/*
* This is a dummy function, used as demonstration
*/
SFPResult dummyFunction(SFPFunction *msg) {
/* Check for arg count */
if (SFPFunction_getArgumentCount(msg) != 1) return SFP_ERR_ARG_COUNT;
/* Check for arg type */
if (SFPFunction_getArgumentType(msg, 0) != SFP_ARG_INT) return SFP_ERR_ARG_TYPE;
/* Get the argument */
uint32_t dummyData = SFPFunction_getArgument_int32(msg, 0);
/* Do some stupid things */
LPC_GPIO->DIR[1] = 1 << 14;
if (dummyData)
LPC_GPIO->SET[1] = 1 << 14;
else
LPC_GPIO->CLR[1] = 1 << 14;
/* Start a new frame */
SFPFunction *outFunc = SFPFunction_new();
if (outFunc == NULL) return SFP_ERR_ALLOC_FAILED;
/* Then fill the frame */
SFPFunction_setType(outFunc, SFPFunction_getType(msg));
SFPFunction_setID(outFunc, 200); /* Put the Function ID */
SFPFunction_setName(outFunc, "dummy"); /* Put the function name */
SFPFunction_addArgument_int32(outFunc, dummyData); /* Put the values you want to send back */
/* Send it */
SFPFunction_send(outFunc, &stream);
/* End finalize */
SFPFunction_delete(outFunc);
return SFP_OK;
}
static inline void GPIO_SEND_INT(uint8_t intID, uint32_t intStatus) {
SFPFunction *func = SFPFunction_new();
if (func != NULL) {
SFPFunction_setType(func, LPC_INTERRUPT_FUNCTION_TYPE[intID]);
SFPFunction_setID(func, UPER_FID_INTERRUPT);
SFPFunction_setName(func, UPER_FNAME_INTERRUPT);
SFPFunction_addArgument_int32(func, intID);
SFPFunction_addArgument_int32(func, intStatus);
SFPFunction_send(func, &stream);
SFPFunction_delete(func);
}
}
SFPResult lpc_system_getDeviceInfo(SFPFunction *msg) {
if (SFPFunction_getArgumentCount(msg) != 0) return SFP_ERR_ARG_COUNT;
SFPFunction *func = SFPFunction_new();
if (func == NULL) return SFP_ERR_ALLOC_FAILED;
SFPFunction_setType(func, SFPFunction_getType(msg));
SFPFunction_setID(func, UPER_FID_GETDEVICEINFO);
SFPFunction_setName(func, UPER_FNAME_GETDEVICEINFO);
SFPFunction_addArgument_int32(func, UPER_FIRMWARE_VERSION);
SFPFunction_addArgument_barray(func, (uint8_t*)&GUID[0], 16);
SFPFunction_addArgument_int32(func, UPER_PART_NUMBER);
SFPFunction_addArgument_int32(func, UPER_BOOT_CODE_VERSION);
SFPFunction_send(func, &stream);
SFPFunction_delete(func);
return SFP_OK;
}
SFPResult hcsr04Read(SFPFunction *msg) {
if (SFPFunction_getArgumentCount(msg) != 2) return SFP_ERR_ARG_COUNT;
if (SFPFunction_getArgumentType(msg, 0) != SFP_ARG_INT)
return SFP_ERR_ARG_TYPE;
if (SFPFunction_getArgumentType(msg, 1) != SFP_ARG_INT)
return SFP_ERR_ARG_TYPE;
uint8_t trigger = SFPFunction_getArgument_int32(msg, 0);
uint8_t pulse = SFPFunction_getArgument_int32(msg, 1);
uint32_t startTime = 0;
uint32_t distance;
if (trigger >= LPC_PIN_COUNT)
return SFP_ERR_ARG_VALUE;
if (pulse >= LPC_PIN_COUNT)
return SFP_ERR_ARG_VALUE;
uint8_t trigger_port = 0;
uint8_t trigger_pinNum = LPC_PIN_IDS[trigger];
if (trigger_pinNum > 23) { // if not PIO0_0 to PIO0_23
trigger_port = 1;
trigger_pinNum -= 24;
}
uint8_t pulse_port = 0;
uint8_t pulse_pinNum = LPC_PIN_IDS[pulse];
if (pulse_pinNum > 23) { // if not PIO0_0 to PIO0_23
pulse_port = 1;
pulse_pinNum -= 24;
}
/* Set the trigger as output, LOW */
LPC_GPIO->CLR[trigger_port] = (1 << trigger_pinNum);
*LPC_PIN_REGISTERS[trigger] &= ~LPC_PIN_MODE_MASK; // Remove pull-up/down resistors
LPC_GPIO->DIR[trigger_port] |= (1 << trigger_pinNum);
/* Set the pulse as input, no resistors */
*LPC_PIN_REGISTERS[pulse] &= ~LPC_PIN_MODE_MASK; // Remove pull-up/down resistors
*LPC_PIN_REGISTERS[pulse] |= (2 << 2) & LPC_PIN_MODE_MASK;;
LPC_GPIO->DIR[pulse_port] &= ~(1 << pulse_pinNum);
/* Send the trigger signal for 10us*/
startTime = Time_getSystemTime_us();
LPC_GPIO->SET[trigger_port] = (1 << trigger_pinNum);
while ((Time_getSystemTime_us()-startTime) <= 10);
LPC_GPIO->CLR[trigger_port] = (1 << trigger_pinNum);
/* Wait for an answer */
startTime = Time_getSystemTime_us();
while (!(LPC_GPIO->PIN[pulse_port] & (1 << pulse_pinNum))) {
if ((Time_getSystemTime_us()-startTime) >= 25000) { // Timeout : 25ms
break;
}
}
/* Measure the pulse */
startTime = Time_getSystemTime_us();
while ((LPC_GPIO->PIN[pulse_port] & (1 << pulse_pinNum))) {
if ((Time_getSystemTime_us()-startTime) >= 25000) { // Timeout : 25ms
break;
}
}
distance = (Time_getSystemTime_us() - startTime) / 58;
SFPFunction *outFunc = SFPFunction_new();
if (outFunc == NULL) return SFP_ERR_ALLOC_FAILED;
SFPFunction_setType(outFunc, SFPFunction_getType(msg));
SFPFunction_setID(outFunc, UPER_FID_HCSR04);
SFPFunction_setName(outFunc, UPER_FNAME_HCSR04);
SFPFunction_addArgument_int32(outFunc, (distance < 25000 ? distance : 0));
SFPFunction_send(outFunc, &stream);
SFPFunction_delete(outFunc);
return SFP_OK;
}