bool CloudWatcherController::getConstants(CloudWatcherConstants *cwc) {
bool r = getFirmwareVersion(cwc->firmwareVersion);
if (!r) {
return false;
}
r = getSerialNumber(&(cwc->internalSerialNumber));
if (!r) {
return false;
}
if (cwc->firmwareVersion[0] >= '3') {
r = getElectricalConstants();
if (!r) {
return false;
}
}
cwc->zenerVoltage = zenerConstant;
cwc->ldrMaxResistance = LDRMaxResistance;
cwc->ldrPullUpResistance = LDRPullUpResistance;
cwc->rainBetaFactor = rainBeta;
cwc->rainResistanceAt25 = rainResAt25;
cwc->rainPullUpResistance = rainPullUpResistance;
cwc->ambientBetaFactor = ambBeta;
cwc->ambientResistanceAt25 = ambResAt25;
cwc->ambientPullUpResistance = ambPullUpResistance;
return true;
}
bool QikFlat::getStartupData()
{
bool rc1 = getFirmwareVersion();
bool rc2 = getBrightness();
return (rc1 && rc2);
}
bool CloudWatcherController::getSerialNumber(int *serialNumber) {
int f = getFirmwareVersion();
if (!f) {
return false;
}
if (firmwareVersion[0] >= '3') {
sendCloudwatcherCommand("K!");
char inputBuffer[BLOCK_SIZE * 2];
int r = getCloudWatcherAnswer(inputBuffer, 2);
if (!r) {
return false;
}
int res = sscanf(inputBuffer, "!K%d", serialNumber);
if (res != 1) {
return false;
}
} else {
*serialNumber = -1;
}
return true;
}
FirmwareInfo
Interface::getFirmwareInfo(void)
{
FirmwareInfo info;
getFirmwareName(info);
getFirmwareVersion(info);
return info;
}
void MidiController::sendFirmwareVersion(){
char* version = getFirmwareVersion();
uint8_t len = strlen(version);
uint8_t buffer[len+1];
buffer[0] = SYSEX_FIRMWARE_VERSION;
memcpy(buffer+1, version, len);
sendSysEx(buffer, sizeof(buffer));
}
bool FlipFlat::getStartupData()
{
bool rc1 = getFirmwareVersion();
bool rc2 = getStatus();
bool rc3 = getBrightness();
return (rc1 && rc2 && rc3);
}
bool Starbook::Connect()
{
handle = curl_easy_init();
bool rc = Telescope::Connect();
if (rc) {
getFirmwareVersion();
}
return rc;
}
boolean MFRC522::digitalSelfTestPass() {
int i;
byte n;
byte selfTestResultV1[] = {0x00, 0xC6, 0x37, 0xD5, 0x32, 0xB7, 0x57, 0x5C,
0xC2, 0xD8, 0x7C, 0x4D, 0xD9, 0x70, 0xC7, 0x73,
0x10, 0xE6, 0xD2, 0xAA, 0x5E, 0xA1, 0x3E, 0x5A,
0x14, 0xAF, 0x30, 0x61, 0xC9, 0x70, 0xDB, 0x2E,
0x64, 0x22, 0x72, 0xB5, 0xBD, 0x65, 0xF4, 0xEC,
0x22, 0xBC, 0xD3, 0x72, 0x35, 0xCD, 0xAA, 0x41,
0x1F, 0xA7, 0xF3, 0x53, 0x14, 0xDE, 0x7E, 0x02,
0xD9, 0x0F, 0xB5, 0x5E, 0x25, 0x1D, 0x29, 0x79};
byte selfTestResultV2[] = {0x00, 0xEB, 0x66, 0xBA, 0x57, 0xBF, 0x23, 0x95,
0xD0, 0xE3, 0x0D, 0x3D, 0x27, 0x89, 0x5C, 0xDE,
0x9D, 0x3B, 0xA7, 0x00, 0x21, 0x5B, 0x89, 0x82,
0x51, 0x3A, 0xEB, 0x02, 0x0C, 0xA5, 0x00, 0x49,
0x7C, 0x84, 0x4D, 0xB3, 0xCC, 0xD2, 0x1B, 0x81,
0x5D, 0x48, 0x76, 0xD5, 0x71, 0x61, 0x21, 0xA9,
0x86, 0x96, 0x83, 0x38, 0xCF, 0x9D, 0x5B, 0x6D,
0xDC, 0x15, 0xBA, 0x3E, 0x7D, 0x95, 0x3B, 0x2F};
byte *selfTestResult;
switch(getFirmwareVersion()) {
case 0x91 :
selfTestResult = selfTestResultV1;
break;
case 0x92 :
selfTestResult = selfTestResultV2;
break;
default:
return false;
}
reset();
writeToRegister(FIFODataReg, 0x00);
writeToRegister(CommandReg, MFRC522_MEM);
writeToRegister(AutoTestReg, 0x09);
writeToRegister(FIFODataReg, 0x00);
writeToRegister(CommandReg, MFRC522_CALCCRC);
// Wait for the self test to complete.
i = 0xFF;
do {
n = readFromRegister(DivIrqReg);
i--;
} while ((i != 0) && !(n & 0x04));
for (i=0; i < 64; i++) {
if (readFromRegister(FIFODataReg) != selfTestResult[i]) {
Serial.println(i);
return false;
}
}
return true;
}
bool CloudWatcherController::getFirmwareVersion(char *version) { // Fallo en el documento, devuelve "!V", no "!N"
int r = getFirmwareVersion();
if (!r) {
return false;
}
strcpy(version, firmwareVersion);
return true;
}
bool CloudWatcherController::getValues(int *internalSupplyVoltage, int *ambientTemperature, int *ldrValue, int *rainSensorTemperature) {
sendCloudwatcherCommand("C!");
int f = getFirmwareVersion();
if (!f) {
return false;
}
int zenerV;
int ambTemp = -10000;
int ldrRes;
int rainSensTemp;
if (firmwareVersion[0] >= '3') {
char inputBuffer[BLOCK_SIZE * 4];
int r = getCloudWatcherAnswer(inputBuffer, 4);
if (!r) {
return false;
}
int res = sscanf(inputBuffer, "!6 %d!4 %d!5 %d", &zenerV, &ldrRes, &rainSensTemp);
if (res != 3) {
return false;
}
} else {
char inputBuffer[BLOCK_SIZE * 5];
int r = getCloudWatcherAnswer(inputBuffer, 5);
if (!r) {
return false;
}
int res = sscanf(inputBuffer, "!6 %d!3 %d!4 %d!5 %d", &zenerV, &ambTemp, &ldrRes, &rainSensTemp);
if (res != 3) {
return false;
}
}
*internalSupplyVoltage = zenerV;
*ambientTemperature = ambTemp;
*ldrValue = ldrRes;
*rainSensorTemperature = rainSensTemp;
return true;
}
bool StarbookDriver::Connect()
{
failed_res = 0;
last_known_state = starbook::UNKNOWN;
bool rc = Telescope::Connect();
if (rc) {
getFirmwareVersion();
// TODO: resolve this in less hacky way https://github.com/indilib/indi/issues/810
saveConfig(false, "DEVICE_ADDRESS");
} else {
LOG_ERROR("Connection failed");
}
return rc;
}
bool emulate_tag_init()
{
uint32_t versiondata;
wake_up();
versiondata = getFirmwareVersion();
if(!versiondata)
{
return false;
}
return SAMConfig();
}
void main(void)
{
#ifdef NFC_DEMO_DEBUG
printf("Hello!\n");
#endif
begin();
versiondata = getFirmwareVersion();
if (! versiondata)
{
#ifdef NFC_DEMO_DEBUG
printf("Didn't find PN53x board\n");
#endif
while (1); // halt
}
#ifdef NFC_DEMO_DEBUG
// Got ok data, print it out!
printf("Found chip PN5");
printf("%d\n",(versiondata>>24 & 0xFF));
printf("Firmware ver. ");
printf("%d\n",((versiondata>>16) & 0xFF));
printf(".");
printf("%d\n",((versiondata>>8) & 0xFF));
printf("Supports ");
printf("%d\n",(versiondata & 0xFF));
#endif
// configure board to read RFID tags and cards
SAMConfig();
printf("init is ok\n");
while(1)
{
// Configure PN532 as Peer to Peer Initiator in active mode
if(configurePeerAsInitiator(PN532_BAUDRATE_424K)) //if connection is error-free
{
//trans-receive data
if(initiatorTxRx(DataOut,DataIn))
{
#ifdef NFC_DEMO_DEBUG
printf("Data Sent and Received: %d\n",DataIn);
#endif
}
}
}
}
void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
Wire.begin();
delay(200);
resetDisplay();
if (lines > 1) {
_displayfunction |= LCD_2LINE;
}
// for some 1 line displays you can select a 10 pixel high font
if ((dotsize != 0) && (lines == 1)) {
_displayfunction |= LCD_5x10DOTS;
}
// finally, set # lines, font size, etc.
command(LCD_FUNCTIONSET | _displayfunction);
// turn the display on with no cursor or blinking default
_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
display();
// clear it off
clear();
home();
// Initialize to default text direction (for romance languages)
_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
// set the entry mode
command(LCD_ENTRYMODESET | _displaymode);
delay(50); // OLED needs some more time to initialize
_firmware_version = getFirmwareVersion();
if(_firmware_version >= 2)
{
Wire.beginTransmission(_addr);
Wire.write(0xfd); // Set cols/lines
Wire.write(cols);
Wire.write(lines);
Wire.endTransmission();
}
delay(50);
}
void omsMAXv::initialize(const char* portName, int numAxes, int cardNo, const char* initString, int prio,
int stackSz, unsigned int vmeAddr, int intrVector, int level, epicsAddressType vmeAddrType, int paramCount)
{
const char* functionName = "initialize";
long status;
void* probeAddr;
Debug(32, "omsMAXv::initialize: start initialize\n" );
controllerType = epicsStrDup("MAXv");
// TODO check if cardNo has already been used
this->cardNo = cardNo;
if(cardNo < 0 || cardNo >= MAXv_NUM_CARDS){
printf("invalid cardNo: %d", cardNo);
return;
}
epicsUInt8 *startAddr;
epicsUInt8 *endAddr;
epicsUInt32 boardAddrSize = 0;
if (vmeAddrType == atVMEA16)
boardAddrSize = 0x1000;
else if (vmeAddrType == atVMEA24)
boardAddrSize = 0x10000;
else if (vmeAddrType == atVMEA32)
boardAddrSize = 0x1000000;
// if vmeAddr == 1 Setup/Config is used and not Config2
if (vmeAddr == 1)
probeAddr = baseAddress + (cardNo * boardAddrSize);
else
probeAddr = (void*) vmeAddr;
startAddr = (epicsUInt8 *) probeAddr;
endAddr = startAddr + boardAddrSize;
Debug(64, "motor_init: devNoResponseProbe() on addr %p\n", probeAddr);
/* Scan memory space to assure card id */
while (startAddr < endAddr) {
status = devNoResponseProbe(vmeAddrType, (size_t) startAddr, 2);
if (status != S_dev_addressOverlap) {
errlogPrintf("%s:%s:%s: Card NOT found in specified address range! \n",
driverName, functionName, portName);
enabled = false;
return;
}
startAddr += (boardAddrSize / 10);
}
status = devRegisterAddress(controllerType, vmeAddrType,
(size_t) probeAddr, boardAddrSize,
(volatile void **) &pmotor);
Debug(64, "motor_init: devRegisterAddress() status = %d\n", (int) status);
if (status) {
errlogPrintf("%s:%s:%s: Can't register address 0x%lx \n",
driverName, functionName, portName, (long unsigned int) probeAddr);
return;
}
Debug(64, "motor_init: pmotor = %p\n", pmotor);
int loopCount=15;
while (loopCount && (pmotor->firmware_status.Bits.initializing == 1)){
Debug(1, "MAXv port %s still initializing; status = 0x%x\n",
portName, (unsigned int) pmotor->firmware_status.All);
epicsThreadSleep(0.2);
--loopCount;
}
Debug(64, "motor_init: check if card is ready\n");
if (pmotor->firmware_status.Bits.running == 0)
errlogPrintf("MAXv port %s is NOT running; status = 0x%x\n",
portName, (unsigned int) pmotor->firmware_status.All);
Debug(64, "motor_init: init card\n");
FIRMWARE_STATUS fwStatus;
fwStatus.All = pmotor->firmware_status.All;
Debug(64, "motor_init: firmware status register: 0x%x\n", fwStatus.All);
pmotor->IACK_vector = intrVector;
pmotor->status1_flag.All = 0xFFFFFFFF;
pmotor->status2_flag = 0xFFFFFFFF;
/* Disable all interrupts */
pmotor->status1_irq_enable.All = 0;
pmotor->status2_irq_enable = 0;
Debug(64, "motor_init: clear all interrupt\n");
//sendOnly("IC");
Debug(64, "motor_init: firmware version\n");
/* get FirmwareVersion */
if(getFirmwareVersion() != asynSuccess) {
errlogPrintf("%s:%s:%s: unable to talk to controller card %d\n",
driverName, functionName, portName, cardNo);
return;
}
if (fwMinor < 30 ){
errlogPrintf("%s:%s:%s: This Controllers Firmware Version %d.%d is not supported, version 1.30 or higher is mandatory\n",
driverName, functionName, portName, fwMajor, fwMinor);
}
Debug(64, "motor_init: send init string\n");
if( Init(initString, 1) != asynSuccess) {
errlogPrintf("%s:%s:%s: unable to send initstring to controller card %d\n",
driverName, functionName, portName, cardNo);
return;
}
useWatchdog = true;
if (watchdogOK()) {
Debug(64, "motor_init: enable interrupts ( vector=%d, level=%d) \n", intrVector, level);
/* Enable interrupt-when-done if selected */
if (intrVector) motorIsrSetup((unsigned int)intrVector, level);
}
else
return;
if (epicsAtExit(&omsMAXv::resetOnExit, this))
errlogPrintf("%s:%s:%s: card %d, unable to register exit function\n",
driverName, functionName, portName, cardNo);
return;
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "firmware version '%s'\n",
getFirmwareVersion());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelTop %d LatAccelTop %d\n",
getLatVelTop(), getLatAccelTop());
ret += line;
}
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelMax %d LatAccel %d LatDecel %d\n",
getLatVelMax(), getLatAccel(), getLatDecel());
ret += line;
}
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d GyroType %d\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
getGyroType());
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "GyroRateLimit %d\n",
getGyroRateLimit());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Other:\n");
ret += line;
sprintf(line, "DriftFactor %d KinematicsDelay %d\n", getDriftFactor(),
getKinematicsDelay());
ret += line;
sprintf(line, "Aux2Baud setting %d Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "PDBPort setting %d\n", getPDBPort());
ret += line;
sprintf(line, "TicksMM %d GyroCW %d GyroCCW %d\n", getTicksMM(),
getGyroCW(), getGyroCCW());
ret += line;
sprintf(line, "ShutdownVoltage %d PowerbotChargeTreshold %d\n",
getShutdownVoltage(), getPowerbotChargeThreshold());
ret += line;
char buf[128];
int i, j;
unsigned int value = getPowerBits();
int bit;
buf[0] = '\0';
for (j = 0, bit = 1; j < 16; ++j, bit *= 2)
{
if (j == 8)
sprintf(buf, "%s ", buf);
if (value & bit)
sprintf(buf, "%s%d", buf, 1);
else
sprintf(buf, "%s%d", buf, 0);
}
sprintf(line, "HighTempShutdown %d PowerBits %s\n",
getHighTemperatureShutdown(), buf);
ret += line;
return ret;
}
int main(void)
{
uint32_t versiondata;
uint32_t id;
#ifdef NFC_DEMO_DEBUG
printf("Hello!\n");
#endif
begin();
versiondata = getFirmwareVersion();
if (! versiondata)
{
#ifdef NFC_DEMO_DEBUG
printf("Didn't find PN53x board\n");
#endif
while (1); // halt
}
#ifdef NFC_DEMO_DEBUG
// Got ok data, print it out!
printf("Found chip PN5");
printf("%x\n",((versiondata>>24) & 0xFF));
printf("Firmware ver. ");
printf("%d",((versiondata>>16) & 0xFF));
printf(".");
printf("%d\n",((versiondata>>8) & 0xFF));
printf("Supports ");
printf("%x\n",(versiondata & 0xFF));
#endif
// configure board to read RFID tags and cards
SAMConfig();
while(1)
{
// look for MiFare type cards
id = readPassiveTargetID(PN532_MIFARE_ISO14443A);
if (id != 0)
{
#ifdef NFC_DEMO_DEBUG
printf("Read card #%d\n",id);
CURL *curl;
CURLcode res;
/* In windows, this will init the winsock stuff */
curl_global_init(CURL_GLOBAL_ALL);
/* get a curl handle */
curl = curl_easy_init();
if(curl) {
/* First set the URL that is about to receive our POST. This URL can
just as well be a https:// URL if that is what should receive the
data. */
curl_easy_setopt(curl, CURLOPT_URL, "http://203.42.134.77/api/rfid");
/* Now specify the POST data */
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, "userID=123&rfid=2345123");
/* Perform the request, res will get the return code */
res = curl_easy_perform(curl);
/* Check for errors */
if(res != CURLE_OK)
fprintf(stderr, "curl_easy_perform() failed: %s\n",
curl_easy_strerror(res));
/* always cleanup */
curl_easy_cleanup(curl);
}
curl_global_cleanup();
#endif
}
}
return 0;
}
