/** @brief Function for reading two digit decimal numbers from the serial port. Backspace is supported on the first char.
*/
static uint8_t get_dec2(void)
{
uint8_t buf[2];
uint8_t i = 0;
uint8_t c;
buf[0] = buf[1] = 0;
while (i < 2)
{
c = uart_get();
if ((i > 0) && (c == BS))
{
uart_put(c);
i--;
}
else if ((c >= '0') && (c <= '9'))
{
uart_put(c);
buf[i] = c - '0';
i++;
}
else
{
uart_put(BELL);
}
}
uart_putstring((const uint8_t *)"\r\n");
return buf[0] * 10 + buf[1];
}
void command_usart_input(uint8_t event, char *cmd) {
uint8_t status, current;
if (event == 0) {
if (uart_available()) { // data ready
current = uart_get();
status = command_usart_parse(¤t);
if (status == CHAR_NORMAL) {
if (g_buffer_pos >= B_SIZE) { // reset when full
g_buffer_pos = 0;
}
uart_put(current); // echo valid char back
g_buffer[g_buffer_pos] = current; // add to buffer
g_command_status = CMD_IN_PROCESS;
g_buffer_pos++;
} else if (status == CHAR_ENTER) { // enter pressed
g_buffer[g_buffer_pos] = '\0'; // mark current pos as end
g_buffer_pos = 0;
g_command_status = CMD_RDY;
}
}
if (g_command_status == CMD_RDY) { // copy buffer to command
strcpy(cmd, g_buffer);
g_command_status = CMD_IN_PROCESS;
} else { // set command as "still empty"
cmd[0] = '\0';
}
}
}
/** @brief Function for reading the data rate.
*/
void get_datarate(void)
{
uint8_t c;
uart_putstring((const uint8_t *)"Enter data rate ('0'=250 Kbit/s, '1'=1 Mbit/s and '2'=2 Mbit/s):");
while (true)
{
c = uart_get();
if ((c >= '0') && (c <= '2'))
{
uart_put(c);
break;
}
else
{
uart_put(BELL);
}
}
if (c == '0')
{
mode_ = RADIO_MODE_MODE_Nrf_250Kbit;
}
else if (c == '1')
{
mode_ = RADIO_MODE_MODE_Nrf_1Mbit;
}
else
{
mode_ = RADIO_MODE_MODE_Nrf_2Mbit;
}
uart_putstring((const uint8_t *)"\r\n");
}
/** @brief Function for reading the output power.
*/
void get_power(void)
{
uint8_t c;
uart_putstring((const uint8_t *)"Enter output power ('0'=+4 dBm, '1'=0 dBm,...,'7'=-30 dBm):");
while (true)
{
c = uart_get();
if ((c >= '0') && (c <= '7'))
{
uart_put(c);
break;
}
else
{
uart_put(BELL);
}
}
switch(c)
{
case '0':
txpower_ = RADIO_TXPOWER_TXPOWER_Pos4dBm;
break;
case '1':
txpower_ = RADIO_TXPOWER_TXPOWER_0dBm;
break;
case '2':
txpower_ = RADIO_TXPOWER_TXPOWER_Neg4dBm;
break;
case '3':
txpower_ = RADIO_TXPOWER_TXPOWER_Neg8dBm;
break;
case '4':
txpower_ = RADIO_TXPOWER_TXPOWER_Neg12dBm;
break;
case '5':
txpower_ = RADIO_TXPOWER_TXPOWER_Neg16dBm;
break;
case '6':
txpower_ = RADIO_TXPOWER_TXPOWER_Neg20dBm;
break;
case '7':
// fall through
default:
txpower_ = RADIO_TXPOWER_TXPOWER_Neg30dBm;
break;
}
uart_putstring((const uint8_t *)"\r\n");
}
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
BCSCTL1 = CALBC1_8MHZ; // Set DCO to 8Mhz
DCOCTL = CALDCO_8MHZ; // Set DCO to 8Mhz
P2DIR |= (BIT0|BIT1|BIT2|BIT3);
P2OUT |= BIT0|BIT1|BIT2|BIT3;
uart_init();
__bis_SR_register(GIE);
unsigned char i;
while(1) {
i = uart_get();
btns(i);
}
return 0;
}
void HanddleUART2(void)
{
unsigned char c;
int Tp;
TICK MeterConcurrentTime;
MeterConcurrentTime = TickGet();
if( ( TickGetDiff( MeterConcurrentTime, TotalMeterGetConnceted1 ) ) > TIMETOCHECKNWKTABLE)
{
CompareNWKTable();
TotalMeterGetConnceted1 = TickGet();
}
if(MyCommandFlag.ACK != ACK_PENDING)
{
if(MyCommandFlag.DataSent == TRUE)
{
if(MyCommandFlag.ACK == ACK_NOTRECEIVED)
{
//xprintf("ACK not Received :(\n\r");
MyAskForDeviceAddress(FALSE,PrvSendIeeeAddr);
}
else if(MyCommandFlag.ACK == ACK_RECEIVED)
{
//xprintf("ACK Received :)\n\r");
}
else
{
xprintf("This staage I am not Expected\n\t");
}
MyCommandFlag.DataSent = FALSE;
}
else
{
ACKTimeOut = TickGet();
}
}
else
{
TICK currentTime;
currentTime = TickGet();
if( ( TickGetDiff( currentTime, ACKTimeOut ) ) > (ONE_SECOND) *5)
{
MyCommandFlag.ACK = ACK_NOTRECEIVED;
ACKTimeOut = TickGet();
}
}
if(uart_kbhit() != 0)
{
c = uart_get();
//x2putc(c);
Uart2Buffer[NumberofReceived] = c;
if(Uart2Buffer[0] == 0x2B || Uart2Buffer[0] == 0x1B)
{
NumberofReceived++;
}
else
{
NumberofReceived = 0;
}
if(NumberofReceived >=2 && numberofdatareceived == 0)
{
HowManyData = c;
numberofdatareceived = 1;
}
if(HowManyData !=0 && NumberofReceived == HowManyData+1)
{
//xprintf("\n\r Data Received \n\r");
//for(Tp=0;Tp<=HowManyData;Tp++)
// xprintf("\n\r Data is: %d\n\r",Uart2Buffer[Tp]);
//xprintf("\n\r How many data = %d",HowManyData);
Uart2Datalen = HowManyData;
NumberofReceived = 0;
numberofdatareceived = 0;
HowManyData = 0;
while(uart_kbhit() != 0)
c = uart_get();
CheckDataAndSend();
}
}
}
/** @brief Function for main application entry.
*/
int main(void)
{
radio_tests_t test = RADIO_TEST_NOP;
radio_tests_t cur_test = RADIO_TEST_NOP;
init();
uart_config(TX_PIN_NUMBER, RX_PIN_NUMBER);
uart_putstring((const uint8_t *)"RF Test\r\n");
NVIC_EnableIRQ(TIMER0_IRQn);
__enable_irq();
while (true)
{
__WFI();
switch (uart_get())
{
case 'a':
while (true)
{
uart_putstring((const uint8_t *)"Enter start channel \
(two decimal digits, 00 to 80):");
channel_start_ = get_dec2();
if (channel_start_ <= 80)
break;
uart_putstring((const uint8_t *)"Channel must be between 0 and 80\r\n");
}
test = cur_test;
break;
case 'b':
while (true)
{
uart_putstring((const uint8_t *)"Enter end channel \
(two decimal digits, 00 to 80):");
channel_end_ = get_dec2();
if (channel_end_ <= 80)
{
break;
}
uart_putstring((const uint8_t *)"Channel must be between 0 and 80\r\n");
}
test = cur_test;
break;
case 'c':
test = RADIO_TEST_TXCC;
break;
case 'd':
while (true)
{
uart_putstring((const uint8_t *)"Enter delay in ms \
(two decimal digits, 01 to 99):");
delayms_ = get_dec2();
if ((delayms_ > 0) && (delayms_ < 100))
{
break;
}
uart_putstring((const uint8_t *)"Delay must be between 1 and 99\r\n");
}
test = cur_test;
break;
case 'e':
radio_sweep_end();
cur_test = RADIO_TEST_NOP;
break;
case 'm':
get_datarate();
test = cur_test;
break;
case 'o':
test = RADIO_TEST_TXMC;
uart_putstring((const uint8_t *)"TX modulated carrier\r\n");
break;
case 'p':
get_power();
test = cur_test;
break;
case 'r':
test = RADIO_TEST_RXSWEEP;
uart_putstring((const uint8_t *)"RX Sweep\r\n");
break;
case 's':
print_parameters();
break;
case 't':
test = RADIO_TEST_TXSWEEP;
uart_putstring((const uint8_t *)"TX Sweep\r\n");
break;
case 'x':
test = RADIO_TEST_RXC;
uart_putstring((const uint8_t *)"RX constant carrier\r\n");
break;
case 'h':
// Fall through.
default:
help();
break;
}
switch (test)
{
case RADIO_TEST_TXCC:
if (sweep)
{
radio_sweep_end();
sweep = false;
}
radio_tx_carrier(txpower_, mode_, channel_start_);
cur_test = test;
test = RADIO_TEST_NOP;
break;
case RADIO_TEST_TXMC:
if (sweep)
{
radio_sweep_end();
sweep = false;
}
radio_modulated_tx_carrier(txpower_, mode_, channel_start_);
cur_test = test;
test = RADIO_TEST_NOP;
break;
case RADIO_TEST_TXSWEEP:
radio_tx_sweep_start(txpower_, mode_, channel_start_, channel_end_, delayms_);
sweep = true;
cur_test = test;
test = RADIO_TEST_NOP;
break;
case RADIO_TEST_RXC:
if (sweep)
{
radio_sweep_end();
sweep = false;
}
radio_rx_carrier(mode_, channel_start_);
cur_test = test;
test = RADIO_TEST_NOP;
break;
case RADIO_TEST_RXSWEEP:
radio_rx_sweep_start(mode_, channel_start_, channel_end_, delayms_);
sweep = true;
cur_test = test;
test = RADIO_TEST_NOP;
break;
case RADIO_TEST_NOP:
// Fall through.
default:
// No implementation needed.
break;
}
}
}
void check_debug_uart(void) {
static uint8_t inputbuf[RX_LINE_SIZE], inputptr = 0;
uint8_t i, recv;
int16_t ticks;
while(uart_available(DEBUG)) {
recv = uart_get(DEBUG);
if(recv == '\r') {
fprintf(&debug, "\r\n");
if(inputptr) {
switch(inputbuf[0]) {
case '?': // print drive command list
fprintf_P(&debug, PSTR("stop() ........................ | p00\r\n"));
fprintf_P(&debug, PSTR("fwd_both(speed) ............... | p0300, p0400, p15 u8\r\n"));
fprintf_P(&debug, PSTR("rev_both(speed) ............... | p0301, p0401, p15 u8\r\n"));
fprintf_P(&debug, PSTR("forward(Lspeed, Rspeed) ....... | p0300, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("reverse(Lspeed, Rspeed) ....... | p0301, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCCW(Lspeed, Rspeed) ....... | p0301, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCW (Lspeed, Rspeed) ....... | p0300, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("set_abs_pos(pos) .............. | p1a s16\r\n"));
fprintf_P(&debug, PSTR("set_rel_pos(sect, pos) ........ | p1b u8 u8\r\n"));
fprintf_P(&debug, PSTR("pos_corr_on() ................. | p1f01\r\n"));
fprintf_P(&debug, PSTR("pos_corr_off() ................ | p1f00\r\n"));
fprintf_P(&debug, PSTR("nav_abs_pos(speed, pos) ....... | p31 u8 s16\r\n"));
fprintf_P(&debug, PSTR("nav_rel_pos(speed, sect, pos) . | p32 u8 u8 u8\r\n"));
break;
case 'p': // passthrough to DRIVE MCU
for(i = 1; i < inputptr; i++) { uart_put(DRIVE, inputbuf[i]); }
uart_put(DRIVE, '\r');
break;
case 'r': // toggle reverse passthrough from DRIVE MCU
rev_passthru ^= 1;
break;
case 'd': // local dump on/off
local_dump ^= 1;
break;
case 's': // start/stop main thread
run_main ^= 1;
if(run_main) { fprintf_P(&debug, PSTR("Main thread started!\r\n")); }
else { fprintf_P(&debug, PSTR("Main thread stopped!\r\n")); stop(); }
break;
case 't': // start/stop test thread
if(inputptr != 2) { cmd_err(); break; }
run_test = htoa(0, inputbuf[1]);
if(!run_test) { fprintf_P(&debug, PSTR("All test sequences stopped!\r\n")); stop(); }
else { fprintf_P(&debug, PSTR("Started test sequence %u!\r\n"), run_test); }
break;
case ' ': // stop all motors
run_main = 0;
run_test = 0;
pid_on = 0;
stop();
set_speed_3(0);
set_speed_4(0);
break;
case 'u':
fprintf_P(&debug, PSTR("%lu\r\n"), uptime());
break;
case 'b':
#define VBAT_FACTOR 0.0044336
fprintf_P(&debug, PSTR("4 x %1.2fV\r\n"), (float)read_adc(VSENS) * VBAT_FACTOR);
break;
case 'm': // servo power
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
inputbuf[1] == '0' ? clr_bit(SPWR) : set_bit(SPWR);
break;
case '9': // magnets
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { clr_bit(FET1); clr_bit(FET2); fprintf_P(&debug, PSTR("Magnets off!\r\n")); }
else { set_bit(FET1); set_bit(FET2); fprintf_P(&debug, PSTR("Magnets on!\r\n")); }
break;
case '1': // PID on/off
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { pid_on = 0; fprintf_P(&debug, PSTR("PID off!\r\n")); }
else { pid_on = 1; fprintf_P(&debug, PSTR("PID on!\r\n")); reset_pid(); }
break;
case '3': // turn motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // forward (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_fwd();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // reverse (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_rev();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case 'f': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
ticks = deg2ticks(htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]));
cli();
V_encoder = ticks;
sei();
reset_pid();
break;
default:
cmd_err();
}
break;
case '4': // lift motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // up (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_fwd();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // down (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_rev();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
default:
cmd_err();
}
break;
case '5': // servo5 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo5(htoa(inputbuf[2], inputbuf[3]));
//OCR0A = htoa(inputbuf[1], inputbuf[2]);
break;
case '6': // servo6 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo6(htoa(inputbuf[2], inputbuf[3]));
//OCR0B = htoa(inputbuf[1], inputbuf[2]);
break;
case '7': // servo7 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo7(htoa(inputbuf[2], inputbuf[3]));
//OCR2A = htoa(inputbuf[1], inputbuf[2]);
break;
case '8': // servo8 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo8(htoa(inputbuf[2], inputbuf[3]));
//OCR2B = htoa(inputbuf[1], inputbuf[2]);
break;
case 'x':
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '1': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param1 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '2': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param2 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param3 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param4 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param5 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
}
break;
default:
cmd_err();
}
inputptr = 0;
}
}
else if(recv == 0x7f) {
if(!inputptr) { uart_put(DEBUG, '\a'); }
else {
fprintf(&debug, "\b\e[K");
inputptr--;
}
}
else {
if(inputptr == RX_LINE_SIZE) { uart_put(DEBUG, '\a'); }
else {
uart_put(DEBUG, recv);
inputbuf[inputptr] = recv;
inputptr++;
}
}
}
//
// syscall entry point
//
long int syscall(unsigned long int command,...){
int ret;
va_list ap;
ret = 0;
va_start(ap,command);
switch (command) {
// SYS
case SYS_INIT: {
tick_init(); // raw-handler
int_init(); // raw-handler
syscall(SYS_TIMER_INIT);
syscall(SYS_DMA_INIT);
syscall(SYS_VRAM_INIT);
syscall(SYS_SCREEN_INIT);
syscall(SYS_UART_INIT);
ret = 0;
} break;
// TIMER
case SYS_TIMER_INIT: {
timer_init(&timer);
ret = 0;
} break;
case SYS_TIMER_GET_COUNT: {
ret = timer_get_count(&timer);
} break;
// DMA
case SYS_DMA_INIT: {
unsigned long int base;
unsigned long int irq;
base = va_arg(ap,unsigned long int);
irq = va_arg(ap,unsigned long int);
dma.ch = dma_channel;
dma.ch_size = DMA_CH_SIZE;
dma.ch[0].buf = dma_buffer_ch0;
dma.ch[0].buf_size = DMA_BUF_SIZE;
dma_init(&dma,DMA_BASE,DMA_IRQ);
ret = 0;
} break;
case SYS_DMA_ADD: {
unsigned long int ch;
void *src;
void *dst;
unsigned long int size;
ch = va_arg(ap,unsigned long int);
src = va_arg(ap,void *);
dst = va_arg(ap,void *);
size = va_arg(ap,unsigned long int);
dma_add(&dma,ch,src,dst,size);
ret = 0;
} break;
case SYS_DMA_ADD_FULL: {
unsigned long int ch;
ch = va_arg(ap,unsigned long int);
ret = (long int)dma_add_full(&dma,ch);
} break;
case SYS_DMA_GET_HANDLE: {
ret = (long int)&dma;
} break;
case SYS_DMA_GET_CH: {
ret = 0;
} break;
// VRAM
case SYS_VRAM_INIT: {
vram_init(&vram,&dma,0);
ret = 0;
} break;
case SYS_VRAM_CLEAR: {
vram_clear(&vram);
ret = 0;
} break;
case SYS_VRAM_IMAGE_PASTE: {
IMAGE *img;
unsigned long int x;
unsigned long int y;
img = va_arg(ap,IMAGE *);
x = va_arg(ap,unsigned long int);
y = va_arg(ap,unsigned long int);
vram_image_paste(&vram,img,x,y);
ret = 0;
} break;
case SYS_VRAM_IMAGE_PASTE_FILTER: {
IMAGE *img;
unsigned long int x;
unsigned long int y;
img = va_arg(ap,IMAGE *);
x = va_arg(ap,unsigned long int);
y = va_arg(ap,unsigned long int);
vram_image_paste_filter(&vram,img,x,y);
ret = 0;
} break;
case SYS_VRAM_IMAGE_CLEAR: {
IMAGE *img;
unsigned long int x;
unsigned long int y;
img = va_arg(ap,IMAGE *);
x = va_arg(ap,unsigned long int);
y = va_arg(ap,unsigned long int);
vram_image_clear(&vram,img,x,y);
ret = 0;
} break;
// SCREEN
case SYS_SCREEN_INIT: {
screen_init(&scr,&vram);
ret = 0;
} break;
case SYS_SCREEN_CLEAR: {
screen_clear(&scr);
ret = 0;
} break;
case SYS_SCREEN_LOCATE: {
unsigned long int x;
unsigned long int y;
x = va_arg(ap,unsigned long int);
y = va_arg(ap,unsigned long int);
screen_locate(&scr,x,y);
ret = 0;
} break;
case SYS_SCREEN_SCROLL: {
unsigned long int height;
height = va_arg(ap,unsigned long int);
screen_scroll(&scr,height);
ret = 0;
} break;
case SYS_SCREEN_PUT_STRING: {
unsigned char *s;
s = va_arg(ap,unsigned char *);
screen_put_string(&scr,s);
ret = 0;
} break;
case SYS_SCREEN_PUT_CHAR: {
unsigned char c;
c = va_arg(ap,unsigned int); // usigned char
screen_put_char(&scr,c);
ret = 0;
} break;
case SYS_SCREEN_PRINT: {
unsigned char c;
c = va_arg(ap,unsigned int); // unsigned char
screen_print(&scr,c);
ret = 0;
} break;
//case SYS_SCREEN_IMAGE: {
// IMAGE *image;
// image = va_arg(ap,IMAGE *);
// screen_image(&scr,image);
// ret = 0;
//} break;
case SYS_SCREEN_SET_LOCATE_X: {
unsigned long int x;
x = va_arg(ap,unsigned long int);
screen_set_locate_x(&scr,x);
ret = 0;
} break;
case SYS_SCREEN_SET_LOCATE_Y: {
unsigned long int y;
y = va_arg(ap,unsigned long int);
screen_set_locate_y(&scr,y);
ret = 0;
} break;
case SYS_SCREEN_GET_LOCATE_X: {
ret = screen_get_locate_x(&scr);
} break;
case SYS_SCREEN_GET_LOCATE_Y: {
ret = screen_get_locate_y(&scr);
} break;
case SYS_SCREEN_SET_COLOR_FG: {
unsigned long int r,g,b;
r = va_arg(ap,unsigned long int);
g = va_arg(ap,unsigned long int);
b = va_arg(ap,unsigned long int);
screen_set_color_fg(&scr,r,g,b);
ret = 0;
} break;
case SYS_SCREEN_SET_COLOR_BG: {
unsigned long int r,g,b;
r = va_arg(ap,unsigned long int);
g = va_arg(ap,unsigned long int);
b = va_arg(ap,unsigned long int);
screen_set_color_bg(&scr,r,g,b);
ret = 0;
} break;
// UART
case SYS_UART_INIT: {
unsigned long int base;
unsigned long int irq;
base = va_arg(ap,unsigned long int);
irq = va_arg(ap,unsigned long int);
uart.tx.buf = uart_buffer_tx;
uart.tx.buf_size = UART_TX_BUF_SIZE;
uart.rx.buf = uart_buffer_rx;
uart.rx.buf_size = UART_RX_BUF_SIZE;
uart_init(&uart,UART_BASE,UART_IRQ);
ret = 0;
} break;
case SYS_UART_GET: {
ret = (long int)uart_get(&uart);
} break;
case SYS_UART_GET_EXIST: {
ret = (long int)uart_get_exist(&uart);
} break;
case SYS_UART_GET_CLEAR: {
uart_get_clear(&uart);
ret = 0;
} break;
case SYS_UART_PUT: {
unsigned int data;
data = va_arg(ap,unsigned int);
uart_put(&uart,(unsigned char)data);
ret = 0;
} break;
case SYS_UART_PUT_FULL: {
ret = uart_put_full(&uart);
} break;
case SYS_UART_PUT_CLEAR: {
uart_put_clear(&uart);
ret = 0;
} break;
case SYS_UART_PUT_STRING: {
unsigned char *string;
string = va_arg(ap,unsigned char *);
uart_put_string(&uart,string);
ret = 0;
} break;
case SYS_UART_IS_CTS: {
ret = uart_is_cts(&uart);
} break;
case SYS_UART_IS_DSR: {
ret = uart_is_dsr(&uart);
} break;
case SYS_UART_IS_RI: {
ret = uart_is_ri(&uart);
} break;
case SYS_UART_IS_DCD: {
ret = uart_is_dcd(&uart);
} break;
case SYS_UART_DTR: {
unsigned long int data;
data = va_arg(ap,unsigned long int);
uart_dtr(&uart,data);
ret = 0;
} break;
case SYS_UART_RTS: {
unsigned long int data;
data = va_arg(ap,unsigned long int);
uart_rts(&uart,data);
ret = 0;
} break;
}
va_end(ap);
return ret;
}
void check_drive_uart(void) {
static uint8_t inputbuf[RX_LINE_SIZE], inputptr = 0;
uint8_t i, recv;
while(uart_available(DRIVE)) {
recv = uart_get(DRIVE);
if(recv == '\r') {
if(inputptr) {
if(inputbuf[0] == '@') {
// reverse command from DRIVE MCU
switch(inputbuf[1]) {
case '1': // drive complete
if(inputptr != 3 || inputbuf[2] != '0') { break; }
drive_complete = 1;
break;
case '4': // track info update
switch(inputbuf[2]) {
case '4': // absolute position
if(inputptr != 11) { break; }
abspL = htoa(inputbuf[ 3], inputbuf[ 4]) << 8 | htoa(inputbuf[ 5], inputbuf[ 6]);
abspR = htoa(inputbuf[ 7], inputbuf[ 8]) << 8 | htoa(inputbuf[ 9], inputbuf[10]);
break;
case '5': // relative position
if(inputptr != 15) { break; }
sectL = htoa(inputbuf[ 3], inputbuf[ 4]);
relpL = htoa(inputbuf[ 5], inputbuf[ 6]) << 8 | htoa(inputbuf[ 7], inputbuf[ 8]);
sectL = htoa(inputbuf[ 9], inputbuf[10]);
relpL = htoa(inputbuf[11], inputbuf[12]) << 8 | htoa(inputbuf[13], inputbuf[14]);
break;
case '6': // track sensors
if(inputptr != 7) { break; }
trksL = htoa(inputbuf[3], inputbuf[4]);
trksR = htoa(inputbuf[5], inputbuf[6]);
break;
}
break;
}
}
else if(rev_passthru) {
for(i = 0; i < inputptr; i++) { uart_put(DEBUG, inputbuf[i]); }
fprintf(&debug, "\r\n");
}
inputptr = 0;
}
}
else if(recv == '\n') {
;
}
else {
if(inputptr != RX_LINE_SIZE) {
inputbuf[inputptr] = recv;
inputptr++;
}
}
}
}
