void
init_touch_screen(void)
{
/*
* Configure X1, X2, Y1 and Y2 output pins:
*/
configure_pin(&g_pin_X1, true);
configure_pin(&g_pin_X2, true);
configure_pin(&g_pin_Y1, true);
configure_pin(&g_pin_Y2, true);
}
void
configure_pins(struct header_pin pins[], uint16_t length) {
int i;
for(i=0; i<length; i++) {
configure_pin(&pins[i]);
UARTFlushTx(false);
}
}
static void
select_X1_X2_output_pins(void)
{
/*
* Re-configure X1 and X2 as output pins:
*/
configure_pin(&g_pin_X1, true);
configure_pin(&g_pin_X2, true);
/*
* Re-configure Y1 and Y2 as input pins:
*/
configure_pin(&g_pin_Y1, false);
//#if 0
configure_pin(&g_pin_Y2, false);
//#endif
}
Stm32f4_PinOut(GPIO_TypeDef* GPIOx, uint16_t Gpio_Pin) : _GPIOx(GPIOx), _Gpio_Pin(Gpio_Pin)
{
configure_pin(GPIOx, Gpio_Pin, GPIO_PuPd_UP, GPIO_Mode_OUT);
}
inline void configure_pin(GPIO_TypeDef* GPIOx, uint32_t GPIO_Pin, GPIOPuPd_TypeDef GPIOPuPd)
{
configure_pin(GPIOx, GPIO_Pin, GPIOPuPd, GPIO_Mode_AF);
}
void httpd_appcall(void) {
if(uip_conn->lport != HTONS(80)) {
uip_abort();
return;
}
struct httpd_state *hs = (struct httpd_state *)&(uip_conn->appstate);
bool send_new_data = false;
if(uip_connected()) {
printf("Connected\n");
hs->data_count = 0;
hs->idle_count = 0;
hs->state = 0;
hs->done = false;
} else if(uip_newdata()) {
printf("New data\n");
if(strncmp(DATA_BUF, "GET ", 4) != 0) {
uip_abort();
return;
}
printf("Got get request\n");
#define PATH_START 4
/* Get path */
int i;
for(i = 4; i<uip_datalen() && DATA_BUF[i] != ' '; i++);
char path[21];
if( i-PATH_START > 20 ) {
i = 20;
}
memcpy(path, DATA_BUF + PATH_START, i-PATH_START);
path[i-PATH_START] = '\0';
printf("Path: '%s'\n", path);
if(strcmp(path, "/") == 0) {
printf("root\n");
hs->request_type = REQUEST_FILE;
hs->state = FILE_ROOT;
hs->offset = 0;
} else if(strncmp(path, "/read", 5) == 0) {
hs->request_type = REQUEST_READ;
} else if(strncmp(path, "/write/", 7) == 0) {
hs->request_type = REQUEST_WRITE;
hs->state = REQUEST_WRITE_ERR;
struct header_pin *connector;
uint8_t pin;
char value[10];
if( !parse_path(path+7, &connector, &pin, value) ) {
goto config_done;
}
if( connector[pin].config != CONFIG_OUTPUT ) {
goto config_done;
}
if(value[0] == '1') {
MAP_GPIOPinWrite(connector[pin].base, connector[pin].pin, connector[pin].pin);
} else {
MAP_GPIOPinWrite(connector[pin].base, connector[pin].pin, 0);
}
hs->state = REQUEST_WRITE_OK;
} else if(strncmp(path, "/config/",8) == 0) {
hs->request_type = REQUEST_CONFIG;
struct header_pin *connector;
uint8_t pin;
char dir[10];
if( !parse_path(path+8, &connector, &pin, dir) ) {
printf("Nope\n");
goto config_done;
}
if( connector[pin].config == CONFIG_NOT_USED ) {
printf("N/A\n");
goto config_done;
}
printf("Dir: '%c'\n", dir[0]);
if( dir[0] == 'i' ) {
printf("Input\n");
connector[pin].config = CONFIG_INPUT;
configure_pin(&connector[pin]);
} else if( dir[0] == 'o' ) {
printf("Output\n");
connector[pin].config = CONFIG_OUTPUT;
configure_pin(&connector[pin]);
}
} else {
hs->request_type = 0;
}
config_done:
send_new_data = true;
} else if( uip_acked() ) {
hs->data_count++;
if( hs->done ) {
uip_close();
} else {
send_new_data = true;
}
} else if( uip_poll() ) {
printf("Poll\n");
hs->idle_count++;
if( hs->idle_count > 10 ) {
uip_close();
}
}
if( uip_rexmit() || send_new_data ) {
printf("%p: Request type: %d\n", hs, hs->request_type);
printf("%p: Sending data (%d)\n", hs, hs->data_count);
switch(hs->request_type) {
case REQUEST_READ:
if(hs->data_count == 0) {
hs->xmit_buf = http_json_header;
hs->xmit_buf_size = sizeof(http_json_header)-1;
} else if(hs->data_count == 1) {
hs->xmit_buf = NULL;
uint8_t buf[500];
uint16_t i = 0;
static char b1[] = "{\n\t\"J1\": [";
static char b2[] = "\t\"J2\": [";
static char b3[] = "\t\"J3\": [";
static char b4[] = "\t\"J4\": [";
static char bnone[] = "\"x\"";
static char bx[] = "\n}";
memcpy(buf+i, b1, sizeof(b1)-1);
i+= sizeof(b1)-1;
i += read_pins(j1, HEADER_SIZE, buf+i);
buf[i++] = ']';
buf[i++] = ',';
buf[i++] = '\n';
memcpy(buf+i, b2, sizeof(b2)-1);
i+= sizeof(b2)-1;
i += read_pins(j2, HEADER_SIZE, buf+i);
buf[i++] = ']';
buf[i++] = ',';
buf[i++] = '\n';
memcpy(buf+i, b3, sizeof(b3)-1);
i+= sizeof(b3)-1;
i += read_pins(j3, HEADER_SIZE, buf+i);
buf[i++] = ']';
buf[i++] = ',';
buf[i++] = '\n';
memcpy(buf+i, b4, sizeof(b4)-1);
i+= sizeof(b4)-1;
i += read_pins(j4, HEADER_SIZE, buf+i);
buf[i++] = ']';
memcpy(buf+i, bx, sizeof(bx)-1);
i+= sizeof(bx)-1;
uip_send(buf, i);
hs->done = true;
} else {
hs->xmit_buf = NULL;
uip_close();
}
break;
case REQUEST_CONFIG:
if(hs->data_count == 0) {
hs->xmit_buf = http_json_header;
hs->xmit_buf_size = sizeof(http_json_header)-1;
hs->done = true;
} /*else if(hs->data_count == 1) {
}*/ else {
hs->xmit_buf = NULL;
uip_close();
}
break;
case REQUEST_WRITE:
if(hs->data_count == 0) {
hs->xmit_buf = http_json_header;
hs->xmit_buf_size = sizeof(http_json_header)-1;
} else if(hs->data_count == 1) {
if( hs->state == REQUEST_WRITE_OK ) {
char buf[] = "ok";
uip_send(buf, sizeof(buf)-1);
} else {
char buf[] = "error";
uip_send(buf, sizeof(buf)-1);
}
hs->done = true;
hs->xmit_buf = NULL;
} else {
hs->xmit_buf = NULL;
uip_close();
}
break;
case REQUEST_FILE:
if(hs->data_count == 0) {
hs->xmit_buf = http_response_header;
hs->xmit_buf_size = sizeof(http_response_header)-1;
} else {
uint32_t offset = (hs->data_count-1) * TRANSFER_SIZE;
uint32_t remain;
remain = index_html_len - offset;
uint16_t count = TRANSFER_SIZE;
if( remain < TRANSFER_SIZE) {
count = remain;
hs->done = true;
}
printf("remain: %d\n", remain);
printf("count: %d\n", count);
if( index_html_len <= offset ) {
hs->xmit_buf = NULL;
uip_close();
} else {
hs->xmit_buf = index_html + offset;
hs->xmit_buf_size = count;
//hs->xmit_buf = "test";
//hs->xmit_buf_size = 4;
}
}
break;
default:
if(hs->data_count == 0) {
hs->xmit_buf = http_404_header;
hs->xmit_buf_size = sizeof(http_404_header)-1;
} else if(hs->data_count == 1) {
hs->xmit_buf = unknown_request;
hs->xmit_buf_size = sizeof(unknown_request)-1;
hs->done = true;
} else {
hs->xmit_buf = NULL;
uip_close();
}
break;
}
if (hs->xmit_buf != NULL ) {
uip_send(hs->xmit_buf, hs->xmit_buf_size);
}
}
}
int rtapi_app_main(void) {
char name[HAL_NAME_LEN + 1];
int n, retval;
char *data, *token;
num_ports = 1;
n = 0; // port number... only one for now
// init driver
comp_id = hal_init(modname);
if(comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: hal_init() failed\n", modname);
return -1;
}
// allocate port memory
port_data = hal_malloc(num_ports * sizeof(port_data_t));
if(port_data == 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: hal_malloc() failed\n", modname);
hal_exit(comp_id);
return -1;
}
// map control module memory
configure_control_module();
// configure userleds
if(user_leds != NULL) {
data = user_leds;
while((token = strtok(data, ",")) != NULL) {
int led = strtol(token, NULL, 10);
data = NULL;
if(user_led_gpio_pins[led].claimed != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: userled%d is not available as a GPIO.\n", modname, led);
hal_exit(comp_id);
return -1;
}
// Add HAL pin
retval = hal_pin_bit_newf(HAL_IN, &(port_data->led_pins[led]), comp_id, "bb_gpio.userled%d", led);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: userled %d could not export pin, err: %d\n", modname, led, retval);
hal_exit(comp_id);
return -1;
}
// Add HAL pin
retval = hal_pin_bit_newf(HAL_IN, &(port_data->led_inv[led]), comp_id, "bb_gpio.userled%d.invert", led);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: userled %d could not export pin, err: %d\n", modname, led, retval);
hal_exit(comp_id);
return -1;
}
// Initialize HAL pin
*(port_data->led_inv[led]) = 0;
int gpio_num = user_led_gpio_pins[led].port_num;
// configure gpio port if necessary
if(gpio_ports[gpio_num] == NULL) {
configure_gpio_port(gpio_num);
}
user_led_gpio_pins[led].port = gpio_ports[gpio_num];
configure_pin(&user_led_gpio_pins[led], 'O');
}
}
// configure input pins
if(input_pins != NULL) {
data = input_pins;
while((token = strtok(data, ",")) != NULL) {
int pin = strtol(token, NULL, 10);
int header;
bb_gpio_pin *bbpin;
// Fixup old pin numbering scheme:
// P8/P9 was 1xx/2xx, now 8xx/9xx
if (pin < 300)
pin += 700;
if(pin < 801 || pin > 946 || (pin > 846 && pin < 901)) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: invalid pin number '%d'. Valid pins are 801-846 for P8 pins, 901-946 for P9 pins.\n", modname, pin);
hal_exit(comp_id);
return -1;
}
if(pin < 900) {
pin -= 800;
bbpin = &p8_pins[pin];
header = 8;
} else {
pin -= 900;
bbpin = &p9_pins[pin];
header = 9;
}
if(bbpin->claimed != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d is not available as a GPIO.\n", modname, header, pin);
hal_exit(comp_id);
return -1;
}
data = NULL; // after the first call, subsequent calls to strtok need to be on NULL
// Add HAL pin
retval = hal_pin_bit_newf(HAL_OUT, &(port_data->input_pins[pin + (header - 8)*PINS_PER_HEADER]), comp_id, "bb_gpio.p%d.in-%02d", header, pin);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d could not export pin, err: %d\n", modname, header, pin, retval);
hal_exit(comp_id);
return -1;
}
// Add HAL pin
retval = hal_pin_bit_newf(HAL_IN, &(port_data->input_inv[pin + (header - 8)*PINS_PER_HEADER]), comp_id, "bb_gpio.p%d.in-%02d.invert", header, pin);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d could not export pin, err: %d\n", modname, header, pin, retval);
hal_exit(comp_id);
return -1;
}
// Initialize HAL pin
*(port_data->input_inv[pin + (header - 8)*PINS_PER_HEADER]) = 0;
int gpio_num = bbpin->port_num;
// configure gpio port if necessary
if(gpio_ports[gpio_num] == NULL) {
configure_gpio_port(gpio_num);
}
bbpin->port = gpio_ports[gpio_num];
configure_pin(bbpin, 'U');
rtapi_print("pin %d maps to pin %d-%d, mode %d\n", pin, bbpin->port_num, bbpin->pin_num, bbpin->claimed);
}
}
// configure output pins
if(output_pins != NULL) {
data = output_pins;
while((token = strtok(data, ",")) != NULL) {
int pin = strtol(token, NULL, 10);
int header;
bb_gpio_pin *bbpin;
// Fixup old pin numbering scheme:
// P8/P9 was 1xx/2xx, now 8xx/9xx
if (pin < 300)
pin += 700;
if(pin < 801 || pin > 946 || (pin > 846 && pin < 901)) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: invalid pin number '%d'. Valid pins are 801-846 for P8 pins, 901-946 for P9 pins.\n", modname, pin);
hal_exit(comp_id);
return -1;
}
if(pin < 900) {
pin -= 800;
bbpin = &p8_pins[pin];
header = 8;
} else {
pin -= 900;
bbpin = &p9_pins[pin];
header = 9;
}
if(bbpin->claimed != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d is not available as a GPIO.\n", modname, header, pin);
hal_exit(comp_id);
return -1;
}
data = NULL; // after the first call, subsequent calls to strtok need to be on NULL
// Add HAL pin
retval = hal_pin_bit_newf(HAL_IN, &(port_data->output_pins[pin + (header - 8)*PINS_PER_HEADER]), comp_id, "bb_gpio.p%d.out-%02d", header, pin);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d could not export pin, err: %d\n", modname, header, pin, retval);
hal_exit(comp_id);
return -1;
}
// Add HAL pin
retval = hal_pin_bit_newf(HAL_IN, &(port_data->output_inv[pin + (header - 8)*PINS_PER_HEADER]), comp_id, "bb_gpio.p%d.out-%02d.invert", header, pin);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: pin p%d.%02d could not export pin, err: %d\n", modname, header, pin, retval);
hal_exit(comp_id);
return -1;
}
// Initialize HAL pin
*(port_data->output_inv[pin + (header - 8)*PINS_PER_HEADER]) = 0;
int gpio_num = bbpin->port_num;
// configure gpio port if necessary
if(gpio_ports[gpio_num] == NULL) {
configure_gpio_port(gpio_num);
}
bbpin->port = gpio_ports[gpio_num];
configure_pin(bbpin, 'O');
}
}
// export functions
rtapi_snprintf(name, sizeof(name), "bb_gpio.write");
retval = hal_export_funct(name, write_port, port_data, 0, 0, comp_id);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: port %d write funct export failed\n", modname, n);
hal_exit(comp_id);
return -1;
}
rtapi_snprintf(name, sizeof(name), "bb_gpio.read");
retval = hal_export_funct(name, read_port, port_data, 0, 0, comp_id);
if(retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: port %d read funct export failed\n", modname, n);
hal_exit(comp_id);
return -1;
}
rtapi_print_msg(RTAPI_MSG_INFO, "%s: installed driver\n", modname);
hal_ready(comp_id);
return 0;
}