void
MenloWiFiArduino::Stop()
{
ResetWatchdog(); // Tell watchdog we are still alive
DBG_PRINT("ArduinoWiFi Stop");
m_wifi->stop();
ResetWatchdog(); // Tell watchdog we are still alive
}
void SafeTransitExecute3(void)
{
uint i;
uchar j;
if (bInBuff5 >= bPORTS)
Result(bRES_BADADDRESS);
else if (IsSlave(bInBuff5))
Result(bRES_BADPORT);
else if (IndexInBuff() <= 10)
Result(bRES_BADDATA);
else
{
SaveInBuff();
iwInBuffSave = IndexInBuff();
j = ibPort;
ibPort = bInBuff5;
cbHeaderBcc = bInBuff8;
cwInBuffBcc = 0;
InitPush(0);
for (i=0; i<iwInBuffSave-11; i++) PushChar(mpbInBuffSave[i+9]);
Query(bInBuff6+bInBuff7*0x100, iwInBuffSave-11, 1);
InitWaitAnswer();
while (1)
{
if (fKey == true) { mpSerial[ibPort] = SER_BADLINK; break; }
ResetWatchdog();
ShowWaitAnswer(1);
if (GetWaitAnswer()) { mpSerial[ibPort] = SER_BADLINK; break; }
if (mpSerial[ibPort] == SER_INPUT_MASTER)
DecompressK(0);
if (mpSerial[ibPort] == SER_POSTINPUT_MASTER)
break;
else if ((mpSerial[ibPort] == SER_OVERFLOW) ||
(mpSerial[ibPort] == SER_BADLINK)) break;
}
MonitorIn();
SaveInBuff();
iwInBuffSave = IndexInBuff();
mpSerial[ibPort] = SER_BEGIN;
ibPort = j;
InitPushCRC();
if (iwInBuffSave > 0)
for (i=0; i<iwInBuffSave; i++) PushChar(mpbInBuffSave[i]);
Output(iwInBuffSave);
}
}
serial InputS(void)
{
InputStart();
InitWaitAnswer();
while (1)
{
if (fKey == true) { mpSerial[ibPort] = SER_BADLINK; break; }
ResetWatchdog();
ShowWaitAnswer(1);
if (GetWaitAnswer()) { mpSerial[ibPort] = SER_BADLINK; break; }
if (mpSerial[ibPort] == SER_INPUT_MASTER)
DecompressS();
if (mpSerial[ibPort] == SER_POSTINPUT_MASTER)
{
if (ChecksumS() == 0)
{
InputGoodCheck();
mpSerial[ibPort] = SER_GOODCHECK;
}
else
mpSerial[ibPort] = SER_BADCHECK;
break;
}
else if ((mpSerial[ibPort] == SER_OVERFLOW) ||
(mpSerial[ibPort] == SER_BADLINK)) break;
}
return mpSerial[ibPort];
}
void SafeTransitExecute2(void)
{
uint i;
uchar j;
if (bInBuff5 >= bPORTS)
Result(bRES_BADADDRESS);
else if (IsSlave(bInBuff5))
Result(bRES_BADPORT);
else if (IndexInBuff() <= 10)
Result(bRES_BADDATA);
else
{
SaveInBuff();
iwInBuffSave = IndexInBuff();
j = ibPort;
ibPort = bInBuff5;
InitPush(0);
for (i=0; i<iwInBuffSave-10; i++) PushChar(mpbInBuffSave[i+8]);
Query(bInBuff6+bInBuff7*0x100, iwInBuffSave-10, 1);
InitWaitAnswer();
while (1)
{
if (fKey == true) { mpSerial[ibPort] = SER_BADLINK; break; }
ResetWatchdog();
ShowWaitAnswer(1);
if (GetWaitAnswer()) { mpSerial[ibPort] = SER_BADLINK; break; }
if (mpSerial[ibPort] == SER_POSTINPUT_MASTER)
break;
else if ((mpSerial[ibPort] == SER_OVERFLOW) ||
(mpSerial[ibPort] == SER_BADLINK)) break;
}
if (mpSerial[ibPort] != SER_POSTINPUT_MASTER)
{
ibPort = j;
Result(bRES_BADMODE);
}
else
{
mpSerial[ibPort] = SER_BADLINK; // !!!
SaveInBuff();
iwInBuffSave = IndexInBuff();
ibPort = j;
InitPushCRC();
for (i=0; i<iwInBuffSave; i++) PushChar(mpbInBuffSave[i]);
Output(iwInBuffSave);
}
}
}
void ShowFlashRead(void)
{
ResetWatchdog();
ShowPercent((ulong)100*(++wPage)/(FLASH_END-FLASH_BEGIN+1));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
void ShowFlashErase(void)
{
ResetWatchdog();
ShowPercent((ulong)100*(++wPage)/(IMPHOUCAN_PAGES + bMINUTES + bDAYS*2 + bMONTHS*3 + PARAMS_PAGES*wTIMES + bRECORD_PAGES*6 + wRECORD2_PAGES*1));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
serial Input31(void)
{
InputStart();
InitWaitAnswer();
while (1)
{
if (fKey == true) { mpSerial[ibPort] = SER_BADLINK; break; }
ResetWatchdog();
ShowWaitAnswer(1);
if (GetWaitAnswer()) { mpSerial[ibPort] = SER_BADLINK; break; }
if (mpSerial[ibPort] == SER_INPUT_MASTER)
{
if ((InBuff(0) == 0x7E) && (IndexInBuff() > 3) && (IndexInBuff() == InBuff(1)+4))
mpSerial[ibPort] = SER_BADLINK;
}
if (mpSerial[ibPort] == SER_POSTINPUT_MASTER)
{
uchar bCrc = MakeCrc8Bit31InBuff(1, CountInBuff()-1);
if (bCrc == 0)
{
Unpack31();
InputGoodCheck();
mpSerial[ibPort] = SER_GOODCHECK;
}
else
mpSerial[ibPort] = SER_BADCHECK;
break;
}
else if (mpSerial[ibPort] == SER_BADLINK)
{
uchar bCrc = MakeCrc8Bit31InBuff(1, IndexInBuff()-1);
if (bCrc == 0)
{
Unpack31();
InputGoodCheck();
mpSerial[ibPort] = SER_GOODCHECK;
}
else
mpSerial[ibPort] = SER_BADCHECK;
break;
}
else if (mpSerial[ibPort] == SER_OVERFLOW) break;
}
MonitorIn();
return mpSerial[ibPort];
}
void
MenloWiFiArduino::PrintDiagnostics(Stream* stream)
{
IPAddress ip;
long rssi;
//
// WiFi is a global statically created class
// when the WiFi library is included.
//
// uint8_t* WiFi.macAddress(uint8_t* mac);
ResetWatchdog(); // Tell watchdog we are still alive
stream->print(F("SSID: "));
stream->println(WiFi.SSID());
ip = WiFi.localIP();
stream->print(F("IP Address: "));
stream->println(ip);
ip = WiFi.gatewayIP();
stream->print(F("Gateway IP Address: "));
stream->println(ip);
ResetWatchdog(); // Tell watchdog we are still alive
ip = WiFi.subnetMask();
stream->print(F("SubNet Mask: "));
stream->println(ip);
rssi = WiFi.RSSI();
stream->print(F("RSSI: "));
stream->print(rssi);
stream->println(F(" dBm"));
ResetWatchdog(); // Tell watchdog we are still alive
}
void GetDefGrpDayUni(void)
{
uchar i,j,k;
if ((bInBuff6 != 0) || (bInBuff8 != 0) || (bInBuffA != 0) || (bInBuffC != 0))
Result2_Info(bUNI_BADDATA, 1);
else if ((bInBuff9 == 0) || (bInBuffD == 0))
Result2_Info(bUNI_BADDATA, 2);
else if (bInBuff7 > bGROUPS)
Result2_Info(bUNI_BADDATA, 3);
else if (bInBuff7+bInBuff9-1 > bGROUPS)
Result2_Info(bUNI_BADDATA, 4);
else if (bInBuffB >= wHOURS/48)
Result2_Info(bUNI_BADDATA, 5);
else if (bInBuffB + bInBuffD >= wHOURS/48)
Result2_Info(bUNI_BADDATA, 6);
else
{
InitPushUni();
k = (((bInBuff9-1) / 16)+1)*2;
for (j=bInBuffB; j<bInBuffB+bInBuffD; j++)
{
ResetWatchdog();
memset(&mpbDefUni, 0, sizeof(mpbDefUni));
uint iwHhr = GetDayHhrIndex(j);
for (i=0; i<48; i++)
{
LoadImpHouFree(iwHhr);
uchar g;
for (g=bInBuff7; g<bInBuff7+bInBuff9; g++)
{
if (GetDefGrp(g-1) == 1)
mpbDefUni[k-1 - ((g - bInBuff7) / 8)] |= (uchar)(0x01 << ((g - bInBuff7) % 8));
}
if (++iwHhr >= wHOURS) iwHhr = 0;
}
Push(mpbDefUni, k);
}
ulong dw = DateToDayIndex(*GetCurrTimeDate());
dw -= bInBuffB;
time ti = DayIndexToDate(dw);
Output2_Code((uint)k*bInBuffD, 0, ti);
}
}
/* the clearing of the flags cannot be done in the idle loop because
* it may be interrupted
*/
void TaskCheckIn(etTaskCheckInId TaskId)
{
static unsigned char TaskCheckInFlags = 0;
portENTER_CRITICAL();
TaskCheckInFlags |= (1 << TaskId);
if (TaskCheckInFlags == ALL_TASKS_HAVE_CHECKED_IN)
{
/* all tasks have checked in - so the flags can be cleared
* and the watchdog can be kicked
*/
TaskCheckInFlags = 0;
ResetWatchdog();
}
portEXIT_CRITICAL();
}
static void ModifyTimeHandler(tMessage* pMsg)
{
switch (pMsg->Options)
{
case MODIFY_TIME_INCREMENT_HOUR:
RTCHOUR = (RTCHOUR == 23) ? 0 : RTCHOUR + 1;
break;
case MODIFY_TIME_INCREMENT_MINUTE:
RTCMIN = (RTCMIN == 59) ? 0 : RTCMIN + 1;
break;
case MODIFY_TIME_INCREMENT_DOW:
RTCDOW = (RTCDOW == 6) ? 0 : RTCDOW + 1;
break;
}
ResetWatchdog();
// UpdateClockWidget(MSG_OPT_NONE);
}
bool ReadDataQ(void)
{
uchar j;
sprintf(szLo," %02u %02u.%02u.%02u", tiDig.bHour, tiDig.bDay,tiDig.bMonth,tiDig.bYear);
if (SearchDefHouIndex(tiDig) == 0) return(1);
if ((tiDig.bDay == tiCurr.bDay) &&
(tiDig.bMonth == tiCurr.bMonth) &&
(tiDig.bYear == tiCurr.bYear))
j = 47-(tiCurr.bHour*2+tiCurr.bMinute/30);
else
j = 0;
uchar h;
for (h=j; h<48; h++)
{
ResetWatchdog();
MakeDataQ(47-h);
MakeSpecial(tiDig);
if (MakeStopHou(0) == 0) return(0);
ulong dw = DateToHouIndex(tiDigPrev);
dw -= wBaseCurr;
tiDig = HouIndexToDate(dw);
iwDigHou = (wHOURS+iwDigHou-1)%wHOURS;
}
return(1);
}
static void ModifyTimeHandler(tMessage* pMsg)
{
IncRtc(pMsg->Options);
DrawDateTime();
ResetWatchdog(); //battery timer can't be fire
}
int
MenloWiFiArduino::Read()
{
ResetWatchdog(); // Tell watchdog we are still alive
return m_wifi->read();
}
bool ResetNvram(void)
{
uint i;
ShowHi(szMemoryTest1);
for (i=0; i<=dwNVRAM_BYTES/1000; i++)
{
ResetWatchdog();
if (Test1WriteNvramBuff(i*1000, 1000) == false) return false;
if (Test1ReadNvramBuff(i*1000, 1000) == false) return false;
ShowPercent(0 + (uint)20*i/(dwNVRAM_BYTES/1000));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
for (i=0; i<=dwNVRAM_BYTES/1000; i++)
{
ResetWatchdog();
if (Test2WriteNvramBuff(i*1000, 1000, 0x55) == false) return false;
if (Test2ReadNvramBuff(i*1000, 1000, 0x55) == false) return false;
ShowPercent(20 + (uint)20*i/(dwNVRAM_BYTES/1000));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
for (i=0; i<=dwNVRAM_BYTES/1000; i++)
{
ResetWatchdog();
if (Test2WriteNvramBuff(i*1000, 1000, 0xAA) == false) return false;
if (Test2ReadNvramBuff(i*1000, 1000, 0xAA) == false) return false;
ShowPercent(40 + (uint)20*i/(dwNVRAM_BYTES/1000));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
for (i=0; i<=dwNVRAM_BYTES/1000; i++)
{
ResetWatchdog();
if (Test2WriteNvramBuff(i*1000, 1000, 0xFF) == false) return false;
if (Test2ReadNvramBuff(i*1000, 1000, 0xFF) == false) return false;
ShowPercent(60 + (uint)20*i/(dwNVRAM_BYTES/1000));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
for (i=0; i<=dwNVRAM_BYTES/1000; i++)
{
ResetWatchdog();
if (Test2WriteNvramBuff(i*1000, 1000, 0x00) == false) return false;
if (Test2ReadNvramBuff(i*1000, 1000, 0x00) == false) return false;
ShowPercent(80 + (uint)20*i/(dwNVRAM_BYTES/1000));
#ifdef NO_DISPLAY
RunLED_Reset();
#endif
}
return true;
}
int
MenloWiFiArduino::Read(uint8_t* buf, size_t size)
{
ResetWatchdog(); // Tell watchdog we are still alive
return m_wifi->read(buf, size);
}
size_t
MenloWiFiArduino::Write(uint8_t c)
{
ResetWatchdog(); // Tell watchdog we are still alive
return m_wifi->write(c);
}
size_t
MenloWiFiArduino::Write(const uint8_t* buf, size_t size)
{
ResetWatchdog(); // Tell watchdog we are still alive
return m_wifi->write(buf, size);
}
void InitializeWatchdog(void){
WatchdogRunning = 1;
VelCtrlRunning = 0;
VelCtrlRate = 20;
ResetWatchdog();
}
void
MenloWiFiArduino::Flush()
{
ResetWatchdog(); // Tell watchdog we are still alive
return m_wifi->flush();
}
void handleCommMessage(void){
char buffer[COMM_BUFFER_SIZE];
unsigned char function_code = 0;
long i;
buffer[64]=0;
buffer[79]=0;
UARTgets((uint8*)buffer, COMM_BUFFER_SIZE);
//UARTgetMessage(buffer);
//UARTprintf("MESSAGE GET!!%s\r\n", buffer);
if(isValidMessage(buffer))
{
for(i = 0; i < CODE_LENGTH; i++) //generate hash of function code
{
function_code ^= buffer[CODE_START + i];
}
switch(function_code)
{
case SPLM: //JoystickXOut(SATURATE(atoi(&buffer[DATA_START]),0,255));
//UARTprintf("GOOD MESSAGE- SVXA: %s\r\n", buffer);
SetLeftMotor(SATURATE(atoi(&buffer[DATA_START]),-128,127));
VelCtrlRunning = 0;
ResetWatchdog(); //we got a valid message, so they are still talking to us
break;
case SPRM: //JoystickYOut(SATURATE(atoi(&buffer[DATA_START]),0,255));
//UARTprintf("GOOD MESSAGE- SVYA: %s\r\n", buffer);
SetRightMotor(SATURATE(atoi(&buffer[DATA_START]),-128,127));
VelCtrlRunning = 0;
ResetWatchdog(); //we got a valid message, so they are still talking to us
break;
case SAHS: SetHokuyoServo(SATURATE(atoi(&buffer[DATA_START]),-128,127));
break;
case SVLX: UpdateLinearX(atoi(&buffer[DATA_START]));
ResetWatchdog();
VelCtrlRunning = 1;
break;
case SVAZ: UpdateAngularZ(atoi(&buffer[DATA_START]));
VelCtrlRunning = 1;
ResetWatchdog();
break;
case ETFM: EnableSensorFeedbackMessages = 1;
break;
case DTFM: EnableSensorFeedbackMessages = 0;
break;
case RSTE: ResetEncoders();
break;
case STMR: if(1000 % atoi(&buffer[DATA_START]) == 0)
SetMessageRate(atoi(&buffer[DATA_START]));
else
UARTprintf("INVALID MESSAGE RATE (1000%rate must = 0): %s", buffer);
break;
case SETT: SetTime(atoi(&buffer[DATA_START]));
break;
case EHST: EnableHokuyoTilting();
break;
case DHST: DisableHokuyoTilting();
break;
case SHTR: if(1000 % atoi(&buffer[DATA_START]) == 0)
SetHokuyoTiltRate(atoi(&buffer[DATA_START]));
else
UARTprintf("INVALID RATE (1000%rate must = 0): %s", buffer);
break;
case SACD: SetAccelDivisor(atoi(&buffer[DATA_START]));
break;
/*case FLPC: Servo_0_WriteCompare1(atoi(&buffer[DATA_START]));
break;
case FRPC: Servo_0_WriteCompare2(atoi(&buffer[DATA_START]));
break;*/
default: UARTprintf("UNRECOGNIZED MESSAGE: %s\r\n", buffer);
break;
}
}
else
{
UARTprintf("INVALID START CHARACTER: %s\r\n", buffer);
}
}
//
// Attempt to connect
//
void
MenloWiFiArduino::OnConnect()
{
int status;
RDBG_PRINT("ArduinoWiFi OnConnect");
if (m_ssid[0] == '\0') {
SetConnectionTargetState(WiFiConnectionStateNoCredentials);
return;
}
MenloDebug::PrintNoNewline(F("WiFi Attempt conn to "));
MenloDebug::Print(m_ssid);
PrintMacAddress();
ResetWatchdog();
// A NULL Password is ok
if (m_password[0] == '\0') {
MenloDebug::Print(F(" with no password"));
status = WiFi.begin(m_ssid);
}
else {
MenloDebug::PrintNoNewline(F(" with "));
MenloDebug::Print(m_password);
status = WiFi.begin(m_ssid, m_password);
}
ResetWatchdog();
if (status == WL_CONNECTED) {
MenloDebug::PrintNoNewline(F("WiFi Connected with "));
MenloDebug::Print(m_ssid);
// Connected
SetConnectionTargetState(WiFiConnectionStateConnected);
return;
}
if (status == WL_IDLE_STATUS) {
xDBG_PRINT("WL_IDLE_STATUS");
//
// This gets signaled while the board is syncing with the
// network. We need to attempt a retry again it before
// moving onto any new SSID or password, otherwise it will
// the sign on sequence.
//
// stay in the WiFiStatusConnecting state
// fallthrough;
}
else {
MenloDebug::PrintNoNewline(F("WiFi Connect Error Status "));
MenloDebug::PrintHex(status);
// stay in the WiFiStatusConnecting state
PrintMacAddress();
// fallthrough;
}
//
// All Arduino example code for WiFi has a 10 second delay
// after each connection attempt.
//
// Note: This should be done as part of the state machine and
// timer.
//
SetConnectingWait(10 * 1000);
}
