static int
partool_init(int mode, int argc, char *argv[])
{
char *partition = argv[2];
int err;
err = part_init(partition);
if (err<0) {
return err;
}
blk = part_block_create(
mode,
partool_size,
partool_read,
partool_write,
#ifdef __BOOT__
partition,
NULL,
#else
partool_tmpfile,
partool_humfile,
#endif
0);
if (NULL==blk) {
return -EINVAL;
}
return 0;
}
int __sata_initialize(void)
{
int rc;
int i;
for (i = 0; i < CONFIG_SYS_SATA_MAX_DEVICE; i++) {
memset(&sata_dev_desc[i], 0, sizeof(struct blk_desc));
sata_dev_desc[i].if_type = IF_TYPE_SATA;
sata_dev_desc[i].devnum = i;
sata_dev_desc[i].part_type = PART_TYPE_UNKNOWN;
sata_dev_desc[i].type = DEV_TYPE_HARDDISK;
sata_dev_desc[i].lba = 0;
sata_dev_desc[i].blksz = 512;
sata_dev_desc[i].log2blksz = LOG2(sata_dev_desc[i].blksz);
#ifndef CONFIG_BLK
sata_dev_desc[i].block_read = sata_bread;
sata_dev_desc[i].block_write = sata_bwrite;
#endif
rc = init_sata(i);
if (!rc) {
rc = scan_sata(i);
if (!rc && sata_dev_desc[i].lba > 0 &&
sata_dev_desc[i].blksz > 0)
part_init(&sata_dev_desc[i]);
}
}
return rc;
}
/*============================================================================*/
static void bldr_pre_process(void)
{
/* enter preloader safe mode */
platform_safe_mode(1, 5000);
/* essential hardware initialization. e.g. timer, pll, uart... */
platform_pre_init();
print("\n%s Build Time: %s\n", MOD, BUILD_TIME);
g_boot_mode = NORMAL_BOOT;
/* hardware initialization */
platform_init();
#if CFG_UART_TOOL_HANDSHAKE
/* init uart handshake for sending 'ready' to tool and receiving handshake
* pattern from tool in the background and we'll see the pattern later.
* this can reduce the handshake time.
*/
uart_handshake_init();
#endif
part_init();
part_dump();
/* init security library */
sec_lib_init();
}
int blk_prepare_device(struct udevice *dev)
{
struct blk_desc *desc = dev_get_uclass_platdata(dev);
part_init(desc);
return 0;
}
int blk_get_device_by_str(const char *ifname, const char *dev_hwpart_str,
struct blk_desc **dev_desc)
{
char *ep;
char *dup_str = NULL;
const char *dev_str, *hwpart_str;
int dev, hwpart;
hwpart_str = strchr(dev_hwpart_str, '.');
if (hwpart_str) {
dup_str = strdup(dev_hwpart_str);
dup_str[hwpart_str - dev_hwpart_str] = 0;
dev_str = dup_str;
hwpart_str++;
} else {
dev_str = dev_hwpart_str;
hwpart = 0;
}
dev = simple_strtoul(dev_str, &ep, 16);
if (*ep) {
printf("** Bad device specification %s %s **\n",
ifname, dev_str);
dev = -1;
goto cleanup;
}
if (hwpart_str) {
hwpart = simple_strtoul(hwpart_str, &ep, 16);
if (*ep) {
printf("** Bad HW partition specification %s %s **\n",
ifname, hwpart_str);
dev = -1;
goto cleanup;
}
}
*dev_desc = get_dev_hwpart(ifname, dev, hwpart);
if (!(*dev_desc) || ((*dev_desc)->type == DEV_TYPE_UNKNOWN)) {
printf("** Bad device %s %s **\n", ifname, dev_hwpart_str);
dev = -1;
goto cleanup;
}
#ifdef HAVE_BLOCK_DEVICE
/*
* Updates the partition table for the specified hw partition.
* Does not need to be done for hwpart 0 since it is default and
* already loaded.
*/
if(hwpart != 0)
part_init(*dev_desc);
#endif
cleanup:
free(dup_str);
return dev;
}
static void null_leave(struct state *st, struct state *next, int id)
{
part_init();
shad_init();
ball_init();
item_init();
geom_init();
gui_init();
hud_init();
}
int wm_core_init(void)
{
int ret = 0;
static char init_done;
if (init_done)
return WM_SUCCESS;
wmstdio_init(UART0_ID, 0);
ret = cli_init();
if (ret != WM_SUCCESS) {
init_e("Cli init failed.");
goto out;
}
ret = wmtime_init();
if (ret != WM_SUCCESS) {
init_e("Wmtime init failed.");
goto out;
}
ret = pm_init();
if (ret != WM_SUCCESS) {
init_e("Power manager init failed.");
goto out;
}
ret = healthmon_init();
if (ret != WM_SUCCESS) {
init_e("Healthmon init failed.");
goto out;
}
boot_report_flags();
wmlog("boot", "Reset Cause Register: 0x%x",
boot_reset_cause());
if (boot_reset_cause() & (1<<5))
wmlog("boot", " - Watchdog reset bit is set");
/* Read partition table layout from flash */
part_init();
out:
if (ret == WM_SUCCESS)
init_done = 1;
return ret;
}
static int do_scsi_scan_one(struct udevice *dev, int id, int lun, bool verbose)
{
int ret;
struct udevice *bdev;
struct blk_desc bd;
struct blk_desc *bdesc;
char str[10];
/*
* detect the scsi driver to get information about its geometry (block
* size, number of blocks) and other parameters (ids, type, ...)
*/
scsi_init_dev_desc_priv(&bd);
if (scsi_detect_dev(dev, id, lun, &bd))
return -ENODEV;
/*
* Create only one block device and do detection
* to make sure that there won't be a lot of
* block devices created
*/
snprintf(str, sizeof(str), "id%dlun%d", id, lun);
ret = blk_create_devicef(dev, "scsi_blk", str, IF_TYPE_SCSI, -1,
bd.blksz, bd.blksz * bd.lba, &bdev);
if (ret) {
debug("Can't create device\n");
return ret;
}
bdesc = dev_get_uclass_platdata(bdev);
bdesc->target = id;
bdesc->lun = lun;
bdesc->removable = bd.removable;
bdesc->type = bd.type;
memcpy(&bdesc->vendor, &bd.vendor, sizeof(bd.vendor));
memcpy(&bdesc->product, &bd.product, sizeof(bd.product));
memcpy(&bdesc->revision, &bd.revision, sizeof(bd.revision));
part_init(bdesc);
if (verbose) {
printf(" Device %d: ", 0);
dev_print(bdesc);
}
return 0;
}
static void bldr_pre_process(void)
{
#if CFG_USB_AUTO_DETECT
platform_usbdl_flag_check();
#endif
#if CFG_EMERGENCY_DL_SUPPORT
platform_safe_mode(1, CFG_EMERGENCY_DL_TIMEOUT_MS);
#endif
/* essential hardware initialization. e.g. timer, pll, uart... */
platform_pre_init();
print("\n%s Build Time: %s\n", MOD, BUILD_TIME);
// config_DCC_Calin();
// dump_dcc_regs();
// disable_FBB_SW();
g_boot_mode = NORMAL_BOOT;
/* hardware initialization */
platform_init();
#if CFG_UART_TOOL_HANDSHAKE
/* init uart handshake for sending 'ready' to tool and receiving handshake
* pattern from tool in the background and we'll see the pattern later.
* this can reduce the handshake time.
*/
//#ifdef DUMMY_AP //FIXME
uart_handshake_init();
//#endif
#endif
BOOTING_TIME_PROFILING_LOG("UART handshake init");
log_buf_ctrl(1); /* switch log buffer to dram */
part_init();
part_dump();
BOOTING_TIME_PROFILING_LOG("Part Init");
/* init security library */
sec_lib_init();
BOOTING_TIME_PROFILING_LOG("Sec lib init");
}
int _start(int argc, char* argv[])
{
printf("Block Device Manager (BDM) v%d.%d\n", MAJOR_VER, MINOR_VER);
if (RegisterLibraryEntries(&_exp_bdm) != 0) {
M_PRINTF("ERROR: Already registered!\n");
return MODULE_NO_RESIDENT_END;
}
// initialize the block device manager
if (bdm_init() < 0) {
M_PRINTF("ERROR: BDM init failed!\n");
return MODULE_NO_RESIDENT_END;
}
// initialize the partition driver
part_init();
// return resident
return MODULE_RESIDENT_END;
}
int host_dev_bind(int dev, char *filename)
{
struct host_block_dev *host_dev = find_host_device(dev);
if (!host_dev)
return -1;
if (host_dev->blk_dev.priv) {
os_close(host_dev->fd);
host_dev->blk_dev.priv = NULL;
}
if (host_dev->filename)
free(host_dev->filename);
if (filename && *filename) {
host_dev->filename = strdup(filename);
} else {
host_dev->filename = NULL;
return 0;
}
host_dev->fd = os_open(host_dev->filename, OS_O_RDWR);
if (host_dev->fd == -1) {
printf("Failed to access host backing file '%s'\n",
host_dev->filename);
return 1;
}
struct blk_desc *blk_dev = &host_dev->blk_dev;
blk_dev->if_type = IF_TYPE_HOST;
blk_dev->priv = host_dev;
blk_dev->blksz = 512;
blk_dev->lba = os_lseek(host_dev->fd, 0, OS_SEEK_END) / blk_dev->blksz;
blk_dev->block_read = host_block_read;
blk_dev->block_write = host_block_write;
blk_dev->devnum = dev;
blk_dev->part_type = PART_TYPE_UNKNOWN;
part_init(blk_dev);
return 0;
}
int wm_wlan_init()
{
static char init_done;
struct partition_entry *p;
short history = 0;
struct partition_entry *f1, *f2;
if (init_done)
return WM_SUCCESS;
int ret = part_init();
if (ret != WM_SUCCESS) {
init_e("wm_wlan_init: could not read partition table");
return ret;
}
f1 = part_get_layout_by_id(FC_COMP_WLAN_FW, &history);
f2 = part_get_layout_by_id(FC_COMP_WLAN_FW, &history);
if (f1 && f2)
p = part_get_active_partition(f1, f2);
else if (!f1 && f2)
p = f2;
else if (!f2 && f1)
p = f1;
else
return -WLAN_ERROR_FW_NOT_DETECTED;
flash_desc_t fl;
part_to_flash_desc(p, &fl);
/* Initialize wlan */
ret = wlan_init(&fl);
if (ret != WM_SUCCESS)
return ret;
init_done = 1;
return WM_SUCCESS;
}
static void modules_init()
{
int ret;
struct partition_entry *p;
flash_desc_t fl;
/*
* Initialize wmstdio prints
*/
ret = wmstdio_init(UART0_ID, 115200);
if (ret != WM_SUCCESS) {
appln_critical_error_handler((void *) -WM_FAIL);
}
/* Initialize time subsystem.
*
* Initializes time to 1/1/1970 epoch 0.
*/
ret = wmtime_init();
if (ret != WM_SUCCESS) {
wmprintf("Error: wmtime_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
/*
* Initialize CLI Commands
*/
ret = cli_init();
if (ret != WM_SUCCESS) {
LOG_ERROR("Error: cli_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
/* Initialize the partition module */
ret = part_init();
if (ret != 0) {
LOG_ERROR("Failed to initialize partition\r\n");
appln_critical_error_handler((void *) -WM_FAIL);
}
p = part_get_layout_by_id(FC_COMP_PSM, NULL);
if (!p) {
LOG_ERROR("Error: no psm partition found");
appln_critical_error_handler((void *) -WM_FAIL);
}
part_to_flash_desc(p, &fl);
#if defined CONFIG_CPU_MC200 && defined CONFIG_WiFi_8801
//check psm _format
psm_format_check(&fl);
#endif
/* Initilize psm module */
ret = app_psm_init();
if (ret != 0) {
LOG_ERROR("Failed to initialize psm module\r\n");
appln_critical_error_handler((void *) -WM_FAIL);
}
wmprintf("\n\r");
wmprintf("_| _| _|_|_| _|_|_| _|_| \n\r");
wmprintf("_|_| _|_| _| _| _| _|\n\r");
wmprintf("_| _| _| _| _| _| _|\n\r");
wmprintf("_| _| _| _| _| _|\n\r");
wmprintf("_| _| _|_|_| _|_|_| _|_| \n\r");
print_versions();
read_provision_status();
#ifndef RELEASE
/* Initilize cli for psm module */
ret = psm_cli_init();
if (ret != 0) {
LOG_ERROR("Failed to register psm-cli commands\r\n");
appln_critical_error_handler((void *) -WM_FAIL);
}
#endif
ret = gpio_drv_init();
if (ret != WM_SUCCESS) {
LOG_ERROR("Error: gpio_drv_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
ret = aes_drv_init();
if (ret != WM_SUCCESS) {
LOG_ERROR("Error: aes drv init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
ret = factory_cli_init();
if (ret != 0) {
LOG_ERROR("Error: factory_cli_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
ret = miio_chip_rpc_init();
if (ret != 0) {
LOG_ERROR("Error: miio_chip_rpc_cli_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
#ifndef RELEASE
ret = appln_cli_init();
if (ret != 0) {
LOG_ERROR("Error: appln init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
#endif
/* init add on interface */
init_addon_interface();
ret = ota_init();
if (ret != 0) {
LOG_ERROR("Error: ota init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
#ifdef MIIO_COMMANDS
ret = mcmd_create(UART1_ID);
if (ret < 0) {
LOG_ERROR("Error: miio command init failed(%d)\r\n", ret);
appln_critical_error_handler((void *) -WM_FAIL);
}
#endif
/*
* Initialize Power Management Subsystem
*/
ret = pm_init();
if (ret != WM_SUCCESS) {
LOG_ERROR("Error: pm_init failed");
appln_critical_error_handler((void *) -WM_FAIL);
}
}
/*============================================================================*/
static void bldr_pre_process(void)
{
#ifdef PL_PROFILING
u32 profiling_time;
profiling_time = 0;
#endif
#if defined(CFG_USB_AUTO_DETECT)
platform_usbdl_flag_check();
#endif
/* enter preloader safe mode */
#if CFG_EMERGENCY_DL_SUPPORT
platform_safe_mode(1, CFG_EMERGENCY_DL_TIMEOUT_MS);
#endif
/* essential hardware initialization. e.g. timer, pll, uart... */
platform_pre_init();
#ifdef PL_PROFILING
printf("#T#total_preplf_init=%d\n", get_timer(0));
#endif
print("\n%s Build Time: %s\n", MOD, BUILD_TIME);
g_boot_mode = NORMAL_BOOT;
#ifdef PL_PROFILING
profiling_time = get_timer(0);
#endif
/* hardware initialization */
platform_init();
#ifdef PL_PROFILING
printf("#T#total_plf_init=%d\n", get_timer(profiling_time));
#endif
#if CFG_UART_TOOL_HANDSHAKE && (!defined(CFG_MEM_PRESERVED_MODE))
#ifdef PL_PROFILING
profiling_time = get_timer(0);
#endif
/* init uart handshake for sending 'ready' to tool and receiving handshake
* pattern from tool in the background and we'll see the pattern later.
* this can reduce the handshake time.
*/
uart_handshake_init();
#ifdef PL_PROFILING
printf("#T#UART_hdshk=%d\n", get_timer(profiling_time));
#endif
#endif //#if CFG_UART_TOOL_HANDSHAKE && (!defined(CFG_MEM_PRESERVED_MODE))
#ifdef PL_PROFILING
profiling_time = get_timer(0);
#endif
part_init();
part_dump();
#ifdef PL_PROFILING
printf("#T#part_init+dump=%d\n", get_timer(profiling_time));
#endif
#ifdef PL_PROFILING
profiling_time = get_timer(0);
#endif
/* init security library */
sec_lib_init();
#ifdef PL_PROFILING
printf("#T#sec_lib_init=%d\n", get_timer(profiling_time));
#endif
}
int main(void)
{
/* USER CODE BEGIN 1 */
// create pointer to MX_SPI_Init() function in order to use it in utility functions
MX_SPI1_Init_Pointer = &MX_SPI1_Init;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
//MX_SPI1_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_WWDG_Init();
/* USER CODE BEGIN 2 */
// delete MX_SPI1_Init(); up there after regenerating code with mx cube
//=================================================================================
/// some basic setups
//=================================================================================
// input is up
// output is down
uart_queue_initialize(&uart_input_queue);
uart_queue_initialize(&uart_output_queue);
uart_queue_initialize(&uart_command_queue);
// load setup_data from flash to struct: config_data_flash_struct setup_data;
get_from_Flash();
LED_init();
if(setup_data.initied_0xAA!=0xAA)
{
reset_joint();
}
part_init();
/// FIND DIRECTION = WAIT FOR FIRST 'R'
DIRECTION_SET = 0;
PROGRAMM_SENSOR = 0;
SET_FLASH = 0;
UP_STATE = IDLE;
DOWN_STATE = IDLE;
// init some huart stuff
huart_DOWN = &huart1;
huart_UP = &huart2;
uint16_t si = 0;
data_mode = 0;
HAL_StatusTypeDef status;
// create empty messages
Line empty_command_line;
empty_command_line.text[0] = empty;
for(si=1; si < DOWN_MESSAGE_LENGTH-1; si++)
{
empty_command_line.text[si] = si;
}
empty_command_line.text[DOWN_MESSAGE_LENGTH-1] = ComputeCRCN(empty_command_line.text, DOWN_MESSAGE_LENGTH-1);
empty_command_line.length = DOWN_MESSAGE_LENGTH;
Line empty_up_line;
empty_up_line.text[0] = empty;
for(si=1; si < UP_MESSAGE_LENGTH-1; si++)
{
empty_up_line.text[si] = si;
}
empty_up_line.text[UP_MESSAGE_LENGTH-1] = ComputeCRCN(empty_up_line.text, UP_MESSAGE_LENGTH-1);
empty_up_line.length = UP_MESSAGE_LENGTH;
// start timer
HAL_TIM_Base_Start(&htim16);
HAL_TIM_Base_Start(&htim17);
// send some initial init messages
uart_queue_push_line(&uart_input_queue, &init_message_line);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
skc[si] = 1;
}
}
}
int redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int init_timout_timer = __HAL_TIM_GetCounter(&htim16);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
int new_sensor_timer = __HAL_TIM_GetCounter(&htim16);
int up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int kids_timer[] = {-1,-1,-1,-1,-1,-1,-1,-1};
transmittedUP=0;
receivedUP=0;
transmittedDOWN=0;
receivedDOWN=0;
uint8_t TIMEDOUT = 0;
update_sensor_messages();
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_HalfDuplex_EnableTransmitterReceiver(huart_UP);
HAL_UART_Receive_DMA(huart_UP, up_buffer, DOWN_MESSAGE_LENGTH + 1);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
led_set(1, 1, 0);
//while(1);
//if(is_splitter(setup_data.type))
HAL_WWDG_Start(&hwwdg);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
get_up_time = __HAL_TIM_GetCounter(&htim16);
uint8_t WDGO = 0;
uint8_t WDSET = 0;
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// if((WD_UP && WD_DOWN) || DIRECTION_SET==0)
// {
// WD_UP = 0;
// WD_DOWN = 0;
// // for up and dwn we have own flags
//
// HAL_WWDG_Refresh(&hwwdg, 127);
// }
if(DIRECTION_SET && WDSET==0)
{
HAL_WWDG_Start(&hwwdg);
WDSET = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(WDGO==0 || is_splitter(setup_data.type)==0)
{
HAL_WWDG_Refresh(&hwwdg, 127);
}
// if there was no poll from above a certain time = reset!
if(__HAL_TIM_GetCounter(&htim16) - interrupt_up_timeout_time > 250)
{
WDGO = 1;
get_up(1);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
UP_STATE = IDLE;
}
// if there was no interrupt call for data from below
if(__HAL_TIM_GetCounter(&htim16) - interrupt_down_timeout_time > 250)
{
WDGO = 1;
HAL_UART_DMAStop(huart_DOWN);
HAL_UART_DMAResume(huart_DOWN);
if(!DIRECTION_SET)
{
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
}
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = IDLE;
}
// wait for directions to be set
if(!DIRECTION_SET)
{
led_set(8, 1, 8);
continue;
}
led_set(8, 0, 8);
if(__HAL_TIM_GetCounter(&htim16) - get_up_time > 20 && receivedUP == 0)
{
get_up(0);
}
// red blinking led
if(__HAL_TIM_GetCounter(&htim16) - redled_timeout_timer > 250)
{
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(__HAL_TIM_GetCounter(&htim16) - up_timeout_timer > 500)
{
WDGO = 1;
}
// sent init messages
if(__HAL_TIM_GetCounter(&htim16) - init_timout_timer > 1000)
{
uart_queue_replace_push_line(&uart_input_queue, &init_message_line, setup_data.id);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
}
}
}
init_timout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(SET_FLASH && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
set_in_Flash(&setup_data);
SET_FLASH = 0;
get_up(1);
}
if(PROGRAMM_SENSOR && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
if(setup_data.hardware == 2)
init_2D(hspi1, GPIOA, GPIO_PIN_3);
else
init_2D(hspi1, GPIOB, GPIO_PIN_1);
PROGRAMM_SENSOR = 0;
get_up(1);
}
/// UP_STATE_MACHINE
switch(UP_STATE)
{
case IDLE:
if(SET_FLASH || PROGRAMM_SENSOR)
{
UP_STATE = IDLE;
break;
}
if(receivedUP)
{
receivedUP = 0;
if(up_buffer[0] == poll_receive /*&& __HAL_TIM_GetCounter(&htim16) - receivedUPtime < 5*/)
{
if(UP_RESEND_MESSAGE==0)
{
//update_sensor_messages();
uint8_t n_up_messages = 0;
while(uart_queue_is_empty(&uart_input_queue)==0 && (n_up_messages < UP_MESSAGES_MAX))
{
uart_queue_pop_line(&uart_input_queue, &send_up_line);
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], send_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
while(n_up_messages < UP_MESSAGES_MAX)
{
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], empty_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
poll_up_size = n_up_messages*UP_MESSAGE_LENGTH;
}
UP_RESEND_MESSAGE = 0;
UP_STATE = SENDING;
HAL_HalfDuplex_EnableTransmitter(huart_UP);
HAL_UART_Transmit_DMA(huart_UP, poll_up_buffer, poll_up_size);
int something_else = __HAL_TIM_GetCounter(&htim16);
if(up_buffer[1]!=empty)
{
memcpy(command_in_line.text, &up_buffer[1], DOWN_MESSAGE_LENGTH);
command_in_line.length = DOWN_MESSAGE_LENGTH;
uint8_t checksum = ComputeCRCN(command_in_line.text, DOWN_MESSAGE_LENGTH-1);
if(checksum == command_in_line.text[DOWN_MESSAGE_LENGTH-1])
{
if(command_in_line.text[0] == poll_direct || getIDfromMessage(command_in_line.text)==setup_data.id)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
if((command_in_line.text[0] == poll_send) && (setup_data.type==NODE_JOINT_TUT_TU))
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else if(getIDfromMessage(command_in_line.text)==BROADCAST_ID)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else
{
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
}
}
if(is_splitter(setup_data.type))
{
/*__disable_irq();
delayUS(10000);
__enable_irq();*/
}
else
{
update_sensor_messages();
}
up_timeout_time = __HAL_TIM_GetCounter(&htim16);
}
else
{
//HAL_UART_DMAStop(huart_UP);
//HAL_UART_DMAResume(huart_UP);
// HAL_UART_Receive(huart_UP, &up_buffer[1], DOWN_MESSAGE_LENGTH, 2);
get_up(1);
}
}
break;
case SENDING:
if(transmittedUP)
{
UP_STATE = END;
transmittedUP = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - up_timeout_time > 10)
{
HAL_UART_DMAStop(huart_UP);
HAL_UART_DMAResume(huart_UP);
UP_STATE = END;
}
break;
case END:
WD_UP = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
// work on commands
UP_STATE = IDLE;
get_up(1);
break;
}
uint8_t s=0;
switch(DOWN_STATE)
{
case DELAY:
if(is_splitter(setup_data.type) || (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 7) /* && TIMEDOUT==0 */)
DOWN_STATE = IDLE;
/*else if (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 5)
DOWN_STATE = IDLE;*/
break;
case IDLE:
// do nothing
if(SET_FLASH || PROGRAMM_SENSOR)
{
DOWN_STATE = IDLE;
break;
}
if(is_splitter(setup_data.type))
{
if(splitter_kids_counter[i_p_splitter] > 10)
{
splitter_kids_counter[i_p_splitter] = 9;
kids_timer[i_p_splitter] = __HAL_TIM_GetCounter(&htim16) + 200;
}
if(kids_timer[i_p_splitter]!=-1 && kids_timer[i_p_splitter] > __HAL_TIM_GetCounter(&htim16))
{
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = END;
break;
}
if(skc[i_p_splitter] == 0)
{
send_down_line = send_down_line_now;
}
else
{
send_down_line = empty_command_line;
}
}
if(skc[0]+skc[1]+skc[2]+skc[3]+skc[4]+skc[5]+skc[6]+skc[7] >= n_splitter)
{
if(uart_queue_is_empty(&uart_output_queue)==0)
{
uart_queue_pop_line(&uart_output_queue, &send_down_line_now);
send_down_line = send_down_line_now;
for(s=0; s<n_splitter; s++)
skc[s] = 0;
}
else
{
send_down_line = empty_command_line;
for(s=0; s<n_splitter; s++)
skc[s] = 1;
}
}
//send_down_line = empty_command_line;
if(is_splitter(setup_data.type))
{
MPX_UART_Open(i_p_splitter);
}
DOWN_STATE = RECEIVING;
//__disable_irq();
HAL_HalfDuplex_EnableTransmitter(huart_DOWN);
status = HAL_UART_Transmit(huart_DOWN, "R", 1, 3);
status = HAL_UART_Transmit(huart_DOWN, send_down_line.text, DOWN_MESSAGE_LENGTH, 5);
//__enable_irq();
// DMA Receive for 3
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, poll_down_buffer, UP_MESSAGE_LENGTH*UP_MESSAGES_MAX);
down_timeout_time = __HAL_TIM_GetCounter(&htim16);
break;
case RECEIVING:
if(receivedDOWN)
{
receivedDOWN = 0;
splitter_kids_counter[i_p_splitter] = 0;
skc[i_p_splitter] = 1;
kids_timer[i_p_splitter] = -1;
// no more transmitting checksum, only calculating
uint8_t checksum = ComputeCRCN(&poll_down_buffer[poll_down_size-UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH-1);
uint8_t i = 0;
for(i=0; i<UP_MESSAGES_MAX; i++)
{
// check checksum
if(1 /*checksum == poll_down_buffer[i*UP_MESSAGE_LENGTH-1]*/)
{
Line sensor_message_line;
memcpy(sensor_message_line.text, &poll_down_buffer[i*UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH);
sensor_message_line.length = UP_MESSAGE_LENGTH;
if(sensor_message_line.text[0]==empty)
break;
// delete messages from T joint but the answer_data, there update angles[3]
if(getIDfromMessage(sensor_message_line.text)==setup_data.id && setup_data.type == NODE_JOINT_TUT_TU && data_mode!=2)
{
if(sensor_message_line.text[0] == answer_data)
angles[3] = ((sensor_message_line.text[15] << 8) & 0xFF00) + sensor_message_line.text[16];
}
else // for the other kinds (splitter, init, data from other) replace them if already in queue, ack messages always add to queue
{
// if it's from own child, add own id
if(sensor_message_line.text[5]==0)
{
sensor_message_line.text[5] = (setup_data.id >> 24) & 0xFF;
sensor_message_line.text[6] = (setup_data.id >> 16) & 0xFF;
sensor_message_line.text[7] = (setup_data.id >> 8) & 0xFF;
sensor_message_line.text[8] = setup_data.id & 0xFF;
// add splitter branch number
if(is_splitter(setup_data.type))
sensor_message_line.text[5] |= ((i_p_splitter << 4) & 0xF0);
}
UpdateCRCLine(&sensor_message_line);
if(sensor_message_line.text[0] == answer_ack || sensor_message_line.text[0] == splitter)
uart_queue_push_line(&uart_input_queue, &sensor_message_line);
else
uart_queue_replace_push_line(&uart_input_queue, &sensor_message_line, getIDfromMessage(sensor_message_line.text));
}
}
}
DOWN_STATE = END;
TIMEDOUT = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 13)
