static void cmdGetImuLoop(unsigned char status, unsigned char length, unsigned char *frame) {
unsigned int count;
unsigned long tic;
unsigned char *tic_char;
Payload pld;
LED_RED = 1;
count = frame[0] + (frame[1] << 8);
tic_char = (unsigned char*) &tic;
swatchReset();
tic = swatchTic();
while (count) {
pld = payCreateEmpty(16); // data length = 16
paySetData(pld, 4, tic_char);
payAppendData(pld, 4, 6, xlReadXYZ());
payAppendData(pld, 10, 6, gyroReadXYZ());
paySetStatus(pld, status);
paySetType(pld, CMD_GET_IMU_DATA);
radioSendPayload(macGetDestAddr(), pld);
count--;
payDelete(pld);
delay_ms(4);
tic = swatchTic();
}
LED_RED = 0;
}
void clksyncHandleRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned long* frame;
unsigned long s0, m1, m2;
pld = macGetPayload(packet);
frame = (unsigned long*) payGetData(pld);
s0 = frame[0]; // Read requester time of flight
m1 = packet->timestamp + sclockGetOffsetTicks(); // Read local time of reception
response = radioRequestPacket(12); // Sending 3 longs
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
macSetDestPan(response, macGetSrcPan(packet));
pld = macGetPayload(response); // Create response packet
paySetType(pld, CMD_CLOCK_UPDATE_RESPONSE);
paySetData(pld, 4, (unsigned char*) &s0);
payAppendData(pld, 4, 4, (unsigned char*) & m1);
// Empty TX queue to minimize time of flight error
while(!radioTxQueueEmpty()) { radioProcess(); }
m2 = sclockGetGlobalTicks(); // Get approximate time of flight
payAppendData(pld, 8, 4, (unsigned char*) & m2);
while(!radioEnqueueTxPacket(response)) { radioProcess(); }
radioProcess();
}
// ==== PRIVATE FUNCTIONS =====================================================
static void clksyncSendRequest(SyncStatus sync) {
MacPacket packet;
Payload pld;
unsigned long s0;
packet = radioRequestPacket(4);
if(packet == NULL) { return; }
macSetDestAddr(packet, sync->master_addr);
macSetDestPan(packet, sync->master_pan);
pld = macGetPayload(packet);
paySetType(pld, CMD_CLOCK_UPDATE_REQUEST);
while(!radioTxQueueEmpty()) { radioProcess(); }
s0 = sclockGetGlobalTicks();
pld = macGetPayload(packet);
paySetData(pld, 4, (unsigned char*) &s0);
while(!radioEnqueueTxPacket(packet)) { radioProcess(); }
radioProcess();
sync->requests++;
if(sync->requests > MAX_REQUEST_ATTEMPTS) {
sync->state = STATE_REQUEST_TIMEOUT;
}
}
static void cmdDirDumpRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned int *frame, req_addr, req_pan, i, size;
pld = macGetPayload(packet);
frame = (unsigned int*) payGetData(pld);
req_addr = frame[0];
req_pan = frame[1];
// Send all if both addresses 0
if(req_addr == 0 && req_pan == 0) {
size = dirGetSize();
DirEntry entries[size];
dirGetEntries(entries); // Assume we get size # of entries
i = 0;
while(i < size) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) entries[i]);
while(!radioEnqueueTxPacket(response));
i++;
}
} else {
DirEntry entry;
entry = dirQueryAddress(req_addr, req_pan);
if(entry == NULL) { return; }
while(1) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
//paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) &entry);
memcpy(payGetData(pld), entry, sizeof(DirEntryStruct));
while(!radioEnqueueTxPacket(response));
break;
}
}
}
static void cmdSleep(unsigned char status, unsigned char length, unsigned char *frame) {
char sleep = frame[0];
if (sleep) {
//g_radio_duty_cycle = 1;
} else {
//g_radio_duty_cycle = 0;
Payload pld;
pld = payCreateEmpty(1);
paySetData(pld, 1, (unsigned char*) (&sleep)); //echo back a CMD_SLEEP with '0', incdicating a wakeup
paySetStatus(pld, status);
paySetType(pld, CMD_SLEEP);
radioSendPayload((WordVal) macGetDestAddr(), pld);
}
}
static void cmdEraseSector(unsigned char status, unsigned char length, unsigned char *frame) {
//unsigned int numSamples = frame[0] + (frame[1] << 8);
unsigned long numSamples = *((unsigned long*) (frame));
telemErase(numSamples);
//Send a confirmation packet
Payload pld;
pld = payCreateEmpty(4);
paySetData(pld, 4, (unsigned char*) (&numSamples));
paySetStatus(pld, status);
paySetType(pld, CMD_ERASE_SECTORS);
radioSendPayload((WordVal) macGetDestAddr(), pld);
}
unsigned char uartSendPayload(unsigned char type, unsigned char status, unsigned char length, unsigned char *frame) {
MacPacket packet;
Payload pld;
packet = ppoolRequestFullPacket(length);
if(packet == NULL)
return 0;
pld = packet->payload;
paySetType(pld, type);
paySetStatus(pld, status);
paySetData(pld, length, frame);
if(uartSendPacket(packet)) {
return 1;
} else {
ppoolReturnFullPacket(packet);
return 0;
}
}
static void cmdGetGyroCalibParam(MacPacket packet) {
//Payload pld = macGetPayload(packet);
//unsigned char status = payGetStatus(pld);
//unsigned char* frame = payGetData(pld);
unsigned int srcAddr = macGetSrcAddr(packet);
Payload pld;
MacPacket response;
response = radioRequestPacket(12);
if(response == NULL) { return; }
macSetDestAddr(response, srcAddr);
pld = response->payload;
paySetData(pld, 12, gyroGetCalibParam());
paySetStatus(pld, 0);
paySetType(pld, CMD_GET_GYRO_CALIB_PARAM);
while(!radioEnqueueTxPacket(response));
}
/*-----------------------------------------------------------------------------
* AUX functions
-----------------------------------------------------------------------------*/
static void cmdEcho(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned char status = payGetStatus(pld);
unsigned char* frame = payGetData(pld);
unsigned int length = payGetDataLength(pld);
unsigned int srcAddr = macGetSrcAddr(packet);
MacPacket response;
response = radioRequestPacket(length);
if(response == NULL) { return; }
macSetDestAddr(response, srcAddr);
pld = response->payload;
paySetData(pld, length, frame);
paySetStatus(pld, status);
paySetType(pld, CMD_ECHO);
while(!radioEnqueueTxPacket(response));
}
/*****************************************************************************
* Function Name : test_radio
* Description : Send out a packet containing the data in the array pointed to
* by the 'data' argument passed in.
* Parameters : type - The type field of the radio test packet
* status - Status field of radio test packet (not yet used)
* length - The length of the payload data array
* data - Pointer to the character array containing the payload
* data to send back
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_radio(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
// Get a new packet from the pool
packet = radioRequestPacket(length);
if(packet == NULL) return 0;
//macSetDestAddr(RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetType(pld, type);
paySetStatus(pld, status);
paySetData(pld, length, data);
// Enqueue the packet for broadcast
radioEnqueueTxPacket(packet);
return 1; //success
}
static void cmdCamParamRequest(MacPacket packet) {
Payload pld;
CamParamStruct params;
MacPacket response;
pld = macGetPayload(packet);
camGetParams(¶ms);
response = radioRequestPacket(sizeof(CamParamStruct));
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_CAM_PARAM_RESPONSE);
paySetStatus(pld, 0);
paySetData(pld, sizeof(CamParamStruct), (unsigned char*)¶ms);
while(!radioEnqueueTxPacket(response));
}
// TODO: Move mac packet creation from Radio_DMA to Mac_Packet
void telemSendB(unsigned int addr) {
MacPacket packet;
Payload pld;
TelemetryStructB telemetryB;
// Populate the telemetry fields
telemPopulateB(&telemetryB);
// Create a radio packet
packet = radioRequestPacket(TELEMETRY_B_SIZE);
if(packet == NULL) { return; }
macSetDestAddr(packet, addr);
macSetDestPan(packet, netGetLocalPanID());
// Write the telemetry struct into the packet payload
pld = macGetPayload(packet);
paySetType(pld, CMD_RESPONSE_TELEMETRY);
paySetData(pld, TELEMETRY_B_SIZE, (unsigned char *) &telemetryB);
if(!radioEnqueueTxPacket(packet)) {
radioReturnPacket(packet); // Delete packet if append fails
}
}
// ====== Camera and Vision ===================================================
// TODO: Use a struct to simplify the packetization
static void cmdRequestRawFrame(MacPacket packet) {
unsigned int srcAddr, srcPan, height, width, i, temp;
unsigned int sent, to_send, block_size = 75;
MacPacket response;
Payload pld;
CamFrame frame;
CamRow *row;
CvResultStruct info;
srcAddr = macGetSrcAddr(packet);
srcPan = macGetSrcPan(packet);
frame = NULL;
while(frame == NULL) {
frame = camGetFrame();
}
cvProcessFrame(frame, &info);
height = DS_IMAGE_ROWS;
width = DS_IMAGE_COLS;
for(i = 0; i < height; i++) {
row = &(frame->pixels[i]);
to_send = width;
while(to_send > 0) {
response = radioRequestPacket(block_size + 6);
if(response == NULL) { continue; }
pld = macGetPayload(response);
paySetType(pld, CMD_RAW_FRAME_RESPONSE);
paySetStatus(pld, 0);
macSetDestAddr(response, srcAddr);
macSetDestPan(response, srcPan);
temp = frame->frame_num;
paySetData(pld, 2, (unsigned char *)&temp);
temp = i;
payAppendData(pld, 2, 2, (unsigned char*)&temp);
temp = width - to_send;
payAppendData(pld, 4, 2, (unsigned char*)&temp);
temp = (block_size < to_send) ? block_size : to_send;
payAppendData(pld, 6, temp, *row + (width - to_send));
while(!radioEnqueueTxPacket(response));
to_send = to_send - temp;
}
}
sent = 0;
while(!sent) {
response = radioRequestPacket(10);
if(response == NULL) { continue; }
pld = macGetPayload(response);
paySetType(pld, CMD_CENTROID_REPORT);
paySetStatus(pld, 1);
macSetDestAddr(response, srcAddr);
macSetDestPan(response, srcPan);
temp = info.centroid[0];
paySetData(pld, 2, (unsigned char*)&temp);
temp = info.centroid[1];
payAppendData(pld, 2, 2, (unsigned char*)&temp);
temp = info.max[0];
payAppendData(pld, 4, 2, (unsigned char*)&temp);
temp = info.max[1];
payAppendData(pld, 6, 2, (unsigned char*)&temp);
temp = info.max_lum;
payAppendData(pld, 8, 1, (unsigned char*)&temp);
temp = info.avg_lum;
payAppendData(pld, 9, 1, (unsigned char*)&temp);
while(!radioEnqueueTxPacket(response));
sent = 1;
}
camReturnFrame(frame);
}