/*!
* \brief Sends a data packet and blocks until timeout or ack is received.
* \param thisport = which port to use
* \param data = pointer to data to send
* \param length = number of data bytes to send. Must be less than 254
* \return true = ack was received within number of retries
* \return false = ack was not received.
*
* \note
*
*/
uint16_t qssp::ssp_SendDataBlock(uint8_t *data, uint16_t length )
{
int16_t packet_status = SSP_TX_WAITING;
uint16_t retval = FALSE;
packet_status = ssp_SendData(data, length ); // send the data
while( packet_status == SSP_TX_WAITING ) { // check the status
(void)ssp_ReceiveProcess(); // process any bytes received.
packet_status = ssp_SendProcess(); // check the send status
}
if( packet_status == SSP_TX_ACKED ) { // figure out what happened to the packet
retval = TRUE;
} else {
retval = FALSE;
}
return retval;
}
/*!
* \brief Attempts to synchronize the sequence numbers with the other end of the connectin.
* \param thisport = which port to use
* \return true = success
* \return false = failed to receive an ACK to our synch request
*
* \note
* A. send a packet with a sequence number equal to zero
* B. if timed out then:
* send synch packet again
* increment try counter
* if number of tries exceed maximum try limit then exit
* C. goto A
*/
uint16_t qssp::ssp_Synchronise( )
{
int16_t packet_status;
uint16_t retval = FALSE;
#ifndef USE_SENDPACKET_DATA
thisport->txSeqNo = 0; // make this zero to cause the other end to re-synch with us
SETBIT(thisport->flags, SENT_SYNCH);
// TODO - should this be using ssp_SendPacketData()??
sf_MakePacket( thisport->txBuf, NULL, 0, thisport->txSeqNo ); // construct the packet
sf_SendPacket( );
sf_SetSendTimeout( );
thisport->SendState = SSP_AWAITING_ACK;
packet_status = SSP_TX_WAITING;
#else
packet_status = ssp_SendData( NULL, 0 );
#endif
while( packet_status == SSP_TX_WAITING ) { // we loop until we time out.
(void)ssp_ReceiveProcess( ); // do the receive process
packet_status = ssp_SendProcess( ); // do the send process
}
thisport->sendSynch = FALSE;
switch( packet_status ) {
case SSP_TX_ACKED:
retval = TRUE;
break;
case SSP_TX_BUSY: // intentional fall through.
case SSP_TX_TIMEOUT: // intentional fall through.
case SSP_TX_BUFOVERRUN:
retval = FALSE;
break;
default:
retval = FALSE;
break;
};
return retval;
}
int main() {
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
if (USB_connected)
ProgPort = Usb;
else
ProgPort = Serial;
PIOS_Board_Init();
if(User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100,LED_PWM_TIMER);
if (ProgPort == Serial) {
fifoBuf_init(&ssp_buffer,rx_buffer,UART_BUFFER_SIZE);
STOPWATCH_Init(100,SSP_TIMER);//nao devia ser 1000?
STOPWATCH_Reset(SSP_TIMER);
ssp_Init(&ssp_port, &SSP_PortConfig);
}
PIOS_OPAHRS_ForceSlaveSelected(true);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
while (TRUE) {
if (ProgPort == Serial) {
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
while((status!=SSP_TX_IDLE) && (status!=SSP_TX_ACKED)){
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
}
}
if (JumpToApp == TRUE)
jump_to_app();
//pwm_period = 50; // *100 uS -> 5 mS
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
period2 = 0;
break;
case uploading:
period1 = 50;
sweep_steps1 = 100;
period2 = 25;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
period2 = 0;
break;
default://error
period1 = 50;
sweep_steps1 = 100;
period2 = 50;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(RED);
else
PIOS_LED_Off(RED);
} else
PIOS_LED_Off(RED);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
}
}