\n");
goto close_threads;
}
acq_arg->abort = &thread_abort;
acq_arg->pwcmech = pwcmech;
struct imgArg * img_arg;
img_arg = malloc(sizeof(struct imgArg));
if ( img_arg == NULL )
{
printf("failed?!\n");
goto close_threads;
}
img_arg->frames = frames;
img_arg->p_img = p_img;
img_arg->video_pipe = video_dev;
img_arg->capture = 0;
img_arg->abort = &thread_abort;
printf("done!\n");
//
// MAIN
//
printf("Registering callback function for Isochronous transfer...");
setPower(pwcmech, 0); //enable camera (our state machine discovered that this was missing)
registerVideoCallback(pwcmech, acquire_frame, pwcmech);
if ( acknowledgeVideoCallback(pwcmech) )
goto close_threads;
printf("done!\n");
#ifndef NO_COM
printf("Creating the data acquisition thread...");
if ( ( iRet = pthread_create(&threads[active_threads], &attr, process_usb, (void *)acq_arg) ) )
{
printf("failed?!\n");
goto stop_camera;
}
active_threads++;
printf("done!\n");
#endif
#ifndef NO_IMG
printf("Creating the image fill thread...");
if ( ( iRet = pthread_create(&threads[active_threads], &attr, fillImageData, (void *)img_arg) ) )
{
printf("failed?!\n");
goto stop_camera;
}
active_threads++;
printf("done!\n");
#endif
while (!op_abort)
{
// sigsuspend(&block_no_signals);
if ( ioctl_call )
{
devClass_ioctl(video_dev, &img_arg->capture);
ioctl_call = 0;
}
}
//
// ~MAIN
//
stop_camera:
printf("Releasing video callback...");
releaseVideoCallback(pwcmech);
printf("done!\n");
printf("Unregistering buffers...");
unassignVideoBuffers(pwcmech);
printf("done!\n");
close_threads:
printf("Closing all threads...");
thread_abort = 1;
for ( i = 0; i < active_threads; i++)
pthread_join(threads[i], NULL);
free(acq_arg);
free(img_arg);
pthread_attr_destroy(&attr);
printf("done!\n");
unregister_buffers:
printf("Unregistering buffers if not done before...");
unassignVideoBuffers(pwcmech);
printf("done!\n");
free_video_dev:
#ifndef NO_IMG
printf("Closing video pipe...");
close_devClass(video_dev);
free_devClass(video_dev);
printf("done!\n");
#endif
free_p_img:
printf("Releasing decompression system...");
free_images(p_img);
printf("done!\n");
usb_release_interface(pwcmech->com, pwcmech->com->standard_descriptors.highspeed.cameraStream.cameraStreamConf);
close_camera:
printf("Close camera device...");
pwcmech_deregister_handler(pwcmech);
printf("done!\n");
stop_usb:
printf("Stopping USB interface...");
pwcmech_deregister_driver(pwcmech);
printf("done!\n");
release_buffers:
pwc_devmech_stop(pwcmech);
//release buffers, they are linked to the camera device
//so only release them after releasing the camera
printf("Releasing buffers...");
free_buffers(frames);
printf("done!\n");
finish:
return 0;
}
// This is the main loop
TICK_COUNT appControl(LOOP_COUNT loopCount, TICK_COUNT loopStart) {
//Toggle mode via button
if (!buttonWait){
if(SWITCH_pressed(&button)){
// pressed
mode = (mode + 1) % NUMMODES;
buttonWait = 1;
buttonWaitStartTime = loopStart;
// Clear vals for new mode
for (int i=set; i < 14; i++){
led[i].r = 0;
led[i].g = 0;
led[i].b = 0;
}
setLeds();
}
}
// Wait 1 second after noticing a button press before allowing another button press
else {
if (clockHasElapsedGetOverflow(buttonWaitStartTime, buttonWaitTime, &unusedButtonRemainingTime)){
buttonWait = 0;
}
}
/// alternating half bright half fading
if (mode == 1) {
if (clockHasElapsedGetOverflow(switchtime, halfperiods[set], &remainingtime)) {
// rprintf("boom!\n");
delay_ms(400);
// Switch modes if we've reached the end of increasing brightness
if (dir == 1){
set = (set + 1) % 2;
}
switchtime = clockGetus();
dir *= -1;
remainingtime = halfperiods[set] - remainingtime;
// Set half the LEDs to maximum brightness
for (int i=(1-set); i < 14; i+=2){
// led[i].b = maxbright * 2;
led[i].r = maxbright * 2;
led[i].g = maxbright;
}
}
// Calculate brightness of dimmer LEDs
if(dir == 1){ // increasing brightness
newbrightness = maxbright - (maxbright - minbright) * remainingtime / halfperiods[set];
}
else{ // decreasing brightness
newbrightness = minbright + (maxbright - minbright) * remainingtime / halfperiods[set];
}
// Monocolor
// newbrightness *= 2;
// newbrightness += 1;
for (int i=set; i < 14; i+=2){
// blue
// led[i].b = newbrightness;
// orange
led[i].r = newbrightness * 2 + 1;
led[i].g = newbrightness + 1;
}
setLeds();
}
///
else if (mode == 2) {
if (clockHasElapsedGetOverflow(switchtime, halfperiods[set], &remainingtime)) {
// rprintf("boom!\n");
set = (set + 1) % 2;
switchtime = clockGetus();
remainingtime = halfperiods[set] - remainingtime;
}
for (int i=0; i < 14; i+=2){
led[i].b = 0;
}
j = (14 * (remainingtime /1000)) / (halfperiods[set] / 1000);
led[j].b = maxbright;
setLeds();
}
/// moving orange
else if (mode == 3) {
if (clockHasElapsedGetOverflow(switchtime, halfperiods[set], &remainingtime)) {
//delay_ms(250);
// Switch modes if we've reached the end of increasing brightness
//if (dir == 1){
set = (set + 1) % 2;
//}
switchtime = clockGetus();
//dir *= -1;
remainingtime = halfperiods[set] - remainingtime;
}
for (int i=0; i < 14; i++){
led[i].r = 0;
led[i].g = 0;
led[i].b = 0;
}
j = (14 * (remainingtime /1000)) / (halfperiods[set] / 1000);
led[j].r = maxbright;
led[j].g = maxbright/2;
//led[j].b = maxbright;
setLeds();
}
/// FLASHING WHITE
else if (mode == 4) {
if (clockHasElapsedGetOverflow(switchtime, halfperiods[set], &remainingtime)) {
delay_ms(400);
// Switch modes if we've reached the end of increasing brightness
if (dir == 1){
set = (set + 1) % 2;
}
switchtime = clockGetus();
dir *= -1;
remainingtime = halfperiods[set] - remainingtime;
}
// Calculate brightness
if(dir == 1){ // increasing brightness
newbrightness = maxbright - (maxbright - minbright) * remainingtime / halfperiods[set];
}
else{ // decreasing brightness
newbrightness = minbright + (maxbright - minbright) * remainingtime / halfperiods[set];
}
for (int i=0; i < 14; i++){
led[i].r = newbrightness * 2;
led[i].g = newbrightness * 2;
led[i].b = newbrightness * 2;
}
setLeds();
}
else if (mode == 5)
{
k = (k+1)%w;
y = 4;
z = 7;
w = 7;
int val = (k*y)%z;
// >>> for k in xrange(w): print (k*y)%z;
// for (int k=0; k < w; k+=x)
// {
// val = (k*y)%z;
// }
for (int i=0; i < 14; i++){
led[i].r = maxbright * 2;
led[i].g = maxbright;
// led[i].b = newbrightness * 2;
}
led[val].r = maxbright * 2;
led[val].g = maxbright * 2;
led[val+7].r = maxbright * 3;
led[val+7].g = maxbright * 2;
setLeds();
return 500000;
}
// ///////
// // BlinkM control (doesn't work; probably need pull up resistors)
// uint8_t blinkm_packet_setcolor[4];
// blinkm_packet_setcolor[0] = (uint8_t)'n';
// blinkm_packet_setcolor[1] = 50;
// blinkm_packet_setcolor[2] = 50;
// blinkm_packet_setcolor[3] = 50;
// i2cMasterSend(&blinkm.i2cInfo, sizeof(blinkm_packet_setcolor), blinkm_packet_setcolor);
// // i2cMasterSend(&blinkm.i2cInfo, sizeof(blinkm_packet_setcolor), *blinkm_packet_setcolor);
// delay_ms(50);
else if (mode == 0){
for (int i=0; i < 14; i++){
led[i].r = 0;
led[i].g = 0;
led[i].b = 0;
}
setLeds();
}
return 20000;
}
/******************************************************************************
*
* Description:
* Set the LEDs that should blink with rate and duty cycle from PWM1.
* Blinking is turned off with pca9532_setLeds.
*
* Params:
* [in] ledMask - LEDs that should blink.
*
*****************************************************************************/
void pca9532_setBlink1Leds(uint16_t ledMask)
{
blink1Shadow |= ledMask;
setLeds();
}
static void set_led( uint8_t * args )
{
turnCountdownOff();
setLeds( args[0] );
}
void av::vrpn::Wiimote::setLED3CB(const av::SFBool::SetValueEvent& event)
{
const bool ledOn = (event.getValue());
// std::cout << "LedOn: " << ledOn << std::endl;
setLeds(3, ledOn);
}
void N800Hardware::chargeChanged(int charge)
{
if (!batterySource->charging())
setLeds(charge);
}
void ProcessIO(void)
{
char oldPGDtris;
char PIN;
static byte counter=0;
int nBytes;
unsigned long address;
// When the device is plugged in, the leds give the numbers 1, 2, 3, 4, 5.
//After configured state, the leds are controlled by the next lines in this function
if((usb_device_state < CONFIGURED_STATE)||(UCONbits.SUSPND==1))
{
BlinkUSBStatus();
return;
}
nBytes=USBGenRead((byte*)input_buffer,64);
if(nBytes>0)
{
switch(input_buffer[0])
{
case CMD_ERASE:
setLeds(LEDS_ON | LEDS_WR);
output_buffer[0]=bulk_erase(picfamily,pictype,input_buffer[1]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_ID:
setLeds(LEDS_ON | LEDS_RD);
switch(picfamily)
{
case PIC24:
case dsPIC30:
read_code(picfamily,pictype,0xFF0000,(unsigned char*)output_buffer,2,3);
break;
case PIC18:
case PIC18J:
case PIC18K:
read_code(picfamily,pictype,0x3FFFFE,(unsigned char*)output_buffer,2,3); //devid is at location 0x3ffffe for PIC18 devices
break;
case PIC16:
set_vdd_vpp(picfamily, pictype, 0);
read_code(picfamily,pictype,0x2006,(unsigned char*)output_buffer,2,3); //devid is at location 0x2006 for PIC16 devices
break;
}
counter=2;
setLeds(LEDS_ON);
break;
case CMD_WRITE_CODE:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_code(picfamily,pictype,address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_CODE:
setLeds(LEDS_ON | LEDS_RD);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
PIN=read_code(picfamily,pictype,address,(unsigned char*)output_buffer,input_buffer[1],input_buffer[5]);
if(PIN==3)output_buffer[0]=0x3;
counter=input_buffer[1];
setLeds(LEDS_ON);
break;
case CMD_WRITE_DATA:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_data(picfamily,pictype,address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_READ_DATA:
setLeds(LEDS_ON | LEDS_RD);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
read_data(picfamily,pictype,address,(unsigned char*)output_buffer,input_buffer[1],input_buffer[5]);
counter=input_buffer[1];
setLeds(LEDS_ON);
break;
case CMD_WRITE_CONFIG:
setLeds(LEDS_ON | LEDS_WR);
address=((unsigned long)input_buffer[2])<<16|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4]);
output_buffer[0]=write_config_bits(picfamily, pictype, address, (unsigned char*)(input_buffer+6),input_buffer[1],input_buffer[5]);
counter=1;
setLeds(LEDS_ON);
break;
case CMD_SET_PICTYPE:
output_buffer[0]=set_pictype(input_buffer+1);
//output_buffer[0]=1; //Ok
counter=1;
setLeds(LEDS_ON);
break;
case CMD_FIRMWARE_VERSION:
strcpypgm2ram((char*)output_buffer,(const far rom char*)upp_version);
counter=18;
setLeds(LEDS_ON);
break;
case CMD_DEBUG:
setLeds(LEDS_ON | LEDS_WR | LEDS_RD);
switch(input_buffer[1])
{
case 0:
set_vdd_vpp(dsP30F, dsPIC30, 1);
output_buffer[0]=1;
counter=1;
break;
case 1:
set_vdd_vpp(dsP30F, dsPIC30, 0);
output_buffer[0]=1;
counter=1;
break;
case 2:
dspic_send_24_bits(((unsigned long)input_buffer[2])|
((unsigned long)input_buffer[3])<<8|
((unsigned long)input_buffer[4])<<16);
output_buffer[0]=1;
counter=1;
break;
case 3:
nBytes = dspic_read_16_bits(1);
output_buffer[0]=(unsigned char)nBytes;
output_buffer[1]=(unsigned char)(nBytes>>8);
counter=2;
break;
}
break;
case CMD_GET_PIN_STATUS:
switch(input_buffer[1])
{
case SUBCMD_PIN_PGC:
if((!TRISPGC_LOW)&&(!PGC_LOW)) //3.3V levels
{
if(PGC) output_buffer[0] = PIN_STATE_3_3V;
else output_buffer[0] = PIN_STATE_0V;
}
else //5V levels
{
if(PGC) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
counter=1;
break;
case SUBCMD_PIN_PGD:
if(TRISPGD)//PGD is input
{
if(PGD_READ) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
else
{
if((!TRISPGD_LOW)&&(!PGD_LOW)) //3.3V levels
{
if(PGD) output_buffer[0] = PIN_STATE_3_3V;
else output_buffer[0] = PIN_STATE_0V;
}
else //5V levels
{
if(PGD) output_buffer[0] = PIN_STATE_5V;
else output_buffer[0] = PIN_STATE_0V;
}
}
counter=1;
break;
case SUBCMD_PIN_VDD:
if(VDD) output_buffer[0] = PIN_STATE_FLOAT;
else output_buffer[0] = PIN_STATE_5V;
counter = 1;
break;
case SUBCMD_PIN_VPP:
counter=1;
if(!VPP){output_buffer[0] = PIN_STATE_12V;break;}
if(VPP_RST){output_buffer[0] = PIN_STATE_0V;break;}
if(VPP_RUN){output_buffer[0] = PIN_STATE_5V;break;}
output_buffer[0] = PIN_STATE_FLOAT;
break;
case SUBCMD_PIN_VPP_VOLTAGE:
ReadAdc(output_buffer);
counter=2;
break;
default:
output_buffer[0]=3;
counter=1;
break;
}
break;
case CMD_SET_PIN_STATUS:
switch(input_buffer[1])
{
case SUBCMD_PIN_PGC:
switch(input_buffer[2])
{
case PIN_STATE_0V:
TRISPGC = 0;
PGC = 0;
TRISPGC_LOW = 1;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_3_3V:
TRISPGC = 0;
PGC = 1;
TRISPGC_LOW = 0;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
TRISPGC = 0;
PGC = 1;
TRISPGC_LOW = 1;
PGC_LOW = 0;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_PGD:
switch(input_buffer[2])
{
case PIN_STATE_0V:
TRISPGD = 0;
PGD = 0;
TRISPGD_LOW = 1;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_3_3V:
TRISPGD = 0;
PGD = 1;
TRISPGD_LOW = 0;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
TRISPGD = 0;
PGD = 1;
TRISPGD_LOW = 1;
PGD_LOW = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_INPUT:
TRISPGD_LOW = 1;
TRISPGD = 1;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_VDD:
switch(input_buffer[2])
{
case PIN_STATE_5V:
VDD = 0;
output_buffer[0]=1;
break;
case PIN_STATE_FLOAT:
VDD = 1;
output_buffer[0]=1;
break;
default:
output_buffer[0]=3;
break;
}
break;
case SUBCMD_PIN_VPP:
switch(input_buffer[2])
{
case PIN_STATE_0V:
VPP = 1;
VPP_RST = 1;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_5V:
VPP = 1;
VPP_RST = 0;
VPP_RUN = 1;
output_buffer[0]=1;//ok
break;
case PIN_STATE_12V:
VPP = 0;
VPP_RST = 0;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
case PIN_STATE_FLOAT:
VPP = 1;
VPP_RST = 0;
VPP_RUN = 0;
output_buffer[0]=1;//ok
break;
default:
output_buffer[0]=3;
break;
}
break;
default:
output_buffer[0]=3;
}
counter=1;
break;
}
}
if(counter != 0)
{
if(!mUSBGenTxIsBusy())
USBGenWrite((byte*)&output_buffer,counter);
counter=0;
}
}//end ProcessIO