/* Read up from standard input up to the first newline (\n) character,
and at most size-1 characters, into the buffer s, with echoing and
support for backspace. Returns the number of characters read. You
can check whether a full line was read by seeing whether a newline
precedes the terminating \0. */
ssize_t readline(char *s, size_t size)
{
size_t count = 0;
while (1) {
int c = getc_raw();
switch (c) {
case '\r': /* Treat as newline */
case '\n':
putc1('\n');
goto stop;
break;
case 127:
if (count > 0) {
putc1('\010');
putc1(' ');
putc1('\010');
count--;
}
break;
default:
if (count<size-1) {
putc1(s[count++]=c);
}
}
}
stop:
s[count] = '\0';
return count;
}
void iso_pdu1_rx(iso_m *m_receive)
{
iso_m m;
byte i;
byte da;
pgn request_pgn;
if (m_receive->bits.pf1 == PF1(ISO_REQUEST_PGN) &&
m_receive->bits.pf2 == PF2(ISO_REQUEST_PGN)) {
da = m_receive->bits.ps1<<7 | m_receive->bits.ps2;
if (da == 255 || da == source_address){
// something has been requested of us
//m_receive->bits.data = &m_receive+4;
request_pgn.byte_pgn[0] = 0;
request_pgn.byte_pgn[1] = *((byte *) m_receive+6);
request_pgn.byte_pgn[2] = *((byte *) m_receive+5);
request_pgn.byte_pgn[3] = *((byte *) m_receive+4);
//request_pgn = (byte *) m_receive+1;
putc1(0xab);
putc1(0xab);
//puts1(m_receive, 7,0);
//puts1((byte *) m_receive+1,6,0);
puts1(request_pgn.byte_pgn, 4,0);
switch (request_pgn.dw_pgn) {
case ((dword) ADDRESS_CLAIM_PGN):
toggle_led(LED2);
address_claim_message();
break;
case ((dword) PRODUCT_INFORMATION_PGN):
toggle_led(LED1);
break;
}
}
}
// if address claim and this source address, then send out a new address claim
if (m_receive->bits.sa == source_address) {
// quick first check
m.bits.priority = 6;
ISO_M(ADDRESS_CLAIM_PGN);
if (m_receive->dw_id == m.dw_id) {
// if my name < received name I get to keep my source address
for(i=0;i<ADDRESS_CLAIM_PGN_LENGTH;i++) {
if (name[i] < m_receive->bits.data[i])
break;
if (name[i] > m_receive->bits.data[i]) {
generate_new_source_address();
break;
}
if (i == ADDRESS_CLAIM_PGN_LENGTH-1)
generate_new_source_address();
}
address_claim_message();
}
}
}
/* Output the given char either to the string or to the TTY. */
static void printc(char *buf, char c, int flags) {
if (flags & FLAG_TTY) {
/* do not output (terminating) zeros to TTY */
if (c != '\0') putc1(c);
} else
*buf = c;
}
void Task1()
{
nrk_time_t t;
uint16_t cnt;
cnt=0;
nrk_kprintf( PSTR("Nano-RK Version ") );
printf( "%d\r\n",NRK_VERSION );
setup_uart1(UART_BAUDRATE_19K2);
DDRE=0x2;
printf( "My node's address is %u\r\n",NODE_ADDR );
printf( "Task1 PID=%u\r\n",nrk_get_pid());
t.secs=5;
t.nano_secs=0;
// setup a software watch dog timer
nrk_sw_wdt_init(0, &t, NULL);
nrk_sw_wdt_start(0);
putc1('~'); putc1('A'); putc1(' '); putc1('8');
nrk_wait_until_next_period();
putc1('~'); putc1('A'); putc1(' '); putc1('8');
while(1) {
// Update watchdog timer
nrk_sw_wdt_update(0);
nrk_led_toggle(ORANGE_LED);
nrk_gpio_toggle(NRK_DEBUG_0);
printf( "Task1 cnt=%u\r\n",cnt );
nrk_wait_until_next_period();
// Uncomment this line to cause a stack overflow
// if(cnt>20) kill_stack(10);
// At time 50, the OS will halt and print statistics
// This requires the NRK_STATS_TRACKER #define in nrk_cfg.h
// if(cnt==50) {
// nrk_stats_display_all();
// nrk_halt();
// }
cnt++;
}
}
void print_to_serial(byte *can_buf)
{
byte data_length;
byte i;
data_length = (can_buf[12]&0xF) + 4; // 4 bytes for id field
/* if (ascii_out) {
rprintf("%02X", data_length);
for(i=0;i<data_length;i++)
rprintf("%02X", can_buf[i]);
rprintf("\n");
} else {*/
// putc1(0xAB);
// putc1(0xCD);
putc1(data_length);
puts1(can_buf, (int) data_length,0); // from the id field forward through the bytes
putcontrol1(NEWLINE_AND_LINEFEED);
// }
}
