static void envia(void){
//Coprovar 3 cops si pot enviar.
if (intens < MAX_TRY){
if(lan_can_put()){
// Si el canal no esat ocupat enviem
ether_block_put(tx);
for(uint8_t i=0; i<64;i++) tx[i]='\0';
}
else{
// Si el canal esta ocupat sumem 1 als intents
intens++;
// Esperem un temps aleatori i tornem a provar.
timer_after(TIMER_MS(rand()%((10+1)*1000)),envia);
}
}
// En el cas de que no s'hagi pogut enviar encenem el LED
else pin_w(pin,true);
}
void send(_TIMER *self) {
pin_write(pingPin,0);
timer_stop(&timer4);
timer_after(&timer2, 1e-3, 1, receive);
}
void VendorRequests(void) {
WORD temp;
switch (USB_setup.bRequest) {
case GET_VOLTAGE:
temp.w = VatTime0;
BD[EP0IN].address[0] = VatTime0/256;
BD[EP0IN].address[1] = VatTime1/256;
BD[EP0IN].address[2] = VatTime2/256;
BD[EP0IN].address[3] = VatTime3/256;
BD[EP0IN].address[4] = VatTime4/256;
BD[EP0IN].bytecount = 5; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case GET_STATE:
BD[EP0IN].address[0] = touching0;
BD[EP0IN].address[1] = touching1;
BD[EP0IN].address[2] = touching2;
BD[EP0IN].address[3] = touching3;
BD[EP0IN].address[4] = touching4;
BD[EP0IN].bytecount = 5; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case DEBUG:
temp.w = greenDuty;
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
temp.w = redDuty;
BD[EP0IN].address[2] = temp.b[0];
BD[EP0IN].address[3] = temp.b[1];
temp.w = blueDuty;
BD[EP0IN].address[4] = temp.b[0];
BD[EP0IN].address[5] = temp.b[1];
temp.w = currentPetal;
BD[EP0IN].address[6] = temp.b[0];
BD[EP0IN].address[7] = temp.b[1];
/*
temp.w = irVoltage;
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
temp.w = dist;
BD[EP0IN].address[2] = temp.b[0];
BD[EP0IN].address[3] = temp.b[1];
temp.w = stepCount;
BD[EP0IN].address[4] = temp.b[0];
BD[EP0IN].address[5] = temp.b[1];
temp.w = changeFlag;
BD[EP0IN].address[6] = temp.b[0];
BD[EP0IN].address[7] = temp.b[1];
*/
BD[EP0IN].bytecount = 8; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_THRESHOLD:
threshold = USB_setup.wValue.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_DUTY:
dist = USB_setup.wValue.w;
//motorControl(destination);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case GET_STEP_COUNT:
temp.w = stepCount;
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
temp.w = destination;
BD[EP0IN].address[2] = temp.b[0];
BD[EP0IN].address[3] = temp.b[1];
BD[EP0IN].bytecount = 4; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SCAN:
pin_write(pingPin, HALF_INT);
timer_after(&timer4, 500e-6, 1, send);
/*timer_setPeriod(&timer5, 50e-3);
timer_start(&timer5);
led_toggle(&led1);
while(pin_read(&D[12]) == 0){
if (timer_flag(&timer5) != 0){
led_toggle(&led3);
break;
}
}
readTime = timer_read(&timer5);
led_toggle(&led2);
timer_stop(&timer5);
temp.w = readTime;
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
*/
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 4
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_SPEED:
period = USB_setup.wValue.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_RED:
redTarget = USB_setup.wValue.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_GREEN:
greenTarget = USB_setup.wValue.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_BLUE:
blueTarget = USB_setup.wValue.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}
