// Setup reader to card connection
//
// The setup consists of a three way handshake:
// - Receive initialisation vector 7 bits
// - Transmit card type 6 bits
// - Receive Acknowledge 6 bits
static int32_t setup_phase(legic_card_select_t *p_card) {
uint8_t len = 0;
// init coordination timestamp
last_frame_end = GetCountSspClk();
// reset prng
legic_prng_init(0);
// wait for iv
int32_t iv = rx_frame(&len);
if((len != 7) || (iv < 0)) {
return -1;
}
// configure prng
legic_prng_init(iv);
// reply with card type
switch(p_card->tagtype) {
case 0:
tx_frame(0x0D, 6);
break;
case 1:
tx_frame(0x1D, 6);
break;
case 2:
tx_frame(0x3D, 6);
break;
}
// wait for ack
int32_t ack = rx_frame(&len);
if((len != 6) || (ack < 0)) {
return -1;
}
// validate data
switch(p_card->tagtype) {
case 0:
if(ack != 0x19) return -1;
break;
case 1:
if(ack != 0x39) return -1;
break;
case 2:
if(ack != 0x39) return -1;
break;
}
// During rx the prng is clocked using the variable reader period.
// Since rx_frame detects end of frame by detecting a code violation,
// the prng is off by one bit period after each rx phase. Hence, tx
// code advances the prng by (TAG_FRAME_WAIT/TAG_BIT_PERIOD - 1).
// This is not possible for back to back rx, so this quirk reduces
// the gap by one period.
last_frame_end += TAG_BIT_PERIOD;
return 0;
}
/**
* \brief Handles software-controlled CSMA.
*
* \param csma_mode CSMA Mode; eg. ED or CS
* \param retransmit true if frame re-transmission is requested
*/
static inline void sw_controlled_csma(csma_mode_t csma_mode, bool retransmit)
{
if (retransmit) {
number_of_tx_retries = 0; /* actual number of retries */
} else {
/* no further retries */
number_of_tx_retries = tal_pib.MaxFrameRetries;
}
/* Handle interframe spacing */
if (csma_mode == NO_CSMA_WITH_IFS) {
if (last_frame_length > aMaxSIFSFrameSize) {
pal_timer_delay(TAL_CONVERT_SYMBOLS_TO_US(
macMinLIFSPeriod_def)
- IRQ_PROCESSING_DLY_US -
PRE_TX_DURATION_US);
} else {
pal_timer_delay(TAL_CONVERT_SYMBOLS_TO_US(
macMinSIFSPeriod_def)
- IRQ_PROCESSING_DLY_US -
PRE_TX_DURATION_US);
}
}
if ((csma_mode == NO_CSMA_WITH_IFS) || (csma_mode == NO_CSMA_NO_IFS)) {
tx_frame();
} else {
csma_start();
}
}
void send_mesg_test_mode()
{
lcd_init();
init_push_buttons();
usart_init();
txq_init();
usart_drain_rx();
lcd_puts("Send Mesg Test Mode");
wait_ms(1000);
lcd_clear();
char echo_mesg[] = "foobar"; // Assumed to be less than DATA_FRAME_MAX_LEN.
while (true)
{
switch (wait_button("Select Message")) {
case mesg_ping:
txq_enqueue(signal_start);
txq_enqueue(mesg_ping);
txq_enqueue(signal_stop);
txq_drain();
break;
case mesg_echo:
txq_enqueue(signal_start);
txq_enqueue(mesg_echo);
// Copy the echo message into the `control`:
strcpy(control.data, echo_mesg);
control.data_len = strlen(echo_mesg);
// Enqueue the frame. No more frames coming.
tx_frame(false);
txq_enqueue(signal_start);
txq_drain();
break;
default:
wait_button("Invalid selection.");
break;
}
}
}
/*
* \brief handling of CCA result.
*/
void cca_done_handling(void)
{
set_trx_state(CMD_PLL_ON); /* leave RX_ON */
/* Restore IRQ handling */
trx_irq_init((FUNC_PTR)trx_irq_handler_cb);
trx_reg_write(RG_IRQ_MASK, TRX_IRQ_DEFAULT);
trx_bit_write(SR_RX_PDT_DIS, RX_ENABLE); /* Enable frame reception.
**/
/* Check if channel was idle or busy */
if (trx_bit_read(SR_CCA_STATUS) == CCA_STATUS_CHANNEL_IS_IDLE) {
tx_frame();
} else {
tal_state = TAL_CSMA_CONTINUE;
}
}
static int32_t connected_phase(legic_card_select_t *p_card) {
uint8_t len = 0;
// wait for command
int32_t cmd = rx_frame(&len);
if(cmd < 0) {
return -1;
}
// check if command is LEGIC_READ
if(len == p_card->cmdsize) {
// prepare data
uint8_t byte = legic_mem[cmd >> 1];
uint8_t crc = calc_crc4(cmd, p_card->cmdsize, byte);
// transmit data
tx_frame((crc << 8) | byte, 12);
return 0;
}
//Handler for OI, moved from control.
void oi_system()
{
movement_data_t movement_data;
rotation_data_t rotation_data;
enum {
oi_command_init = 0,
oi_command_move = 1,
oi_command_rotate = 2,
oi_command_play_song = 3,
oi_command_dump = 4,
oi_command_end_sequence = 5
} oi_command = usart_rx();
txq_enqueue(oi_command);
switch (oi_command) {
case oi_command_init:
oi_init(&(control.oi_state));
break;
case oi_command_move:
if(rx_frame()) {
r_error(error_frame,"Move should not have multiple frames.");
}
struct {
uint16_t speed;
uint16_t dist;
bool stream;
} *move_data = (void *) &control.data;
struct {
uint16_t dist;
uint8_t flag;
} *response_move = (void *) &control.data;
#warning "Stream functionality to be implemented later."
//Stream returns the distance traveled
//lcd_puts ("In OI subsystem"); //debug
movement_data = move_dist(&(control.oi_state), move_data->dist, move_data->speed);
response_move->dist = movement_data.travelled;
response_move->flag = movement_data.flag;
if (movement_data.flag != 0) {
movement_data = move_dist(&(control.oi_state), -20, move_data->speed);
response_move->dist += movement_data.travelled;
}
control.data_len = 3;
tx_frame(false);
break;
case oi_command_rotate:
if (rx_frame()) {
r_error(error_bad_message, "Rotate should only have one data frame.");
}
int16_t *angle = &(control.data[0]); // TODO: test if this is the right number of bytes
if (control.data_len != 2/*sizeof(*angle)*/) { // TODO: hardcoding to debug
r_error(error_bad_message, "Received too much data with rotate "
"message.");
}
struct {
uint16_t rotation;
} *response_rotation = (void *) &control.data;
rotation_data = turn(&(control.oi_state), *angle);
response_rotation->rotation = rotation_data.rotated;
control.data_len = 2;
tx_frame(false);
break;
//Sing me a song.
case oi_command_play_song:
#warning "oi_command_play_song is deprecated"
;
//assuming that we get two data frames, the first containing the notes and the second containing the durations.
int j;
struct {
uint8_t n; //The number of notes present in the song
//char data[n];
uint8_t index;
} *song_data = (void *) &control.data;
// int j;
while(rx_frame()) { //this should happen twice please
char tmp_notes[song_data->n];
char tmp_durs[song_data->n];
for(j =0; j<song_data->n; j++) {
//tmp_notes[n]; TODO: broken
#warning "oi_command_play_song not implemented"
}
}
break;
case oi_command_dump:
//copies all of the data from OI_UPDATE and transmits to Control.
oi_update(&(control.oi_state));
memcpy(control.data, &control.oi_state, sizeof(control.oi_state));
control.data_len = sizeof(control.oi_state);
tx_frame(false);
break;
case oi_command_end_sequence:
#warning "oi_command_end_sequence not implemented"
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED to orange
oi_set_leds(1, 1, 170, 255);
wait_ms(50);
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED to yellow
oi_set_leds(1, 1, 70, 255);
wait_ms(50);
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED back to default state (from oi_init())
oi_set_leds(1, 1, 7, 255);
// Play song
songs_load(RICK_ROLL);
break;
default:
r_error(error_bad_message, "Bad OI Command");
break;
}
}
int meshd_write_mgmt(char *buf, int framelen, void *cookie)
{
tx_frame(&nlcfg, (unsigned char *) buf, framelen);
return framelen;
}
