int
main(void)
{
struct items {
char *up;
char *load;
char *fan;
char *temp;
char *mem;
char *swap;
char *diskio;
char *fs_root;
char *fs_home;
char *fs_storage;
char *net_speed;
char *batt;
char *vol;
char *time;
char *status;
};
if (!(dpy = XOpenDisplay(NULL))) {
fprintf(stderr, "dwmstatus: cannot open display.\n");
return 1;
}
struct items *i = malloc(sizeof(struct items));
while(1) {
i->up = get_up();
i->load = get_load();
i->fan = get_fan();
i->temp = get_temp();
i->mem = get_mem();
i->swap = get_swap();
i->diskio = get_diskio("sda");
i->fs_root = get_space("/");
i->fs_home = get_space("/home");
i->net_speed = get_net_speed();
i->batt = get_batt();
i->vol = get_vol();
i->time = mktimes("%m/%d/%Y %a %H:%M", tzkiev);
i->status = smprintf(
"up:%s la:%s fan:%s temp:%s m:%s s:%s io:%s /:%s "
"~/:%s net:%s bat:%s vol:%s %s",
i->up, i->load, i->fan, i->temp, i->mem, i->swap,
i->diskio, i->fs_root, i->fs_home, i->net_speed,
i->batt, i->vol, i->time);
setstatus(i->status);
sleep(INTERVAL);
}
free(i);
XCloseDisplay(dpy);
return EXIT_SUCCESS;
}
void bc_perspective_camera::get_extend_points(extend& p_points) const
{
auto l_fov_tan = 2 * std::tanf(m_field_of_view / 2);
auto l_near_clip_height = l_fov_tan * get_near_clip();
auto l_near_clip_width = l_near_clip_height * m_aspect_ratio;
auto l_far_clip_height = l_fov_tan * get_far_clip();
auto l_far_clip_width = l_far_clip_height * m_aspect_ratio;
auto l_near_clip_center = get_position() + get_forward() * get_near_clip();
auto l_far_clip_center = get_position() + get_forward() * get_far_clip();
p_points[0] = l_near_clip_center + get_left() * (l_near_clip_width / 2) + get_down() * (l_near_clip_height / 2);
p_points[1] = l_near_clip_center + get_left() * (l_near_clip_width / 2) + get_up() * (l_near_clip_height / 2);
p_points[2] = l_near_clip_center + get_right() * (l_near_clip_width / 2) + get_up() * (l_near_clip_height / 2);
p_points[3] = l_near_clip_center + get_right() * (l_near_clip_width / 2) + get_down() * (l_near_clip_height / 2);
p_points[4] = l_far_clip_center + get_left() * (l_far_clip_width / 2) + get_down() * (l_far_clip_height / 2);
p_points[5] = l_far_clip_center + get_left() * (l_far_clip_width / 2) + get_up() * (l_far_clip_height / 2);
p_points[6] = l_far_clip_center + get_right() * (l_far_clip_width / 2) + get_up() * (l_far_clip_height / 2);
p_points[7] = l_far_clip_center + get_right() * (l_far_clip_width / 2) + get_down() * (l_far_clip_height / 2);
}
struct gmi_set* gmi_base_adjacent(struct gmi_model* m, struct gmi_ent* e,
int dim)
{
int from_dim;
struct agm_ent a;
a = agm_from_gmi(e);
from_dim = agm_dim_from_type(a.type);
if (dim == from_dim - 1)
return get_down(to_base(m)->topo, a);
else if (dim == from_dim + 1)
return get_up(to_base(m)->topo, a);
gmi_fail("only one-level adjacencies supported");
return 0;
}
glm::mat4 view_matrix(){
return glm::lookAt(get_position(), get_gaze(), get_up());
}
core::bc_vector3f bc_icamera::get_down() const noexcept
{
return get_up() * -1;
}
void bc_free_camera::update(core_platform::bc_clock::update_param p_clock_update_param,
const platform::bc_pointing_device& p_pointing_device,
const platform::bc_key_device& p_key_device)
{
core::bc_vector3f l_position = get_position();
bcFLOAT l_move_speed = m_shift_pressed ? m_move_speed * 6 : m_ctrl_pressed ? m_move_speed * 0.25 : m_move_speed;
bcFLOAT l_rotate_speed = m_rotate_speed;
l_move_speed *= p_clock_update_param.m_elapsed_second;
l_rotate_speed *= p_clock_update_param.m_elapsed_second;
if (m_w_pressed)
{
l_position += get_forward() * l_move_speed;
}
if (m_s_pressed)
{
l_position += get_back() * l_move_speed;
}
if (m_a_pressed)
{
l_position += get_left() * l_move_speed;
}
if (m_d_pressed)
{
l_position += get_right() * l_move_speed;
}
if (m_e_pressed)
{
l_position += get_down() * l_move_speed;
}
if (m_q_pressed)
{
l_position += get_up() * l_move_speed;
}
core::bc_vector3f l_direction = get_direction();
if (m_rmb_pressed)
{
bcFLOAT l_pi = 3.14159265358979323846 / 2;
auto l_dx = -m_dx * l_rotate_speed;
auto l_dy = m_dy * l_rotate_speed;
if (m_dy > l_pi)
{
m_dy = l_pi;
}
if (m_dy < -l_pi)
{
m_dy = -l_pi;
}
core::bc_matrix3f l_rotation_y;
core::bc_matrix3f l_rotation_x;
core::bc_matrix3f l_rotation;
core::bc_vector3f l_right = get_right();
core::bc_vector3f l_up = get_up();
if(graphic::bc_render_api_info::is_left_handed())
{
l_rotation_y.rotation_euler_lh(l_up, -l_dx);
l_rotation_x.rotation_euler_lh(l_right, l_dy);
}
else
{
l_rotation_y.rotation_euler_rh(l_up, -l_dx);
l_rotation_x.rotation_euler_rh(l_right, l_dy);
}
l_rotation = l_rotation_y * l_rotation_x;
l_direction = l_rotation * l_direction;
l_direction.normalize();
}
auto l_lookat = l_position + l_direction;
set_look_at(l_position, l_lookat, core::bc_vector3f(0, 1, 0));
m_dx = 0;
m_dy = 0;
}
void FlyingCamera::roll(GLfloat angle) {
glm::fquat quaternion = create_quaternion(get_forward_dir(),angle);
set_up(quaternion*get_up());
set_forward(quaternion * get_forward());
}
void FlyingCamera::pitch(GLfloat angle) {
glm::fquat quaternion = create_quaternion(glm::cross(get_forward_dir(),get_up_dir()),angle);
set_forward(quaternion*get_forward());
set_up(quaternion*get_up());
}
void mob_is_standing( CHAR_DATA * ch )
{
short dir;
CHAR_DATA *vch;
CHAR_DATA *tch;
list<CHAR_DATA *>::iterator li;
bool ready = TRUE;
bool prey_still_exist = FALSE;
int number_got_up = 0;
int number_of_group = 1;
int number_of_other_group = 1;
/*
* get a light source
*/
if ( ch->in_room->light <= 0 )
{
if ( ch->mana >= mana_cost( ch, skill_lookup( "continual light" ) ) )
{
do_cast( ch, "'continual light'" );
do_get( ch, "all" );
do_wear( ch, "all" );
return;
}
}
if ( ( IS_AFFECTED( ch, AFF_POISON ) ) || ( IS_AFFECTED( ch, AFF_BLIND ) ) )
{
if ( IS_AFFECTED( ch, AFF_POISON ) )
if ( ch->mana >= mana_cost( ch, skill_lookup( "cure poison" ) ) )
do_cast( ch, "'cure poison'" );
if ( IS_AFFECTED( ch, AFF_BLIND ) )
if ( ch->mana >= mana_cost( ch, skill_lookup( "cure blindness" ) ) )
do_cast( ch, "'cure blindness'" );
return;
}
/*
* is anyone in group being attacked? if so, assist!
*/
/*
* -leaders will be forced to rescue in the 'mob_is_fighting' function
* * already so no need to check for it here
*/
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( ( is_same_group( ch, vch ) ) && ( vch->fighting != NULL ) && ( vch != ch ) )
{
do_assist( ch, "" );
return;
}
}
if ( ch->leader == NULL )
{
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( is_same_group( ch, vch ) && ( ch != vch ) )
{
number_of_group = number_of_group + 1;
}
}
if ( number_of_group < 4 )
{
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( vch->leader != NULL )
continue;
if ( ( vch != ch ) && ( IS_NPC( vch ) )
&& ( AI_MOB(vch) )
&& ( !is_same_group( ch, vch ) )
&& ( vch->position == POS_STANDING )
&& ( ( vch->get_level("psuedo") - ch->get_level("psuedo") <= 20
&& vch->get_level("psuedo") - ch->get_level("psuedo") >= -20 )
|| ( ch->get_level("psuedo") - vch->get_level("psuedo") <= 20
&& ch->get_level("psuedo") - vch->get_level("psuedo") >= -20 ) )
&& ( can_see( vch, ch ) ) && ( can_see( ch, vch ) ) )
{
if ( vch->leader == NULL )
{
for ( tch = vch->in_room->first_person; tch != NULL; tch = tch->next_in_room )
{
if ( is_same_group( tch, vch ) && ( tch != vch ) )
{
number_of_other_group = number_of_other_group + 1;
}
}
}
if ( number_of_group + number_of_other_group <= 4 )
{
get_mob_group( ch, vch );
return;
}
}
}
}
}
/*
* do you need to heal?
*/
if ( ch->hit < ch->max_hit * 85 / 100 )
{
if ( ( ch->mana >= mana_cost( ch, skill_lookup( "heal" ) ) )
|| ( ch->mana >= mana_cost( ch, skill_lookup( "cure critical" ) ) )
|| ( ch->mana >= mana_cost( ch, skill_lookup( "cure serious" ) ) ) )
mob_regen_check( ch, NULL, FALSE );
/*
* if leader is ready to move, just keep standing
*/
if ( ( ch->leader != NULL )
&& ( ch->leader->in_room == ch->in_room )
&& ( ch->leader->position == POS_STANDING )
&& ( ch->leader->mana >= ch->leader->max_mana * 85 / 100 )
&& ( ch->leader->hit >= ch->leader->max_hit * 85 / 100 ) )
return;
else
{
if ( ch->mana >= ch->max_mana * 75 / 100 )
ready = ready_heal_room( ch );
if ( ready == TRUE )
do_sleep( ch, "" );
return;
}
}
if ( ch->mana < ch->max_mana * 85 / 100 )
{
do_sleep( ch, "" );
return;
}
/*
* do you need to level? if you have a group leader, have the leader
* * find a the trainer. if you are the leader just go and find the
* * trainer
*/
// ZEN FIX Have them recall then hunt the room
if ( able_to_level( ch ) )
{
char_from_room( ch );
char_to_room( ch, get_room_index( 3758 ) );
gain_level( ch );
return;
/*
dir = h_find_dir ( get_room_index(ch->in_room->vnum),
get_room_index(ROOM_VNUM_INT_HEAL),
ch->hunt_flags );
if ( dir == -1 )
gain_level ( ch );
else
{
if ( ( ch->leader != NULL )
&& ( ch->leader->in_room == ch->in_room ) )
{
hunt_move ( ch->leader, dir );
end_hunt ( ch->leader );
return;
}
else
{
hunt_move ( ch, dir );
return;
}
} */
}
/*
* if you're leader and you don't need to gain level, does anyone else
* * in the group?
*/
/*
* actually, the above function will force the leader to find a trainer
* * already. but since i don't want the leader to select a new target
* * until the group gains the needed level, i'll put this check here
*/
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( ( is_same_group( vch, ch ) )
&& ( vch->in_room == ch->in_room ) && ( vch->leader == ch ) && ( able_to_level( vch ) ) )
{
dir = h_find_dir( get_room_index( ch->in_room->vnum ), get_room_index( ROOM_VNUM_INT_HEAL ), ch->hunt_flags );
hunt_move( ch, dir );
return;
}
}
/*
* if noone needs to heal or gain level, then let's hunt!
*/
/*
* by the way, only leaders will hunt. followers will just follow and
* * assist when needed
*/
if ( ( ch->leader != NULL ) && ( ch->leader->in_room == ch->in_room ) && ( ch->hunting != NULL ) )
{
end_hunt( ch );
}
else if ( ( ch->leader != NULL ) && ( ch->leader->in_room == ch->in_room ) && ( ch->hunting == NULL ) )
{
return;
}
else if ( is_group_leader( ch ) )
{
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( ( vch != ch ) && ( is_same_group( vch, ch ) ) && ( vch->position != POS_STANDING ) )
{
get_up( vch, vch->position );
number_got_up = number_got_up + 1;
}
}
if ( number_got_up != 0 )
return;
}
else
{
if ( ch->hunting != NULL )
{
for ( li = char_list.begin(); li != char_list.end(); li++ )
{
vch = *li;
if ( vch == ch->hunting )
{
prey_still_exist = TRUE;
return;
}
}
if ( prey_still_exist == FALSE )
{
ch->hunting = NULL;
}
}
if ( ch->hunting == NULL && ch->leader == NULL )
{
select_target( ch );
return;
}
}
/*
* power_up_mob ( ch );
*/
/*
* if ( ch->leader != NULL
* && ch->in_room != ch->leader->in_room )
* {
* do_follow( ch, ch->name );
* }
*/
return;
}
/* checks to see if mob needs to stand up for any reason, if so then stand. */
void need_to_stand( CHAR_DATA * ch )
{
int current_state;
CHAR_DATA *vch;
current_state = ch->position;
/*
* if someone in your group is fighting, get up
*/
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( ( is_same_group( ch, vch ) ) && ( vch->position == POS_FIGHTING ) )
{
get_up( ch, current_state );
return;
}
}
/*
* if your leader is up and ready to move, get up
*/
if ( ( ch->leader != NULL )
&& ( ch->in_room == ch->leader->in_room )
&& ( ch->leader->position == POS_STANDING )
&& ( ch->leader->hit >= ch->leader->max_hit * 85 / 100 ) && ( ch->leader->mana >= ch->leader->max_mana * 85 / 100 ) )
{
get_up( ch, current_state );
return;
}
/*
* Do you need heal? if so, can you heal?
*/
if ( ch->hit < ch->max_hit * 85 / 100 )
{
if ( ( ch->mana >= mana_cost( ch, skill_lookup( "heal" ) ) )
|| ( ch->mana >= mana_cost( ch, skill_lookup( "cure critical" ) ) )
|| ( ch->mana >= mana_cost( ch, skill_lookup( "cure serious" ) ) ) )
{
get_up( ch, current_state );
return;
}
}
/*
* if there is an int mob in the room stand so that you can group with
* * it
*/
if ( ch->leader == NULL )
{
for ( vch = ch->in_room->first_person; vch != NULL; vch = vch->next_in_room )
{
if ( ( AI_MOB( vch ) )
&& ( vch->leader == NULL )
&& ( !is_same_group( vch, ch ) )
&& ( AI_MOB(vch) )
&& ( vch != ch )
&& ( ( vch->get_level("psuedo") - ch->get_level("psuedo") <= 20 )
&& ( vch->get_level("psuedo") - ch->get_level("psuedo") >= -20 ) ) )
{
get_up( ch, current_state );
return;
}
}
}
/*
* if you're ready to move, stand
*/
if ( ( ch->hit >= ch->max_hit * 85 / 100 ) && ( ch->mana >= ch->max_mana * 85 / 100 ) )
get_up( ch, current_state );
return;
}
void Camera::adjust_yaw(const float &theta) {
orientation = Quaternion::Axis_Angle(get_up(), theta) * orientation;
}
int main(void)
{
/* USER CODE BEGIN 1 */
// create pointer to MX_SPI_Init() function in order to use it in utility functions
MX_SPI1_Init_Pointer = &MX_SPI1_Init;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
//MX_SPI1_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_WWDG_Init();
/* USER CODE BEGIN 2 */
// delete MX_SPI1_Init(); up there after regenerating code with mx cube
//=================================================================================
/// some basic setups
//=================================================================================
// input is up
// output is down
uart_queue_initialize(&uart_input_queue);
uart_queue_initialize(&uart_output_queue);
uart_queue_initialize(&uart_command_queue);
// load setup_data from flash to struct: config_data_flash_struct setup_data;
get_from_Flash();
LED_init();
if(setup_data.initied_0xAA!=0xAA)
{
reset_joint();
}
part_init();
/// FIND DIRECTION = WAIT FOR FIRST 'R'
DIRECTION_SET = 0;
PROGRAMM_SENSOR = 0;
SET_FLASH = 0;
UP_STATE = IDLE;
DOWN_STATE = IDLE;
// init some huart stuff
huart_DOWN = &huart1;
huart_UP = &huart2;
uint16_t si = 0;
data_mode = 0;
HAL_StatusTypeDef status;
// create empty messages
Line empty_command_line;
empty_command_line.text[0] = empty;
for(si=1; si < DOWN_MESSAGE_LENGTH-1; si++)
{
empty_command_line.text[si] = si;
}
empty_command_line.text[DOWN_MESSAGE_LENGTH-1] = ComputeCRCN(empty_command_line.text, DOWN_MESSAGE_LENGTH-1);
empty_command_line.length = DOWN_MESSAGE_LENGTH;
Line empty_up_line;
empty_up_line.text[0] = empty;
for(si=1; si < UP_MESSAGE_LENGTH-1; si++)
{
empty_up_line.text[si] = si;
}
empty_up_line.text[UP_MESSAGE_LENGTH-1] = ComputeCRCN(empty_up_line.text, UP_MESSAGE_LENGTH-1);
empty_up_line.length = UP_MESSAGE_LENGTH;
// start timer
HAL_TIM_Base_Start(&htim16);
HAL_TIM_Base_Start(&htim17);
// send some initial init messages
uart_queue_push_line(&uart_input_queue, &init_message_line);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
skc[si] = 1;
}
}
}
int redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int init_timout_timer = __HAL_TIM_GetCounter(&htim16);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
int new_sensor_timer = __HAL_TIM_GetCounter(&htim16);
int up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int kids_timer[] = {-1,-1,-1,-1,-1,-1,-1,-1};
transmittedUP=0;
receivedUP=0;
transmittedDOWN=0;
receivedDOWN=0;
uint8_t TIMEDOUT = 0;
update_sensor_messages();
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_HalfDuplex_EnableTransmitterReceiver(huart_UP);
HAL_UART_Receive_DMA(huart_UP, up_buffer, DOWN_MESSAGE_LENGTH + 1);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
led_set(1, 1, 0);
//while(1);
//if(is_splitter(setup_data.type))
HAL_WWDG_Start(&hwwdg);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
get_up_time = __HAL_TIM_GetCounter(&htim16);
uint8_t WDGO = 0;
uint8_t WDSET = 0;
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// if((WD_UP && WD_DOWN) || DIRECTION_SET==0)
// {
// WD_UP = 0;
// WD_DOWN = 0;
// // for up and dwn we have own flags
//
// HAL_WWDG_Refresh(&hwwdg, 127);
// }
if(DIRECTION_SET && WDSET==0)
{
HAL_WWDG_Start(&hwwdg);
WDSET = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(WDGO==0 || is_splitter(setup_data.type)==0)
{
HAL_WWDG_Refresh(&hwwdg, 127);
}
// if there was no poll from above a certain time = reset!
if(__HAL_TIM_GetCounter(&htim16) - interrupt_up_timeout_time > 250)
{
WDGO = 1;
get_up(1);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
UP_STATE = IDLE;
}
// if there was no interrupt call for data from below
if(__HAL_TIM_GetCounter(&htim16) - interrupt_down_timeout_time > 250)
{
WDGO = 1;
HAL_UART_DMAStop(huart_DOWN);
HAL_UART_DMAResume(huart_DOWN);
if(!DIRECTION_SET)
{
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
}
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = IDLE;
}
// wait for directions to be set
if(!DIRECTION_SET)
{
led_set(8, 1, 8);
continue;
}
led_set(8, 0, 8);
if(__HAL_TIM_GetCounter(&htim16) - get_up_time > 20 && receivedUP == 0)
{
get_up(0);
}
// red blinking led
if(__HAL_TIM_GetCounter(&htim16) - redled_timeout_timer > 250)
{
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(__HAL_TIM_GetCounter(&htim16) - up_timeout_timer > 500)
{
WDGO = 1;
}
// sent init messages
if(__HAL_TIM_GetCounter(&htim16) - init_timout_timer > 1000)
{
uart_queue_replace_push_line(&uart_input_queue, &init_message_line, setup_data.id);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
}
}
}
init_timout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(SET_FLASH && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
set_in_Flash(&setup_data);
SET_FLASH = 0;
get_up(1);
}
if(PROGRAMM_SENSOR && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
if(setup_data.hardware == 2)
init_2D(hspi1, GPIOA, GPIO_PIN_3);
else
init_2D(hspi1, GPIOB, GPIO_PIN_1);
PROGRAMM_SENSOR = 0;
get_up(1);
}
/// UP_STATE_MACHINE
switch(UP_STATE)
{
case IDLE:
if(SET_FLASH || PROGRAMM_SENSOR)
{
UP_STATE = IDLE;
break;
}
if(receivedUP)
{
receivedUP = 0;
if(up_buffer[0] == poll_receive /*&& __HAL_TIM_GetCounter(&htim16) - receivedUPtime < 5*/)
{
if(UP_RESEND_MESSAGE==0)
{
//update_sensor_messages();
uint8_t n_up_messages = 0;
while(uart_queue_is_empty(&uart_input_queue)==0 && (n_up_messages < UP_MESSAGES_MAX))
{
uart_queue_pop_line(&uart_input_queue, &send_up_line);
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], send_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
while(n_up_messages < UP_MESSAGES_MAX)
{
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], empty_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
poll_up_size = n_up_messages*UP_MESSAGE_LENGTH;
}
UP_RESEND_MESSAGE = 0;
UP_STATE = SENDING;
HAL_HalfDuplex_EnableTransmitter(huart_UP);
HAL_UART_Transmit_DMA(huart_UP, poll_up_buffer, poll_up_size);
int something_else = __HAL_TIM_GetCounter(&htim16);
if(up_buffer[1]!=empty)
{
memcpy(command_in_line.text, &up_buffer[1], DOWN_MESSAGE_LENGTH);
command_in_line.length = DOWN_MESSAGE_LENGTH;
uint8_t checksum = ComputeCRCN(command_in_line.text, DOWN_MESSAGE_LENGTH-1);
if(checksum == command_in_line.text[DOWN_MESSAGE_LENGTH-1])
{
if(command_in_line.text[0] == poll_direct || getIDfromMessage(command_in_line.text)==setup_data.id)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
if((command_in_line.text[0] == poll_send) && (setup_data.type==NODE_JOINT_TUT_TU))
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else if(getIDfromMessage(command_in_line.text)==BROADCAST_ID)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else
{
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
}
}
if(is_splitter(setup_data.type))
{
/*__disable_irq();
delayUS(10000);
__enable_irq();*/
}
else
{
update_sensor_messages();
}
up_timeout_time = __HAL_TIM_GetCounter(&htim16);
}
else
{
//HAL_UART_DMAStop(huart_UP);
//HAL_UART_DMAResume(huart_UP);
// HAL_UART_Receive(huart_UP, &up_buffer[1], DOWN_MESSAGE_LENGTH, 2);
get_up(1);
}
}
break;
case SENDING:
if(transmittedUP)
{
UP_STATE = END;
transmittedUP = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - up_timeout_time > 10)
{
HAL_UART_DMAStop(huart_UP);
HAL_UART_DMAResume(huart_UP);
UP_STATE = END;
}
break;
case END:
WD_UP = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
// work on commands
UP_STATE = IDLE;
get_up(1);
break;
}
uint8_t s=0;
switch(DOWN_STATE)
{
case DELAY:
if(is_splitter(setup_data.type) || (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 7) /* && TIMEDOUT==0 */)
DOWN_STATE = IDLE;
/*else if (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 5)
DOWN_STATE = IDLE;*/
break;
case IDLE:
// do nothing
if(SET_FLASH || PROGRAMM_SENSOR)
{
DOWN_STATE = IDLE;
break;
}
if(is_splitter(setup_data.type))
{
if(splitter_kids_counter[i_p_splitter] > 10)
{
splitter_kids_counter[i_p_splitter] = 9;
kids_timer[i_p_splitter] = __HAL_TIM_GetCounter(&htim16) + 200;
}
if(kids_timer[i_p_splitter]!=-1 && kids_timer[i_p_splitter] > __HAL_TIM_GetCounter(&htim16))
{
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = END;
break;
}
if(skc[i_p_splitter] == 0)
{
send_down_line = send_down_line_now;
}
else
{
send_down_line = empty_command_line;
}
}
if(skc[0]+skc[1]+skc[2]+skc[3]+skc[4]+skc[5]+skc[6]+skc[7] >= n_splitter)
{
if(uart_queue_is_empty(&uart_output_queue)==0)
{
uart_queue_pop_line(&uart_output_queue, &send_down_line_now);
send_down_line = send_down_line_now;
for(s=0; s<n_splitter; s++)
skc[s] = 0;
}
else
{
send_down_line = empty_command_line;
for(s=0; s<n_splitter; s++)
skc[s] = 1;
}
}
//send_down_line = empty_command_line;
if(is_splitter(setup_data.type))
{
MPX_UART_Open(i_p_splitter);
}
DOWN_STATE = RECEIVING;
//__disable_irq();
HAL_HalfDuplex_EnableTransmitter(huart_DOWN);
status = HAL_UART_Transmit(huart_DOWN, "R", 1, 3);
status = HAL_UART_Transmit(huart_DOWN, send_down_line.text, DOWN_MESSAGE_LENGTH, 5);
//__enable_irq();
// DMA Receive for 3
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, poll_down_buffer, UP_MESSAGE_LENGTH*UP_MESSAGES_MAX);
down_timeout_time = __HAL_TIM_GetCounter(&htim16);
break;
case RECEIVING:
if(receivedDOWN)
{
receivedDOWN = 0;
splitter_kids_counter[i_p_splitter] = 0;
skc[i_p_splitter] = 1;
kids_timer[i_p_splitter] = -1;
// no more transmitting checksum, only calculating
uint8_t checksum = ComputeCRCN(&poll_down_buffer[poll_down_size-UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH-1);
uint8_t i = 0;
for(i=0; i<UP_MESSAGES_MAX; i++)
{
// check checksum
if(1 /*checksum == poll_down_buffer[i*UP_MESSAGE_LENGTH-1]*/)
{
Line sensor_message_line;
memcpy(sensor_message_line.text, &poll_down_buffer[i*UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH);
sensor_message_line.length = UP_MESSAGE_LENGTH;
if(sensor_message_line.text[0]==empty)
break;
// delete messages from T joint but the answer_data, there update angles[3]
if(getIDfromMessage(sensor_message_line.text)==setup_data.id && setup_data.type == NODE_JOINT_TUT_TU && data_mode!=2)
{
if(sensor_message_line.text[0] == answer_data)
angles[3] = ((sensor_message_line.text[15] << 8) & 0xFF00) + sensor_message_line.text[16];
}
else // for the other kinds (splitter, init, data from other) replace them if already in queue, ack messages always add to queue
{
// if it's from own child, add own id
if(sensor_message_line.text[5]==0)
{
sensor_message_line.text[5] = (setup_data.id >> 24) & 0xFF;
sensor_message_line.text[6] = (setup_data.id >> 16) & 0xFF;
sensor_message_line.text[7] = (setup_data.id >> 8) & 0xFF;
sensor_message_line.text[8] = setup_data.id & 0xFF;
// add splitter branch number
if(is_splitter(setup_data.type))
sensor_message_line.text[5] |= ((i_p_splitter << 4) & 0xF0);
}
UpdateCRCLine(&sensor_message_line);
if(sensor_message_line.text[0] == answer_ack || sensor_message_line.text[0] == splitter)
uart_queue_push_line(&uart_input_queue, &sensor_message_line);
else
uart_queue_replace_push_line(&uart_input_queue, &sensor_message_line, getIDfromMessage(sensor_message_line.text));
}
}
}
DOWN_STATE = END;
TIMEDOUT = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 13)
