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);
}
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);
}
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 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);
}
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 DownstreamPowerChange(void) {
LoadCorePacket(&downstreamPacketTemp);
POWER(&downstreamPacketTemp);
downstreamPacketTemp.use.data[2] = GetRawVoltageCode(0);
downstreamPacketTemp.use.data[3] = GetRawVoltageCode(1);
if (downstreamPacketTemp.use.data[0] == bankA
&& downstreamPacketTemp.use.data[1] == bankB
&& downstreamPacketTemp.use.data[2] == batteryCode0
&& downstreamPacketTemp.use.data[3] == batteryCode1)
return;
bankA = downstreamPacketTemp.use.data[0];
bankB = downstreamPacketTemp.use.data[1];
batteryCode0 = downstreamPacketTemp.use.data[2];
batteryCode1 = downstreamPacketTemp.use.data[3];
SendPacketToCoProc(&downstreamPacketTemp);
UpstreamPushPowerChange(bankA, bankB, GetRawVoltage(), getPowerOverRide());
}
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);
}
