void GetEEPRomData(uint8_t start, uint8_t stop, uint8_t * data) {
// println_W("Getting eeprom page: ");p_int_W(start+DATASTART);print_W(" to ");p_int_W(stop+DATASTART);
//WORD_VAL raw;
uint8_t i = 0;
if (start > stop) {
//println_W("###ERROR eeprom");
return;
}
int total = 0;
do {
total++;
if (total > 5)
return;
LoadCorePacket(&downstreamPacketTemp);
for (i = 0; i < (stop - start); i++) {
//Writes over the old packet to avoid mis-reads
downstreamPacketTemp.use.data[i] = data[i];
}
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = start + DATASTART;
downstreamPacketTemp.use.data[1] = stop + DATASTART;
downstreamPacketTemp.use.head.DataLegnth = 6;
SendPacketToCoProc(&downstreamPacketTemp);
buttonCheck(12);
} while (downstreamPacketTemp.use.head.RPC != GetRPCValue(eepd));
for (i = 0; i < (stop - start); i++) {
data[i] = downstreamPacketTemp.use.data[i + 1];
}
// println_W("Rx<<");
// printBowlerPacketDEBUG(&downstreamPacketTemp,WARN_PRINT);
}
void CheckRev(void) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.head.RPC = GetRPCValue("_rev");
downstreamPacketTemp.use.head.DataLegnth = 4;
SendPacketToCoProc(&downstreamPacketTemp);
if ((downstreamPacketTemp.use.data[0] == MAJOR_REV)
&& (downstreamPacketTemp.use.data[1] == MINOR_REV)
&& (downstreamPacketTemp.use.data[2] == FIRMWARE_VERSION)) {
SetColor(0, 0, 1);
} else {
//SetColor(1, 0, 0);
println_I("Rev. Check Failed! AVR:");
p_int_I(downstreamPacketTemp.use.data[0]);
print_I(".");
p_int_I(downstreamPacketTemp.use.data[1]);
print_I(".");
p_int_I(downstreamPacketTemp.use.data[2]);
print_I(" PIC:");
p_int_I(MAJOR_REV);
print_I(".");
p_int_I(MINOR_REV);
print_I(".");
p_int_I(FIRMWARE_VERSION);
}
}
void LoadGACM(BowlerPacket * pack) {
LoadCorePacket(pack);
pack->use.head.Method = BOWLER_GET;
pack->use.head.RPC = GetRPCValue("gacm");
pack->use.head.DataLegnth = 4;
SetCRC(&downstreamPacketTemp);
}
boolean GetAllChanelValueFromPacket(BowlerPacket * Packet) {
int32_t * data = (int32_t *) (&Packet->use.data[1]);
if (getAllChanelValueHWPtr != NULL) {
int i;
int32_t tmp;
getAllChanelValueHWPtr(data);
for (i = 0; i < GetNumberOfIOChannels(); i++) {
tmp = data[i];
if(isOutputMode(GetChannelMode(i))==false){
setDataTableCurrentValue(i,tmp);
}else{
if(GetChannelMode(i) == IS_SERVO){
tmp = GetServoPos(i);
}else if(GetChannelMode(i)== IS_UART_RX){
setDataTableCurrentValue(i,tmp);
}else{
tmp = getBcsIoDataTable(i)->PIN.currentValue;
}
}
set32bit(Packet, tmp, (i*4)+1);
}
Packet->use.data[0]=(GetNumberOfIOChannels());
Packet->use.head.RPC=GetRPCValue("gacv");
Packet->use.head.DataLegnth = 4+1+(GetNumberOfIOChannels()*4);
} else
return false;
FixPacket(Packet);
return true;
}
BOOL test__png(BowlerPacket * Packet) {
printf("\r\nMy Overloaded RPC callback \r\n");
Packet->use.head.Method = BOWLER_POST;
Packet->use.head.RPC = GetRPCValue("Mpng");
Packet->use.head.DataLegnth = 4;
return TRUE;
}
void setCoProcBrownOutMode(boolean b) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_CRIT;
downstreamPacketTemp.use.head.RPC = GetRPCValue("_pwr");
downstreamPacketTemp.use.head.DataLegnth = 4 + 1;
downstreamPacketTemp.use.data[0] = b;
SendPacketToCoProc(&downstreamPacketTemp);
}
boolean GetIOChannelCountFromPacket(BowlerPacket * Packet) {
Packet->use.head.Method = BOWLER_POST;
Packet->use.data[0] = 0;
Packet->use.data[1] = 0;
Packet->use.data[2] = 0;
Packet->use.data[3] = GetNumberOfIOChannels();
Packet->use.head.RPC= GetRPCValue("gchc");
Packet->use.head.DataLegnth = 4 + 4;
FixPacket(Packet);
return true;
}
void POWER(BowlerPacket * packet){
UINT16_UNION raw;
packet->use.head.Method=BOWLER_GET;
packet->use.head.RPC=GetRPCValue("_pwr");
packet->use.data[0]=0;
packet->use.data[1]=0;
raw.Val=6500;// set rail voltage to nominal 6 volt rail for servos
packet->use.data[2]=raw.byte.SB;
packet->use.data[3]=raw.byte.LB;
packet->use.data[4]=0;// Disable the brownout shutoffs and power lockouts
packet->use.head.DataLegnth=4+2+2+1;
}
boolean GetAllChannelModeFromPacket(BowlerPacket * Packet) {
int i;
Packet->use.head.Method = BOWLER_POST;
Packet->use.head.RPC=GetRPCValue("gacm");
Packet->use.data[0] = GetNumberOfIOChannels();
for (i = 0; i < GetNumberOfIOChannels(); i++) {
Packet->use.data[1 + i] = GetChannelMode(i);
}
Packet->use.head.DataLegnth = 4 + GetNumberOfIOChannels()+1;
FixPacket(Packet);
//printBowlerPacketDEBUG(Packet,WARN_PRINT);
return true;
}
uint8_t SetCoProConfiguration(uint8_t pin, int32_t mode) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_CRIT;
downstreamPacketTemp.use.head.RPC = GetRPCValue("cchn");
downstreamPacketTemp.use.data[0] = pin;
downstreamPacketTemp.use.data[1] = true;
downstreamPacketTemp.use.data[2] = 1;
set32bit(&downstreamPacketTemp, mode, 3);
downstreamPacketTemp.use.head.DataLegnth = 4 + 3 + 4;
SendPacketToCoProc(&downstreamPacketTemp);
return false;
}
void DownstreamSerialStreamSet(BYTE_FIFO_STORAGE * txBuffer) {
SetColor(0, 1, 0);
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.RPC = GetRPCValue("strm");
downstreamPacketTemp.use.head.MessageID = 3;
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.data[0] = 16; //the serial rx pin
downstreamPacketTemp.use.data[1] = FifoGetByteCount(txBuffer);
FifoGetByteStream(txBuffer, &downstreamPacketTemp.use.data[2],
downstreamPacketTemp.use.data[1]);
downstreamPacketTemp.use.head.DataLegnth = 4 + 1 + 1
+ downstreamPacketTemp.use.data[1];
SendPacketToCoProc(&downstreamPacketTemp);
}
void pushBufferEmpty(){
LoadCorePacket(& packetTemp);
packetTemp.use.head.Method=BOWLER_ASYN;
packetTemp.use.head.MessageID = 1;
packetTemp.use.head.RPC = GetRPCValue("_sli");
INT32_UNION tmp;
tmp.Val=lastPushedBufferSize;
packetTemp.use.data[0]=tmp.byte.FB;
packetTemp.use.data[1]=tmp.byte.TB;
packetTemp.use.data[2]=tmp.byte.SB;
packetTemp.use.data[3]=tmp.byte.LB;
packetTemp.use.head.DataLegnth=4+4;
asyncCallback(&packetTemp);
}
void GetAllModes(BowlerPacket * pack) {
// println_I("GetAllModes");
int total = 0;
do {
total++;
if (total > 5) {
// println_I("Failed returning");
return;
}
LoadGACM(pack);
SendPacketToCoProc(pack);
buttonCheck(14);
} while (pack->use.head.RPC != GetRPCValue("gacm"));
//print_I("..done");
}
void GetPPMDataToPacket(BowlerPacket * Packet){
//println_I("Getting PPM values");
int i;
LoadCorePacket(Packet);
Packet->use.head.Method=BOWLER_POST;
Packet->use.head.RPC=GetRPCValue("strm");
Packet->use.data[0]=23;
Packet->use.data[1]=NUM_PPM_CHAN*2;
for(i=0;i<NUM_PPM_CHAN;i++){
Packet->use.data[2+i]=ppmData[i];
}
for(i=0;i<NUM_PPM_CHAN;i++){
Packet->use.data[2+i+NUM_PPM_CHAN]=ppmLink[i];
}
Packet->use.head.DataLegnth=4+1+1+(NUM_PPM_CHAN*2);
Packet->use.head.MessageID=0;
SetCRC(Packet);
}
void DownstreamSerialStreamGet(BYTE_FIFO_STORAGE * rxBuffer) {
int i;
uint8_t err;
SetColor(0, 1, 0);
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.RPC = GetRPCValue("strm");
downstreamPacketTemp.use.head.MessageID = 3;
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.data[0] = 17; //the serial rx pin
downstreamPacketTemp.use.head.DataLegnth = 4 + 1;
SendPacketToCoProc(&downstreamPacketTemp);
for (i = 0; i < downstreamPacketTemp.use.data[1]; i++) {
FifoAddByte(rxBuffer, downstreamPacketTemp.use.data[2 + i], &err);
}
//println_W("Syncing UART ");
//printPacket(&downstreamPacketTemp, WARN_PRINT);
}
void checkPositionChange(){
int i;
float tmp[4];
updateCurrentPositions();
tmp[0]=xCurrent;
tmp[1]=yCurrent;
tmp[2]=zCurrent;
tmp[3] = getLinkAngle(3);
if( tmp[0]!=lastXYZE[0]||
tmp[1]!=lastXYZE[1]||
tmp[2]!=lastXYZE[2]||
tmp[3]!=lastXYZE[3]){
for(i=0;i<4;i++){
lastXYZE[i] =tmp[i];
}
// println_I("Current Voltage of sensor");p_fl_E(getAdcVoltage(mapHeaterIndex(HEATER0_INDEX),10));
// print_E(" Temp = ");p_fl_E(getHeaterTempreture(HEATER0_INDEX));
// print_E(" Raw ADC = ");p_int_E(getAdcRaw(mapHeaterIndex(HEATER0_INDEX),10));
// println_I("Current position X=");p_fl_E(lastXYZE[0]);
// print_E(" Y=");p_fl_E(lastXYZE[1]);
// print_E(" Z=");p_fl_E(lastXYZE[2]);
// print_E(" extr=");p_fl_E(lastXYZE[3]);
INT32_UNION PID_Temp;
LoadCorePacket(& packetTemp);
packetTemp.use.head.DataLegnth=4;
packetTemp.use.head.RPC = GetRPCValue("cpos");
int i;
for(i=0;i<4;i++){
PID_Temp.Val=lastXYZE[i];
packetTemp.use.data[0+(i*4)]=PID_Temp.byte.FB;
packetTemp.use.data[1+(i*4)]=PID_Temp.byte.TB;
packetTemp.use.data[2+(i*4)]=PID_Temp.byte.SB;
packetTemp.use.data[3+(i*4)]=PID_Temp.byte.LB;
packetTemp.use.head.DataLegnth+=4;
}
packetTemp.use.head.Method=BOWLER_ASYN;
FixPacket(&packetTemp);
asyncCallback(& packetTemp);
}
}
void SetLockCode(char * code) {
//WORD_VAL raw;
uint8_t i = 0;
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = LOCKSTART;
downstreamPacketTemp.use.data[1] = DATASTART;
while (code[i] != '\0') {
downstreamPacketTemp.use.data[2 + i] = code[i];
i++;
buttonCheck(8);
if (i == LOCKSIZE)
break;
}
downstreamPacketTemp.use.data[2 + i] = '\0';
downstreamPacketTemp.use.head.DataLegnth = 6 + LOCKSIZE;
SendPacketToCoProc(&downstreamPacketTemp);
}
void loadCurrentPosition(BowlerPacket * Packet){
LoadCorePacket(Packet);
Packet->use.head.Method=BOWLER_STATUS;
Packet->use.head.MessageID = 1;
Packet->use.head.RPC = GetRPCValue("ctps");
INT32_UNION tmp;
tmp.Val=lastPushedBufferSize;
Packet->use.data[0]=tmp.byte.FB;
Packet->use.data[1]=tmp.byte.TB;
Packet->use.data[2]=tmp.byte.SB;
Packet->use.data[3]=tmp.byte.LB;
tmp.Val=SIZE_OF_PACKET_BUFFER;
Packet->use.data[4]=tmp.byte.FB;
Packet->use.data[5]=tmp.byte.TB;
Packet->use.data[6]=tmp.byte.SB;
Packet->use.data[7]=tmp.byte.LB;
Packet->use.head.DataLegnth=4+4+4;
}
boolean GetLockCode(char * code) {
//WORD_VAL raw;
uint8_t i = 0;
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = LOCKSTART;
downstreamPacketTemp.use.data[1] = DATASTART;
downstreamPacketTemp.use.head.DataLegnth = 6;
SendPacketToCoProc(&downstreamPacketTemp);
while (downstreamPacketTemp.use.data[i + 2] != '\0') {
code[i] = downstreamPacketTemp.use.data[2 + i];
i++;
buttonCheck(10);
if (i == LOCKSIZE)
break;
}
code[i] = '\0';
return isAscii(code);
}
void SetEEPRomData(uint8_t start, uint8_t stop, uint8_t * data) {
//println_W("Setting eeprom page: ");p_int_W(start+DATASTART);print_W(" to ");p_int_W(stop+DATASTART);
//WORD_VAL raw;
uint8_t i = 0;
if (start >= stop)
return;
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = start + DATASTART;
downstreamPacketTemp.use.data[1] = stop + DATASTART;
downstreamPacketTemp.use.data[2] = (stop - start);
for (i = 0; i < (stop - start); i++) {
downstreamPacketTemp.use.data[3 + i] = data[i];
}
downstreamPacketTemp.use.head.DataLegnth = 6 + stop - start + 1;
//printBowlerPacketDEBUG(&downstreamPacketTemp,WARN_PRINT);
SendPacketToCoProc(&downstreamPacketTemp);
}
boolean ConfigureChannelFromPacket(BowlerPacket * Packet) {
uint8_t pin = Packet->use.data[0];
boolean setValues = Packet->use.data[1];
uint8_t mode = GetChannelMode(pin);
int32_t tmp;
if(mode != 0xff && setValues){
if (configChannelHWPtr != NULL) {
// println_E("Pushing configs from packet ");
// p_int_E(pin);
tmp = get32bit(Packet, 3);
// print_E(" value = ");
// p_int_E(tmp);
//println_E(__FILE__);println_E("ConfigureChannelFromPacket");
setDataTableCurrentValue(pin,tmp);
configChannelHWPtr(pin, 1, &tmp);
} else {
return false;
}
}
//println_E("Loading configs into packet");
Packet->use.head.RPC= GetRPCValue("cchn");
Packet->use.head.Method = BOWLER_CRIT;
Packet->use.head.DataLegnth = 4+1+(GetNumberOfIOChannels()*4);
int32_t * data = (int32_t *) (Packet->use.data + 1);
configChannelHWPtr(0xff, GetNumberOfIOChannels(), data);
Packet->use.data[0] =GetNumberOfIOChannels();
int i;
for (i = 0; i < GetNumberOfIOChannels(); i++) {
tmp = data[i];
set32bit(Packet, tmp, (i*4)+1);
}
FixPacket(Packet);
return true;
}
uint8_t SetAllCoProcValues() {
int i = 0;
boolean send = true;
int32_t tmp;
if (send) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue("sacv");
set32bit(&downstreamPacketTemp, 0, 0); // setting the translation time
downstreamPacketTemp.use.data[4] = GetNumberOfIOChannels();
for (i = 0; i < GetNumberOfIOChannels(); i++) {
tmp = getBcsIoDataTable(i)->PIN.currentValue;
down[i].changeValue = false;
set32bit(&downstreamPacketTemp, tmp, (i * 4) + 5);
}
downstreamPacketTemp.use.head.DataLegnth = 4 + 4 + 1
+ (4 * GetNumberOfIOChannels());
SendPacketToCoProc(&downstreamPacketTemp);
}
for (i = 0; i < GetNumberOfIOChannels(); i++) {
int index = (i * 4) + 1;
if (isOutputMode(GetChannelMode(i)) == false) {
tmp= get32bit(&downstreamPacketTemp, index);
boolean back = (tmp != getBcsIoDataTable(i)->PIN.currentValue);
setDataTableCurrentValue(i,tmp);
if (back) {
getBcsIoDataTable(i)->PIN.asyncDataenabled = true;
}
}
if (GetChannelMode(i) == IS_SERVO) {
SetServoPos(i, get32bit(&downstreamPacketTemp, index) & 0x000000ff);
}
if (GetChannelMode(i) == IS_UART_RX) {
}
}
return true;
}
void SetName(char * name) {
//WORD_VAL raw;
uint8_t i = 0;
println_E(name);
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = NAMESTART;
downstreamPacketTemp.use.data[1] = LOCKSTART;
while (name[i] != '\0') {
downstreamPacketTemp.use.data[2 + i] = name[i];
i++;
buttonCheck(9);
if (i == NAMESIZE)
break;
}
downstreamPacketTemp.use.data[2 + i] = '\0';
downstreamPacketTemp.use.head.DataLegnth = 6 + i + 1;
printPacket(&downstreamPacketTemp,ERROR_PRINT);
SendPacketToCoProc(&downstreamPacketTemp);
}
uint8_t GetCoProConfigurations() {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_CRIT;
downstreamPacketTemp.use.head.RPC = GetRPCValue("cchn");
downstreamPacketTemp.use.data[0] = 0xff;
downstreamPacketTemp.use.data[1] = false;
downstreamPacketTemp.use.data[2] = 1;
set32bit(&downstreamPacketTemp, 0, 3);
downstreamPacketTemp.use.head.DataLegnth = 4 + 3 + 4;
SendPacketToCoProc(&downstreamPacketTemp);
int i;
for (i = 0; i < GetNumberOfIOChannels(); i++) {
down[i].currentConfiguration = get32bit(&downstreamPacketTemp,
1 + (i * 4));
//println_E(__FILE__);println_E("GetCoProConfigurations");
//setDataTableCurrentValue(i,down[i].currentConfiguration);
}
return false;
}
void _SetChannelValueCoProc(uint8_t PIN, uint8_t state) {
uint8_t retry = 0;
do {
if (retry > 0) {
//println_E("#*#*SetChannelValueCoProc did not return RDY pin: ");p_int_E(PIN);print_E(" mode: ");printMode(GetChannelMode(PIN),ERROR_PRINT);
//printPacket(&downstreamPacketTemp,ERROR_PRINT);
return;
}
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue("schv");
downstreamPacketTemp.use.data[0] = PIN;
set32bit(&downstreamPacketTemp, state, 1);
set32bit(&downstreamPacketTemp, 0, 5); // zero ms
downstreamPacketTemp.use.head.DataLegnth = 4 + 1 + 4 + 4;
SendPacketToCoProc(&downstreamPacketTemp);
setDataTableCurrentValue(PIN, state);
retry++;
buttonCheck(13);
} while (downstreamPacketTemp.use.head.RPC != _RDY);
}
uint8_t SetAllCoProcMode() {
int i = 0;
boolean send = false;
for (i = 0; i < GetNumberOfIOChannels(); i++) {
if (down[i].changeMode == true) {
send = true;
}
}
if (send) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_POST;
downstreamPacketTemp.use.head.RPC = GetRPCValue("sacm");
downstreamPacketTemp.use.data[0] = GetNumberOfIOChannels();
for (i = 0; i < GetNumberOfIOChannels(); i++) {
downstreamPacketTemp.use.data[i + 1] =GetChannelMode(i) ;
down[i].changeMode = false;
}
downstreamPacketTemp.use.head.DataLegnth = 4 + 1+ GetNumberOfIOChannels();
//println_I("Sending mode sync packet");printPacket(&downstreamPacketTemp,WARN_PRINT);
SendPacketToCoProc(&downstreamPacketTemp);
// for (i = 0; i < NUM_PINS; i++) {
// if (downstreamPacketTemp.use.data[i + 1] == NO_CHANGE) {
// //getBcsIoDataTable(i)->PIN.currentChannelMode = IS_DI;
// SetChannelModeDataTable(i,IS_DI);
// down[i].changeMode = true; // force a sync of the no valid mode
// //println_E("FAULT: the mode was set to NO_CHANGE");
// } else {
// //getBcsIoDataTable(i)->PIN.currentChannelMode =downstreamPacketTemp.use.data[i + 1];
// SetChannelModeDataTable(i,downstreamPacketTemp.use.data[i + 1]);
// down[i].changeMode = false;
// }
// }
}
return true;
}
boolean GetName(char * name) {
//WORD_VAL raw;
uint8_t i = 0;
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.head.RPC = GetRPCValue(eepd);
downstreamPacketTemp.use.data[0] = NAMESTART;
downstreamPacketTemp.use.data[1] = LOCKSTART;
downstreamPacketTemp.use.head.DataLegnth = 6;
SendPacketToCoProc(&downstreamPacketTemp);
printPacket(&downstreamPacketTemp,WARN_PRINT);
while (downstreamPacketTemp.use.data[i] != '\0') {
name[i] = downstreamPacketTemp.use.data[i];
i++;
buttonCheck(11);
if (i == NAMESIZE)
break;
}
name[i] = '\0';
println_W(name);
return isAscii(name);
}
void ProcessAsyncData(BowlerPacket * Packet){
//println_I("**Got Async Packet**");
//printPacket(Packet,INFO_PRINT);
Print_Level l = getPrintLevel();
setPrintLevelInfoPrint();
if (Packet->use.head.RPC==GCHV){
BYTE pin = Packet->use.data[0];
BYTE mode = GetChannelMode(pin);
if(mode == IS_ANALOG_IN ){
UINT16_UNION ana;
ana.byte.SB = Packet->use.data[1];
ana.byte.LB = Packet->use.data[2];
//ADC_val[pin-8]=ana.Val;
if(ana.Val>=0 && ana.Val<1024)
SetValFromAsync(pin,ana.Val);//asyncData[pin].currentVal=ana.Val;
println_I("***Setting analog value: ");p_int_I(pin);print_I(", ");p_int_I(ana.Val);
}
else if((mode == IS_DI) || (mode == IS_COUNTER_INPUT_HOME)|| (mode == IS_COUNTER_OUTPUT_HOME) || mode == IS_SERVO){
//DIG_val[pin]=Packet->use.data[1];
SetValFromAsync(pin,Packet->use.data[1]);//asyncData[pin].currentVal=Packet->use.data[1];
println_I("***Setting digital value: ");p_int_I(pin);print_I(", ");p_int_I(Packet->use.data[1]);//printStream(DIG_val,NUM_PINS);
}else {
if(IsAsync(pin)){
println_I("Sending async packet, not digital or analog");
PutBowlerPacket(Packet);
}
}
}else if (Packet->use.head.RPC==AASN){
int i;
for(i=0;i<8;i++){
BYTE pin = i+8;
BYTE mode = GetChannelMode(pin);
if(mode == IS_ANALOG_IN ){
UINT16_UNION ana;
ana.byte.SB = Packet->use.data[i*2];
ana.byte.LB = Packet->use.data[(i*2)+1];
//ADC_val[pin-8]=ana.Val
if(ana.Val>=0 && ana.Val<1024);
SetValFromAsync(pin,ana.Val);//asyncData[pin].currentVal=ana.Val;
}
}
}else if (Packet->use.head.RPC==DASN){
int i;
for(i=0;i<GetNumberOfIOChannels();i++){
BYTE mode = GetChannelMode(i);
if((mode == IS_DI) || (mode == IS_COUNTER_INPUT_HOME)|| (mode == IS_COUNTER_OUTPUT_HOME)|| (mode == IS_SERVO)){
SetValFromAsync(i,Packet->use.data[i]);//asyncData[i].currentVal=Packet->use.data[i];
}
}
//println_I("***Setting All Digital value: ");
}if (Packet->use.head.RPC==GetRPCValue("gacv")){
int i;
int val;
for(i=0;i<GetNumberOfIOChannels();i++){
val = get32bit(Packet, i*4);
if(getBcsIoDataTable()[i].PIN.asyncDataCurrentVal!=val){
println_I("Data on Pin ");p_int_I(i);print_I(" to val ");p_int_I(val);
SetValFromAsync(i,val);//
}
}
}else{
println_W("***Async packet not UNKNOWN***");
printPacket(Packet,WARN_PRINT);
}
// println_I("***Setting All value: [");
// int i;
// for(i=0;i<NUM_PINS;i++){
// p_int_I(asyncData[i].currentVal);print_I(" ");
// }
// print_I("]");
setPrintLevel(l);
}
void advancedBowlerExample() {
/**
* User code must implement a few functions needed by the stack internally
* This Platform specific code can be stored in the Platform directory if it is universal for all
* implementations on the given Platform.
* float getMs(void) Returns the current milliseconds since the application started
* StartCritical() Starts a critical protected section of code
* EndCritical() Ends the critical section and returns to normal operation
*/
setPrintLevelInfoPrint();// enable the stack specific printer. If you wish to use this feature putCharDebug(char c) needs to be defined
printf("\r\nStarting Sample Program\r\n");
int pngtmp = GetRPCValue("_png");
if(pngtmp != _PNG) {
printf("\r\nFAIL Expected: ");
prHEX32(_PNG,INFO_PRINT);
printf(" got: ");
prHEX32(pngtmp,INFO_PRINT);
return;
}
/**
* First we are going to put together dummy array of packet data. These are examples of a _png receive and a custom response.
* These would not exist in your implementation but would come in from the physical layer
*/
BowlerPacket myPngPacket;
myPngPacket.use.head.RPC = GetRPCValue("apid");
myPngPacket.use.head.MessageID = 2;// Specify namespace 2 for the collision detect
myPngPacket.use.head.Method = BOWLER_GET;
myPngPacket.use.head.DataLegnth=4;
FixPacket(&myPngPacket);// Set up the stack content
BowlerPacket myNamespacTestPacket;
myNamespacTestPacket.use.head.RPC = GetRPCValue("rtst");
myNamespacTestPacket.use.head.Method = BOWLER_GET;
myNamespacTestPacket.use.data[0] = 37;
myNamespacTestPacket.use.head.DataLegnth=4+1;
FixPacket(&myNamespacTestPacket);// Set up the stack content
/**
* Now we begin to set up the stack features. The first step is to set up the FIFO to receive the data coming in asynchronously
*
*/
BYTE privateRXCom[sizeof(BowlerPacket)];//make the buffer at least big enough to hold one full sized packet
BYTE_FIFO_STORAGE store;//this is the FIFO data storage struct. All interactions with the circular buffer will go through this.
/**
* Next we initialize the buffer
*/
InitByteFifo(&store,// the pointer to the storage struct
privateRXCom,//pointer the the buffer
sizeof(privateRXCom));//the size of the buffer
Bowler_Init();// Start the Bowler stack
/**
* Now we are going to regester what namespaces we implement with the framework
*/
NAMESPACE_LIST * tmp =getBcsPidNamespace();
addNamespaceToList(tmp);
tmp = getBcsTestNamespace();
addNamespaceToList(tmp);
printf("\r\n# of namespaces declared= %i",getNumberOfNamespaces());
int i=0;
for(i=0; i<getNumberOfNamespaces(); i++) {
NAMESPACE_LIST * nsPtr = getNamespaceAtIndex(i);
printf("\r\nNamespace %s at index %i",nsPtr->namespaceString,i);
}
/**
* Now we load the buffer with the the packet that we "Received"
* This step would come in from the physical layer, usually on
* an interrupt on a mcu.
*/
for (i=0; i<GetPacketLegnth(&myPngPacket); i++) {
BYTE err;// this is a stack error storage byte. See Bowler/FIFO.h for response codes
BYTE b= myPngPacket.stream[i];// This would be a new byte from the physical layer
FifoAddByte(&store, b, &err);// This helper function adds the byte to the storage buffer and manages the read write pointers.
}
/**
* Next we load the new namespace packet
*/
i=0;
for (i=0; i<GetPacketLegnth(&myNamespacTestPacket); i++) {
BYTE err;// this is a stack error storage byte. See Bowler/FIFO.h for response codes
BYTE b= myNamespacTestPacket.stream[i];// This would be a new byte from the physical layer
FifoAddByte(&store, b, &err);// This helper function adds the byte to the storage buffer and manages the read write pointers.
}
printf("\r\nData loaded into packet\r\n");
/**
* We have now loaded a packet into the storage struct 'store'
* All the while we can be polling the storage struct for a new packet
*/
BowlerPacket myLocalPacket; // Declare a packet struct to catch the parsed packet from the asynchronous storage buffer
while(getNumBytes(&store)>0) {
while(Bowler_Server_Static(&myLocalPacket,// pointer to the local packet into which to store the parsed packet
&store// storage struct from which the packet will be checked and parsed.
) == FALSE) { // Returns true when a packet is found and pulled out of the buffer
// wait because there is no packet yet
}
/**
* At this point the packet has been parsed and pulled out of the buffer
* The Static server will have also called the call backs to pars the packet, so
* the response should be loaded up to send back
*/
int packetLength = GetPacketLegnth(&myLocalPacket); // helper function to get packet length
printf("\r\nPreparing to send:\r\n");
printPacket(&myLocalPacket, INFO_PRINT);
printf("\r\nSending Packet Data back out: [ ");
for(i=0; i< packetLength; i++) {
//This would be sending to the physical layer. For this example we are just printing out the data
printf(" %i ",myLocalPacket.stream[i]);
}
printf(" ] \r\n");
}
}
// set32bit(&packetTemp, get32bit(&packetTemp, packetIndex)&0x000000ff, packetIndex);
// }
// }
//
// packetTemp.use.head.Method=BOWLER_ASYN;
// Print_Level l = getPrintLevel();
// setPrintLevelInfoPrint();
// PutBowlerPacket(& packetTemp);
// println_W("Sending All Async: ");printPacket(&packetTemp,WARN_PRINT);
// setPrintLevel(l);
//}
void UpstreamPushPowerChange(uint8_t r0,uint8_t r1, uint16_t voltage, uint8_t override){
SetColor(0,1,0);
packetTemp.use.head.RPC=GetRPCValue("_pwr");
packetTemp.use.head.MessageID=3;
packetTemp.use.head.Method=BOWLER_ASYN;
packetTemp.use.data[0]=r0;
packetTemp.use.data[1]=r1;
set16bit(&packetTemp,voltage,2);
packetTemp.use.data[4]=override;
packetTemp.use.head.DataLegnth=4+2+2+1;
PutBowlerPacketLocal(& packetTemp);
printPacket(&packetTemp,WARN_PRINT);
}
void UpstreamPushSPIlStream(void){
SetColor(0,1,0);
LoadCorePacket(& packetTemp);
