static void LED_disable_intern(led_t led) {
led_shift.current_led &= ~led;
led_shift.dirty = TRUE;
if (led & LED_SPI_FLASH) {
GPIO_disable(GPIOD, GPIO_Pin_13);
}
}
BOOTLOADER_TEXT void b_spif_write(u32_t addr, u8_t *b, u16_t len) {
GPIO_disable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
b_spi_txrx(0x06); // write enable
GPIO_enable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
volatile int a = 0x100;
while (a--)
;
GPIO_disable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
b_spi_txrx(0x02); // write
b_spi_txrx((addr >> 16) & 0xff);
b_spi_txrx((addr >> 8) & 0xff);
b_spi_txrx((addr >> 0) & 0xff);
// write data
while (len--) {
b_spi_txrx(*b++);
}
GPIO_enable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
}
BOOTLOADER_TEXT void b_spif_read(u32_t addr, u8_t *b, u16_t len) {
GPIO_disable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
b_spi_txrx(0x03); // read
b_spi_txrx((addr >> 16) & 0xff);
b_spi_txrx((addr >> 8) & 0xff);
b_spi_txrx((addr >> 0) & 0xff);
// get data
while (len--) {
*b++ = b_spi_txrx(0xff);
}
GPIO_enable(SPI_FLASH_GPIO_PORT, SPI_FLASH_GPIO_PIN);
}
// Main server program. This is polled by the client so the client controls the
// update speed.
//
int main(void)
{
struct sockaddr_in si_me, si_other;
int Accel;
unsigned int slen = sizeof(si_other);
int s, i, recv_len;
char buf[BUFLEN];
if(sizeof(buf) < sizeof(Msg))
die("\nmain: Fatal build error");
//create a UDP socket
if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
die("\nsocket()");
}
// zero out the structure
memset((char *) &si_me, 0, sizeof(si_me));
si_me.sin_family = AF_INET;
si_me.sin_port = htons(PORT);
si_me.sin_addr.s_addr = htonl(INADDR_ANY);
//bind socket to port
if( bind(s , (struct sockaddr*)&si_me, sizeof(si_me) ) == -1){
die("bind()");
}
//Start alarm
signal(SIGALRM, sigalrm_handler);
alarm(1);
PiBlast_init();
GPIO_disable();
Accel_init();
//PiBlast(17,0.15);
//usleep(1000000);
//keep listening for data
while(1)
{
//printf("Waiting for data...");
//fflush(stdout);
//try to receive some data, this is a blocking call @@@@@@ WAIT UDP @@@@@@@@
if ((recv_len = recvfrom(s, buf /*(void *)Msg*/, sizeof(buf), 0, (struct sockaddr *) &si_other, &slen)) == -1) {
die("recvfrom()");
}
AlarmMsgEn = 1;
memcpy(&Msg,buf,sizeof(Msg));
Accel_read(&Msg.Accel);
GPIO_drive(Msg.Fore,Msg.Port,Msg.Wdog);
//print details of the client/peer and the data received
//printf("\nReceived packet %x from %s:%d - A%d",Msg.Wdog, inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port),Msg.Accel);
//printf("Data: %s\n" , buf);
memcpy(buf,&Msg,sizeof(Msg));
//now reply the client with the same data
if (sendto(s, buf, recv_len, 0, (struct sockaddr*) &si_other, slen) == -1) {
die("sendto()");
}
//kick alarm
alarm(1);
}//END while
close(s);
return 0;
}// End main
// sigalrm_handler, called if we don't get UDP comms
//
void sigalrm_handler(int sig)
{
//printf("\nsigalrm_handler: ALARM!");
GPIO_disable();
alarm(1);
}//END sigalrm_handler
void gpio_disable(gpio_port port, gpio_pin pin) {
GPIO_disable(io_ports[port], io_pins[pin]);
}
