static int SetBaud( int baud_index, int *sync_point_p )
{
int reply; /* storing data received from other machine */
int sync_point;
sync_point = *sync_point_p;
*sync_point_p += MAX_BAUD_SET_TICKS + 3*SYNC_SLOP;
if( !Baud( baud_index ) ) return( FAIL ); /* sets up baud rate */
SyncPoint( sync_point );
ClearCom();
Wait( SYNC_SLOP );
SendByte( SDATA_HI );
reply = WaitByte( SYNC_SLOP * 2 );
if( reply != SDATA_HI ) {
return( FAIL );
}
/* now go the other way */
*sync_point_p += BaudTable[ baud_index ].full_test_ticks;
#ifdef SERVER
if( !SetBaudReceiver() ) return( FAIL );
if( !SetBaudSender() ) return( FAIL );
#else
if( !SetBaudSender() ) return( FAIL );
if( !SetBaudReceiver() ) return( FAIL );
#endif
return( SUCCESS );
}
// Initialise the Mind Control's ATmega168 microcontroller
void Initialise(void)
{
cli();
// Set I/O pins
DDRB = 0x10;
PORTB = 0xCF;
DDRC = 0x00;
PORTC = 0xFF;
DDRD = 0xE6;
PORTD = 0x7D;
// Set up timer 1 to generate an interrupt every 1 ms
TCCR1A = 0x00;
TCCR1B = (_BV(WGM12) | _BV(CS12));
OCR1A = 71;
TIMSK1 = _BV(OCIE1A);
// Set up the serial port with rx interrupt
UBRR0 = 19;
UCSR0B = (_BV(RXCIE0) | _BV(TXEN0) | _BV(RXEN0));
UCSR0C = (_BV(UCSZ00) | _BV(UCSZ01));
// Turn on interrupts
sei();
LEDBothOff;
PowerOnRobot();
ByteTx(CmdStart);
Baud(Baud28800);
ByteTx(CmdControl);
ByteTx(CmdFull);
}
bool SetSyncTime( void )
{
if( MaxBaud != MIN_BAUD ) {
if( !Baud( LOW_BAUD ) ) return( FAIL );
}
#ifdef SERVER
if( WaitByte( SEC(1)/10 ) != SDATA_HI ) {
return( FAIL );
}
#else
SendByte( SDATA_HI );
#endif
return( MarchToTheSameDrummer() );
}
static char *SetupModem( char *parm )
{
char *start;
unsigned wait;
unsigned ch;
int data;
Baud( MaxBaud );
wait = SEC(3);
while( *parm == ' ' && *parm == '\t' ) ++parm;
if( *parm == '\0' ) return( NULL );
for( ;; ) {
if( *parm == '(' ) {
start = ++parm;
for( ;; ) {
ch = *parm;
if( ch == '\0' ) goto done;
++parm;
if( ch == ')' ) break;
if( ch == '\\' ) {
ch = *parm++;
switch( ch ) {
case '\0':
return( TRP_ERR_invalid_modem_string );
case 'r':
ch = '\r';
break;
case 'n':
ch = '\n';
break;
}
}
data = WaitByte( wait );
if( data == SDATA_NO_DATA ) {
if( wait != SEC(60) ) {
wait = SEC(60);
} else {
return( TRP_ERR_timeout_on_modem_string );
}
--parm;
} else {
wait = SEC(3);
if( data != ch ) parm = start;
}
}
} else {
Wait( SEC(1)/5 );
for( ;; ) {
ch = *parm;
if( ch == '\0' ) goto done;
if( ch == '(' ) break;
++parm;
if( ch == '\\' ) {
ch = *parm++;
switch( ch ) {
case '\0':
return( TRP_ERR_invalid_modem_string );
case '`':
Wait( 1 );
break;
case '~':
Wait( SEC(1) );
break;
case 'r':
SlowSend( '\r' );
Wait( SEC(1)/2 );
break;
case 'n':
SlowSend( '\n' );
break;
default:
SlowSend( ch );
break;
}
} else {
SlowSend( ch );
}
}
}
}
done:
#ifdef SERVER
#define SEND_CHAR '='
#define EXPECT_CHAR '-'
#else
#define SEND_CHAR '-'
#define EXPECT_CHAR '='
#endif
wait = 1;
for( ;; ) {
data = WaitByte( wait );
if( data == EXPECT_CHAR ) break;
if( data == SDATA_NO_DATA ) {
if( wait != SEC(10) ) {
wait = SEC(10);
SendByte( SEND_CHAR );
} else {
return( TRP_ERR_modem_failed_connection );
}
}
}
if( wait != SEC(10) )
SendByte( SEND_CHAR );
return( NULL );
}
/*------------------------------------------------------*/
void LoadFromPc(char *p)
{
void InProg(void);
int ReadPar(char *);
char q[LINK_LEN],*r,*s,*ss[16];
int i,j,k;
long y,z;
lib *l;
command *c,**cp;
switch(*p)
{
case 'd':
Lr=scanLLA(Lr,++p,null);
if(!Lr)
{
j=0;
switch(strscan(p,ss,',',16))
{
case 2:
j=atoi(ss[1]);
case 1:
if(l=FindLib(LinkAddrStr(ss[0])))
{
copylib(l,Lr=makelib());
if(j)
for(Lr->xc=Lr->x; --j && Lr->xc->next;)
Lr->xc=Lr->xc->next;
else
Lr->x=Lr->xc=freecoord(Lr->x);
Ungetch(REFRESH,0);
}
else
puts_pc("!NOT_FOUND\r\n");
break;
default:
puts_pc("!SYNTAX\r\n");
break;
}
}
break;
case 'l': if(i=LinkAddrStr(++p))
{
freelib(Lc);
Lc=makelib();
Lc->ltype=LinkAddrType(i);
Lc->n=LinkAddrN(i);
}
else
InsertLib(&Lc);
break;
case 'M': if(sscanf(++p," %d,%04X,%04X,%s",&k,&i,&j,q)==4) {
if(Mscan)
/* znak, da je editor odprt ! */ if(Mscan->c->maxopt) {
/* vrstica in obseg aktivna ? */ if(k)
if(--k <= Mscan->c->maxopt) {
Mscan->active = k;
Refresh();
}
break;
}
r=strchr(q,',');
*r++=0;
cp=NULL;
if(!strcmp(q,"message"))
cp=&CP;
if(!strcmp(q,"gun"))
cp=&GUN;
if(!strcmp(q,"meteo"))
cp=&METEO;
if(!cp)
break;
/*......................................................................................*/
if(!*cp)
new_command(cp);
else{
c=*cp;
do
if(c->chk == j)
*cp=c;
else
c=c->next;
while(c != *cp);
if((*cp)->chk != j)
new_command(cp);
}
(*cp)->chk=j;
c=*cp;
s=(char *)c;
i = sizeof(command) - sizeof(command *) - sizeof(int);
while(i--) {
sscanf(r,"%02X",&j);
*s++ = j;
++r;++r;
}
c->chk *= -1;
if(cp == &CP)
Ungetch(GXM_MESSAGE_ID,0);
if(cp == &GUN)
Ungetch(GXM_GUN_ID,0);
}
break;
case 'r': if(crest && (sscanf(++p," %ld %ld",&y,&z) == 2)) {
add_coord(crest,0,y,z);
crest->xc->refp=null;
}
else
DeleteTask(DMRtimeout,RTC_task);
break;
case 'c': i=j=0;
if(Lc)
Lc=scanLLA(Lc,++p,eof);
break;
case 'g': if(Lc && (sscanf(++p," %s %d %d",q,&j,&k) == 3)) {
for(i=0; Guns[i].name; ++i)
if(!strcmp(Guns[i].name,q)) {
Lc->gun=i;
Lc->refd=j;
Lc->powder=k;
}
}
break;
case 'a': if(Lc && (sscanf(++p,"%s %d",q,&j) == 2)) {
for(i=0; Guns[Lc->gun].ammo[i]; ++i)
if(!strcmp(Guns[Lc->gun].ammo[i],q)) {
Lc->ammpcs[i]=j;
r=strchr(p,'+');
s=strrchr(p,'+');
if(r)
do Lc->ammpcs[i] += 0x1000;
while(r++ != s);
r=strchr(p,'-');
s=strrchr(p,'-');
if(r)
do Lc->ammpcs[i] -= 0x1000;
while(r++ != s);
}
}
break;
case 'p': if(sscanf(++p,"%d,%d",&i,&j) == 2)
if(i<12 && j<4) {
xyLCD(i,j);
Ungetch(GXM_CURSOR_POS,0);
}
break;
case 'm': LoadHexRec(p,'m',_MenuCode);
break;
case 'h': LoadHexRec(p,'h',_MenuHead);
break;
case 't': if(Lc)
{
++p;
++p;
Lc->txt=addtxt(Lc,p);
}
else
LoadHexRec(p,'t',_TextCode);
break;
case 'T': if(sscanf(++p," %x %x",&i,&j)==2)
{
sprintf(q,"%04X\r\n",readTEMP(i,j));
puts_pc(q);
}
break;
case 'f': if(ReadPar(++p))
break;
i=strscan(p,ss,' ',16);
if(i>=2)
{
sscanf(ss[0],"%lx",&eebott);
sscanf(ss[1],"%lx",&eetop);
if(eebott < (long)FLASHTOP)
{
puts_pc("!ILL_ADDRESS\r\n");
break;
}
if(eetop > (long)FLASHTOP+0x80000L)
{
puts_pc("!ILL_ADDRESS\r\n");
break;
}
if(i==3)
{
ss[2][8]=0;
sprintf(pass,"%-8s",ss[2]);
}
if(CheckPass(&syspass))
{
puts_pc("!NOT_ALLOWED\r\n");
break;
}
puts_pc("\7\r\nFLASH programming !!!\r\n");
wait(50);
InProg();
puts_pc("Done\r\n");
}
else
puts_pc("!SYNTAX\r\n");
break;
case 'b': k=sscanf(++p," %d %d",&i,&j);
if(k)
if(Baud(CHPC,i)) {
if(k==2)
Xonoff(j);
break;
}
puts_pc("!SYNTAX\r\n");
break;
case 'z': EnterZone(++p);
break;
case 'G': DeleteTask(ReadPc,RTC_task);
Guns=ReadGunData(0,0,0,0,NULL);
SetTask(ReadPc,0,RTC_task);
break;
default: puts_pc("!SYNTAX\r\n");
break;
}
}
CResetAttributes::ResetResult CTestResource::Reset(LogFunc *pfnLog, void *pfnLogparam)
{
String strReset;
strReset.Format(_T("port(%s,%d) %s"),Serial(),Baud(),ResetString());
return CResetAttributes(strReset).Reset(pfnLog,pfnLogparam);
}
