int get_command(pState state){
//magic len command subcommand data checkval
//message is len + 8 (2 magic, 2 len, 4 checkval)
//magic = 0xa55a, short len, short command, var subcommand, var data, int checkval
// unsigned char *buf = malloc(MAX_MESSAGE_LEN+8);
unsigned char buf[MAX_MESSAGE_LEN+8];
unsigned int checkval = 0;
unsigned int calc_checkval = 0;
unsigned short magic = 0;
unsigned short len = 0;
unsigned short command = 0xaa;
unsigned short subcommand = 0xffff;
unsigned short sensorID = 0xffff;
unsigned int sensor_address = 0xffff;
unsigned int coefficient = 0xffff;
unsigned short temp = 0xffff;
unsigned short numSteps = 0xffff;
unsigned short *tempP = NULL;
unsigned short seconds = 0;
pStep steps = NULL;
int ret = -1;
unsigned int fw = 0;
bzero(buf,MAX_MESSAGE_LEN+8);
//get magic
get_bytes(buf ,2);
magic = get_short(buf);
if (magic != MAGIC){
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get len
get_bytes(buf+2,2);
len = get_short(buf+2);
//check len
if (len > MAX_MESSAGE_LEN){
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get the rest of message except checkval
get_bytes(buf+4, len);
//get checkval
checkval = get_int(buf+len);
//compare to calculated from message
calc_checkval = check_val( buf, len);
if ( checkval != calc_checkval ){
//bad check_val
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get command
command = get_short(buf+4);
switch (command) {
case 1:{ //set power state
subcommand = get_short(buf+6);
prime_buf(buf);
if (subcommand == 0x0000){
power_off(state);
}
if (subcommand == 0x0001){
power_on(state);
}
if (subcommand > 0x0001){
//bad subcommand
}
send(buf, 12);
break;
}
case 2:{//set temp
temp = get_short(buf+6);
prime_buf(buf);
if (set_temp(state,temp) == 2){
buf[6] = 1;
}
send(buf, 12);
break;
}
case 3:{ //add sensor
sensorID = get_short(buf+6);
sensor_address = get_int(buf+8);
coefficient = get_int(buf+12);
unsigned int sensorTemp = get_int(buf+16);
//check count < 10 buf[6] = 0x08, sensor_ID is unique/not in use buf[6] = 0x07,
ret = add_sensor(state, sensorID, sensor_address, coefficient, sensorTemp);
prime_buf(buf);
if (ret == 2){buf[6]=0x07;}
if (ret == 3){buf[6]=0x08;}
send(buf, 12);
break;
}
case 4:{ //remove sensor
sensorID = get_short(buf+6);
ret = remove_sensor(state,sensorID);
prime_buf(buf);
if (ret == 1){buf[6]=0x06;}
send(buf, 12);
break;
}
case 5:{ //set smoke sensor
subcommand = get_short(buf+6);
prime_buf(buf);
if (subcommand == 0x0000){
smoke_off(state);
}
if (subcommand == 0x0001){
smoke_on(state);
}
if (subcommand > 0x0001){
//bad subcommand
//no response
}
send(buf, 12);
break;
}
case 6:{ //set program
numSteps = get_short(buf+6);
steps = (pStep)(buf+8) ;
ret = add_steps(state,numSteps,steps);
prime_buf(buf);
if (ret == 3){buf[6]=3;}
if (ret == 2){buf[6]=2;}
if (ret == 1){buf[6]=1;}
send(buf, 12);
break;
}
case 7:{//get program
prime_buf(buf);
unsigned int lenz = 0;
unsigned int program[30];
bzero(program,120);
buf[4]=1;
buf[6]=7;
get_program(state, &lenz, program);
lenz = lenz*3*sizeof(int);
cgc_memcpy(buf+8,&lenz,sizeof(int));
cgc_memcpy(buf+12,program,lenz);
send(buf,lenz + 12);
break;
}
case 8:{//get status
prime_buf(buf);
buf[4]=1;
buf[6]=8;
unsigned int status[6];
int len = 24;
ret = get_status(state,status);
cgc_memcpy(buf+8,&len,sizeof(int));
cgc_memcpy(buf+12,status,24);
send(buf,36);
break;
}
case 9:{//simulate seconds
seconds = get_short(buf+6);
prime_buf(buf);
unsigned int bufsize = 12;
unsigned int histSize = 0;
ret = simulate_seconds(state, seconds);
unsigned int currentTime = state->currentTime;
unsigned int setTemp = state->setTemp;
if (ret == 0 ){
buf[6] = 9;
cgc_memcpy(buf+8, ¤tTime ,sizeof(int));
send(buf,12);
}
if(ret == 2){
buf[4] = 1;
buf[6] = 0xc;
histSize = state->historyPosition*sizeof(int);
unsigned int *pHistoryList = state->history;
unsigned int historyListSize = state->historyPosition;
unsigned int ambientTemp = state->ambientTemp;
new_state(state);
if (historyListSize > 0){
cgc_memcpy(buf+8, &historyListSize, sizeof(historyListSize));
cgc_memcpy(buf+12, pHistoryList, histSize);
bufsize = histSize + 12;
}
cgc_memcpy(buf+bufsize, &ambientTemp, sizeof(unsigned int));
bufsize+=4;
cgc_memcpy(buf+bufsize, &setTemp, sizeof(unsigned int));
bufsize+=4;
send(buf, bufsize);
//new_state(state);
}
break;
}
case 0xa:{ //validate firmware
unsigned int fw = validate_fw(state);
prime_buf(buf);
buf[4]=1;
buf[6]=0xa;
buf[8]=4;
cgc_memcpy(buf+12, &fw,sizeof(int) );
send(buf, 16);
break;
}
case 0xb:{//cgc_read sensor list
prime_buf(buf);
int len = 0;
buf[4]=1;
buf[6]=0xb;
len = state->sensorCount * (sizeof(int)*4);
//buff is filled with sensor bytes
unsigned int sensorList[40*sizeof(int)];
get_sensors(state,sensorList);
cgc_memcpy(buf+8,&len,sizeof(int));
cgc_memcpy(buf+12,sensorList,len);
send(buf, len+12);
break;
}
case 0xc:{//set ambient temp
int ambientTemp = get_signed_int(buf+6);
prime_buf(buf);
if (set_ambient_temp(state,ambientTemp) == 2){
buf[6] = 1;
}
send(buf, 12);
break;
}
case 0xff:{
//free(buf);
exit_normal();
break;
}
default:{
//bad command
prime_buf(buf);
buf[6]=5;
send(buf,12);
break;
}
}
// free(buf);
return 0;
}
int main() {
unsigned long T = 0L;
int Ival;
U8 rb;
CFG_GCR |= 1; // disable SWIM
// Configure clocking
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
// Configure timer 1 - systick
// prescaler = f_{in}/f_{tim1} - 1
// set Timer1 to 1MHz: 1/1 - 1 = 15
TIM1_PSCRH = 0;
TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
// auto-reload each 1ms: TIM_ARR = 1000 = 0x03E8
TIM1_ARRH = 0x03;
TIM1_ARRL = 0xE8;
// interrupts: update
TIM1_IER = TIM_IER_UIE;
// auto-reload + interrupt on overflow + enable
TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
// Configure pins
// PC2 - PP output (on-board LED)
PORT(LED_PORT, DDR) |= LED_PIN;
PORT(LED_PORT, CR1) |= LED_PIN;
// PD5 - UART2_TX
PORT(UART_PORT, DDR) |= UART_TX_PIN;
PORT(UART_PORT, CR1) |= UART_TX_PIN;
// Configure UART
// 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value)
// 57600 on 16MHz: BRR1=0x11, BRR2=0x06
UART2_BRR1 = 0x11; UART2_BRR2 = 0x06;
UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx
// enable all interrupts
enableInterrupts();
set_stepper_speed(1000);
setup_stepper_pins();
// Loop
do{
if((Global_time - T > paused_val) || (T > Global_time)){
T = Global_time;
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
}
if(UART_read_byte(&rb)){ // buffer isn't empty
switch(rb){
case 'h': // help
case 'H':
uart_write("\nPROTO:\n+/-\tLED period\nS/s\tset/get Mspeed\n"
"m\tget steps\nx\tstop\np\tpause/resume\nM\tmove motor\na\tadd Nstps\n"
"u\tunipolar motor\nb\tbipolar motor\n");
break;
case '+':
paused_val += 100;
if(paused_val > 10000)
paused_val = 500; // but not more than 10s
break;
case '-':
paused_val -= 100;
if(paused_val < 100) // but not less than 0.1s
paused_val = 500;
break;
case 'S': // set stepper speed
if(readInt(&Ival) && Ival > MIN_STEP_LENGTH)
set_stepper_speed(Ival);
else
error_msg("bad speed");
break;
case 's': // get stepper speed
printUint((U8*)&Stepper_speed, 2);
break;
case 'm': // how much steps there is to the end of moving
printUint((U8*)&Nsteps, 4);
break;
case 'M': // move motor
if(Nsteps){
error_msg("moving!");
break;
}
if(readInt(&Ival) && Ival)
move_motor(Ival);
else{
error_msg("bad Nsteps");
}
break;
case 'x': // stop
stop_motor();
break;
case 'p': // pause/resume
pause_resume();
break;
case 'a': // add N steps
if(readInt(&Ival) && Ival){
add_steps(Ival);
}else{
error_msg("bad value");
}
break;
case 'u': // unipolar
usteps = ustepsUNI;
break;
case 'b': // bipolar
usteps = ustepsBIP;
break;
}
}
}while(1);
}
