void loadNewData(void)
{
if(dataAvailable==0)
{
dataAvailable = getsUSBUSART(USB_In_Buffer,BUFFER_SIZE);
nextEmptyByte = dataAvailable;
currentByte = 0;
return;
}
if(dataAvailable<BUFFER_SIZE)
{
UINT8 oldDataAvailable = dataAvailable;
if(currentByte<=nextEmptyByte)
{
dataAvailable += getsUSBUSART(USB_In_Buffer+nextEmptyByte,BUFFER_SIZE-nextEmptyByte);
dataAvailable += getsUSBUSART(USB_In_Buffer,currentByte);
}
else
{
dataAvailable += getsUSBUSART(USB_In_Buffer+nextEmptyByte,currentByte-nextEmptyByte);
}
nextEmptyByte = (nextEmptyByte+(dataAvailable-oldDataAvailable))%BUFFER_SIZE;
}
}
void ProcessIO(void)
{
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// only check for new USB buffer if the old RS232 buffer is
// empty. This will cause additional USB packets to be NAK'd
// RS232_送信バッファに HostPC から届いたデータをFillする.
if (LastRS232Out == 0) {
LastRS232Out = getsUSBUSART(RS232_Out_Data,64); //until the buffer is free.
if(LastRS232Out > 0) {
// RS232_Out_Data_Rdy = 1; // signal buffer full
RS232cp = 0; // Reset the current position
}
}
if(LastRS232Out && (NextUSBOut==0)) {
//エコーバック専用:
memcpy(USB_Out_Buffer,RS232_Out_Data,LastRS232Out);
NextUSBOut = LastRS232Out;
LastRS232Out = 0;
}
//可能なら、RS232_受信バッファの内容をHostPCに送る.
if((USBUSARTIsTxTrfReady()) && (NextUSBOut > 0)){
putUSBUSART(&USB_Out_Buffer[0], NextUSBOut);
NextUSBOut = 0;
}
CDCTxService();
}
void ProcessIO(void)
{
BYTE numBytesRead;
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
if(buttonPressed)
{
if(stringPrinted == FALSE)
{
if(mUSBUSARTIsTxTrfReady())
{
putrsUSBUSART("Button Pressed data-- \r\n");
stringPrinted = TRUE;
}
}
}
else
{
stringPrinted = FALSE;
}
if(USBUSARTIsTxTrfReady())
{
numBytesRead = getsUSBUSART(USB_Out_Buffer,64);
if(numBytesRead != 0)
{
BYTE i;
for(i=0;i<numBytesRead;i++)
{
switch(USB_Out_Buffer[i])
{
case 0x0A:
case 0x0D:
putUSBUSART(&USB_Out_Buffer[i],numBytesRead);
break;
case 0x53://letter S to start sampling
ReadADC();
putUSBUSART(ADC_sample,SAMPLE_SIZE);
break;
case 0x51: //letter Q to stop
break;
default:
putUSBUSART(&USB_Out_Buffer[i],numBytesRead);
break;
}
}
//putUSBUSART(USB_In_Buffer,numBytesRead);
}
}
CDCTxService();
} //end ProcessIO
unsigned int usb_tty_loop(void){
USB_BUFFER usb_task;
/* regiao critica */
portENTER_CRITICAL();
if ((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1)){
portEXIT_CRITICAL();
return 0;
}
if (USBUSARTIsTxTrfReady()){
if (buffer_entrada_cont == 0) {
buffer_entrada_cont = getsUSBUSART((char *)buffer_entrada, sizeof(buffer_entrada));
}
if(xQueueReceive(usb_buffer_queue, &usb_task, ( portTickType ) 10)){
putUSBUSART((char *)usb_task.out, usb_task.co);
}
}
CDCTxService();
portEXIT_CRITICAL();
return 1;
}
/*
* Main program entry point.
*/
int main (void)
{
AD1PCFG = 0xFFFF;
//Initialize all of the LED pins
LATE |= 0x000F;
TRISE &= 0xFFF0;
USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware
//variables to known states.
PMCON = 0;
for (;;) {
// Check bus status and service USB interrupts.
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
// this function periodically. This function will take care
// of processing and responding to SETUP transactions
// (such as during the enumeration process when you first
// plug in). USB hosts require that USB devices should accept
// and process SETUP packets in a timely fashion. Therefore,
// when using polling, this function should be called
// frequently (such as once about every 100 microseconds) at any
// time that a SETUP packet might reasonably be expected to
// be sent by the host to your device. In most cases, the
// USBDeviceTasks() function does not take very long to
// execute (~50 instruction cycles) before it returns.
// Application-specific tasks.
// Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if (USBDeviceState >= CONFIGURED_STATE && ! (U1PWRC & PIC32_U1PWRC_USUSPEND)) {
unsigned nbytes_read;
static unsigned char inbuf[64], outbuf[64];
static unsigned led3_count = 0;
// Pull in some new data if there is new data to pull in
nbytes_read = getsUSBUSART ((char*) inbuf, 64);
if (nbytes_read != 0) {
snprintf (outbuf, sizeof(outbuf),
"Received %d bytes: %02x...\r\n",
nbytes_read, inbuf[0]);
putUSBUSART ((char*) outbuf, strlen (outbuf));
mLED_2_Toggle();
mLED_3_On();
led3_count = 10000;
}
if (led3_count) {
// Turn off LED3 when timeout expired.
led3_count--;
if (led3_count == 0)
mLED_3_Off();
}
CDCTxService();
}
}
}
void usbbufservice(void){
if(usbbuf.cnt==0){//if the buffer is empty, get more data
usbbuf.cnt = getsUSBUSART(usbbuf.inBuf,30);
usbbuf.rdptr=0;
}
}
static uint8_t USB_CDC_get(void) {
uint8_t numBytesRead;
if (USBUSARTIsTxTrfReady() == true) {
numBytesRead = getsUSBUSART(readBuffer, sizeof (readBuffer));
}
CDCTxService();
return numBytesRead;
}
void usbbufservice(void) {
if (usbbuf.cnt == 0) {//if the buffer is empty, get more data
usbbuf.cnt = getsUSBUSART(usbbuf.inBuf, CDC_BUFFER_SIZE); //JTR2
usb_handler();
usbbuf.rdptr = 0;
}
}
int main() {
log_init();
// If bootloader mode not requested, go immediately to app.
if (!ShouldEnterBootloader()) {
OscCalibrateCached();
log_printf("Running app...");
__asm__("goto __APP_RESET");
}
// We need to enter bootloader mode, wait for the boot pin to be released.
while (!led_read());
// Now we can start!
led_init();
#ifdef SIGNAL_AFTER_BAD_RESET
if (RCON & 0b1100001001000000) {
SignalRcon();
}
#endif
log_printf("Hello from Bootloader!!!");
if (IsPin1Grounded()) {
log_printf("Erasing config.");
EraseConfig();
}
OscCalibrateCached();
Blink(5);
USBInitialize();
while (1) {
// Wait for connection
while (!(USBGetDeviceState() == CONFIGURED_STATE
&& CDCIsDtePresent())) USBTasks();
log_printf("Connected!");
BootProtocolInit();
while (USBGetDeviceState() == CONFIGURED_STATE && CDCIsDtePresent()) {
static char in_buf[64];
USBTasks();
BYTE size = getsUSBUSART(in_buf, sizeof(in_buf));
if (!BootProtocolProcess(in_buf, size)) {
log_printf("Protocol error. Will detach / re-attach.");
USBSoftDetach();
__delay_ms(2000);
USBDeviceAttach();
break;
}
BootProtocolTasks();
}
log_printf("Disconnected!");
}
return 0;
}
/********************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*
* Note: None
*******************************************************************/
void ProcessIO(void)
{
BYTE numBytesRead;
//Blink the LEDs according to the USB device status
//
// User Application USB tasks
//
// If suspended, do nothing.
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// If character received, echo it
if(mUSBUSARTIsTxTrfReady())
{
numBytesRead = getsUSBUSART(USB_Out_Buffer,64);
if(numBytesRead != 0)
{
BYTE i;
#ifdef NETV
#else
for(i=0;i<numBytesRead;i++)
{
USB_In_Buffer[i] = USB_Out_Buffer[i];
}
//Test: Send SPI word to control motor
if(USB_In_Buffer[0] == 'u')
{
motor_speed += 250;
if(motor_speed > 3000)
motor_speed = 3000;
SpiChnPutC(4, motor_speed);
}
else if(USB_In_Buffer[0] == 'i')
{
motor_speed -= 250;
if(motor_speed < -3000)
motor_speed = -3000;
SpiChnPutC(4, motor_speed);
}
putUSBUSART(USB_In_Buffer,numBytesRead); //Echo
HBLED1 ^= 1; //Toggle LEDs
HBLED2 ^= 1;
#endif
}
}
// Service the USB CDC driver
CDCTxService();
} // End ProcessIO
/** Procesamiento de información USB */
void USB_process(void) {
static char RTCC_CONF[] = "rtccconfig";
static char RTCC_TEST[] = "rtcctest";
static char XBEE_JOIN[] = "xbeejoin";
static char ADC_TEST[] = "adctest";
// Sht-11 test commands
static char SHT[] = "shttest";
BYTE numBytesRead;
// Init payloads
Payload_init(&usbInputBuffer);
Payload_init(&usbOutputBuffer);
// User Application USB tasks
if ((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1)) {
return;
}
// Recibe un buffer de tamaño determinado
numBytesRead = getsUSBUSART((char*)usbOutputBuffer.data, 64);
// Si ha leído datos
if (numBytesRead != 0) {
if (strncmp((char*)usbOutputBuffer.data, RTCC_CONF, strlen(RTCC_CONF)) == 0) {
Rtc_readInputStream(&usbOutputBuffer);
Rtc_writeFormattedTimestamp(&usbInputBuffer);
} else if (strncmp((char*)usbOutputBuffer.data, RTCC_TEST, strlen(RTCC_TEST)) == 0) {
Rtc_readTimestamp();
Rtc_writeFormattedTimestamp(&usbInputBuffer);
} else if (strncmp((char*)usbOutputBuffer.data, XBEE_JOIN, strlen(XBEE_JOIN)) == 0) {
XBee_join();
Payload_putString(&usbInputBuffer, (UINT8*) "Join request sent");
} else if (strncmp((char*)usbOutputBuffer.data, ADC_TEST, strlen(ADC_TEST)) == 0) {
// TODO
Payload_putString(&usbInputBuffer, (UINT8*) "Adc test received");
} else if (strncmp((char*)usbOutputBuffer.data, SHT, strlen(SHT)) == 0) {
#if SHT_ENABLED
Sht11_measure(&sht);
Sht11_addMeasuresCalculatedToPayload(&sht, &usbInputBuffer);
#else
Payload_putString(&usbInputBuffer, (UINT8*) "SHT11 not installed");
#endif
} else {
// Si el comando es erróneo, muestra un mensaje de error
Payload_putString(&usbInputBuffer, (UINT8*) "Comando desconocido");
}
// Si está preparado para enviar datos
if (USBUSARTIsTxTrfReady() && usbInputBuffer.size != 0) {
putUSBUSART((char*)usbInputBuffer.data, (BYTE) usbInputBuffer.size);
}
}
CDCTxService();
}
// FIXME: implement for serial comms
BYTE GetUserMessage(char *buffer, BYTE len)
{
if(CommsChannel == COMMS_USB)
{
if (mUSBUSARTIsTxTrfReady())
return getsUSBUSART(buffer, len);
else
return 0;
}
return 0;
}
uint8_t usb_char_get(char *c) {
if (!is_usb_available()) {
//USBCBSendResume();
return 0;
}
while (!USBUSARTIsTxTrfReady()) CDCTxService();
uint8_t ans;
ans = getsUSBUSART(c, 1);
CDCTxService();
return ans;
}
void ProcessIO(void)
{
uchar i;
BlinkUSBStatus(); //Blink the LEDs according to the USB device status
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// only check for new USB buffer if the old RS232 buffer is
// empty. This will cause additional USB packets to be NAK'd
// RS232_送信バッファに HostPC から届いたデータをFillする.
if( mDataRdyUSART() < 32 )
if (LastRS232Out == 0) {
LastRS232Out = getsUSBUSART(RS232_Out_Data,64); //until the buffer is free.
if(LastRS232Out > 0) {
// RS232_Out_Data_Rdy = 1; // signal buffer full
RS232cp = 0; // Reset the current position
}
}
#if USART_USE_TX_INTERRUPT // 送信割り込みを使用する.
//USARTが送信可であれば RS232_送信バッファの内容を USARTに １文字送る.
if(LastRS232Out && mTxRdyUSART()) {
// PIR1bits.TXIF = 0; // 送信割り込みフラグ.
PIE1bits.TXIE = 1; // 送信割り込み許可.
}
#else
//USARTが送信可であれば RS232_送信バッファの内容を USARTに １文字送る.
if(LastRS232Out && mTxRdyUSART()) {
putcUSART(RS232_Out_Data[RS232cp]); //１文字送る.
++RS232cp;
if (RS232cp == LastRS232Out) {
// RS232_Out_Data_Rdy = 0;
LastRS232Out=0;
RS232cp=0;
}
}
#endif
//可能なら、RS232_受信バッファの内容をHostPCに送る.
if((USBUSARTIsTxTrfReady()) && (mDataRdyUSART())){
i=0;
while( mDataRdyUSART() ) {
if(i>=CDC_DATA_OUT_EP_SIZE) break;
USB_Out_Buffer[i++]=getcUSART();
}
putUSBUSART(&USB_Out_Buffer[0], i);
NextUSBOut = 0;
}
CDCTxService();
}
void ProcessIO(void)
{
uchar cnt;
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// only check for new USB buffer if the old RS232 buffer is
// empty. This will cause additional USB packets to be NAK'd
// RS232_送信バッファに HostPC から届いたデータをFillする.
if (LastRS232Out == 0) {
LastRS232Out = getsUSBUSART(RS232_Out_Data,64); //until the buffer is free.
if(LastRS232Out > 0) {
RS232cp = 0; // Reset the current position
}
}
for(cnt=0;cnt<32;cnt++) {
//USARTが送信可であれば RS232_送信バッファの内容を USARTに １文字送る.
if(LastRS232Out && mTxRdyUSART()) {
putcUSART(RS232_Out_Data[RS232cp]); //１文字送る.
++RS232cp;
if (RS232cp == LastRS232Out) {
LastRS232Out=0;
RS232cp=0;
}
}
//USARTがデータを受信済みであれば RS232_受信バッファに溜める.
if(mDataRdyUSART()) {
USB_Out_Buffer[NextUSBOut] = getcUSART();
++NextUSBOut;
//USB_Out_Buffer[NextUSBOut] = 0;
}
}
//可能なら、RS232_受信バッファの内容をHostPCに送る.
if((USBUSARTIsTxTrfReady()) && (NextUSBOut > 0)){
putUSBUSART(&USB_Out_Buffer[0], NextUSBOut);
NextUSBOut = 0;
}
CDCTxService();
}
BYTE cdc_get_conf(char *confstr, BYTE conflen)
{
char uart_c;
if (mUSBUSARTIsTxTrfReady()) {
if (getsUSBUSART(&uart_c, 1) != 0) {
if ((config_cycle>0) && (config_cycle<=conflen)) {
confstr[conflen-config_cycle] = uart_c;
}
config_cycle--; // advance to next state
if (config_cycle == 0)
return 1; // do more after this function returns..
} // if numBytesRead
}
config_cycle++; // correct for inactive cdc loops in up_cdc_cycle();
return 0;
}
/********************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*
* Note: None
*******************************************************************/
void ProcessIO(void)
{
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// only check for new USB buffer if the old RS232 buffer is
// empty.
// Additional USB packets will be NAK'd
// until the buffer is free.
if (RS232_Out_Data_Rdy == 0)
{
LastRS232Out = getsUSBUSART(RS232_Out_Data,64);
if(LastRS232Out > 0)
{
RS232_Out_Data_Rdy = 1; // signal
//buffer full
RS232cp = 0;// Reset the current position
}
}
if(RS232_Out_Data_Rdy && mTxRdyUSART())
{
putcUSART(RS232_Out_Data[RS232cp]);
++RS232cp;
if (RS232cp == LastRS232Out)
RS232_Out_Data_Rdy = 0;
}
if(mDataRdyUSART())
{
USB_Out_Buffer[NextUSBOut] = getcUSART();
++NextUSBOut;
USB_Out_Buffer[NextUSBOut] = 0;
}
if((mUSBUSARTIsTxTrfReady()) && (NextUSBOut > 0))
{
putUSBUSART(&USB_Out_Buffer[0], NextUSBOut);
NextUSBOut = 0;
}
CDCTxService();
} //end ProcessIO
static void CDCTasks() {
DWORD size;
if (channel_state > CHANNEL_DETACHED
&& USBGetDeviceState() == DETACHED_STATE) {
// handle detach
if (channel_state >= CHANNEL_OPEN) {
callback(NULL, 1, callback_arg);
}
channel_state = CHANNEL_DETACHED;
} else if (channel_state > CHANNEL_WAIT_DTE
&& !CDCIsDtePresent()) {
// handle close
if (channel_state >= CHANNEL_OPEN) {
callback(NULL, 0, callback_arg);
}
channel_state = CHANNEL_WAIT_DTE;
}
switch (channel_state) {
case CHANNEL_DETACHED:
if (USBGetDeviceState() == CONFIGURED_STATE) {
channel_state = CHANNEL_WAIT_DTE;
}
break;
case CHANNEL_WAIT_DTE:
if (CDCIsDtePresent()) {
channel_state = CHANNEL_WAIT_OPEN;
}
break;
case CHANNEL_WAIT_OPEN:
break;
case CHANNEL_OPEN:
size = getsUSBUSART(rx_buf, rx_buf_size);
if (size) {
callback(rx_buf, size, callback_arg);
}
break;
}
}
// *--------------------------------------------------------------------------------*
void ProcessIO(void){
BYTE numBytesRead;
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
if(buttonPressed){
if(stringPrinted == FALSE){
if(mUSBUSARTIsTxTrfReady()){
putrsUSBUSART("Button Pressed -- \r\n");
stringPrinted = TRUE;
}
}
}else{
stringPrinted = FALSE;
}
if(USBUSARTIsTxTrfReady()){
numBytesRead = getsUSBUSART(USB_Out_Buffer,64);
if(numBytesRead != 0){
BYTE i;
for(i=0;i<numBytesRead;i++){
switch(USB_Out_Buffer[i]){
case 0x0A:
case 0x0D:
USB_In_Buffer[i] = USB_Out_Buffer[i];
break;
default:
USB_In_Buffer[i] = USB_Out_Buffer[i] + 1;
break;
}
}
putUSBUSART(USB_In_Buffer,numBytesRead);
}
}
CDCTxService();
}
void processUSBData(void) {
BYTE numBytesRead;
// User Application USB tasks
if ((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1)) {
return;
}
// Si está preparado para recibir datos
if (mUSBUSARTIsTxTrfReady()) {
// Recibe un buffer de tamaño determinado
numBytesRead = getsUSBUSART(USB_Out_Buffer, 64);
// Si ha leído datos
if (numBytesRead != 0) {
// FIXME Usar constantes
if (strncmppgm2ram(USB_Out_Buffer, RTCC, strlen(RTCC)) == 0) {
//parseRTCCData(USB_Out_Buffer);
}
}
}
CDCTxService();
}
void cdc_main_menu( rom char* name_str, rom char* ver_str)
{
char uart_c;
if (mUSBUSARTIsTxTrfReady()) {
if (getsUSBUSART(&uart_c, 1) != 0) {
switch (uart_c) {
case 't': cdc_start_set_time(); break;
case 'T': cdc_start_stop_time(); break;
case 'r': cdc_start_read(); break;
case 's': cdc_start_log(); break;
case 'v': cdc_print_ver(name_str, ver_str); break;
case '?': cdc_print_help(); break;
case 'f': cdc_start_format(); break;
case '0': cdc_start_erase(); break;
case 'i': cdc_start_init(); break;
case 'u': cdc_start_conf_read(); break;
case 'w': cdc_start_conf_write(); break;
case 'x': cdc_start_reset(); break;
} // switch
} // if numBytesRead!=0
} // if (mUSBUSARTIsTxTrfReady)
}
u8 CDCgets(u8 *buffer)
{
u8 numBytesRead;
#if defined(__32MX220F032D__)||defined(__32MX250F128B__)||defined(__32MX220F032B__)
USB_Service();
numBytesRead = USB_Service_CDC_GetString( buffer );
#else
CDCTxService();
numBytesRead = getsUSBUSART(buffer, 64);
#endif
return numBytesRead;
/*
if (mUSBUSARTIsTxTrfReady())
{
CDCTxService();
numBytesRead = getsUSBUSART(buffer, 64);
CDCTxService();
return numBytesRead;
}
*/
}
void user(void)
{
BYTE numBytesRead;
char message[64];
char movementCommandCode[3], movementCommandType;
double stepDegrees, distancePerRevolution;
//Blink the LEDs according to the USB device status
//BlinkUSBStatus();
// User Application USB tasks
if( (USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1) ) return;
if(USBUSARTIsTxTrfReady())
{
numBytesRead = getsUSBUSART(USB_Out_Buffer,64);
if(numBytesRead != 0)
{
BYTE i;
for(i = 0; i < numBytesRead; i++)
{
USB_In_Buffer[i] = USB_Out_Buffer[i];
}
USB_In_Buffer[i] = '\0';
// RETURN CURRENTSTEPS POSITION
if(!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"position"))
{
sprintf(message, (const rom char far *)"X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
putUSBUSART(message, strlen(message));
goto endUser;
}
// RESET CNC - stat: SERIALPORTCONNECTED
if(!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"reset"))
{
limitSensorX = limitSensorY = limitSensorZ = programPaused = false; //configured = programPaused = false;
strcpypgm2ram(message, (const rom char far *)"CNCR|");
putUSBUSART(message, strlen(message));
machineState = SERIALPORTCONNECTED;
goto endUser;
}
// RETURN CNC STATE
if(!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"status"))
{
sprintf(message, (const rom char far *)"CNCS:%d|", machineState);
putUSBUSART(message, strlen(message));
goto endUser;
}
// MOVE TO ORIGIN: absolute 0,0,0
if(!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"origin"))
{
if(programPaused)
{
strcpypgm2ram(message, (const rom char far *)"ERR:PP|");
putUSBUSART(message, strlen(message));
goto endUser;
}
else
{
MoveToOrigin();
if(machineState == EMERGENCYSTOP)
{
sprintf(message, (const rom char far *)"ERR:PE|");
machineState = SERIALPORTCONNECTED;
}
else
{
strcpypgm2ram(message, (const rom char far *)"PO|");
machineState = WAITINGCOMMAND;
}
putUSBUSART(message, strlen(message));
goto endUser;
}
}
// START FREEMOVES
if(strstrrampgm(USB_In_Buffer, (const rom char far *)"FM:"))
{
if(programPaused)
{
strcpypgm2ram(message, (const rom char far *)"ERR:PP|");
putUSBUSART(message, strlen(message));
goto endUser;
}
else
{
freeCode = GetFreeCode(USB_In_Buffer);
if(freeCode != -2)
{
strcpypgm2ram(message, (const rom char far *)"CNCFM|");
machineState = FREEMOVES;
}
else
{
strcpypgm2ram(message, (const rom char far *)"ERR:CNCFM|");
}
putUSBUSART(message, strlen(message));
goto endUser;
}
}
// STOP FREEMOVES
if( (machineState == FREEMOVES) && (!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"stop")) )
{
freeCode = -2;
sprintf(message, (const rom char far *)"CNCSFM_X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
putUSBUSART(message, strlen(message));
machineState = WAITINGCOMMAND;
goto endUser;
}
switch(machineState)
{
case SERIALPORTCONNECTED:
// Count characters received and send this number to PC
sprintf(message, (const rom char far *)"%d|", numBytesRead);
putUSBUSART(message, strlen(message));
machineState = HANDSHAKEACKRECEIVED;
break;
case HANDSHAKEACKRECEIVED:
// Compare confirmation message.
if(!strcmppgm2ram(USB_In_Buffer, (const rom char far *)"ok"))
{
strcpypgm2ram(message, (const rom char far *)"MC|");
machineState = CNCMATICCONNECTED;
}
else
{
strcpypgm2ram(message, (const rom char far *)"ERR:MNC|");
machineState = SERIALPORTCONNECTED;
}
putUSBUSART(message, strlen(message));
break;
case WAITINGCOMMAND:
// Tipo de codigo [ G | M ]
movementCommandType = USB_In_Buffer[0];
// Numero de codigo
movementCommandCode[0] = USB_In_Buffer[1];
movementCommandCode[1] = USB_In_Buffer[2];
movementCommandCode[2] = '\0';
// Validamos el comando
if( ValidateCommandReceived(movementCommandType, movementCommandCode, message, &gCode, &mCode) )
{
strcpy(commandReceived, USB_In_Buffer);
machineState = PROCESSINGCOMMAND;
programPaused = false;
}
// mandamos el mensaje correspondiente a la PC
putUSBUSART(message, strlen(message));
break;
default:
break;
}
}
else
{
switch(machineState)
{
case FREEMOVES:
if(freeCode != -2)
{
// seteo a 1 el enable de los motores
LATEbits.LATE2 = 1;
if( freeCode == 1) { StepOnX(0); }
else if( freeCode == 2) { StepOnX(1); }
else if( freeCode == 3) { StepOnY(1); }
else if( freeCode == 4) { StepOnY(0); }
else if( freeCode == 5) { StepOnZ(0); }
else if( freeCode == 6) { StepOnZ(1); }
if(machineState == LIMITSENSOR)
{
freeCode = -2;
limitSensorX = limitSensorY = limitSensorZ = false;
sprintf(message, (const rom char far *)"ERR:SFC_X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
putUSBUSART(message, strlen(message));
machineState = FREEMOVES;
}
// seteo a 0 el enable de los motores
LATEbits.LATE2 = 0;
}
break;
case CNCMATICCONNECTED:
MoveToOrigin();
if(machineState == EMERGENCYSTOP)
{
sprintf(message, (const rom char far *)"ERR:PE|");
machineState = SERIALPORTCONNECTED;
}
else
{
strcpypgm2ram(message, (const rom char far *)"PO|");
machineState = WAITINGCOMMAND;
}
putUSBUSART(message, strlen(message));
break;
case PROCESSINGCOMMAND:
// Processing command received
if(gCode != -2)
{
if(gCode == -1)
{
CustomG(commandReceived);
}
else
{
gCodes[gCode](commandReceived);
}
}
if(mCode != -2) { mCodes[mCode](commandReceived); }
// Chequeamos machineState -> si se activo algun fin de carrera
if(machineState == LIMITSENSOR)
{
limitSensorX = limitSensorY = limitSensorZ = false;
sprintf(message, (const rom char far *)"ERR:SFC_X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
machineState = SERIALPORTCONNECTED;
}
else if(machineState == EMERGENCYSTOP)
{
sprintf(message, (const rom char far *)"ERR:PE_X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
machineState = SERIALPORTCONNECTED;
}
else
{
sprintf(message, (const rom char far *)"CMDDONE_X%ld Y%ld Z%ld|", currentStepsPosition.x, currentStepsPosition.y, currentStepsPosition.z);
if(mCode != 2) machineState = WAITINGCOMMAND;
}
putUSBUSART(message, strlen(message));
// reseteamos variables de comando
gCode = mCode = -2;
break;
default:
break;
}
}
}
endUser:
CDCTxService();
}
void ProcessIO(void)
{
//Blink the LEDs according to the USB device status
//BlinkUSBStatus();
//C short circuit makes this work
if(PORTBbits.RB13 && button_pressed < 250)
{
button_pressed += 1;
}
else if (!PORTBbits.RB13)
{
button_cnt = 0;
button_pressed = 0;
}
getTouchUL();
getTouchUR();
getTouchRU();
getTouchRL();
frontBack = PORTAbits.RA8 ;
shake = PORTBbits.RB8 ;
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
{
unsigned char nread=0, i;
nread = getsUSBUSART(USB_In_Buffer,64); //until the buffer is free.
if(nread > 0) {
/* speaker */
//LATAbits.LATA9 = !LATAbits.LATA9;
if (USB_In_Buffer[0] == 92)
play_count ^= 0x8000;
play_count |= 0x0001;
/* serial byte led */
//LATBbits.LATB15 = !LATBbits.LATB15;
//LATBbits.LATB1 = 1;//!LATBbits.LATB1;
/* contrast byte */
if (USB_In_Buffer[0] == '-') {
char printme[8];
gContrast--;
printme[0] = 48 + (unsigned char)gContrast / 100;
printme[1] = 48 + ((unsigned char)gContrast % 100) / 10;
printme[2] = 48 + ((unsigned char)gContrast % 100) % 10;
printme[3] = 0;
LCDString(printme);
LCDInit(); //Init the LCD
USB_In_Buffer[0] = 0;
nread == 0;
}
if ((USB_In_Buffer[0] == '=') || (USB_In_Buffer[0] == '+')) {
char printme[8];
gContrast++;
printme[0] = 48 + (unsigned char)gContrast / 100;
printme[1] = 48 + ((unsigned char)gContrast % 100) / 10;
printme[2] = 48 + ((unsigned char)gContrast % 100) % 10;
printme[3] = 0;
LCDString(printme);
LCDInit(); //Init the LCD
USB_In_Buffer[0] = 0;
nread == 0;
}
// special character that are not echoed to LCD
if ((USB_In_Buffer[0] == 127)
| (USB_In_Buffer[0] == 27)
| (USB_In_Buffer[0] == '[')) {
void LCDLogo();
/* backspace == clear screen */
if (USB_In_Buffer[0] == 127) LCDClear();
/* backlight byte */
if (USB_In_Buffer[0] == 27) LATBbits.LATB7 = !LATBbits.LATB7;
/* hackrva logo */
if (USB_In_Buffer[0] == '[') LCDLogo();
USB_In_Buffer[0] = 0;
nread == 0;
}
if (USB_In_Buffer[0] == ',') {
unsigned char printme[8];
void gotoXY(int x, int y);
char left = G_side_slider_left;
char right = G_side_slider_right;
gotoXY(0, 40);
printme[0] = 'L';
printme[1] = 48 + (unsigned char)left / 100;
printme[2] = 48 + ((unsigned char)left % 100) / 10;
printme[3] = 48 + ((unsigned char)left % 100) % 10;
printme[4] = 32;
printme[5] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
USB_Out_Buffer[NextUSBOut++] = ' ';
gotoXY(42, 40);
printme[0] = 'R';
printme[1] = 48 + (unsigned char)right / 100;
printme[2] = 48 + ((unsigned char)right % 100) / 10;
printme[3] = 48 + ((unsigned char)right % 100) % 10;
printme[4] = 32;
printme[5] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
USB_Out_Buffer[NextUSBOut++] = '\r';
USB_Out_Buffer[NextUSBOut++] = '\n';
USB_In_Buffer[0] = 0;
nread == 0;
}
if (USB_In_Buffer[0] == '.') {
USB_In_Buffer[0] = 0;
nread == 0;
}
if (USB_In_Buffer[0] == '/') {
unsigned char printme[16];
void gotoXY(int x, int y);
int setupRTCC(void);
// shake sensor
gotoXY(0, 41);
printme[0] = 'S';
printme[1] = 48 + (unsigned char)shake / 100;
printme[2] = 48 + ((unsigned char)shake % 100) / 10;
printme[3] = 48 + ((unsigned char)shake % 100) % 10;
printme[4] = 32;
printme[5] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
USB_Out_Buffer[NextUSBOut++] = ' ';
// front sensor
gotoXY(42, 41);
printme[0] = 'F';
printme[1] = 48 + (unsigned char)frontBack / 100;
printme[2] = 48 + ((unsigned char)frontBack % 100) / 10;
printme[3] = 48 + ((unsigned char)frontBack % 100) % 10;
printme[4] = 32;
printme[5] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
// secondary clock running status
printme[0] = hextab[(OSCCON >> 28) & 0xF];
printme[1] = hextab[(OSCCON >> 24) & 0xF];
printme[2] = hextab[(OSCCON >> 20) & 0xF];
printme[3] = hextab[(OSCCON >> 16) & 0xF];
printme[4] = hextab[(OSCCON >> 12) & 0xF];
printme[5] = hextab[(OSCCON >> 8) & 0xF];
printme[6] = hextab[(OSCCON >> 4) & 0xF];
printme[7] = hextab[(OSCCON ) & 0xF];
printme[7] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
printme[0] = 'R';
printme[1] = 'T';
printme[2] = 'C';
printme[3] = 'C';
printme[4] = ':';
printme[5] = setupRTCC();
printme[6] = 0;
LCDString(printme);
for (i=0; printme[i] !=0 ; i++)
USB_Out_Buffer[NextUSBOut++] = printme[i];
USB_Out_Buffer[NextUSBOut++] = '\r';
USB_Out_Buffer[NextUSBOut++] = '\n';
USB_In_Buffer[0] = 0;
nread == 0;
}
// IR xmit
if (USB_In_Buffer[0] == '>') {
LATCbits.LATC1 = !LATCbits.LATC1;
USB_In_Buffer[0] = 0;
nread == 0;
}
// IR recv
#define IR_RECV PORTCbits.RC1
// print anything not handled above
if (USB_In_Buffer[0] != 0) {
char printme[32];
for (i=0; i<nread; i++)
printme[i] = USB_In_Buffer[i];
printme[i] = 0;
LCDString(printme);
LCDInit(); //Init the LCD
}
for (i=0; i<nread; i++,NextUSBOut++) {
USB_Out_Buffer[NextUSBOut] = USB_In_Buffer[i];
}
}
// echo back to USB
if ((USBUSARTIsTxTrfReady()) && (NextUSBOut > 0)) {
putUSBUSART(&USB_Out_Buffer[0], NextUSBOut);
NextUSBOut = 0;
}
}
/********************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*
* Note: None
*******************************************************************/
void ProcessIO(void)
{
//Blink the LEDs according to the USB device status
BlinkUSBStatus();
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
if (RS232_Out_Data_Rdy == 0) // only check for new USB buffer if the old RS232 buffer is
{ // empty. This will cause additional USB packets to be NAK'd
LastRS232Out = getsUSBUSART(RS232_Out_Data,64); //until the buffer is free.
if(LastRS232Out > 0)
{
RS232_Out_Data_Rdy = 1; // signal buffer full
RS232cp = 0; // Reset the current position
}
}
//Check if one or more bytes are waiting in the physical UART transmit
//queue. If so, send it out the UART TX pin.
if(RS232_Out_Data_Rdy && mTxRdyUSART())
{
#if defined(USB_CDC_SUPPORT_HARDWARE_FLOW_CONTROL)
//Make sure the receiving UART device is ready to receive data before
//actually sending it.
if(UART_CTS == USB_CDC_CTS_ACTIVE_LEVEL)
{
putcUSART(RS232_Out_Data[RS232cp]);
++RS232cp;
if (RS232cp == LastRS232Out)
RS232_Out_Data_Rdy = 0;
}
#else
//Hardware flow control not being used. Just send the data.
putcUSART(RS232_Out_Data[RS232cp]);
++RS232cp;
if (RS232cp == LastRS232Out)
RS232_Out_Data_Rdy = 0;
#endif
}
//Check if we received a character over the physical UART, and we need
//to buffer it up for eventual transmission to the USB host.
if(mDataRdyUSART() && (NextUSBOut < (CDC_DATA_OUT_EP_SIZE - 1)))
{
USB_Out_Buffer[NextUSBOut] = getcUSART();
++NextUSBOut;
USB_Out_Buffer[NextUSBOut] = 0;
}
#if defined(USB_CDC_SUPPORT_HARDWARE_FLOW_CONTROL)
//Drive RTS pin, to let UART device attached know if it is allowed to
//send more data or not. If the receive buffer is almost full, we
//deassert RTS.
if(NextUSBOut <= (CDC_DATA_OUT_EP_SIZE - 5u))
{
UART_RTS = USB_CDC_RTS_ACTIVE_LEVEL;
}
else
{
UART_RTS = (USB_CDC_RTS_ACTIVE_LEVEL ^ 1);
}
#endif
//Check if any bytes are waiting in the queue to send to the USB host.
//If any bytes are waiting, and the endpoint is available, prepare to
//send the USB packet to the host.
if((USBUSARTIsTxTrfReady()) && (NextUSBOut > 0))
{
putUSBUSART(&USB_Out_Buffer[0], NextUSBOut);
NextUSBOut = 0;
}
CDCTxService();
}//end ProcessIO
void main(void)
{
BYTE bDataUSBReady1 = 0;
BYTE bDataRS232Ready1 = 0;
BYTE bDataUSBReady2 = 0;
BYTE bDataRS232Ready2 = 0;
BYTE bCountByte1 = 0;
BYTE bCountByte2 = 0;
BYTE bPosIn1 = 0;
BYTE bPosIn2 = 0;
BYTE bPosOut1 = 0;
BYTE bPosOut2 = 0;
while(1)
{
USBDeviceTasks();
if(USBDeviceState < CONFIGURED_STATE || USBSuspendControl==1)
continue;
/************* Seriale 1 *****************/
// Se ci sono dati da trasmettere su USART rileggo da USB
if(!bDataUSBReady1)
{
bCountByte1 = getsUSBUSART(0, InBuff1, sizeof(InBuff1));
if(bCountByte1>0)
{
bDataUSBReady1 = 1;
bPosIn1 = 0;
}
}
// Ho preso dati da USB li scrivo su USART se la trasmissione è pronta
if(bDataUSBReady1 && TXRdyUSART1())
{
WriteUSART1(InBuff1[bPosIn1++]);
// Una volta che sono stati scritti tutti i byte rileggo da USB
if(bPosIn1==bCountByte1)
bDataUSBReady1 = 0;
}
// Se ci sono dati nella USART li leggo e li metto nel buffer
if(DataRdyUSART1() && bPosOut1<sizeof(OutBuff1))
{
OutBuff1[bPosOut1] = ReadUSART1();
bPosOut1++;
}
// Se la USB è pronta per trasmettere e ci sono dati li scrivo su USB
// Se arrivano dati ed il buffer è pieno c'è il rischio di perdere i dati
if(USBUSARTIsTxTrfReady(0) && bPosOut1>0)
{
putUSBUSART(0, OutBuff1, bPosOut1);
bPosOut1 = 0;
}
CDCTxService(0);
/************* Seriale 2 *****************/
// Se ci sono dati da trasmettere su USART rileggo da USB
if(!bDataUSBReady2)
{
bCountByte2 = getsUSBUSART(1, InBuff2, sizeof(InBuff2));
if(bCountByte2>0)
{
bDataUSBReady2 = 1;
bPosIn2 = 0;
}
}
// Ho preso dati da USB li scrivo su USART se la trasmissione è pronta
if(bDataUSBReady2 && TXRdyUSART2())
{
WriteUSART2(InBuff2[bPosIn2++]);
// Una volta che sono stati scritti tutti i byte rileggo da USB
if(bPosIn2==bCountByte2)
bDataUSBReady2 = 0;
}
// Se ci sono dati nella USART li leggo e li metto nel buffer
// Se arrivano dati ed il buffer è pieno c'è il rischio di perdere i dati
if(DataRdyUSART2() && bPosOut2<sizeof(OutBuff2))
{
OutBuff2[bPosOut2] = ReadUSART2();
bPosOut2++;
}
// Se la USB è pronta per trasmettere e ci sono dati li scrivo su USB
if(USBUSARTIsTxTrfReady(1) && bPosOut2>0)
{
putUSBUSART(1, OutBuff2, bPosOut2);
bPosOut2 = 0;
}
CDCTxService(1);
}
}//end main
void CDCTasks(void)
{
BYTE numBytesRead;
// Blink the LEDs according to the USB device status
if (blinkStatusValid)
{
BlinkUSBStatus();
}
// User Application USB tasks
if ((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1))
{
return;
}
#if (HILSIM_USB == 1)
numBytesRead = getsUSBUSART(USB_In_Buffer, sizeof(USB_In_Buffer));
if (numBytesRead != 0)
{
int i = 0;
while (i < numBytesRead)
{
udb_gps_callback_received_byte(USB_In_Buffer[i++]);
}
}
if (mUSBUSARTIsTxTrfReady())
{
int i = 0;
int txchar;
while ((i < sizeof(USB_Out_Buffer)) && ((txchar = udb_gps_callback_get_byte_to_send()) != -1))
{
USB_Out_Buffer[i++] = txchar;
}
if (i > 0)
{
putUSBUSART(USB_Out_Buffer, i);
}
}
#else
if (mUSBUSARTIsTxTrfReady())
{
numBytesRead = getsUSBUSART(USB_Out_Buffer, sizeof(USB_Out_Buffer));
if (numBytesRead != 0)
{
BYTE i;
for (i = 0; i < numBytesRead; i++)
{
switch (USB_Out_Buffer[i])
{
case 0x0A:
case 0x0D:
USB_In_Buffer[i] = USB_Out_Buffer[i];
break;
default:
USB_In_Buffer[i] = USB_Out_Buffer[i] + 1;
break;
}
}
putUSBUSART(USB_In_Buffer, numBytesRead);
}
}
#endif
CDCTxService();
}
/********************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*
* Note: None
*******************************************************************/
void ProcessIO(void)
{
char backSpace[3] = {0x8,' ',0x8};
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
// If DTR is low no client is connected, back to default.
if (UART_DTR == 0) { nextProcessState = P_VERSION; RS232cp = 0; }
// Print welcome message
if(USBUSARTIsTxTrfReady() && (UART_DTR == 1))
{
setLEDs(0);
// Print Version
if(nextProcessState == P_VERSION)
{
putrsUSBUSART("\r\n POV serial configuration. Version 0.9\r\n\r\n\ttype 'help' for the list of available commands.\r\n");
nextProcessState = P_PROMPT;
}
// Print Prompt
else if(nextProcessState == P_PROMPT)
{
putrsUSBUSART("\r\n>> ");
nextProcessState = P_INPUT;
}
else if (nextProcessState == P_INPUT)
{
// In case the buffer is full, reset the input buffer and display error message.
if (RS232cp == CDC_DATA_IN_EP_SIZE)
{
RS232cp = 0;
nextProcessState = P_PROMPT;
}
// Process IO
else
{
LastRS232Out = getsUSBUSART(&(RS232_Out_Data[RS232cp]), 1);
if(LastRS232Out > 0)
switch(RS232_Out_Data[RS232cp])
{
// Enter/Return, process message
case 0x0A:
case 0x0D: ProcessMenu(); RS232cp = 0; nextProcessState = P_PROMPT; break;
// Backspace
case 0x7F:
case 0x08: if(RS232cp > 0) {putUSBUSART(backSpace,3); RS232cp--;} break;
// Replay character to user
default: putUSBUSART(&(RS232_Out_Data[RS232cp]), 1); RS232cp++;
}
}
}
}
CDCTxService();
// Limpa o buffer caso necess‡rio :)
if(clearRS232Buffer == 1)
{
memset(RS232_Out_Data, '\0', sizeof(RS232_Out_Data));
clearRS232Buffer = 0;
}
} //end ProcessIO
/*********************************************************************
* Function: void APP_DeviceCDCBasicDemoTasks(void);
*
* Overview: Keeps the demo running.
*
* PreCondition: The demo should have been initialized and started via
* the APP_DeviceCDCBasicDemoInitialize() and APP_DeviceCDCBasicDemoStart() demos
* respectively.
*
* Input: None
*
* Output: None
*
********************************************************************/
void APP_DeviceCDCBasicDemoTasks()
{
/* If the user has pressed the button associated with this demo, then we
* are going to send a "Button Pressed" message to the terminal.
*/
if(BUTTON_IsPressed(BUTTON_DEVICE_CDC_BASIC_DEMO) == true)
{
/* Make sure that we only send the message once per button press and
* not continuously as the button is held.
*/
if(buttonPressed == false)
{
/* Make sure that the CDC driver is ready for a transmission.
*/
if(mUSBUSARTIsTxTrfReady() == true)
{
putrsUSBUSART(buttonMessage);
buttonPressed = true;
}
}
}
else
{
/* If the button is released, we can then allow a new message to be
* sent the next time the button is pressed.
*/
buttonPressed = false;
}
/* Check to see if there is a transmission in progress, if there isn't, then
* we can see about performing an echo response to data received.
*/
if( USBUSARTIsTxTrfReady() == true)
{
uint8_t numBytesRead;
numBytesRead = getsUSBUSART(readBuffer, sizeof(readBuffer));
if (numBytesRead > 0) {
switch(readBuffer[0]) {
case 0x10:
{
unsigned char size = readBuffer[1];
debug_flag2 = !debug_flag2;
PORTCbits.RC1 = debug_flag2;
writeBuffer[0] = 0x90;
writeBuffer[1] = 4;
writeBuffer[2] = numBytesRead;
writeBuffer[3] = readBuffer[1];
writeBuffer[4] = readBuffer[2];
writeBuffer[5] = readBuffer[3];
writeBuffer[1] = 4+size;
for (unsigned char i = 0; i<size; i++) {
writeBuffer[i+6] = readBuffer[4 + i];
}
if (WaitToReadySerial())
putUSBUSART(writeBuffer, writeBuffer[1]+2);
WaitToReadySerial();
}
{
unsigned char size = readBuffer[1];
i2c_start(0x50, 0);
// address in big-endian format
i2c_send(readBuffer[3]); // address MSB
i2c_send(readBuffer[2]); // address LSB
for (unsigned char i = 0; i<size; i++) {
i2c_send(readBuffer[4 + i]);
}
i2c_stop();
__delay_ms(10);
}
break;
case 0x11:
{
unsigned char size = readBuffer[1];
unsigned char data;
unsigned char i;
i2c_start(0x50, 0);
// address in big-endian format
i2c_send(readBuffer[3]); // address MSB
i2c_send(readBuffer[2]); // address LSB
i2c_start(0x50, 1);
for (i=0; i<size-1; i++) {
writeBuffer[i+2] = i2c_receive(ACK);
}
writeBuffer[i+2] = i2c_receive(NOACK);
i2c_stop();
__delay_ms(10);
writeBuffer[0] = 0x12;
writeBuffer[1] = size;
putUSBUSART(writeBuffer, writeBuffer[1]+2);
}
break;
}
}
//if (debug_flag) {
// debug_flag = 0;
// writeBuffer[0] = 9;
// writeBuffer[1] = 1;
// writeBuffer[2] = debug_data;
// putUSBUSART(writeBuffer, writeBuffer[1]+2);
//}
}
CDCTxService();
}
/*********************************************************************
* Function: void APP_DeviceCDCBasicDemoTasks(void);
*
* Overview: Keeps the demo running.
*
* PreCondition: The demo should have been initialized and started via
* the APP_DeviceCDCBasicDemoInitialize() and APP_DeviceCDCBasicDemoStart() demos
* respectively.
*
* Input: None
*
* Output: None
*
********************************************************************/
void APP_DeviceCDCBasicDemoTasks()
{
static uint8_t msg_buf_idx = 0;
static bool msg_done = false;
static char msg_type;
/* Check to see if there is a transmission in progress, if there isn't, then
* we can see about performing an echo response to data received.
*/
if( USBUSARTIsTxTrfReady() == true)
{
uint8_t i;
uint8_t numBytesRead;
numBytesRead = getsUSBUSART(readBuffer, sizeof(readBuffer));
/* For every byte that was read... */
for(i=0; i<numBytesRead; i++)
{
if(msg_buf_idx == MSG_BUF_SIZE)
{
putrsUSBUSART(buttonMessage);
msg_buf_idx = 0;
msg_buffer[0] = 0;
break;
}
else
{
if(readBuffer[i] == '\r' || readBuffer[i] == '\n')
{
msg_buffer[msg_buf_idx] = 0;
msg_done = true;
break;
}
if(readBuffer[i] >= '0' && readBuffer[i] <= '9')
{
msg_buffer[msg_buf_idx] = readBuffer[i];
msg_buf_idx++;
}
else
{
msg_type = readBuffer[i];
msg_buf_idx = 0;
msg_buffer[msg_buf_idx] = 0;
}
msg_done = false;
}
}
if(numBytesRead > 0 && msg_done == true && msg_buf_idx > 0)
{
/* After processing all of the received data, we need to send out
* the "echo" data now.
*/
int number;
number = atoi(msg_buffer);
//sprintf(writeBuffer, "Type: %c, number: %d\r\n", msg_type, number);
if(msg_type == 'c' && number > 0 && number < 128)
{
PWM1DCH = (uint8_t)number;
}
if(msg_type == 'm' && number > 0 && number < 128)
{
PWM2DCH = (uint8_t)number;
}
//putrsUSBUSART(writeBuffer);
msg_buf_idx = 0;
}
}
CDCTxService();
}
