static void PrintPIDstatus(PID_Config *config, const unsigned char *kindStr, const CLS1_StdIOType *io) {
unsigned char buf[48];
unsigned char kindBuf[16];
UTIL1_strcpy(kindBuf, sizeof(buf), (unsigned char*)" ");
UTIL1_strcat(kindBuf, sizeof(buf), kindStr);
UTIL1_strcat(kindBuf, sizeof(buf), (unsigned char*)" PID");
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"p: ");
UTIL1_strcatNum32s(buf, sizeof(buf), config->pFactor100);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" i: ");
UTIL1_strcatNum32s(buf, sizeof(buf), config->iFactor100);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" d: ");
UTIL1_strcatNum32s(buf, sizeof(buf), config->dFactor100);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr(kindBuf, buf, io->stdOut);
UTIL1_strcpy(kindBuf, sizeof(buf), (unsigned char*)" ");
UTIL1_strcat(kindBuf, sizeof(buf), kindStr);
UTIL1_strcat(kindBuf, sizeof(buf), (unsigned char*)" windup");
UTIL1_Num32sToStr(buf, sizeof(buf), config->iAntiWindup);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr(kindBuf, buf, io->stdOut);
UTIL1_strcpy(kindBuf, sizeof(buf), (unsigned char*)" ");
UTIL1_strcat(kindBuf, sizeof(buf), kindStr);
UTIL1_strcat(kindBuf, sizeof(buf), (unsigned char*)" speed");
UTIL1_Num8uToStr(buf, sizeof(buf), config->maxSpeedPercent);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"%\r\n");
CLS1_SendStatusStr(kindBuf, buf, io->stdOut);
}
uint8_t ESP_SelectMode(uint8_t mode) {
/* AT+CWMODE=<mode>, where <mode> is 1=Sta, 2=AP or 3=both */
uint8_t txBuf[sizeof("AT+CWMODE=x\r\n")];
uint8_t rxBuf[sizeof("AT+CWMODE=x\r\r\nno change\r\n")];
uint8_t expected[sizeof("AT+CWMODE=x\r\r\nno change\r\n")];
uint8_t res;
if (mode<1 || mode>3) {
return ERR_RANGE; /* only 1, 2 or 3 */
}
UTIL1_strcpy(txBuf, sizeof(txBuf), "AT+CWMODE=");
UTIL1_strcatNum16u(txBuf, sizeof(txBuf), mode);
UTIL1_strcat(txBuf, sizeof(txBuf), "\r\n");
UTIL1_strcpy(expected, sizeof(expected), "AT+CWMODE=");
UTIL1_strcatNum16u(expected, sizeof(expected), mode);
UTIL1_strcat(expected, sizeof(expected), "\r\r\n\n");
res = ESP_SendATCommand(txBuf, rxBuf, sizeof(rxBuf), expected, ESP_DEFAULT_TIMEOUT_MS, NULL);
if (res!=ERR_OK) {
/* answer could be as well "AT+CWMODE=x\r\r\nno change\r\n"!! */
UTIL1_strcpy(txBuf, sizeof(txBuf), "AT+CWMODE=");
UTIL1_strcatNum16u(txBuf, sizeof(txBuf), mode);
UTIL1_strcat(txBuf, sizeof(txBuf), "\r\n");
UTIL1_strcpy(expected, sizeof(expected), "AT+CWMODE=");
UTIL1_strcatNum16u(expected, sizeof(expected), mode);
UTIL1_strcat(expected, sizeof(expected), "\r\r\nno change\r\n");
if (UTIL1_strcmp(rxBuf, expected)==0) {
res = ERR_OK;
}
}
return res;
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
uint8_t buf[64], buf2[16];
QuadTime_t timing;
int i;
CLS1_SendStatusStr((unsigned char*)"quadcalib", (unsigned char*)"\r\n", io->stdOut);
for(i=0; i<NOF_SIGNALS; i++) {
if (Measure(i, &timing)==ERR_OK) {
buf[0] = '\0';
UTIL1_strcatNum8u(buf, sizeof(buf), timing.lowPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"% to ");
UTIL1_strcatNum8u(buf, sizeof(buf), timing.highPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"%, ");
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"high: ");
UTIL1_strcatNum32u(buf, sizeof(buf), timing.highTicks);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)" ticks, low: ");
UTIL1_strcatNum32u(buf, sizeof(buf), timing.lowTicks);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)" ticks\r\n");
} else {
UTIL1_strcpy(buf, sizeof(buf), (uint8_t*)"TIMEOUT\r\n");
}
if (i==0) {
UTIL1_strcpy(buf2, sizeof(buf2), (uint8_t*)" Right A,C0");
} else if (i==1) {
UTIL1_strcpy(buf2, sizeof(buf2), (uint8_t*)" Right B,C1");
} else if (i==2) {
UTIL1_strcpy(buf2, sizeof(buf2), (uint8_t*)" Left C,C2");
} else {
UTIL1_strcpy(buf2, sizeof(buf2), (uint8_t*)" Left D,C3");
}
CLS1_SendStatusStr(buf2, buf, io->stdOut);
}
return ERR_OK;
}
uint8_t ESP_SetServer(bool startIt, uint16_t port, const CLS1_StdIOType *io, uint16_t timeoutMs) {
/* AT+CIPSERVER=<en>,<port>, where <en>: 0: stop, 1: start */
uint8_t res;
uint8_t cmd[sizeof("AT+CIPSERVER=1,80\r\n\r\nOK\r\n")+sizeof("no change")];
uint8_t rxBuf[sizeof("AT+CIPSERVER=1,80\r\n\r\nOK\r\n")+sizeof("no change")];
UTIL1_strcpy(cmd, sizeof(cmd), "AT+CIPSERVER=");
if (startIt) {
UTIL1_strcat(cmd, sizeof(cmd), "1,");
} else {
UTIL1_strcat(cmd, sizeof(cmd), "0,");
}
UTIL1_strcatNum16u(cmd, sizeof(cmd), port);
UTIL1_strcat(cmd, sizeof(cmd), "\r\n");
res = ESP_SendATCommand(cmd, rxBuf, sizeof(rxBuf), "OK\r\n", timeoutMs, io);
if (res!=ERR_OK) { /* accept "no change" too */
UTIL1_strcpy(cmd, sizeof(cmd), "AT+CIPSERVER=");
if (startIt) {
UTIL1_strcat(cmd, sizeof(cmd), "1,");
} else {
UTIL1_strcat(cmd, sizeof(cmd), "0,");
}
UTIL1_strcatNum16u(cmd, sizeof(cmd), port);
UTIL1_strcat(cmd, sizeof(cmd), "\r\r\nno change\r\n");
if (UTIL1_strcmp(rxBuf, cmd)==0) {
res = ERR_OK;
}
}
return res;
}
uint8_t ESP_GetFirmwareVersionString(uint8_t *fwBuf, size_t fwBufSize) {
/* AT+GMR */
uint8_t rxBuf[32];
uint8_t res;
const unsigned char *p;
res = ESP_SendATCommand("AT+GMR\r\n", rxBuf, sizeof(rxBuf), "\r\n\r\nOK\r\n", ESP_DEFAULT_TIMEOUT_MS, NULL);
if (res!=ERR_OK) {
if (UTIL1_strtailcmp(rxBuf, "\r\n\r\nOK\r\n")) {
res = ERR_OK;
}
}
if (res==ERR_OK) {
if (UTIL1_strncmp(rxBuf, "AT+GMR\r\r\n", sizeof("AT+GMR\r\r\n")-1)==0) { /* check for beginning of response */
UTIL1_strCutTail(rxBuf, "\r\n\r\nOK\r\n"); /* cut tailing response */
p = rxBuf+sizeof("AT+GMR\r\r\n")-1; /* skip beginning */
UTIL1_strcpy(fwBuf, fwBufSize, p); /* copy firmware information string */
} else {
res = ERR_FAILED;
}
}
if (res!=ERR_OK) {
UTIL1_strcpy(fwBuf, fwBufSize, "ERROR"); /* default error */
}
return res;
}
uint8_t ESP_GetIPAddrString(uint8_t *ipBuf, size_t ipBufSize) {
/* AT+CIFSR */
uint8_t rxBuf[32];
uint8_t res;
const unsigned char *p;
res = ESP_SendATCommand("AT+CIFSR\r\n", rxBuf, sizeof(rxBuf), NULL, ESP_DEFAULT_TIMEOUT_MS, NULL);
if (res!=ERR_OK) {
if (UTIL1_strtailcmp(rxBuf, "\r\n")) {
res = ERR_OK;
}
}
if (res==ERR_OK) {
if (UTIL1_strncmp(rxBuf, "AT+CIFSR\r\r\n", sizeof("AT+CIFSR\r\r\n")-1)==0) { /* check for beginning of response */
UTIL1_strCutTail(rxBuf, "\r\n"); /* cut tailing response */
p = rxBuf+sizeof("AT+CIFSR\r\r\n")-1; /* skip beginning */
SkipNewLines(&p);
UTIL1_strcpy(ipBuf, ipBufSize, p); /* copy IP information string */
} else {
res = ERR_FAILED;
}
}
if (res!=ERR_OK) {
UTIL1_strcpy(ipBuf, ipBufSize, "ERROR");
}
return res;
}
uint8_t ESP_OpenConnection(int8_t ch_id, bool isTCP, const uint8_t *IPAddrStr, uint16_t port, uint16_t msTimeout, const CLS1_StdIOType *io) {
/* AT+CIPSTART=4,"TCP","184.106.153.149",80 */
uint8_t txBuf[54];
uint8_t rxBuf[72];
uint8_t expected[72];
UTIL1_strcpy(txBuf, sizeof(txBuf), "AT+CIPSTART=");
if (ch_id>=0) {
UTIL1_strcatNum16u(txBuf, sizeof(txBuf), ch_id);
UTIL1_chcat(txBuf, sizeof(txBuf), ',');
}
if (isTCP) {
UTIL1_strcat(txBuf, sizeof(txBuf), "\"TCP\",\"");
} else {
UTIL1_strcat(txBuf, sizeof(txBuf), "\"UDP\",\"");
}
UTIL1_strcat(txBuf, sizeof(txBuf), IPAddrStr);
UTIL1_strcat(txBuf, sizeof(txBuf), "\",");
UTIL1_strcatNum16u(txBuf, sizeof(txBuf), port);
UTIL1_strcpy(expected, sizeof(expected), txBuf);
UTIL1_strcat(expected, sizeof(expected), "\r\r\n\r\nOK\r\nLinked\r\n");
UTIL1_strcat(txBuf, sizeof(txBuf), "\r\n");
return ESP_SendATCommand(txBuf, rxBuf, sizeof(rxBuf), expected, msTimeout, io);
}
static uint8_t ESP_PrintStatus(const CLS1_StdIOType *io) {
uint8_t buf[48];
CLS1_SendStatusStr("ESP8266", "\r\n", io->stdOut);
CLS1_SendStatusStr(" Webserver", ESP_WebServerIsOn?"ON\r\n":"OFF\r\n", io->stdOut);
if (ESP_GetFirmwareVersionString(buf, sizeof(buf)) != ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), "FAILED\r\n");
} else {
/* 00160901: 0016 is SDK version, 0901 is the AT version */
UTIL1_strcat(buf, sizeof(buf), "\r\n");
}
CLS1_SendStatusStr(" AT+GMR", buf, io->stdOut);
if (ESP_GetModeString(buf, sizeof(buf)) != ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), "FAILED\r\n");
} else {
if (UTIL1_strcmp(buf, "1")==0) {
UTIL1_strcat(buf, sizeof(buf), " (device)");
} else if (UTIL1_strcmp(buf, "2")==0) {
UTIL1_strcat(buf, sizeof(buf), " (AP)");
} else if (UTIL1_strcmp(buf, "3")==0) {
UTIL1_strcat(buf, sizeof(buf), " (device+AP)");
} else {
UTIL1_strcat(buf, sizeof(buf), " (ERROR)");
}
UTIL1_strcat(buf, sizeof(buf), "\r\n");
}
CLS1_SendStatusStr(" AT+CWMODE?", buf, io->stdOut);
if (ESP_GetIPAddrString(buf, sizeof(buf)) != ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), "FAILED\r\n");
} else {
UTIL1_strcat(buf, sizeof(buf), "\r\n");
}
CLS1_SendStatusStr(" AT+CIFSR", buf, io->stdOut);
if (ESP_GetConnectedAPString(buf, sizeof(buf)) != ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), "FAILED\r\n");
} else {
UTIL1_strcat(buf, sizeof(buf), "\r\n");
}
CLS1_SendStatusStr(" AT+CWJAP?", buf, io->stdOut);
if (ESP_GetCIPMUXString(buf, sizeof(buf)) != ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), "FAILED\r\n");
} else {
if (UTIL1_strcmp(buf, "0")==0) {
UTIL1_strcat(buf, sizeof(buf), " (single connection)");
} else if (UTIL1_strcmp(buf, "1")==0) {
UTIL1_strcat(buf, sizeof(buf), " (multiple connections)");
} else {
UTIL1_strcat(buf, sizeof(buf), " (ERROR)");
}
UTIL1_strcat(buf, sizeof(buf), "\r\n");
}
CLS1_SendStatusStr(" CIPMUX", buf, io->stdOut);
return ERR_OK;
}
static void RADIO_PrintStatus(const CLS1_StdIOType *io) {
uint8_t buf[24];
uint8_t val0, val1;
CLS1_SendStatusStr((unsigned char*)"Radio", (unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" state", RadioStateStr(RADIO_AppStatus), io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" sniff", RADIO_isSniffing?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
UTIL1_Num8uToStr(buf, sizeof(buf), RADIO_channel);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" channel", buf, io->stdOut);
(void)RF1_ReadObserveTxRegister(&val0, &val1);
UTIL1_Num8uToStr(buf, sizeof(buf), val0);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" lost, ");
UTIL1_strcatNum8u(buf, sizeof(buf), val1);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" retry\r\n");
CLS1_SendStatusStr((unsigned char*)" OBSERVE_TX", buf, io->stdOut);
#if 0 /* The RPD status will get reset very fast by another (e.g. WLAN) packet. So this is not really a useful feature :-( */
(void)RF1_ReadReceivedPowerDetector(&val0); /*! \todo only works in RX mode, but somehow this still does not work? */
if (val0&1) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"1, > -64 dBm\r\n");
} else {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0, < -64 dBm\r\n");
}
CLS1_SendStatusStr((unsigned char*)" RPD", buf, io->stdOut);
#endif
}
uint8_t ESP_PrepareMsgSend(int8_t ch_id, size_t msgSize, uint16_t msTimeout, const CLS1_StdIOType *io) {
/* AT+CIPSEND=<ch_id>,<size> */
uint8_t cmd[24], rxBuf[48], expected[48];
UTIL1_strcpy(cmd, sizeof(cmd), "AT+CIPSEND="); /* parameters are <ch_id>,<size> */
UTIL1_strcatNum8u(cmd, sizeof(cmd), ch_id);
UTIL1_chcat(cmd, sizeof(cmd), ',');
UTIL1_strcatNum16u(cmd, sizeof(cmd), msgSize);
UTIL1_strcpy(expected, sizeof(expected), cmd); /* we expect the echo of our command */
UTIL1_strcat(expected, sizeof(expected), "\r\r\n> "); /* expect "> " */
UTIL1_strcat(cmd, sizeof(cmd), "\r\n");
return ESP_SendATCommand(cmd, rxBuf, sizeof(rxBuf), expected, msTimeout, io);
}
void I2C_StoreCmd(void) {
#if PL_HAS_UI
unsigned char buf[32];
uint8_t strSize;
#if PL_HAS_RUNNER
buf[0] = '@';
buf[1] = '\0';
RUNNER_GetCmdString(buf, sizeof(buf));
#elif PL_HAS_SLIDER
SLIDER_GetCmdString(buf, sizeof(buf));
#else
buf[0] = '\0';
#endif
if (buf[0]!='\0') {
uint8_t cnt=3;
while(cnt>0 && memDevice.u.data.cmdLength!=0) { /* poll cmdLength: this will be set to zero by the master if it is ok to place the string */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* give master some time to clear the flasg */
cnt--;
}
if (cnt==0) { /* timeout. Will loose that command. Not ideal, but simple :-) */
return; /* get out here */
}
strSize = (uint8_t)(UTIL1_strlen(buf)+1); /* size of string including zero byte */
if (strSize>sizeof(memDevice.u.data.cmd)) {
strSize = sizeof(memDevice.u.data.cmd);
}
EnterCritical();
memDevice.u.data.cmdLength = strSize;
UTIL1_strcpy(memDevice.u.data.cmd, sizeof(memDevice.u.data.cmd), buf);
ExitCritical();
}
#endif /* PL_HAS_UI */
}
/*!
\brief A simple state machine iterating through different transceiver states
*/
static void RADIO_HandleState(void) {
tTxPacket ackTxPacket; /* SMAC structure for TX packets */
static uint8_t ackTxDataBuffer[SMAC1_RADIO_BUF_SIZE]; /*Data buffer to hold TX data */
switch (RADIO_AppStatus) {
case RADIO_INITIAL_STATE:
RADIO_AppStatus = RADIO_RECEIVER_ALWAYS_ON;
break;
case RADIO_RECEIVER_ALWAYS_ON:
RADIO_AppStatus = RADIO_READY_FOR_TX_RX_DATA;
(void)SMAC1_MLMERXEnableRequest(0); /* Zero means wait forever with RX ON. */
break;
case RADIO_READY_FOR_TX_RX_DATA: /* we are ready to receive/send data data */
break;
case RADIO_TRANSMIT_DATA:
if (SMAC1_MLMERXDisableRequest() != SMAC1_SUCCESS) { /* Turn off the RX forever mode. */
RADIO_AppStatus = RADIO_TRANSMIT_DATA; /* retry */
break;
}
LED1_Neg();
if ((SMAC1_MCPSDataRequest(&RADIO_TxPacket) == SMAC1_SUCCESS)) { /* transmit data */
RADIO_AppStatus = RADIO_WAITING_FOR_ACK;
(void)SMAC1_MLMERXEnableRequest(RADIO_TIMEOUT_COUNT);
} else {
RADIO_AppStatus = RADIO_RECEIVER_ALWAYS_ON; /* what should we otherwise do? */
}
break;
case RADIO_TRANSMIT_ACK:
/*Initialize the packet.*/
/*! \todo RADIO: Below we send back the acknowledge message:
* check that your RADIO_ACK_STR is what you want and need.
* Notice the implicit string concatenation for efficiency and reduced code size. */
UTIL1_strcpy(ackTxDataBuffer, sizeof(ackTxDataBuffer), (unsigned char*)RADIO_PREFIX_STR RADIO_ACK_STR);
ackTxPacket.pu8Data = &ackTxDataBuffer[0]; /* Load the address of our txbuffer into the tx structure*/
ackTxPacket.u8DataLength = (byte)(UTIL1_strlen((char*)ackTxDataBuffer)+1); /* set the size of the packet */
(void)SMAC1_MCPSDataRequest(&ackTxPacket); /* transmit data */
RADIO_AppStatus = RADIO_RECEIVER_ALWAYS_ON;
break;
case RADIO_RESET_STATE:
/* MC13192 Reset, reinitialize and return to default state. */
SMAC1_RadioInit();
RADIO_AppStatus = RADIO_INITIAL_STATE;
break;
case RADIO_WAITING_FOR_ACK:
/* At this point only two things happen, 1-we receive the ack packet or 2-timeout.
* Either way the TX will leave this state and continue. Low power mode could be placed here
* because both 1 and 2 are interrupt driven, in this case we keep it simple
*/
break;
default:
break;
}
}
static void Radio_StdIOSendChar(byte ch) {
#define TX_BUF_SIZE (RADIO_MAX_TX_DATA_SIZE-sizeof("stdout ")) /* data size we can transmit in one message */
unsigned char buf[TX_BUF_SIZE+sizeof("stdout ")];
uint8_t i;
CLS1_GetStdio()->stdOut(ch); /* copy on local shell */
if (RadioTx_Put(ch)!=ERR_OK) {
/* lost character */
}
if (ch=='\n' || RadioTx_NofElements()>TX_BUF_SIZE) { /* send string over radio */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"stdout ");
i = sizeof("stdout ")-1;
while (i<sizeof(buf) && RadioTx_Get(&buf[i])==ERR_OK) {
i++;
}
if (RADIO_SendData(buf, i)!=ERR_OK) {
CLS1_GetStdio()->stdOut('\n');
CLS1_GetStdio()->stdOut('*');
CLS1_GetStdio()->stdOut('F');
CLS1_GetStdio()->stdOut('A');
CLS1_GetStdio()->stdOut('I');
CLS1_GetStdio()->stdOut('L');
CLS1_GetStdio()->stdOut('*');
CLS1_GetStdio()->stdOut('\n');
}
}
}
static uint8_t Tune(const CLS1_StdIOType *io, uint8_t channel, MOT_MotorDevice *motorHandle) {
#define TUNE_MOTOR_PERCENT 20
uint16_t dac;
int i;
QuadTime_t timing;
uint8_t buf[48];
uint8_t res;
//#if PL_HAS_DRIVE
// DRV_SetMode(DRV_MODE_NONE); /* turn off drive mode */
//#endif
MOT_SetSpeedPercent(motorHandle, TUNE_MOTOR_PERCENT);
CLS1_SendStr((uint8_t*)"Tuning channel...\r\n", io->stdOut);
res = ERR_FAILED;
for(i=0,dac=0;dac<=MCP4728_MAX_DAC_VAL;i++) {
UTIL1_strcpy(buf, sizeof(buf), (uint8_t*)"Channel: ");
UTIL1_chcat(buf, sizeof(buf), (uint8_t)('A'+channel)); /* 0:A, 1:B, 2:C, 3:D */
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)" DAC: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), dac);
UTIL1_chcat(buf, sizeof(buf), ' ');
CLS1_SendStr(buf, io->stdOut);
if (MCP4728_FastWriteDAC(channel, dac)!=ERR_OK) { /* writes single channel DAC value, not updating EEPROM */
CLS1_SendStr((uint8_t*)"ERROR writing DAC channel!\r\n", io->stdErr);
res = ERR_FAILED;
break;
}
WAIT1_WaitOSms(100); /* wait some time to allow DAC and OP-Amp change */
if (Measure(channel, &timing)==ERR_OK) {
buf[0] = '\0';
UTIL1_strcatNum8u(buf, sizeof(buf), timing.highPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"% high, low ");
UTIL1_strcatNum8u(buf, sizeof(buf), timing.lowPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"%\r\n");
CLS1_SendStr(buf, io->stdOut);
if (timing.highPercent==50 || timing.lowPercent==50) {
CLS1_SendStr((uint8_t*)"Set!\r\n", io->stdErr);
CLS1_SendStr((uint8_t*)"Writing to EEPROM...\r\n", io->stdOut);
if (MCP4728_WriteDACandEE(channel, dac)!=ERR_OK) {
CLS1_SendStr((uint8_t*)"ERROR writing DAC/EEPROM\r\n", io->stdErr);
res = ERR_FAILED;
break;
}
CLS1_SendStr((uint8_t*)"...done!\r\n", io->stdOut);
res = ERR_OK;
break; /* go to next channel */
}
dac += 0x1; /* smaller increase */
} else {
CLS1_SendStr((uint8_t*)"No signal\r\n", io->stdErr);
dac += 0x10; /* larger increase */
}
} /* for finding DAC value */
MOT_SetSpeedPercent(motorHandle, 0); /* turn off again */
if (res!=ERR_OK) {
CLS1_SendStr((uint8_t*)"ERROR!\r\n", io->stdErr);
}
CLS1_SendStr((uint8_t*)"Tuning finished!\r\n", io->stdOut);
return res;
}
void APP_Run(void) {
int i;
uint32_t val = 0;
unsigned char buf[16];
for(;;) {
while(CDC1_App_Task(cdc_buffer, sizeof(cdc_buffer))==ERR_BUSOFF) {
/* device not enumerated */
LED1_Neg(); LED2_Off();
WAIT1_Waitms(10);
}
LED2_Off(); LED1_Neg();
if (CDC1_GetCharsInRxBuf()!=0) {
i = 0;
while( i<sizeof(in_buffer)-1
&& CDC1_GetChar(&in_buffer[i])==ERR_OK
)
{
i++;
}
in_buffer[i] = '\0';
(void)CDC1_SendString((unsigned char*)"echo: ");
(void)CDC1_SendString(in_buffer);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"val: ");
UTIL1_strcatNum32u(buf, sizeof(buf), val);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
(void)CDC1_SendString(buf);
val++;
} else {
WAIT1_Waitms(10);
}
}
}
int _write(int file, char *ptr, int len) {
int size;
#if 0
/* In case of the file is written in one piece (newlib), you can dump it now.
* But if using newlib-nano, it writes to the file byte by byte, so dumping is postponed
*/
/* construct gdb command string to write gcda file */
UTIL1_strcpy(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)"dump binary memory ");
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), COV_Buffer.fileName);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)ptr);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)(ptr+len));
#endif
if (file==COV_FILE_HANDLE) {
size = len;
while(size>0) {
if (COV_Buffer.bufPtr>=&COV_Buffer.buffer[COV_FILE_BUFFER_SIZE]) {
/* buffer overflow! */
for(;;);
}
*COV_Buffer.bufPtr++ = *ptr++;
size--;
}
COV_Buffer.fileSize = COV_Buffer.bufPtr-&COV_Buffer.buffer[0];
}
return len; /* on success, return number of bytes written */
}
void APP_Run(void) {
DHTxx_ErrorCode res;
uint16_t temperature, humidity;
CLS1_ConstStdIOType *io = CLS1_GetStdio();
uint8_t buf[48];
#if DHTxx_SENSOR_TYPE_IS_DHT11
CLS1_SendStr("DHT11 Sensor Demo:\r\n", io->stdErr);
#else
CLS1_SendStr("DHT22 Sensor Demo:\r\n", io->stdErr);
#endif
WAIT1_Waitms(1000); /* wait one second after power-up to get the sensor stable */
for(;;) {
res = DHTxx_Read(&temperature, &humidity);
if (res!=DHTxx_OK) { /* error */
LEDR_Neg(); /* indicate error with red LED */
/* write error message */
CLS1_SendStr("ERROR: ", io->stdErr);
CLS1_SendStr(DHTxx_GetReturnCodeString(res), io->stdErr);
CLS1_SendStr("\r\n", io->stdErr);
} else { /* ok! */
LEDG_Neg();
/* write data values */
UTIL1_strcpy(buf, sizeof(buf), "Temperature ");
UTIL1_strcatNum32sDotValue100(buf, sizeof(buf), (int32_t)temperature);
UTIL1_strcat(buf, sizeof(buf), "°C, Humidity ");
UTIL1_strcatNum32sDotValue100(buf, sizeof(buf), (int32_t)humidity);
UTIL1_strcat(buf, sizeof(buf), "%\r\n");
CLS1_SendStr(buf, io->stdOut);
}
WAIT1_Waitms(DHTxx_SENSOR_PERIOD_MS); /* can only read sensor values with a certain frequency! */
}
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
uint8_t data[2*3*4];
uint8_t buf[16];
CLS1_SendStatusStr((unsigned char*)"MCP4728", (unsigned char*)"\r\n", io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum8Hex(buf, sizeof(buf), MCP4728_I2C_ADDRESS);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" I2C addr", buf, io->stdOut);
if (MCP4728_Read(data, sizeof(data))==ERR_OK) {
DecodeChannelDACInputRegister((unsigned char*)" A DAC Reg", &data[0], io);
DecodeChannelDACInputRegister((unsigned char*)" A EEPROM", &data[3], io);
DecodeChannelDACInputRegister((unsigned char*)" B DAC Reg", &data[6], io);
DecodeChannelDACInputRegister((unsigned char*)" B EEPROM", &data[9], io);
DecodeChannelDACInputRegister((unsigned char*)" C DAC Reg", &data[12], io);
DecodeChannelDACInputRegister((unsigned char*)" C EEPROM", &data[15], io);
DecodeChannelDACInputRegister((unsigned char*)" D DAC Reg", &data[18], io);
DecodeChannelDACInputRegister((unsigned char*)" D EEPROM", &data[21], io);
} else {
CLS1_SendStatusStr((unsigned char*)" device", (unsigned char*)"ERROR!\r\n", io->stdOut);
}
#if PL_CONFIG_HAS_MCP4728_RDY
CLS1_SendStatusStr((unsigned char*)" RDY Pin", MCP4728_RDY_GetVal()!=0?(unsigned char*)"input: HIGH, ready\r\n":(unsigned char*)"input: LOW, busy\r\n", io->stdOut);
#endif
#if PL_CONFIG_HAS_MCP4728_LDAC
CLS1_SendStatusStr((unsigned char*)" LDAC Pin", MCP4728_LDAC_GetVal()!=0?(unsigned char*)"output: HIGH, output with UDAC bit\r\n":(unsigned char*)"output: LOW, immediate\r\n", io->stdOut);
#endif
return ERR_OK;
}
uint8_t BLEUART_CMDMODE_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
if (UTIL1_strcmp((char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, "uart help")==0) {
CLS1_SendHelpStr((unsigned char*)"uart", (const unsigned char*)"Group of Adafruit BLE commands\r\n", io->stdOut);
CLS1_SendHelpStr((unsigned char*)" help|status", (const unsigned char*)"Print help or status information\r\n", io->stdOut);
CLS1_SendHelpStr((unsigned char*)" enable", (unsigned char*)"Enable BLE UART\r\n", io->stdOut);
CLS1_SendHelpStr((unsigned char*)" disable", (unsigned char*)"Disable BLE UART\r\n", io->stdOut);
CLS1_SendHelpStr((unsigned char*)" tx <string>", (unsigned char*)"Send string\r\n", io->stdOut);
*handled = TRUE;
return ERR_OK;
} else if ((UTIL1_strcmp((char*)cmd, CLS1_CMD_STATUS)==0) || (UTIL1_strcmp((char*)cmd, "uart status")==0)) {
*handled = TRUE;
return PrintStatus(io);
} else if (UTIL1_strcmp((char*)cmd, "uart enable")==0) {
isEnabled = TRUE;
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, "uart disable")==0) {
isEnabled = FALSE;
*handled = TRUE;
} else if (UTIL1_strncmp((char*)cmd, "uart tx ", sizeof("uart tx ") - 1) == 0) {
*handled = TRUE;
taskENTER_CRITICAL();
UTIL1_strcpy(txBuffer, sizeof(txBuffer), cmd+sizeof("uart tx ")-1);
UTIL1_strcat(txBuffer, sizeof(txBuffer), "\\n\n"); /* add newline */
taskEXIT_CRITICAL();
}
return res; /* no error */
}
static uint8_t ParseRunnerMsg(const char *msg, RunnerMsg *runner) {
/* message is something like
* [0012]: 0 17:05:00,6 00:00:00,0 06:35:00,6
* or
* [0012]: 707 17:05:00,6 17:05:04,5 06:35:00,6 707: Bächler Sven
*/
const char_t *p;
uint16_t val16u;
/* init struct */
runner->valid = FALSE;
p = msg;
if (*p!='[') {
return ERR_FAILED;
}
p++; /* skip '[' */
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)!=ERR_OK) { /* "0012]:" */
return ERR_FAILED;
}
runner->index = val16u;
if (*p!=']') {
return ERR_FAILED;
}
p++; /* skip ']' */
if (*p!=':') {
return ERR_FAILED;
}
p++; /* skip ':' */
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)!=ERR_OK) { /* " 707" */
return ERR_FAILED;
}
runner->nr = val16u;
if (UTIL1_ScanTime(&p, &runner->keyTime.hour, &runner->keyTime.minute, &runner->keyTime.second, &runner->keyTime.hsecond)) {
return ERR_FAILED;
}
if (UTIL1_ScanTime(&p, &runner->scanTime.hour, &runner->scanTime.minute, &runner->scanTime.second, &runner->scanTime.hsecond)) {
return ERR_FAILED;
}
if (UTIL1_ScanTime(&p, &runner->runTime.hour, &runner->runTime.minute, &runner->runTime.second, &runner->runTime.hsecond)) {
return ERR_FAILED;
}
if (*p=='\0' || *p=='\r' || *p=='\n') { /* no runner name */
runner->name[0] = '\0';
runner->valid = TRUE;
return ERR_OK;
}
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)!=ERR_OK || val16u!=runner->nr) { /* " 707" */
return ERR_FAILED;
}
if (*p!=':') {
return ERR_FAILED;
}
p++; /* skip ':' */
while(*p==' ') { /* skip spaces in front of name */
p++;
}
UTIL1_strcpy(runner->name, sizeof(runner->name), p); /* copy name */
runner->valid = TRUE;
return ERR_OK;
}
void SendSim900(uint8_t* msg) {
if (FRTOS1_xSemaphoreTake(DataSendMutex,SHELL_SEND_MUTEX_WAIT_MS) == pdTRUE) {
UTIL1_strcpy(buf_send, BUFFER_SIZE, msg);
flag_send = TRUE;
FRTOS1_xSemaphoreGive(DataSendMutex);
}
}
uint8_t RNETA_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const uint8_t *p;
uint16_t val16;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"app help")==0) {
PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"app status")==0) {
*handled = TRUE;
return PrintStatus(io);
} else if (UTIL1_strncmp((char*)cmd, (char*)"app saddr", sizeof("app saddr")-1)==0) {
p = cmd + sizeof("app saddr")-1;
*handled = TRUE;
if (UTIL1_ScanHex16uNumber(&p, &val16)==ERR_OK) {
(void)RNWK_SetThisNodeAddr((RNWK_ShortAddrType)val16);
} else {
CLS1_SendStr((unsigned char*)"ERR: wrong address\r\n", io->stdErr);
return ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"app daddr", sizeof("app daddr")-1)==0) {
p = cmd + sizeof("app daddr")-1;
*handled = TRUE;
if (UTIL1_ScanHex16uNumber(&p, &val16)==ERR_OK) {
APP_dstAddr = val16;
} else {
CLS1_SendStr((unsigned char*)"ERR: wrong address\r\n", io->stdErr);
return ERR_FAILED;
}
#if PL_HAS_RSTDIO
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send", sizeof("app send")-1)==0) {
unsigned char buf[32];
RSTDIO_QueueType queue;
if (UTIL1_strncmp((char*)cmd, (char*)"app send in", sizeof("app send in")-1)==0) {
queue = RSTDIO_QUEUE_TX_IN;
cmd += sizeof("app send in");
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send out", sizeof("app send out")-1)==0) {
queue = RSTDIO_QUEUE_TX_OUT;
cmd += sizeof("app send out");
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send err", sizeof("app send err")-1)==0) {
queue = RSTDIO_QUEUE_TX_ERR;
cmd += sizeof("app send err");
} else {
return ERR_OK; /* not handled */
}
UTIL1_strcpy(buf, sizeof(buf), cmd);
UTIL1_chcat(buf, sizeof(buf), '\n');
buf[sizeof(buf)-2] = '\n'; /* have a '\n' in any case */
if (RSTDIO_SendToTxStdio(queue, buf, UTIL1_strlen((char*)buf))!=ERR_OK) {
CLS1_SendStr((unsigned char*)"failed!\r\n", io->stdErr);
}
*handled = TRUE;
#endif
}
return res;
}
static void StatusPrintXY(CLS1_ConstStdIOType *io) {
uint16_t x, y;
int8_t x8, y8;
uint8_t buf[64];
if (APP_GetXY(&x, &y, &x8, &y8)==ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"X: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), x);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), x8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)") Y: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), y8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)")\r\n");
} else {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"GetXY() failed!\r\n");
}
CLS1_SendStatusStr((unsigned char*)" analog", buf, io->stdOut);
}
static uint8_t JoinAccessPoint(const uint8_t *ssid, const uint8_t *pwd, CLS1_ConstStdIOType *io) {
/* AT+CWJAP="<ssid>","<pwd>" */
uint8_t txBuf[48];
uint8_t rxBuf[64];
uint8_t expected[48];
UTIL1_strcpy(txBuf, sizeof(txBuf), "AT+CWJAP=\"");
UTIL1_strcat(txBuf, sizeof(txBuf), ssid);
UTIL1_strcat(txBuf, sizeof(txBuf), "\",\"");
UTIL1_strcat(txBuf, sizeof(txBuf), pwd);
UTIL1_strcat(txBuf, sizeof(txBuf), "\"\r\n");
UTIL1_strcpy(expected, sizeof(expected), "AT+CWJAP=\"");
UTIL1_strcat(expected, sizeof(expected), ssid);
UTIL1_strcat(expected, sizeof(expected), "\",\"");
UTIL1_strcat(expected, sizeof(expected), pwd);
UTIL1_strcat(expected, sizeof(expected), "\"\r\r\n\r\nOK\r\n");
return ESP_SendATCommand(txBuf, rxBuf, sizeof(rxBuf), expected, ESP_DEFAULT_TIMEOUT_MS, io);
}
uint8_t ESP_CloseConnection(uint8_t channel, const CLS1_StdIOType *io, uint16_t timeoutMs) {
/* AT+CIPCLOSE=<channel> */
uint8_t res;
uint8_t cmd[64];
UTIL1_strcpy(cmd, sizeof(cmd), "AT+CIPCLOSE=");
UTIL1_strcatNum8u(cmd, sizeof(cmd), channel);
UTIL1_strcat(cmd, sizeof(cmd), "\r\n");
res = ESP_SendATCommand(cmd, NULL, 0, "Unlink\r\n", timeoutMs, io);
return res;
}
int _write(int file, char *ptr, int len) {
static unsigned char gdb_cmd[128]; /* command line which can be used for gdb */
(void)file;
/* construct gdb command string */
UTIL1_strcpy(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)"dump binary memory ");
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), fileName);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)ptr);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)(ptr+len));
return 0;
}
int _close(int file) {
if (file==COV_FILE_HANDLE) {
/* construct gdb command string to write .gcda file */
UTIL1_strcpy(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)"dump binary memory ");
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), COV_Buffer.fileName);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)&COV_Buffer.buffer[0]);
UTIL1_strcat(gdb_cmd, sizeof(gdb_cmd), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(gdb_cmd, sizeof(gdb_cmd), (uint32_t)(&COV_Buffer.buffer[COV_Buffer.fileSize]));
}
return 0; /* success closing file */
}
uint8_t ESP_GetCIPMUXString(uint8_t *cipmuxBuf, size_t cipmuxBufSize) {
/* AT+CIPMUX? */
uint8_t rxBuf[32];
uint8_t res;
const unsigned char *p;
res = ESP_SendATCommand("AT+CIPMUX?\r\n", rxBuf, sizeof(rxBuf), "\r\n\r\nOK\r\n", ESP_DEFAULT_TIMEOUT_MS, NULL);
if (res==ERR_OK) {
if (UTIL1_strncmp(rxBuf, "AT+CIPMUX?\r\r\n+CIPMUX:", sizeof("AT+CIPMUX?\r\r\n+CIPMUX:")-1)==0) { /* check for beginning of response */
UTIL1_strCutTail(rxBuf, "\r\n\r\nOK\r\n"); /* cut tailing response */
p = rxBuf+sizeof("AT+CIPMUX?\r\r\n+CIPMUX:")-1; /* skip beginning */
UTIL1_strcpy(cipmuxBuf, cipmuxBufSize, p); /* copy IP information string */
} else {
res = ERR_FAILED;
}
}
if (res!=ERR_OK) {
UTIL1_strcpy(cipmuxBuf, cipmuxBufSize, "ERROR");
}
return res;
}
static void DecodeChannelDACInputRegister(uint8_t *info, uint8_t data[3], const CLS1_StdIOType *io) {
uint8_t buf[16];
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum8Hex(buf, sizeof(buf), data[0]);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" 0x");
UTIL1_strcatNum8Hex(buf, sizeof(buf), data[1]);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" 0x");
UTIL1_strcatNum8Hex(buf, sizeof(buf), data[2]);
CLS1_SendStatusStr(info, buf, io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
}
static void BL_PrintStatus(CLS1_ConstStdIOType *io) {
unsigned char buf[32];
CLS1_SendStatusStr((unsigned char*)"BL", (const unsigned char*)"\r\n", io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum32Hex(buf, sizeof(buf), MIN_APP_FLASH_ADDRESS);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"..0x");
UTIL1_strcatNum32Hex(buf, sizeof(buf), MAX_APP_FLASH_ADDRESS);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" App Flash", buf, io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" @0x");
UTIL1_strcatNum32Hex(buf, sizeof(buf), MIN_APP_FLASH_ADDRESS);
CLS1_SendStatusStr(buf, (unsigned char*)"", io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum32Hex(buf, sizeof(buf), *((uint32_t*)MIN_APP_FLASH_ADDRESS));
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" 0x");
UTIL1_strcatNum32Hex(buf, sizeof(buf), *((uint32_t*)MIN_APP_FLASH_ADDRESS+4));
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStr(buf, io->stdOut);
}