// ============================================================================================
// KEY INPUT PROCESS
// ============================================================================================
void key_input()
{
char input_char = 0;
if (usart.available()) input_char = usart.get();
if(input_char == 0x1b) xboot_reset(); //reboot the board
if(input_char == 'Z') //Reboot whole system
{
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "Z");
temp_time = jiffies + 3000;
while(jiffies < temp_time)
{
LED_PORT.OUTTGL = LED_USR_1_PIN_bm; _delay_ms(100);
}
xboot_reset();
}
// print version number
if(input_char == 'v')
fprintf_P(&usart_stream, PSTR("build number = %ld\r\n"), (unsigned long) &__BUILD_NUMBER);
if(input_char == 'd')
{
if(display) display = false;
else display = true;
}
if(input_char == 'r') //set sec_counter as 0
{
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "r");
sec_counter = 0;
}
// ============================================================================================
/// updateRate commands
// ============================================================================================
// Hold Current Servo Position
if(input_char == 'n'){
fprintf_P(&usart_stream, PSTR("setting updateRate to NONE\n"));
updateRate = NONE;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "n");
}
if(input_char == 's'){
fprintf_P(&usart_stream, PSTR("setting updateRate to 10ms\n"));
updateRate = SMOOTH;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "s");
}
if(input_char == 'h'){
fprintf_P(&usart_stream, PSTR("setting updateRate to 200ms\n"));
updateRate = TWO_HUNDRED;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "h");
}
// ============================================================================================
/// currentMode commands
// ============================================================================================
if(input_char == 'p'){
fprintf_P(&usart_stream, PSTR("'p' - etting currentMode to PERIODIC\n"));
currentMode = PERIODIC;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "p");
}
if(input_char == 'V'){
fprintf_P(&usart_stream, PSTR("'V' - setting currentMode to AVERAGE\n"));
currentMode = AVERAGE;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "V");
}
if(input_char == 'w'){
fprintf_P(&usart_stream, PSTR("'w' - setting currentMode to SWEEP\n"));
currentMode = SWEEP;
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "w");
}
if(input_char == 'c'){
cycleOn = !cycleOn;
fprintf_P(&usart_stream, PSTR("'c' - cycle all modes\n"));
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "c");
}
// ============================================================================================
/// toggle debug print
// ============================================================================================
if(input_char == 'P'){
fprintf_P(&usart_stream, PSTR("'P' - toggling debug printf on/off \n"));
debugPrint = !debugPrint;
}
if(input_char == 'c'){
printKeyCommands();
}
}
// ============================================================================================
// MAIN FUNCTION
// ============================================================================================
int main(void)
{
char input_char;
int end_time;
_delay_ms(50);
init();
xgrid.rx_pkt = &rx_pkt;
LED_PORT.OUT = LED_USR_0_PIN_bm;
fprintf_P(&usart_stream, PSTR("avr-xgrid build %ld\r\n"), (unsigned long) &__BUILD_NUMBER);
swarm_initialization1();
// ##### Initialization of swarm dynamics #####
//switch(program_num){
// case 1: swarm_initialization1(); break;
// case 2: swarm_initialization2(); break;
// case 3: swarm_initialization3(); break;
//}
// ############################################
while (1){
//end_time = jiffies + 200;
if (usart.available()) input_char = usart.get();
// main loop
if (input_char == 0x1b) xboot_reset();
else if(input_char != 0x00){
fprintf_P(&usart_stream, PSTR("CPU: %c\r\n"), input_char);
external_command(input_char);
input_char = 0x00; // clear the most recent computer input
}
if(communication_on){
communication(); // send position data to neighbors
communication_on = false;
}
if(calculation_on){
swarm_calculation1();
calculation_on = false;
}
//LED_PORT.OUTTGL = LED_USR_1_PIN_bm; // toggle yellow LED
// ##### Processing for swarm dynamics #####
//switch(program_num){ // select program
// case 1: swarm_calculation1(); break; // Ken's swarm dynamics
// case 2: swarm_calculation2(); break; // two rythms
// case 3: swarm_calculation3(); break; // Van der Pol Oscillator
// default: no_movement();
//}
// #########################################
if(servo_motor_on){
servo_motor_control(); // servo control
servo_motor_on = false;
}
//if(jiffies>end_time){
// LED_PORT.OUT = LED_USR_1_PIN_bm; // turn on yellow LED
//}
//while(jiffies<end_time);
//if(jiffies>60000) jiffies = 0; //reset jiffies in every 60 sec
}
return 0;
}
/*
* \return 0 on success or 2 in case of an I/O error.
*/
static int NutChatSendString(int fd, char *str)
{
int rc = 0;
u_char eol = 1;
u_char skip;
char ch;
#ifdef NUTDEBUG
if (__chat_trf) {
static prog_char dbgfmt[] = "Send '%s'\n";
fprintf_P(__chat_trs, dbgfmt, str);
}
#endif
/* Flush input buffer. */
_read(fd, 0, 0);
while (*str && eol && rc == 0) {
ch = *str++;
skip = 0;
if (ch == '^') {
ch = *str++;
ch &= 0x1f;
} else if (ch == '\\') {
ch = *str++;
switch (ch) {
case 'b':
ch = '\b';
break;
case 'c':
eol = 0;
skip = 1;
break;
case 'd':
NutSleep(1000);
skip = 1;
break;
case 'n':
ch = '\n';
break;
case 'N':
ch = 0;
break;
case 'p':
NutDelay(100);
skip = 1;
break;
case 'r':
ch = '\r';
break;
case 's':
ch = ' ';
break;
case 't':
ch = '\t';
break;
default:
if (ch >= '0' && ch <= '7') {
ch &= 0x07;
if (*str >= '0' && *str <= '7') {
ch <<= 3;
ch |= *str++ & 0x07;
if (*str >= '0' && *str <= '7') {
ch <<= 3;
ch |= *str++ & 0x07;
}
}
}
break;
}
}
if (skip)
skip = 0;
else {
NutDelay(10);
if (_write(fd, &ch, 1) != 1)
rc = 2;
else
_write(fd, 0, 0);
}
}
if (eol && rc == 0 && _write(fd, "\r", 1) != 1)
rc = 2;
else
_write(fd, 0, 0);
return rc;
}
void pan1322::SetDiscoverable(bool discoverable)
{
fprintf_P(bt_pan1322_out, PSTR("AT+JDIS=%i\r\n"), (discoverable) ? 3 : 0);
this->WaitForOK();
}
void pan1322::StreamTail()
{
fprintf_P(bt_pan1322_out, PSTR("\r\n"));
this->usart->FlushTxBuffer();
}
static stat_t _dispatch()
{
uint8_t status;
// read input line or return if not a completed line
// xio_gets() is a non-blocking workalike of fgets()
while (true) {
if ((status = xio_gets(tg.primary_src, tg.in_buf, sizeof(tg.in_buf))) == STAT_OK) {
tg.bufp = tg.in_buf;
break;
}
// handle end-of-file from file devices
if (status == STAT_EOF) { // EOF can come from file devices only
if (cfg.comm_mode == TEXT_MODE) {
fprintf_P(stderr, PSTR("End of command file\n"));
} else {
rpt_exception(STAT_EOF, 0); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
tg.linelen = strlen(tg.in_buf)+1; // linelen only tracks primary input
strncpy(tg.saved_buf, tg.bufp, SAVED_BUFFER_LEN-1); // save input buffer for reporting
// dispatch the new text line
switch (toupper(*tg.bufp)) { // first char
// case '!': { cm_request_feedhold(); break; } // include for diagnostics
// case '@': { cm_request_queue_flush(); break; }
// case '~': { cm_request_cycle_start(); break; }
case NUL: { // blank line (just a CR)
if (cfg.comm_mode != JSON_MODE) {
tg_text_response(STAT_OK, tg.saved_buf);
}
break;
}
case 'H': { // intercept help screens
cfg.comm_mode = TEXT_MODE;
print_general_help();
tg_text_response(STAT_OK, tg.bufp);
break;
}
case '$': case '?':{ // text-mode configs
cfg.comm_mode = TEXT_MODE;
tg_text_response(cfg_text_parser(tg.bufp), tg.saved_buf);
break;
}
case '{': { // JSON input
cfg.comm_mode = JSON_MODE;
js_json_parser(tg.bufp);
break;
}
default: { // anything else must be Gcode
if (cfg.comm_mode == JSON_MODE) {
strncpy(tg.out_buf, tg.bufp, INPUT_BUFFER_LEN -8); // use out_buf as temp
sprintf(tg.bufp,"{\"gc\":\"%s\"}\n", tg.out_buf);
js_json_parser(tg.bufp);
} else {
tg_text_response(gc_gcode_parser(tg.bufp), tg.saved_buf);
}
}
}
return (STAT_OK);
}
void print_adc_calibration() {
fprintf_P(stderr,PSTR("\n[debug] ADC OFFSETS: "));
for (uint8_t chan=0;chan<CHANNEL_AMT;chan++)
fprintf(stderr," [ %d : %d ] ", chan, adc_offset[chan]);
}
void cmd_err(void) { fprintf_P(&debug, PSTR("Command error\r\n")); }
void check_debug_uart(void) {
static uint8_t inputbuf[RX_LINE_SIZE], inputptr = 0;
uint8_t i, recv;
int16_t ticks;
while(uart_available(DEBUG)) {
recv = uart_get(DEBUG);
if(recv == '\r') {
fprintf(&debug, "\r\n");
if(inputptr) {
switch(inputbuf[0]) {
case '?': // print drive command list
fprintf_P(&debug, PSTR("stop() ........................ | p00\r\n"));
fprintf_P(&debug, PSTR("fwd_both(speed) ............... | p0300, p0400, p15 u8\r\n"));
fprintf_P(&debug, PSTR("rev_both(speed) ............... | p0301, p0401, p15 u8\r\n"));
fprintf_P(&debug, PSTR("forward(Lspeed, Rspeed) ....... | p0300, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("reverse(Lspeed, Rspeed) ....... | p0301, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCCW(Lspeed, Rspeed) ....... | p0301, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCW (Lspeed, Rspeed) ....... | p0300, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("set_abs_pos(pos) .............. | p1a s16\r\n"));
fprintf_P(&debug, PSTR("set_rel_pos(sect, pos) ........ | p1b u8 u8\r\n"));
fprintf_P(&debug, PSTR("pos_corr_on() ................. | p1f01\r\n"));
fprintf_P(&debug, PSTR("pos_corr_off() ................ | p1f00\r\n"));
fprintf_P(&debug, PSTR("nav_abs_pos(speed, pos) ....... | p31 u8 s16\r\n"));
fprintf_P(&debug, PSTR("nav_rel_pos(speed, sect, pos) . | p32 u8 u8 u8\r\n"));
break;
case 'p': // passthrough to DRIVE MCU
for(i = 1; i < inputptr; i++) { uart_put(DRIVE, inputbuf[i]); }
uart_put(DRIVE, '\r');
break;
case 'r': // toggle reverse passthrough from DRIVE MCU
rev_passthru ^= 1;
break;
case 'd': // local dump on/off
local_dump ^= 1;
break;
case 's': // start/stop main thread
run_main ^= 1;
if(run_main) { fprintf_P(&debug, PSTR("Main thread started!\r\n")); }
else { fprintf_P(&debug, PSTR("Main thread stopped!\r\n")); stop(); }
break;
case 't': // start/stop test thread
if(inputptr != 2) { cmd_err(); break; }
run_test = htoa(0, inputbuf[1]);
if(!run_test) { fprintf_P(&debug, PSTR("All test sequences stopped!\r\n")); stop(); }
else { fprintf_P(&debug, PSTR("Started test sequence %u!\r\n"), run_test); }
break;
case ' ': // stop all motors
run_main = 0;
run_test = 0;
pid_on = 0;
stop();
set_speed_3(0);
set_speed_4(0);
break;
case 'u':
fprintf_P(&debug, PSTR("%lu\r\n"), uptime());
break;
case 'b':
#define VBAT_FACTOR 0.0044336
fprintf_P(&debug, PSTR("4 x %1.2fV\r\n"), (float)read_adc(VSENS) * VBAT_FACTOR);
break;
case 'm': // servo power
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
inputbuf[1] == '0' ? clr_bit(SPWR) : set_bit(SPWR);
break;
case '9': // magnets
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { clr_bit(FET1); clr_bit(FET2); fprintf_P(&debug, PSTR("Magnets off!\r\n")); }
else { set_bit(FET1); set_bit(FET2); fprintf_P(&debug, PSTR("Magnets on!\r\n")); }
break;
case '1': // PID on/off
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { pid_on = 0; fprintf_P(&debug, PSTR("PID off!\r\n")); }
else { pid_on = 1; fprintf_P(&debug, PSTR("PID on!\r\n")); reset_pid(); }
break;
case '3': // turn motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // forward (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_fwd();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // reverse (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_rev();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case 'f': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
ticks = deg2ticks(htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]));
cli();
V_encoder = ticks;
sei();
reset_pid();
break;
default:
cmd_err();
}
break;
case '4': // lift motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // up (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_fwd();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // down (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_rev();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
default:
cmd_err();
}
break;
case '5': // servo5 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo5(htoa(inputbuf[2], inputbuf[3]));
//OCR0A = htoa(inputbuf[1], inputbuf[2]);
break;
case '6': // servo6 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo6(htoa(inputbuf[2], inputbuf[3]));
//OCR0B = htoa(inputbuf[1], inputbuf[2]);
break;
case '7': // servo7 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo7(htoa(inputbuf[2], inputbuf[3]));
//OCR2A = htoa(inputbuf[1], inputbuf[2]);
break;
case '8': // servo8 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo8(htoa(inputbuf[2], inputbuf[3]));
//OCR2B = htoa(inputbuf[1], inputbuf[2]);
break;
case 'x':
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '1': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param1 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '2': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param2 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param3 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param4 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param5 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
}
break;
default:
cmd_err();
}
inputptr = 0;
}
}
else if(recv == 0x7f) {
if(!inputptr) { uart_put(DEBUG, '\a'); }
else {
fprintf(&debug, "\b\e[K");
inputptr--;
}
}
else {
if(inputptr == RX_LINE_SIZE) { uart_put(DEBUG, '\a'); }
else {
uart_put(DEBUG, recv);
inputbuf[inputptr] = recv;
inputptr++;
}
}
}
static void put_addr_row( FILE * stream, char *n1, char *n2, uint32_t addr )
{
static prog_char tfmt[] = "<TR><TD> %s </TD><TD> %s </TD><TD> %s </TD></TR>\r\n";
if( n1 == 0 ) n1 = "IP Address";
fprintf_P( stream, tfmt, n1, n2, inet_ntoa(addr) );
}
int CgiNetIO( FILE * stream, REQUEST * req )
{
char *name = 0;
char *value = 0;
char tmp[100] = "";
if (req->req_query)
{
char *pname;
char *pvalue;
int i;
int count;
strncpy( tmp, req->req_query, sizeof(tmp)-1 );
count = NutHttpGetParameterCount(req);
/* Extract count parameters. */
for (i = 0; i < count; i++)
{
pname = NutHttpGetParameterName(req, i);
pvalue = NutHttpGetParameterValue(req, i);
/* Send the parameters back to the client. */
// fprintf_P(stream, PSTR("%s: %s<BR>\r\n"), pname, pvalue);
if( 0 == strcmp( pname, "name" ) ) name = pvalue;
if( 0 == strcmp( pname, "item" ) ) name = pvalue;
if( 0 == strcmp( pname, "val" ) ) value = pvalue;
if( 0 == strcmp( pname, "value" ) ) value = pvalue;
}
}
if( name == 0 )
{
//httpSendString( stream, "Error: must be 'name' and, possibly, 'value' parameters" );
// errmsg:
//NutHttpSendHeaderTop(stream, req, 500, "Must have ?name= or ?name=&value=, name: adc{0-7}, dig{0-63}, temp{0-7}");
web_header_200(stream, req);
static prog_char h1[] = "<HTML><body> Must have ?name= or ?name=&value=, name: adc{0-7}, temp{0-7}, q='%s' </body></HTML>";
fprintf_P( stream, h1, tmp );
return 0;
}
if( value )
{
// Write
int rc = setNamedParameter( name, value );
if( rc )
{
web_header_200(stream, req);
static prog_char h1[] = "<HTML><body>set %s rc=%d</body></HTML>";
fprintf_P(stream, h1, name, rc );
return 0;
}
httpSendString( stream, req, "Ok" );
notice_activity();
}
else
{
char *data = getNamedParameter( name );
if( data == 0 )
{
// goto errmsg;
web_header_200(stream, req);
static prog_char h1[] = "<HTML><body>no data for %s</body></HTML>";
fprintf_P(stream, h1, name );
return 0;
}
httpSendString( stream, req, data );
notice_activity();
}
return 0;
}
int main(void)
{
//char old_btn = 0;
//char btn;
uint32_t j = 0;
char input_char, first_char;
_delay_ms(50);
init();
xgrid.rx_pkt = &rx_pkt;
LED_PORT.OUT = LED_USR_0_PIN_bm;
fprintf_P(&usart_stream, PSTR("avr-xgrid build %ld\r\n"), (unsigned long) &__BUILD_NUMBER);
/*
char str[] = "boot up";
Xgrid::Packet pkt;
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 4;
xgrid.send_packet(&pkt);
*/
if (usart.available())
{
first_char = usart.get();
}
while (1)
{
if (usart.available())
{
input_char = usart.get();
}
// main loop
if (input_char == 0x1b)
xboot_reset();
else if(input_char == 0x00)
{
//fprintf_P(&usart_stream, PSTR("received: first char (%i)**\r\n"),first_char);
}
else
{
fprintf_P(&usart_stream, PSTR("CPU: %c**\r\n"), input_char);
if (input_char == 'a')
{
char str[] = "A";
Xgrid::Packet pkt; // Packet is defined onl line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 4;
xgrid.send_packet(&pkt);
}
else if(input_char == 'y')
{
LED_PORT.OUTTGL = LED_USR_1_PIN_bm;
}
else if (input_char == '1')
{
char str[] = "1";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 1;
xgrid.send_packet(&pkt);
}
else if (input_char == '2')
{
char str[] = "22";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 2;
xgrid.send_packet(&pkt);
}
else if (input_char == '3')
{
char str[] = "333";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 3;
xgrid.send_packet(&pkt);
}
else if (input_char == '4')
{
char str[] = "4444";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 4;
xgrid.send_packet(&pkt);
}
else if (input_char == '5')
{
char str[] = "55555";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 5;
xgrid.send_packet(&pkt);
}
else if (input_char == '6')
{
char str[] = "666666";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 6;
xgrid.send_packet(&pkt);
}
else if (input_char == '7')
{
char str[] = "7777777";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 7;
xgrid.send_packet(&pkt);
}
else if (input_char == '8')
{
char str[] = "88888888";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 8;
xgrid.send_packet(&pkt);
}
else if (input_char == '9')
{
char str[] = "999999999";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 9;
xgrid.send_packet(&pkt);
}
else if (input_char == '0')
{
char str[] = "1010101010";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 10;
xgrid.send_packet(&pkt);
}
else if (input_char == '-')
{
char str[] = "11111111111";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 11;
xgrid.send_packet(&pkt);
}
else if (input_char == '=')
{
char str[] = "121212121212";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 12;
xgrid.send_packet(&pkt);
}
else if (input_char == '[')
{
char str[] = "1313131313131";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 13;
xgrid.send_packet(&pkt);
}
else if (input_char == ']')
{
char str[] = "14141414141414";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 14;
xgrid.send_packet(&pkt);
}
input_char = 0x00;
}
j = jiffies + 10;
while (j > jiffies) { };
}
}
enum pop_process_result pop_process(void) {
enum popstate psn = ps;
enum pop_process_result result = pp_continue;
enum popreply preply;
char * line = NULL;
if (ps == pstart) {
mail_using_modem = true;
uart0_flush();
wifi_connectgpio();
// 10 seconden timeout voor het leggen van de verbinding
ptrycounter = 10;
psn = pconnectioninitiated;
} else if (ps == pconnectioninitiated) {
// verbonden?
if (wifi_isconnectedgpio()) {
psn = pconnected;
} else {
if (ptrycounter == 0) {
psn = pfinished;
fprintf_P(pcout, PSTR("P connection failed\r\n"));
result = pp_connectionfailed;
}
}
} else if (ps == pconnected) {
// Verbonden!, login sturen
if (uart0_havenewline()) {
line = uart0_readline();
preply = pop_read_reply(line);
if (preply == pok) {
printf_P(PSTR("USER %s\r\n"), currentsettings.username);
psn = ploginsent;
} else if (preply == perr) {
fprintf_P(pcout, PSTR("P Connect error %s\r\n"), line);
psn = pfinished;
}
}
} else if (ps == ploginsent) {
if(uart0_havenewline()) {
line = uart0_readline();
fprintf_P(pcout, PSTR("L %s\r\n"),line);
preply = pop_read_reply(line);
if (preply == pok) {
fprintf_P(pcout, PSTR("P login ok\r\n"));
psn = ploginok;
} else if (preply == perr) {
fprintf_P(pcout, PSTR("P error sending username %s\r\n"),line);
psn = ploginerr;
}
}
} else if (ps == ploginerr) {
psn = pfinished;
} else if (ps == ploginok) {
printf_P(PSTR("PASS %s\r\n"), currentsettings.password);
psn = ppassent;
} else if (ps == ppassent) {
if(uart0_havenewline()) {
line = uart0_readline();
fprintf_P(pcout, PSTR("L %s\r\n"),line);
preply = pop_read_reply(line);
if (preply == pok) {
psn = ppassok;
} else if (preply == perr) {
fprintf_P(pcout, PSTR("P error sending password %s\r\n"),line);
psn = ppasserr;
}
}
} else if (ps == ppasserr) {
psn = pfinished;
} else if (ps == ppassok) {
psn = ploggedin;
} else if (ps == ploggedin) {
printf_P(PSTR("STAT\r\n"));
psn = pstatsent;
} else if (ps == pstatsent) {
if (uart0_havenewline()) {
line = uart0_readline();
fprintf_P(pcout, PSTR("L %s\r\n"),line);
preply = pop_read_reply(line);
if (preply == pok) {
preply = pop_read_num_messages(line);
if (pmailcount > MAXMESSAGES) {
currentmailno = pmailcount;
lastmsgtoreceive = pmailcount - MAXMESSAGES+1;;
receivingpos = 0;
psn = pquerymsgtop;
} else if (pmailcount == 0){
mails.fillcount = 0;
psn = pquit;
} else {
currentmailno = pmailcount;
lastmsgtoreceive = 1;
receivingpos = 0;
psn = pquerymsgtop;
}
} else if (preply == perr) {
fprintf_P(pcout, PSTR("P error in STAT %d, %s\r\n"),preply,line);
psn = pfinished;
}
}
} else if (ps == pquerymsgtop) {
printf_P(PSTR("TOP %lu 0\r\n"),currentmailno);
psn = pmsgtopok;
} else if (ps == pmsgtopok) {
if (uart0_havenewline()) {
line = uart0_readline();
preply = pop_read_reply(line);
if (preply == pok) {
psn = preceivemsgtop;
mails.m[receivingpos].sender[0] = '\0';
mails.m[receivingpos].title[0] = '\0';
mails.m[receivingpos].time[0] = '\0';
} else if (preply == perr){
fprintf_P(pcout, PSTR("P error in TOP %s\r\n"),line);
psn = pfinished;
}
}
} else if (ps == preceivemsgtop) {
if (uart0_havenewline()) {
line = uart0_readline();
if (read_field(strFROMUCASE,line,mails.m[receivingpos].sender, MAXSENDERLENGHT)==ifound) {
fprintf_P(pcout, PSTR("P read sender %s\r\n"),mails.m[receivingpos].sender);
} else if (read_field(strSUBJECTUCASE,line,mails.m[receivingpos].title, MAXTITLELENGHT)==ifound) {
fprintf_P(pcout, PSTR("P read subject %s\r\n"),mails.m[receivingpos].title);
} else if (read_field(strDATEUCASE,line,mails.m[receivingpos].time, MAXTIMELENGHT)==ifound) {
fprintf_P(pcout, PSTR("P read date %s\r\n"),mails.m[receivingpos].time);
} else if (line[0] == '.') {
// einde van de headers
currentmailno--;
receivingpos++;
// klopt nog niet!!
if (currentmailno >= lastmsgtoreceive) {
psn = pquerymsgtop;
} else {
mails.fillcount=min(pmailcount,MAXMESSAGES);
psn = pquit;
}
}
}
} else if (ps == pquit) {
printf_P(PSTR("QUIT\r\n"));
psn = pfinished;
} else if (ps == pfinished) {
wifi_disconnectgpio();
mails.filling = false;
mail_using_modem = false;
result = pp_done;
psn = pstart;
}
if (ps!=psn) {
fprintf_P(pcout, PSTR("P State: %s %s\r\n"),popstateinfo[ps],popstateinfo[psn]);
// max 30 sec in dezelfde state
pcurrentstatecounter = 30;
} else {
if (pcurrentstatecounter == 0) {
mails.filling = false;
fprintf_P(pcout, PSTR("# fsm frozen\r\n"));
wifi_disconnectgpio();
result = pp_fsmfrozen;
psn = pstart;
}
}
ps = psn;
return result;
}
/*----------------------------------------------*/
VOID event_loop( VOID )
{
T_SYS_EVENT t_sys_event = E_EVENT_IDLE;
T_SYS_EVENT_TBL *pt_sys_event_tbl;
UINT ui_loopnum;
#ifdef CO_ENABLE_EVENT_TRACE_LOG
Usart_Set_Stderr();
#endif
while( 1 ) {
//#ifdef CO_ENABLE_EVENT_TRACE_LOG
// fprintf_P( stderr, PSTR( "wait next event\n") );
//#endif
#ifdef CO_ENABLE_I2C_SLAVE_READ
if( t_sys_event == E_EVENT_I2C_SLAVE_READ ) {
i2c_slave_read_event_finish();
}
#endif
#ifdef CO_SLEEP_ENABLE
sleep_cpu();
#endif
t_sys_event = get_event();
//#ifdef CO_ENABLE_EVENT_TRACE_LOG
// fprintf_P( stderr, PSTR( "recv event=%u, stat=%u\n"), t_sys_event, _gt_sys_stat );
//#endif
#ifdef CO_SLEEP_ENABLE
// すべての割り込みハンドラ内でsleep_disable()を実施している。
// そうすることで、ループ先頭のsleep_enable()～ループ終端のsleep()までの間に割り込みが
// 発生してもsleep()しなくなる。
// sleep()するのは、sleep_enable()～sleep()までの間に割り込みが一度も発生しない場合のみとなる。
cli();
sleep_enable();
sei();
#endif
#ifdef CO_ENABLE_EVENT_TRACE_LOG
if( t_sys_event != E_EVENT_IDLE ) {
fprintf_P( stderr, PSTR( "begin event=%u, stat=%u\n"), t_sys_event, _gt_sys_stat );
}
#endif
/* TODO:ステータスチェンジはgo_sys_stat()でやれば良い */
pt_sys_event_tbl = NULL;
for( ui_loopnum = 0; gt_sys_stat_tbl[ui_loopnum].pt_sys_event_tbl != NULL; ui_loopnum++ ) {
if( gt_sys_stat_tbl[ui_loopnum].t_sys_stat == _gt_sys_stat ) {
pt_sys_event_tbl = gt_sys_stat_tbl[ui_loopnum].pt_sys_event_tbl;
break;
}
}
if( pt_sys_event_tbl == NULL ) {
#ifdef CO_ENABLE_EVENT_TRACE_LOG
fprintf_P( stderr, PSTR("unknown sys stat event=%u, stat=%u\n"), t_sys_event, _gt_sys_stat );
#endif
continue;
}
for( ui_loopnum = 0; pt_sys_event_tbl[ui_loopnum].fn_hdl != NULL; ui_loopnum++ ) {
if( pt_sys_event_tbl[ui_loopnum].t_sys_event == t_sys_event ) {
#ifdef CO_ENABLE_EVENT_TRACE_LOG
int i_ret = pt_sys_event_tbl[ui_loopnum].fn_hdl();
if( i_ret != 0 ) {
fprintf_P( stderr, PSTR("event handler error returned, ret=%d\n"), i_ret );
}
#else
(VOID)pt_sys_event_tbl[ui_loopnum].fn_hdl();
#endif
break;
}
}
if( pt_sys_event_tbl[ui_loopnum].fn_hdl == NULL ) {
#ifdef CO_ENABLE_EVENT_TRACE_LOG
fprintf_P( stderr, PSTR("unknown sys event event=%u, stat=%u\n"), t_sys_event, _gt_sys_stat );
#endif
continue;
}
#ifdef CO_ENABLE_EVENT_TRACE_LOG
if( t_sys_event != E_EVENT_IDLE ) {
fprintf_P( stderr, PSTR("return event loop stat=%u\n\n"), _gt_sys_stat );
}
#endif
}
}
stat_t _command_dispatch()
{
#ifdef __AVR
stat_t status;
// read input line or return if not a completed line
// xio_gets() is a non-blocking workalike of fgets()
while (true) {
if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
cs.bufp = cs.in_buf;
break;
}
// handle end-of-file from file devices
if (status == STAT_EOF) { // EOF can come from file devices only
if (cfg.comm_mode == TEXT_MODE) {
fprintf_P(stderr, PSTR("End of command file\n"));
} else {
rpt_exception(STAT_EOF); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
#endif // __AVR
#ifdef __ARM
// detect USB connection and transition to disconnected state if it disconnected
if (SerialUSB.isConnected() == false) cs.state = CONTROLLER_NOT_CONNECTED;
// read input line and return if not a completed line
if (cs.state == CONTROLLER_READY) {
if (read_line(cs.in_buf, &cs.read_index, sizeof(cs.in_buf)) != STAT_OK) {
cs.bufp = cs.in_buf;
return (STAT_OK); // This is an exception: returns OK for anything NOT OK, so the idler always runs
}
} else if (cs.state == CONTROLLER_NOT_CONNECTED) {
if (SerialUSB.isConnected() == false) return (STAT_OK);
cm_request_queue_flush();
rpt_print_system_ready_message();
cs.state = CONTROLLER_STARTUP;
} else if (cs.state == CONTROLLER_STARTUP) { // run startup code
cs.state = CONTROLLER_READY;
} else {
return (STAT_OK);
}
cs.read_index = 0;
#endif // __ARM
#ifdef __RX
stat_t status;
parse_gcode_func_selection(CODE_PARSER);
// read input line or return if not a completed line
// xio_gets() is a non-blocking workalike of fgets()
while (true) {
if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
cs.bufp = cs.in_buf;
break;
}
// handle end-of-file from file devices
if (status == STAT_EOF) { // EOF can come from file devices only
//gfilerunning = false;
xio_close(cs.primary_src);
// macro_func_ptr = command_idle;
if (cfg.comm_mode == TEXT_MODE) {
fprintf_P(stderr, PSTR("End of command file\n"));
} else {
rpt_exception(STAT_EOF); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
#endif // __AVR
// set up the buffers
cs.linelen = strlen(cs.in_buf)+1; // linelen only tracks primary input
strncpy(cs.saved_buf, cs.bufp, SAVED_BUFFER_LEN-1); // save input buffer for reporting
// dispatch the new text line
switch (toupper(*cs.bufp)) { // first char
case '!': { cm_request_feedhold(); break; } // include for AVR diagnostics and ARM serial
case '%': { cm_request_queue_flush(); break; }
case '~': { cm_request_cycle_start(); break; }
case NUL: { // blank line (just a CR)
if (cfg.comm_mode != JSON_MODE) {
text_response(STAT_OK, cs.saved_buf);
}
break;
}
case '$': case '?': case 'H': { // text mode input
cfg.comm_mode = TEXT_MODE;
text_response(text_parser(cs.bufp), cs.saved_buf);
break;
}
case '{': { // JSON input
cfg.comm_mode = JSON_MODE;
json_parser(cs.bufp);
break;
}
default: { // anything else must be Gcode
if (cfg.comm_mode == JSON_MODE) { // run it as JSON...
strncpy(cs.out_buf, cs.bufp, INPUT_BUFFER_LEN -8); // use out_buf as temp
sprintf((char *)cs.bufp,"{\"gc\":\"%s\"}\n", (char *)cs.out_buf); // '-8' is used for JSON chars
json_parser(cs.bufp);
} else { //...or run it as text
text_response(gc_gcode_parser(cs.bufp), cs.saved_buf);
}
}
}
return (STAT_OK);
}
void gui_dialog_loop()
{
if (gui_dialog_style & GUI_STYLE_NO_TITLE)
{
//no title mode (GUI_STYLE_NO_TITLE is set)
disp.DrawRectangle(0, 0, GUI_DISP_WIDTH - 2, GUI_DISP_HEIGHT - 2, 1, false);
}
else
{
//normal mode
gui_dialog(gui_dialog_msg_line0);
}
disp.LoadFont(F_TEXT_M);
uint8_t f_h = disp.GetTextHeight();
if ((gui_dialog_style & GUI_STYLE_MASK) == GUI_STYLE_STATS)
{
//if new flight has begin exit the stat screen
if (fc.flight.state != FLIGHT_LAND)
{
gui_dialog_cb(1);
}
uint32_t diff = fc.flight.timer / 1000;
uint8_t hour, min;
hour = diff / 3600;
diff %= 3600;
min = diff / 60;
diff %= 60;
char tmp[32];
disp.GotoXY(GUI_DIALOG_LEFT, GUI_DIALOG_TOP + f_h * 0);
if (hour > 0)
fprintf_P(lcd_out, PSTR("%02d:%02d"), hour, min);
else
fprintf_P(lcd_out, PSTR("%02d.%02d"), min, diff);
strcpy_P(tmp, PSTR("Alt"));
gui_raligh_text(tmp, (GUI_DIALOG_WIDTH * 2) / 3 - 2, GUI_DIALOG_TOP + f_h * 0);
strcpy_P(tmp, PSTR("Vario"));
gui_raligh_text(tmp, GUI_DIALOG_RIGHT + 1, GUI_DIALOG_TOP + f_h * 0);
sprintf_P(tmp, PSTR("%dm"), fc.flight.stats.max_alt);
gui_raligh_text(tmp, (GUI_DIALOG_WIDTH * 2) / 3 - 2, GUI_DIALOG_TOP + f_h * 1);
sprintf_P(tmp, PSTR("%dm"), fc.flight.stats.min_alt);
gui_raligh_text(tmp, (GUI_DIALOG_WIDTH * 2) / 3 - 2, GUI_DIALOG_TOP + f_h * 2);
sprintf_P(tmp, PSTR("%0.1fm"), (float)fc.flight.stats.max_climb / 100.0);
gui_raligh_text(tmp, GUI_DIALOG_RIGHT + 1, GUI_DIALOG_TOP + f_h * 1);
sprintf_P(tmp, PSTR("%0.1fm"), (float)fc.flight.stats.max_sink / 100.0);
gui_raligh_text(tmp, GUI_DIALOG_RIGHT + 1, GUI_DIALOG_TOP + f_h * 2);
disp.LoadFont(F_TEXT_S);
disp.GotoXY(GUI_DIALOG_LEFT, GUI_DIALOG_TOP + f_h * 1 + 2);
fprintf_P(lcd_out, PSTR("max"));
disp.GotoXY(GUI_DIALOG_LEFT, GUI_DIALOG_TOP + f_h * 2 + 2);
fprintf_P(lcd_out, PSTR("min"));
}
else
{
uint8_t top;
if (gui_dialog_style & GUI_STYLE_NO_TITLE)
{
//no title mode (GUI_STYLE_NO_TITLE is set)
top = 3;
disp.GotoXY(GUI_DIALOG_LEFT, top + f_h * 0);
fprintf_P(lcd_out, PSTR("%s"), gui_dialog_msg_line0);
}
else
{
//normal mode
top = GUI_DIALOG_TOP - f_h;
}
disp.GotoXY(GUI_DIALOG_LEFT, top + f_h * 1);
fprintf_P(lcd_out, PSTR("%s"), gui_dialog_msg_line1);
disp.GotoXY(GUI_DIALOG_LEFT, top + f_h * 2);
fprintf_P(lcd_out, PSTR("%s"), gui_dialog_msg_line2);
disp.GotoXY(GUI_DIALOG_LEFT, top + f_h * 3);
fprintf_P(lcd_out, PSTR("%s"), gui_dialog_msg_line3);
}
disp.LoadFont(F_TEXT_S);
f_h = disp.GetAHeight();
switch (gui_dialog_style & GUI_STYLE_MASK)
{
case(GUI_STYLE_OK):
case(GUI_STYLE_STATS):
gui_caligh_text_P(PSTR("OK"), GUI_DIALOG_LEFT + GUI_DIALOG_WIDTH / 2, GUI_DIALOG_BOTTOM - f_h);
break;
case(GUI_STYLE_OKCANCEL):
gui_caligh_text_P(PSTR("OK"), GUI_DIALOG_LEFT + GUI_DIALOG_WIDTH / 2, GUI_DIALOG_BOTTOM - f_h);
gui_raligh_text_P(PSTR("Cancel"), GUI_DIALOG_RIGHT - 1, GUI_DIALOG_BOTTOM - f_h);
break;
case(GUI_STYLE_YESNO):
gui_caligh_text_P(PSTR("Yes"), GUI_DIALOG_LEFT + GUI_DIALOG_WIDTH / 2, GUI_DIALOG_BOTTOM - f_h);
gui_raligh_text_P(PSTR("No"), GUI_DIALOG_RIGHT - 1, GUI_DIALOG_BOTTOM - f_h);
break;
case(GUI_STYLE_TIMESET):
gui_caligh_text_P(PSTR("GPS"), GUI_DIALOG_LEFT + GUI_DIALOG_WIDTH / 2, GUI_DIALOG_BOTTOM - f_h);
gui_raligh_text_P(PSTR("Manual"), GUI_DIALOG_RIGHT - 1, GUI_DIALOG_BOTTOM - f_h);
break;
case(GUI_STYLE_FORMAT):
gui_caligh_text_P(PSTR("No"), GUI_DIALOG_LEFT + GUI_DIALOG_WIDTH / 2, GUI_DIALOG_BOTTOM - f_h);
gui_raligh_text_P(PSTR("Yes"), GUI_DIALOG_RIGHT - 1, GUI_DIALOG_BOTTOM - f_h);
break;
}
}
void gui_list_draw()
{
char tmp_text[64];
char tmp_sub_text[32];
uint8_t flags;
disp.LoadFont(F_TEXT_M);
uint8_t t_h = disp.GetTextHeight();
int16_t y = gui_list_y_offset;
int8_t height;
int16_t total_height = 0;
uint8_t sub_height;
//emulate middle click
if (button_in_reset(B_MIDDLE))
{
if (task_get_ms_tick() - gui_list_middle_hold > BUTTON_LONG)
{
gui_switch_task(gui_list_back);
if ((config.gui.menu_audio_flags & CFG_AUDIO_MENU_BUTTONS) && gui_buttons_override == false)
seq_start(&snd_menu_exit, config.gui.menu_volume);
}
}
else
gui_list_middle_hold = task_get_ms_tick();
for (uint8_t i = 0; i < gui_list_size; i++)
{
flags = 0;
if (i < gui_list_size - 1)
{
gui_list_gen_f(i, tmp_text, &flags, tmp_sub_text);
}
else
{
strcpy_P(tmp_text, PSTR("back"));
flags = GUI_LIST_BACK;
}
uint8_t x_val = 5;
switch(flags & GUI_LIST_T_MASK)
{
case(GUI_LIST_FOLDER):
x_val = 5;
break;
case(GUI_LIST_BACK):
x_val = 2;
break;
case(GUI_LIST_TITLE):
x_val = 1;
disp.LoadFont(F_TEXT_S);
t_h = disp.GetTextHeight();
break;
}
height = 1 + t_h;
if ((flags & GUI_LIST_T_MASK) == GUI_LIST_SUB_TEXT)
{
sub_height = disp.GetTextHeight();
height += sub_height;
}
if (gui_list_index[gui_task] == i)
{
if (y < 0)
gui_list_y_offset = -total_height;
if (y > GUI_DISP_HEIGHT - height)
gui_list_y_offset = -total_height + GUI_DISP_HEIGHT - height;
}
if (y > GUI_DISP_HEIGHT)
continue;
disp.GotoXY(x_val, y + 1);
fprintf_P(lcd_out, PSTR("%s"), tmp_text);
//sub text
if ((flags & GUI_LIST_T_MASK) == GUI_LIST_SUB_TEXT)
gui_raligh_text(tmp_sub_text, GUI_DISP_WIDTH - 3, y + t_h + 1);
//tick
if ((flags & GUI_LIST_T_MASK) == GUI_LIST_CHECK_OFF || (flags & GUI_LIST_T_MASK) == GUI_LIST_CHECK_ON)
{
disp.DrawRectangle(GUI_DISP_WIDTH - 9, y + 1, GUI_DISP_WIDTH - 3, y + 7, 1, 0);
if ((flags & GUI_LIST_T_MASK) == GUI_LIST_CHECK_ON)
{
disp.DrawLine(GUI_DISP_WIDTH - 8, y + 5, GUI_DISP_WIDTH - 7, y + 6, 1);
disp.DrawLine(GUI_DISP_WIDTH - 6, y + 5, GUI_DISP_WIDTH - 4, y + 3, 1);
}
}
//disabled entry
if (flags & GUI_LIST_DISABLED)
{
for (uint8_t cx = 0; cx < GUI_DISP_WIDTH - 1; cx++)
for (uint8_t cy = y + cx % 2 + 1; cy < y + t_h; cy += 2)
disp.PutPixel(cx, cy, 0);
}
//selector
if (gui_list_index[gui_task] == i)
{
disp.Invert(0, y, GUI_DISP_WIDTH - 1, y + height - 1);
disp.PutPixel(0, y, 0);
disp.PutPixel(GUI_DISP_WIDTH - 1, y, 0);
disp.PutPixel(GUI_DISP_WIDTH - 1, y + height - 1, 0);
disp.PutPixel(0, y + height - 1, 0);
}
if ((flags & GUI_LIST_T_MASK) == GUI_LIST_TITLE)
{
//restore font
disp.LoadFont(F_TEXT_M);
t_h = disp.GetTextHeight();
}
y += height;
total_height += height;
}
}
// ============================================================================================
// switches between all the sensor modes
// if behavior has been altered by sensor interaction returns true (except RATE)
// ============================================================================================
bool sensorBehavior(){
bool updated = false;
if (presMode != lastPresMode){
if (presenceDetected && !ignorePresence){
// smooth transition when changing presence modes
fprintf_P(&usart_stream, PSTR("changePresMode\r\n"));
startXFade(0.01);
}
switch(presMode){
case POINT:
presenceTimeOut = 6; // in seconds
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = true;
break;
case RANDOM:
presenceTimeOut = 8;
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = false;
break;
case RATE:
presenceTimeOut = 20;
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = false;
break;
case SHAKE:
presenceTimeOut = 8;
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = false;
break;
case WAVE:
presenceTimeOut = 4;
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = true;
break;
case RHYTHM:
presenceTimeOut = 40;
neighborPresenceTimeOut = presenceTimeOut;
usingNeighborPresence = false;
break;
}
}
// because for rate there is no change of angle just update rate so don't need to transition
if(newPresence && presMode != RATE && presMode != IGNORE){
fprintf_P(&usart_stream, PSTR("newPres\r\n"));
startXFade(0.1);
}
if (newNeighborPresence && usingNeighborPresence){
newNeighborPresence = false;
switch(presMode){
case POINT:
fprintf_P(&usart_stream, PSTR("new neighbor\r\n"));
if (neighborPresenceDetected)
startXFade(0.05);
else
startXFade(0.01);
break;
}
}
switch(presMode)
{
case POINT:
updated = point();
break;
case SHAKE:
updated = presenceWave(false);
break;
case WAVE:
updated = presenceWave(true);
break;
case RANDOM:
updated = randomAngle();
break;
case RATE:
updated = randomUpdateRate();
break;
case RHYTHM:
updated = toFro();
case IGNORE: // do nothing
break;
}
return updated;
}
int main(void)
{
//char old_btn = 0;
//char btn;
uint32_t j = 0;
char input_char, first_char;
_delay_ms(50);
init();
xgrid.rx_pkt = &rx_pkt;
LED_PORT.OUT = LED_USR_0_PIN_bm;
fprintf_P(&usart_stream, PSTR("avr-xgrid build %ld\r\n"), (unsigned long) &__BUILD_NUMBER);
/*
char str[] = "boot up";
Xgrid::Packet pkt;
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 4;
xgrid.send_packet(&pkt);
*/
// KEN'S CODE
swarm_initialization();
int16_t servo_position_deg = 0; // servo position in degrees
// END KEN'S CODE
if (usart.available())
{
first_char = usart.get();
}
while (1)
{
j = jiffies + 10; // from here, you have 10 ms to reach the bottom of this loop
if (usart.available())
{
input_char = usart.get();
}
// main loop
if (input_char == 0x1b)
xboot_reset();
else if(input_char != 0x00)
{
fprintf_P(&usart_stream, PSTR("CPU: %c**\r\n"), input_char);
if (input_char == 'a')
{
char str[] = "A";
Xgrid::Packet pkt; // Packet is defined on line 72 of xgrid.h
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 1;
pkt.data = (uint8_t *)str;
pkt.data_len = 4;
xgrid.send_packet(&pkt);
}
else if(input_char == 'y')
{
LED_PORT.OUTTGL = LED_USR_1_PIN_bm;
}
input_char = 0x00; // clear the most recent computer input
}
// KEN'S CODE:
//swarm_communication();
//swarm_calculation();
servo_motor_control();
// END KEN'S CODE
if(jiffies > j) // if TRUE, then we took too long to get here, halt program
{
cli(); //disable_interrupts
LED_PORT.OUTSET = LED_USR_0_PIN_bm; // turn red light on and keep it on
LED_PORT.OUTSET = LED_USR_1_PIN_bm; // turn yellow light on and keep it on
while(1==1)
{};
}
while (j > jiffies) { };
}
}
void wifi_request_ntp(uint32_t *time_val, Wifi_Error *error) {
const int char_timeout_ms = 500;
NTP_Packet packet = {0};
packet.li_version_mode = (3 << 0) | (4 << 2) | (3 << 5);
// TODO: More here...
printf_P(PSTR("[WIFI] Sending NTP request...\n"));
char cmd[64];
sprintf_P(cmd, AT_CIPSTART_UDP, NTP_IP, NTP_PORT);
wifi_repeat_until_ok(cmd);
fprintf_P(serial_output, AT_CIPSEND, sizeof(NTP_Packet));
print_response();
while(serial_available()) fgetc(serial_input);
const char *message_chars = (char*)&packet;
for(int i = 0; i < sizeof(NTP_Packet); ++i) {
fputc(message_chars[i], serial_output);
}
_delay_ms(1000);
// "Received data" marker
const char* marker = "\n+IPD,";
int marker_pos = 1;
// Wait for response
while(marker_pos < strlen(marker)) {
char c;
if(!serial_getc_timeout(&c, char_timeout_ms)) {
if(error != NULL) *error = Wifi_Error_Timeout;
return;
}
if(c == marker[marker_pos]) {
++marker_pos;
} else {
marker_pos = 0;
}
}
char response_len_str[16];
for(int i = 0; true; ++i) {
char c;
if(!serial_getc_timeout(&c, char_timeout_ms)) {
if(error != NULL) *error = Wifi_Error_Timeout;
return;
}
if(c >= '0' && c <= '9') {
response_len_str[i] = c;
} else if(c == ':') {
response_len_str[i] = '\0';
break;
} else {
if(error != NULL) *error = Wifi_Error_Unknown;
return;
}
}
int response_len = atoi(response_len_str);
if(response_len != sizeof(NTP_Packet)) {
if(error != NULL) *error = Wifi_Error_Unknown;
return;
}
char* packet_bytes = (char*)&packet;
for(int i = 0; i < response_len; ++i) {
char c;
if(!serial_getc_timeout(&c, char_timeout_ms)) {
if(error != NULL) *error = Wifi_Error_Timeout;
return;
}
packet_bytes[i] = c;
}
while(serial_available()) fgetc(serial_input);
// Will error if remote closed connection already, that's fine
fprintf_P(serial_output, AT_CIPCLOSE);
_delay_ms(100);
print_response();
// TODO: Use other data in some way
*time_val = swap_endian(packet.transmit_time);
//*time_val -= 3155673600ul; // Y2K time
*time_val -= 0x83AA7E80; // Unix time
if(error != NULL) *error = Wifi_Error_None;
}
void adc_calibrate_store() {
fprintf_P(stderr,PSTR("\n[debug] Warning: unimplimented function adc_calibrate_store called"));
}
void ui_loop(void) {
_ui_init_lcd();
/*alarm_set(1000);*/
char obd_buf[64];
uint8_t obd_idx = 0;
bool do_cmd = true;
for ( ; ; ) {
int c;
/*bool do_cmd = false;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
if (timer0_count >= 1000) {
do_cmd = true;
timer0_count -= 1000;
}
}*/
if (do_cmd) {
// get throttle position
fputs_P(PSTR("0111\n"), stn1110);
obd_idx = 0;
do_cmd = false;
}
/* repeatedly receive and transmit data until neither are available */
bool got_data;
do {
got_data = false;
/* tx */
/*if (uart_avail(UART_PC) && (c = fgetc(stdin)) != EOF) {
fputc(c, stn1110);
if (!tx) {
tx = true;
rx = false;
lcd_clear();
lcd_goto_xy(0, 0);
fputs_P(PSTR(">>\r\n>>\r\n<<\r\n<<"), lcd);
lcd_goto_xy(3, 0);
}
if (c != '\n') {
fputc(c, lcd);
}
got_data = true;
}*/
/* rx */
if (uart_avail(UART_STN1110) && (c = fgetc(stn1110)) != EOF) {
fputc(c, stdout);
if (c != '\n') {
obd_buf[obd_idx++] = c;
} else {
obd_buf[obd_idx] = '\0';
/*// REMOVE ME
strcpy_P(obd_buf, PSTR("10 41 e8"));*/
lcd_clear();
// TODO: just overwrite
/*static uint8_t counter = 0;*/
uint8_t discard, accel;
if (sscanf_P(obd_buf, PSTR("%hhx %hhx %hhx"),
&discard, &discard, &accel)== 3) {
/*accel = counter++;*/
int16_t accel_i = (int16_t)accel - 40;
accel_i *= 100;
accel_i /= (205 - 40);
int16_t accel_b = (accel_i * 4) / 5;
if (accel_b < 0) accel_b = 0;
if (accel_b > 100) accel_b = 100;
fprintf_P(lcd, PSTR("%3d"), accel_i);
fputc(' ', lcd);
while (accel_b >= 5) {
lcd_write(0xff);
accel_b -= 5;
}
if (accel_b > 0) {
lcd_write(accel_b - 1);
}
} else {
fprintf_P(lcd, PSTR("error:\r\n%s"), obd_buf);
}
do_cmd = true;
/*_delay_ms(100);*/
}
got_data = true;
}
} while (got_data);
// TODO: go to sleep instead
_delay_us(10);
}
}
void pan1322::AcceptConnection()
{
fprintf_P(bt_pan1322_out, PSTR("AT+JACR=1\r\n"));
}
/*
* CGI Sample: Show request parameters.
*
* See httpd.h for REQUEST structure.
*
* This routine must have been registered by NutRegisterCgi() and is
* automatically called by NutHttpProcessRequest() when the client
* request the URL 'cgi-bin/test.cgi'.
*/
static int ShowQuery(FILE * stream, REQUEST * req)
{
char *cp;
/*
* This may look a little bit weird if you are not used to C programming
* for flash microcontrollers. The special type 'prog_char' forces the
* string literals to be placed in flash ROM. This saves us a lot of
* precious RAM.
*/
static prog_char head[] = "<HTML><HEAD><TITLE>Parameters</TITLE></HEAD><BODY><H1>Parameters</H1>";
static prog_char foot[] = "</BODY></HTML>";
static prog_char req_fmt[] = "Method: %s<BR>\r\nVersion: HTTP/%d.%d<BR>\r\nContent length: %ld<BR>\r\n";
static prog_char url_fmt[] = "URL: %s<BR>\r\n";
static prog_char query_fmt[] = "Argument: %s<BR>\r\n";
static prog_char type_fmt[] = "Content type: %s<BR>\r\n";
static prog_char cookie_fmt[] = "Cookie: %s<BR>\r\n";
static prog_char auth_fmt[] = "Auth info: %s<BR>\r\n";
static prog_char agent_fmt[] = "User agent: %s<BR>\r\n";
/* These useful API calls create a HTTP response for us. */
NutHttpSendHeaderTop(stream, req, 200, "Ok");
NutHttpSendHeaderBottom(stream, req, html_mt, -1);
/* Send HTML header. */
fputs_P(head, stream);
/*
* Send request parameters.
*/
switch (req->req_method) {
case METHOD_GET:
cp = "GET";
break;
case METHOD_POST:
cp = "POST";
break;
case METHOD_HEAD:
cp = "HEAD";
break;
default:
cp = "UNKNOWN";
break;
}
fprintf_P(stream, req_fmt, cp, req->req_version / 10, req->req_version % 10, req->req_length);
if (req->req_url)
fprintf_P(stream, url_fmt, req->req_url);
if (req->req_query)
fprintf_P(stream, query_fmt, req->req_query);
if (req->req_type)
fprintf_P(stream, type_fmt, req->req_type);
if (req->req_cookie)
fprintf_P(stream, cookie_fmt, req->req_cookie);
if (req->req_auth)
fprintf_P(stream, auth_fmt, req->req_auth);
if (req->req_agent)
fprintf_P(stream, agent_fmt, req->req_agent);
/* Send HTML footer and flush output buffer. */
fputs_P(foot, stream);
fflush(stream);
return 0;
}
void print_scalar(char *label, double value)
{
fprintf_P(stderr,PSTR("%S %8.4f\n"),label,value);
}
/*
* CGI Sample: Show list of sockets.
*
* This routine must have been registered by NutRegisterCgi() and is
* automatically called by NutHttpProcessRequest() when the client
* request the URL 'cgi-bin/sockets.cgi'.
*/
static int ShowSockets(FILE * stream, REQUEST * req)
{
/* String literals are kept in flash ROM. */
static prog_char head[] = "<HTML><HEAD><TITLE>Sockets</TITLE></HEAD>"
"<BODY><H1>Sockets</H1>\r\n"
"<TABLE BORDER><TR><TH>Handle</TH><TH>Type</TH><TH>Local</TH><TH>Remote</TH><TH>Status</TH></TR>\r\n";
#if defined(__AVR__)
static prog_char tfmt1[] = "<TR><TD>%04X</TD><TD>TCP</TD><TD>%s:%u</TD>";
#else
static prog_char tfmt1[] = "<TR><TD>%08lX</TD><TD>TCP</TD><TD>%s:%u</TD>";
#endif
static prog_char tfmt2[] = "<TD>%s:%u</TD><TD>";
static prog_char foot[] = "</TABLE></BODY></HTML>";
static prog_char st_listen[] = "LISTEN";
static prog_char st_synsent[] = "SYNSENT";
static prog_char st_synrcvd[] = "SYNRCVD";
static prog_char st_estab[] = "<FONT COLOR=#CC0000>ESTABL</FONT>";
static prog_char st_finwait1[] = "FINWAIT1";
static prog_char st_finwait2[] = "FINWAIT2";
static prog_char st_closewait[] = "CLOSEWAIT";
static prog_char st_closing[] = "CLOSING";
static prog_char st_lastack[] = "LASTACK";
static prog_char st_timewait[] = "TIMEWAIT";
static prog_char st_closed[] = "CLOSED";
static prog_char st_unknown[] = "UNKNOWN";
prog_char *st_P;
extern TCPSOCKET *tcpSocketList;
TCPSOCKET *ts;
NutHttpSendHeaderTop(stream, req, 200, "Ok");
NutHttpSendHeaderBottom(stream, req, html_mt, -1);
/* Send HTML header. */
fputs_P(head, stream);
for (ts = tcpSocketList; ts; ts = ts->so_next) {
switch (ts->so_state) {
case TCPS_LISTEN:
st_P = (prog_char *) st_listen;
break;
case TCPS_SYN_SENT:
st_P = (prog_char *) st_synsent;
break;
case TCPS_SYN_RECEIVED:
st_P = (prog_char *) st_synrcvd;
break;
case TCPS_ESTABLISHED:
st_P = (prog_char *) st_estab;
break;
case TCPS_FIN_WAIT_1:
st_P = (prog_char *) st_finwait1;
break;
case TCPS_FIN_WAIT_2:
st_P = (prog_char *) st_finwait2;
break;
case TCPS_CLOSE_WAIT:
st_P = (prog_char *) st_closewait;
break;
case TCPS_CLOSING:
st_P = (prog_char *) st_closing;
break;
case TCPS_LAST_ACK:
st_P = (prog_char *) st_lastack;
break;
case TCPS_TIME_WAIT:
st_P = (prog_char *) st_timewait;
break;
case TCPS_CLOSED:
st_P = (prog_char *) st_closed;
break;
default:
st_P = (prog_char *) st_unknown;
break;
}
/*
* Fixed a bug reported by Zhao Weigang.
*/
fprintf_P(stream, tfmt1, (uintptr_t) ts, inet_ntoa(ts->so_local_addr), ntohs(ts->so_local_port));
fprintf_P(stream, tfmt2, inet_ntoa(ts->so_remote_addr), ntohs(ts->so_remote_port));
fputs_P(st_P, stream);
fputs("</TD></TR>\r\n", stream);
fflush(stream);
}
fputs_P(foot, stream);
fflush(stream);
return 0;
}
/*!
* \brief Wait for a specific string to appear.
*
* \param ci Pointer to a NUTCHAT structure, which must have been
* created by NutChatCreate().
* \param str Expected string. May be empty if nothing is expected.
*
* \return 0 on success, 3 in case of a timeout error while waiting
* for an expected string, or the index of an abort string
* plus 4, if one has been received.
*/
int NutChatExpectString(NUTCHAT * ci, char *str)
{
char ch;
u_char m;
u_char i;
char *cp = str;
#ifdef NUTDEBUG
if (__chat_trf) {
static prog_char dbgfmt[] = "Expect '%s', got '";
fprintf_P(__chat_trs, dbgfmt, str);
}
#endif
while (*cp) {
/*
* Read the next character. Return on timeout.
*/
if (_read(ci->chat_fd, &ch, 1) != 1) {
#ifdef NUTDEBUG
if (__chat_trf) {
static prog_char dbgmsg[] = "' TIMEOUT\n";
fputs_P(dbgmsg, __chat_trs);
}
#endif
return 3;
}
#ifdef NUTDEBUG
if (__chat_trf) {
if (ch > 31 && ch < 127) {
fputc(ch, __chat_trs);
} else {
fprintf(__chat_trs, "\\x%02X", ch);
}
}
#endif
/*
* If the character doesn't match the next expected one,
* then restart from the beginning of the expected string.
*/
if (ch != *cp) {
cp = str;
}
/*
* If the character matched, advance the pointer into
* the expected string.
*/
if (ch == *cp) {
cp++;
}
/*
* Check for abort strings.
*/
for (i = 0; i < ci->chat_aborts; i++) {
m = ci->chat_abomat[i];
if (ch == ci->chat_abort[i][m]) {
if (ci->chat_abort[i][++m] == 0) {
#ifdef NUTDEBUG
if (__chat_trf) {
static prog_char dbgmsg[] = "' ABORT\n";
fputs_P(dbgmsg, __chat_trs);
}
#endif
return i + 4;
}
} else
m = (ch == ci->chat_abort[i][0]);
ci->chat_abomat[i] = m;
}
/*
* Check for report strings.
*/
if (ci->chat_report_state > 0) {
m = ci->chat_repmat;
if (ci->chat_report_state == 2) {
chat_report[m++] = ch;
} else if (ch == ci->chat_report_search[m]) {
chat_report[m++] = ch;
if (ci->chat_report_search[m] == 0) {
ci->chat_report_state = 2;
}
} else {
m = (ch == ci->chat_report_search[0]);
}
ci->chat_repmat = m;
}
}
/*
* Read the remainder of the string before NutChatSendString clears it
*/
if (ci->chat_report_state == 2) {
m = ci->chat_repmat; /* not needed... (but not nice to remove it) */
while (m < CHAT_MAX_REPORT_SIZE) {
if (_read(ci->chat_fd, &ch, 1) != 1 || ch < ' ') {
break;
}
chat_report[m++] = ch;
#ifdef NUTDEBUG
if (__chat_trf) {
if (ch > 31 && ch < 127) {
fputc(ch, __chat_trs);
} else {
fprintf(__chat_trs, "\\x%02X", ch);
}
}
#endif
}
ci->chat_report_state = 0; /* Only find first occurence */
chat_report[m] = 0;
}
#ifdef NUTDEBUG
if (__chat_trf) {
static prog_char dbgmsg[] = "'\n";
fputs_P(dbgmsg, __chat_trs);
}
#endif
return 0;
}
static void _prompt_error(uint8_t status, char *buf)
{
fprintf_P(stderr, PSTR("error: %S: %s \n"),(PGM_P)pgm_read_word(&msgStatusMessage[status]),buf);
}
static void JSONSettings(const KVPairs & key_value_pairs, FILE * stream_file)
{
ServeHeader(stream_file, 200, "OK", false, "text/plain");
IPAddress ip;
fprintf(stream_file, "{\n");
#ifdef ARDUINO
ip = GetIP();
fprintf_P(stream_file, PSTR("\t\"ip\" : \"%d.%d.%d.%d\",\n"), ip[0], ip[1], ip[2], ip[3]);
ip = GetNetmask();
fprintf_P(stream_file, PSTR("\t\"netmask\" : \"%d.%d.%d.%d\",\n"), ip[0], ip[1], ip[2], ip[3]);
ip = GetGateway();
fprintf_P(stream_file, PSTR("\t\"gateway\" : \"%d.%d.%d.%d\",\n"), ip[0], ip[1], ip[2], ip[3]);
ip = GetNTPIP();
fprintf_P(stream_file, PSTR("\t\"NTPip\" : \"%d.%d.%d.%d\",\n"), ip[0], ip[1], ip[2], ip[3]);
fprintf_P(stream_file, PSTR("\t\"NTPoffset\" : \"%d\",\n"), GetNTPOffset());
#endif
fprintf_P(stream_file, PSTR("\t\"webport\" : \"%u\",\n"), GetWebPort());
fprintf_P(stream_file, PSTR("\t\"ot\" : \"%d\",\n"), GetOT());
ip = GetWUIP();
fprintf_P(stream_file, PSTR("\t\"wuip\" : \"%d.%d.%d.%d\",\n"), ip[0], ip[1], ip[2], ip[3]);
fprintf_P(stream_file, PSTR("\t\"wutype\" : \"%s\",\n"), GetUsePWS() ? "pws" : "zip");
fprintf_P(stream_file, PSTR("\t\"zip\" : \"%ld\",\n"), (long) GetZip());
fprintf_P(stream_file, PSTR("\t\"sadj\" : \"%ld\",\n"), (long) GetSeasonalAdjust());
char ak[17];
GetApiKey(ak);
fprintf_P(stream_file, PSTR("\t\"apikey\" : \"%s\",\n"), ak);
GetPWS(ak);
ak[11] = 0;
fprintf_P(stream_file, PSTR("\t\"pws\" : \"%s\"\n"), ak);
fprintf(stream_file, "}");
}
void poll(){
// Main polling loop
// Check for a character from the USART
// See if there is a command comming in
if (uart_char_is_waiting()) {
char c = uart_read();
// Update the command state-machine
if (c == '\n' || c == '\r' ) {
// End of a command, process it and reset the command string
if (current_command == COMMAND_NONE) {
} else if (current_command == COMMAND_INFLATE) {
syringe_inflate();
current_state = STATE_INFLATE;
} else if (current_command == COMMAND_DEFLATE) {
syringe_deflate();
current_state = STATE_DEFLATE;
} else if (current_command == COMMAND_SET_PRESSURE) {
int ret = sscanf_P(value_str, PSTR("%d"), &target_pressure);
// printf_P(PSTR("1 = %d\r\n"), ret );
// printf_P(PSTR("2 = %d\r\n"), target_pressure );
}
value_str_i = 0;
current_command = COMMAND_NONE;
current_command_state = CMD_STATE_COMMAND;
} else {
// In a command string
if (current_command_state == CMD_STATE_COMMAND) {
// Command character
if (c == 'i') {
// Inflate
current_command = COMMAND_INFLATE;
} else if (c == 'd') {
// Deflate
current_command = COMMAND_DEFLATE;
} else if (c == 'p') {
// Set pressure point
current_command = COMMAND_SET_PRESSURE;
} else {
current_command = COMMAND_NONE;
}
current_command_state = CMD_STATE_EQUAL;
} else if (current_command_state == CMD_STATE_EQUAL) {
// Assume the second char is always '='
current_command_state = CMD_STATE_VALUE;
} else if (current_command_state == CMD_STATE_VALUE) {
// In value part of command
value_str[value_str_i++] = c;
if (value_str_i >= MAX_VALUE_LENGTH) {
value_str_i = MAX_VALUE_LENGTH-1;
}
value_str[value_str_i] = 0; // Write NULL terminator
}
}
}
// Check the current pressure
// take 100 samples and average them!
// holder variables for temperature data
uint16_t last_sample = 0;
double this_temp;
double pres_avg = 0.0;
uint8_t i;
for(i=0; i<100; i++) {
last_sample = adc_read();
//this_temp = sampleTokPi(last_sample);
this_temp = last_sample;
// add this contribution to the average
pres_avg = pres_avg + this_temp/100.0;
}
// Check to see if we hit the target presure
if ( current_state == STATE_INFLATE ) {
if ( pres_avg >= target_pressure ) {
// Stop Inflating
syringe_off();
current_state = STATE_IDLE;
}
} else if ( current_state == STATE_DEFLATE ) {
if ( pres_avg <= target_pressure ) {
// Stop Deflating
syringe_off();
current_state = STATE_IDLE;
}
}
// write message to LCD
lcd_home();
lcd_write_string(PSTR("ADC: "));
lcd_write_int16(last_sample);
lcd_write_string(PSTR(" of 1024 "));
lcd_line_two();
if ( current_state == STATE_IDLE ) {
fprintf_P(&lcd_stream, PSTR("State: Idle "));
} else if ( current_state == STATE_RECV ) {
fprintf_P(&lcd_stream, PSTR("State: Recv "));
} else if ( current_state == STATE_INFLATE ) {
fprintf_P(&lcd_stream, PSTR("State: Inflate "));
} else if ( current_state == STATE_DEFLATE ) {
fprintf_P(&lcd_stream, PSTR("State: Deflate "));
}
lcd_line_three();
fprintf_P(&lcd_stream, PSTR("Target Pres: %d"), target_pressure );
// write message to serial port
//printf_P(PSTR("%.2f degrees F\r\n"), temp_avg);
//printf_P(PSTR("Pres = %d\r\n"), target_pressure );
//printf_P(PSTR("Value = %s\r\n"), value_str );
}
