/*****************************************************************************
* 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
}
//Callback function when imageproc receives tactile command from radio
void handleSkinRequest(unsigned char length, unsigned char *frame, unsigned int src_addr) {
tactile_src_addr = src_addr;
rx_idx = frame[0];
//unsigned char tempframe[TACTILE_ROWS * TACTILE_COLS * 2 + 1];
//static unsigned char tempframe[100];
//buffer = tempframe;
buffer_length = 0;
expected_length = 2;
int i;
switch (rx_idx) {
case TACTILE_MODE_G: //query number of rows and columns
sendTactileCommand(length, frame);
/*
//TACTILE_ROWS = 0x00;
//TACTILE_COLS = 0x00;
buffer_length = 4;
//expected_length = 3;
buffer[0] = rx_idx;
buffer[1] = 0x02;
buffer[2] = TACTILE_ROWS;
buffer[3] = TACTILE_COLS;
setRXFlag();
//buffer = rowcol;
//buffer = tempframe;*/
break;
case TACTILE_MODE_A: //sample individual pixel
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_B: //sample frame
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_C: //poll pixel
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_E: //start scan
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_F: //stop scan
rx_idx = TACTILE_RX_IDLE;
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_S: //turn streaming on or off
streaming = frame[1];
unsigned char temp[3] = {rx_idx,1,streaming};
radioSendData(tactile_src_addr, 0, CMD_TACTILE, sizeof(temp), temp, 0);
rx_idx = TACTILE_RX_IDLE;
break;
case TACTILE_MODE_T: //test frame
buffer_length = 0;
expected_length = max_buffer_length;
//buffer = tempframe;
sendTactileCommand(length,frame);
break;
case TACTILE_MODE_L: //load force-torque calibration parameters
Nop();
float temp_f[6];
memcpy(temp_f,&frame[2],6*sizeof(float));
int n_ind;
for (n_ind = 0; n_ind < 6; n_ind++) {
N[n_ind][frame[1]] = temp_f[n_ind]; //frame[1] indicates index [0-ROWS*COLS*3)
}
//char* test3 = (char*)&temp_f;
//unsigned char temp1[6] = {rx_idx,sizeof(float),test3[0],test3[1],test3[2],test3[3]};
//radioSendData(tactile_src_addr, 0, CMD_TACTILE, sizeof(temp1), temp1, 0);
rx_idx = TACTILE_RX_IDLE;
break;
case 'Y': //write N to dfmem
dfmemGetGeometryParams(&mem_geo);
int N_pages = (sizeof(N)/mem_geo.bytes_per_page) + 1; //how many pages needed to hold N
//for (i = N_pages; i > 0; i--) {
// dfmemWrite(N + mem_geo.bytes_per_page*(N_pages-i),i > 1 ? mem_geo.bytes_per_page : sizeof(N)-mem_geo.bytes_per_page*(N_pages-1) ,mem_geo.max_pages-i,0,0);
//}
dfmemWrite(N,sizeof(N),mem_geo.max_pages-1,0,0);
rx_idx = TACTILE_RX_IDLE;
break;
case 'Z':
/*//read N from dfmem
dfmemGetGeometryParams(&mem_geo);
int N_pages1 = (sizeof(N)/mem_geo.bytes_per_page) + 1; //how many pages needed to hold N
//for (i = N_pages1; i > 0; i--) {
// dfmemRead(mem_geo.max_pages-i, 0, i > 1 ? mem_geo.bytes_per_page : sizeof(N)-mem_geo.bytes_per_page*(N_pages1-1), N + mem_geo.bytes_per_page*(N_pages1-i));
//}
dfmemRead(mem_geo.max_pages-1, 0, sizeof(N), N);
*/
rx_idx = TACTILE_RX_IDLE;
/*DisableIntT1;
int pwm = frame[1]+(frame[2]<<8);
tiHSetDC(1,pwm);*/
//zero forces
if (zeroForces == 0) {
zeroForces = 1;
}
break;
default:
sendTactileCommand(length,frame);
break;
}
//blocking wait for skinproc to answer
/*while (buffer_length < expected_length) {
Nop();
}
handleSkinData(buffer_length, buffer);
rx_idx = TACTILE_RX_IDLE;*/
}
