// Goes to the x,y coordinates on the lcd specified by the two data bytes
void do_lcd_goto_xy()
{
unsigned char x = read_next_byte();
if(check_data_byte(x))
return;
unsigned char y = read_next_byte();
if(check_data_byte(y))
return;
lcd_goto_xy(x,y);
}
// Optimization: in der Funktion selbst loopen (spart function calls)
void read_data_fn(struct state *s) {
debug(__func__, s);
byte current_byte = read_next_byte(s);
switch (current_byte) {
case START_BYTE_CASE:
reset_state(s);
s->next = length_fn;
break;
case STOP_BYTE_CASE:
s->flush_cb(s);
reset_state(s);
s->next = start_fn;
break;
case ESCAPE_BYTE_CASE:
s->next = read_data_esc_fn;
break;
default:
if (s->already_read > s->next_packet_size) {
printf("We're exceeding the new length\n"); // unescaped START in payload?
}
s->buffer[s->already_read] = current_byte;
s->already_read++;
break;
}
}
// writes the byte after an escape without interpretation
void read_data_esc_fn(struct state *s) {
debug(__func__, s);
s->next = read_data_fn;
byte current_byte = read_next_byte(s);
s->buffer[s->already_read] = current_byte;
s->already_read++;
}
// Drives m2 backward.
void m2_backward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m2_speed(byte == 127 ? -255 : -byte*2);
}
// Drives m1 forward.
void m1_forward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m1_speed(byte == 127 ? 255 : byte*2);
}
// Displays data to the screen
void do_print()
{
unsigned char string_length = read_next_byte();
if(check_data_byte(string_length))
return;
unsigned char i;
for(i=0;i<string_length;i++)
{
unsigned char character;
character = read_next_byte();
if(check_data_byte(character))
return;
print_character(character);
}
}
void start_fn(struct state *s) {
debug(__func__, s);
byte current_byte = read_next_byte(s);
switch (current_byte) {
case START_BYTE_CASE:
s->next = length_fn;
break;
default:
break;
}
}
// Plays a musical sequence.
void do_play()
{
unsigned char tune_length = read_next_byte();
if(check_data_byte(tune_length))
return;
unsigned char i;
for(i=0;i<tune_length;i++)
{
if(i > sizeof(music_buffer)) // avoid overflow
return;
music_buffer[i] = read_next_byte();
if(check_data_byte(music_buffer[i]))
return;
}
// add the end of string character 0
music_buffer[i] = 0;
play(music_buffer);
}
void length_fn(struct state *s) {
debug(__func__, s);
byte current_byte = read_next_byte(s);
switch (current_byte) {
case START_BYTE_CASE:
case STOP_BYTE_CASE:
s->next = length_fn;
break;
case ESCAPE_BYTE_CASE:
s->next = length_esc_fn;
break;
default:
s->next_packet_size = current_byte;
s->next = read_data_fn;
break;
}
}
// Turns on PID according to the supplied PID constants
void set_pid()
{
unsigned char constants[5];
unsigned char i;
for(i=0;i<5;i++)
{
constants[i] = read_next_byte();
if(check_data_byte(constants[i]))
return;
}
// make the max speed 2x of the first one, so that it can reach 255
max_speed = (constants[0] == 127 ? 255 : constants[0]*2);
// set the other parameters directly
p_num = constants[1];
p_den = constants[2];
d_num = constants[3];
d_den = constants[4];
// enable pid
pid_enabled = 1;
}
/*
* This implements the state machine defined in the IPMI manual, see
* that for details on how this works. Divide that flowchart into
* sections delimited by "Wait for IBF" and this will become clear.
*/
static enum si_sm_result kcs_event(struct si_sm_data *kcs, long time)
{
unsigned char status;
unsigned char state;
status = read_status(kcs);
if (kcs_debug & KCS_DEBUG_STATES)
printk(KERN_DEBUG "KCS: State = %d, %x\n", kcs->state, status);
/* All states wait for ibf, so just do it here. */
if (!check_ibf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
/* Just about everything looks at the KCS state, so grab that, too. */
state = GET_STATUS_STATE(status);
switch (kcs->state) {
case KCS_IDLE:
/* If there's and interrupt source, turn it off. */
clear_obf(kcs, status);
if (GET_STATUS_ATN(status))
return SI_SM_ATTN;
else
return SI_SM_IDLE;
case KCS_START_OP:
if (state != KCS_IDLE_STATE) {
start_error_recovery(kcs,
"State machine not idle at start");
break;
}
clear_obf(kcs, status);
write_cmd(kcs, KCS_WRITE_START);
kcs->state = KCS_WAIT_WRITE_START;
break;
case KCS_WAIT_WRITE_START:
if (state != KCS_WRITE_STATE) {
start_error_recovery(
kcs,
"Not in write state at write start");
break;
}
read_data(kcs);
if (kcs->write_count == 1) {
write_cmd(kcs, KCS_WRITE_END);
kcs->state = KCS_WAIT_WRITE_END;
} else {
write_next_byte(kcs);
kcs->state = KCS_WAIT_WRITE;
}
break;
case KCS_WAIT_WRITE:
if (state != KCS_WRITE_STATE) {
start_error_recovery(kcs,
"Not in write state for write");
break;
}
clear_obf(kcs, status);
if (kcs->write_count == 1) {
write_cmd(kcs, KCS_WRITE_END);
kcs->state = KCS_WAIT_WRITE_END;
} else {
write_next_byte(kcs);
}
break;
case KCS_WAIT_WRITE_END:
if (state != KCS_WRITE_STATE) {
start_error_recovery(kcs,
"Not in write state"
" for write end");
break;
}
clear_obf(kcs, status);
write_next_byte(kcs);
kcs->state = KCS_WAIT_READ;
break;
case KCS_WAIT_READ:
if ((state != KCS_READ_STATE) && (state != KCS_IDLE_STATE)) {
start_error_recovery(
kcs,
"Not in read or idle in read state");
break;
}
if (state == KCS_READ_STATE) {
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
read_next_byte(kcs);
} else {
/*
* We don't implement this exactly like the state
* machine in the spec. Some broken hardware
* does not write the final dummy byte to the
* read register. Thus obf will never go high
* here. We just go straight to idle, and we
* handle clearing out obf in idle state if it
* happens to come in.
*/
clear_obf(kcs, status);
kcs->orig_write_count = 0;
kcs->state = KCS_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
break;
case KCS_ERROR0:
clear_obf(kcs, status);
status = read_status(kcs);
if (GET_STATUS_OBF(status))
/* controller isn't responding */
if (time_before(jiffies, kcs->error0_timeout))
return SI_SM_CALL_WITH_TICK_DELAY;
write_cmd(kcs, KCS_GET_STATUS_ABORT);
kcs->state = KCS_ERROR1;
break;
case KCS_ERROR1:
clear_obf(kcs, status);
write_data(kcs, 0);
kcs->state = KCS_ERROR2;
break;
case KCS_ERROR2:
if (state != KCS_READ_STATE) {
start_error_recovery(kcs,
"Not in read state for error2");
break;
}
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
clear_obf(kcs, status);
write_data(kcs, KCS_READ_BYTE);
kcs->state = KCS_ERROR3;
break;
case KCS_ERROR3:
if (state != KCS_IDLE_STATE) {
start_error_recovery(kcs,
"Not in idle state for error3");
break;
}
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
clear_obf(kcs, status);
if (kcs->orig_write_count) {
restart_kcs_transaction(kcs);
} else {
kcs->state = KCS_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
break;
case KCS_HOSED:
break;
}
if (kcs->state == KCS_HOSED) {
init_kcs_data(kcs, kcs->io);
return SI_SM_HOSED;
}
return SI_SM_CALL_WITHOUT_DELAY;
}
static enum si_sm_result smic_event(struct si_sm_data *smic, long time)
{
unsigned char status;
unsigned char flags;
unsigned char data;
if (smic->state == SMIC_HOSED) {
init_smic_data(smic, smic->io);
return SI_SM_HOSED;
}
if (smic->state != SMIC_IDLE) {
if (smic_debug & SMIC_DEBUG_STATES)
printk(KERN_DEBUG
"smic_event - smic->smic_timeout = %ld,"
" time = %ld\n",
smic->smic_timeout, time);
if (time < SMIC_RETRY_TIMEOUT) {
smic->smic_timeout -= time;
if (smic->smic_timeout < 0) {
start_error_recovery(smic, "smic timed out.");
return SI_SM_CALL_WITH_DELAY;
}
}
}
flags = read_smic_flags(smic);
if (flags & SMIC_FLAG_BSY)
return SI_SM_CALL_WITH_DELAY;
status = read_smic_status(smic);
if (smic_debug & SMIC_DEBUG_STATES)
printk(KERN_DEBUG
"smic_event - state = %d, flags = 0x%02x,"
" status = 0x%02x\n",
smic->state, flags, status);
switch (smic->state) {
case SMIC_IDLE:
if (flags & SMIC_SMS_DATA_AVAIL)
return SI_SM_ATTN;
return SI_SM_IDLE;
case SMIC_START_OP:
write_smic_control(smic, SMIC_CC_SMS_GET_STATUS);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_OP_OK;
break;
case SMIC_OP_OK:
if (status != SMIC_SC_SMS_READY) {
start_error_recovery(smic,
"state = SMIC_OP_OK,"
" status != SMIC_SC_SMS_READY");
return SI_SM_CALL_WITH_DELAY;
}
write_smic_control(smic, SMIC_CC_SMS_WR_START);
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_WRITE_START;
break;
case SMIC_WRITE_START:
if (status != SMIC_SC_SMS_WR_START) {
start_error_recovery(smic,
"state = SMIC_WRITE_START, "
"status != SMIC_SC_SMS_WR_START");
return SI_SM_CALL_WITH_DELAY;
}
if (flags & SMIC_TX_DATA_READY) {
if (smic->write_count == 1) {
write_smic_control(smic, SMIC_CC_SMS_WR_END);
smic->state = SMIC_WRITE_END;
} else {
write_smic_control(smic, SMIC_CC_SMS_WR_NEXT);
smic->state = SMIC_WRITE_NEXT;
}
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
} else
return SI_SM_CALL_WITH_DELAY;
break;
case SMIC_WRITE_NEXT:
if (status != SMIC_SC_SMS_WR_NEXT) {
start_error_recovery(smic,
"state = SMIC_WRITE_NEXT, "
"status != SMIC_SC_SMS_WR_NEXT");
return SI_SM_CALL_WITH_DELAY;
}
if (flags & SMIC_TX_DATA_READY) {
if (smic->write_count == 1) {
write_smic_control(smic, SMIC_CC_SMS_WR_END);
smic->state = SMIC_WRITE_END;
} else {
write_smic_control(smic, SMIC_CC_SMS_WR_NEXT);
smic->state = SMIC_WRITE_NEXT;
}
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
} else
return SI_SM_CALL_WITH_DELAY;
break;
case SMIC_WRITE_END:
if (status != SMIC_SC_SMS_WR_END) {
start_error_recovery(smic,
"state = SMIC_WRITE_END, "
"status != SMIC_SC_SMS_WR_END");
return SI_SM_CALL_WITH_DELAY;
}
data = read_smic_data(smic);
if (data != 0) {
if (smic_debug & SMIC_DEBUG_ENABLE)
printk(KERN_DEBUG
"SMIC_WRITE_END: data = %02x\n", data);
start_error_recovery(smic,
"state = SMIC_WRITE_END, "
"data != SUCCESS");
return SI_SM_CALL_WITH_DELAY;
} else
smic->state = SMIC_WRITE2READ;
break;
case SMIC_WRITE2READ:
if (flags & SMIC_RX_DATA_READY) {
write_smic_control(smic, SMIC_CC_SMS_RD_START);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_START;
} else
return SI_SM_CALL_WITH_DELAY;
break;
case SMIC_READ_START:
if (status != SMIC_SC_SMS_RD_START) {
start_error_recovery(smic,
"state = SMIC_READ_START, "
"status != SMIC_SC_SMS_RD_START");
return SI_SM_CALL_WITH_DELAY;
}
if (flags & SMIC_RX_DATA_READY) {
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_NEXT);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_NEXT;
} else
return SI_SM_CALL_WITH_DELAY;
break;
case SMIC_READ_NEXT:
switch (status) {
case SMIC_SC_SMS_RD_END:
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_END);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_END;
break;
case SMIC_SC_SMS_RD_NEXT:
if (flags & SMIC_RX_DATA_READY) {
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_NEXT);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_NEXT;
} else
return SI_SM_CALL_WITH_DELAY;
break;
default:
start_error_recovery(
smic,
"state = SMIC_READ_NEXT, "
"status != SMIC_SC_SMS_RD_(NEXT|END)");
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_READ_END:
if (status != SMIC_SC_SMS_READY) {
start_error_recovery(smic,
"state = SMIC_READ_END, "
"status != SMIC_SC_SMS_READY");
return SI_SM_CALL_WITH_DELAY;
}
data = read_smic_data(smic);
if (data != 0) {
if (smic_debug & SMIC_DEBUG_ENABLE)
printk(KERN_DEBUG
"SMIC_READ_END: data = %02x\n", data);
start_error_recovery(smic,
"state = SMIC_READ_END, "
"data != SUCCESS");
return SI_SM_CALL_WITH_DELAY;
} else {
smic->state = SMIC_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
case SMIC_HOSED:
init_smic_data(smic, smic->io);
return SI_SM_HOSED;
default:
if (smic_debug & SMIC_DEBUG_ENABLE) {
printk(KERN_DEBUG "smic->state = %d\n", smic->state);
start_error_recovery(smic, "state = UNKNOWN");
return SI_SM_CALL_WITH_DELAY;
}
}
smic->smic_timeout = SMIC_RETRY_TIMEOUT;
return SI_SM_CALL_WITHOUT_DELAY;
}
static enum si_sm_result smic_event (struct si_sm_data *smic, long time)
{
unsigned char status;
unsigned char flags;
unsigned char data;
if (smic->state == SMIC_HOSED) {
init_smic_data(smic, smic->io);
return SI_SM_HOSED;
}
if (smic->state != SMIC_IDLE) {
if (smic_debug & SMIC_DEBUG_STATES) {
printk(KERN_INFO
"smic_event - smic->smic_timeout = %ld,"
" time = %ld\n",
smic->smic_timeout, time);
}
/* FIXME: smic_event is sometimes called with time > SMIC_RETRY_TIMEOUT */
if (time < SMIC_RETRY_TIMEOUT) {
smic->smic_timeout -= time;
if (smic->smic_timeout < 0) {
start_error_recovery(smic, "smic timed out.");
return SI_SM_CALL_WITH_DELAY;
}
}
}
flags = read_smic_flags(smic);
if (flags & SMIC_FLAG_BSY)
return SI_SM_CALL_WITH_DELAY;
status = read_smic_status (smic);
if (smic_debug & SMIC_DEBUG_STATES)
printk(KERN_INFO
"smic_event - state = %d, flags = 0x%02x,"
" status = 0x%02x\n",
smic->state, flags, status);
switch (smic->state) {
case SMIC_IDLE:
/* in IDLE we check for available messages */
if (flags & (SMIC_SMI |
SMIC_EVM_DATA_AVAIL | SMIC_SMS_DATA_AVAIL))
{
return SI_SM_ATTN;
}
return SI_SM_IDLE;
case SMIC_START_OP:
/* sanity check whether smic is really idle */
write_smic_control(smic, SMIC_CC_SMS_GET_STATUS);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_OP_OK;
break;
case SMIC_OP_OK:
if (status != SMIC_SC_SMS_READY) {
/* this should not happen */
start_error_recovery(smic,
"state = SMIC_OP_OK,"
" status != SMIC_SC_SMS_READY");
return SI_SM_CALL_WITH_DELAY;
}
/* OK so far; smic is idle let us start ... */
write_smic_control(smic, SMIC_CC_SMS_WR_START);
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_WRITE_START;
break;
case SMIC_WRITE_START:
if (status != SMIC_SC_SMS_WR_START) {
start_error_recovery(smic,
"state = SMIC_WRITE_START, "
"status != SMIC_SC_SMS_WR_START");
return SI_SM_CALL_WITH_DELAY;
}
/* we must not issue WR_(NEXT|END) unless
TX_DATA_READY is set */
if (flags & SMIC_TX_DATA_READY) {
if (smic->write_count == 1) {
/* last byte */
write_smic_control(smic, SMIC_CC_SMS_WR_END);
smic->state = SMIC_WRITE_END;
} else {
write_smic_control(smic, SMIC_CC_SMS_WR_NEXT);
smic->state = SMIC_WRITE_NEXT;
}
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
}
else {
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_WRITE_NEXT:
if (status != SMIC_SC_SMS_WR_NEXT) {
start_error_recovery(smic,
"state = SMIC_WRITE_NEXT, "
"status != SMIC_SC_SMS_WR_NEXT");
return SI_SM_CALL_WITH_DELAY;
}
/* this is the same code as in SMIC_WRITE_START */
if (flags & SMIC_TX_DATA_READY) {
if (smic->write_count == 1) {
write_smic_control(smic, SMIC_CC_SMS_WR_END);
smic->state = SMIC_WRITE_END;
}
else {
write_smic_control(smic, SMIC_CC_SMS_WR_NEXT);
smic->state = SMIC_WRITE_NEXT;
}
write_next_byte(smic);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
}
else {
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_WRITE_END:
if (status != SMIC_SC_SMS_WR_END) {
start_error_recovery (smic,
"state = SMIC_WRITE_END, "
"status != SMIC_SC_SMS_WR_END");
return SI_SM_CALL_WITH_DELAY;
}
/* data register holds an error code */
data = read_smic_data(smic);
if (data != 0) {
if (smic_debug & SMIC_DEBUG_ENABLE) {
printk(KERN_INFO
"SMIC_WRITE_END: data = %02x\n", data);
}
start_error_recovery(smic,
"state = SMIC_WRITE_END, "
"data != SUCCESS");
return SI_SM_CALL_WITH_DELAY;
} else {
smic->state = SMIC_WRITE2READ;
}
break;
case SMIC_WRITE2READ:
/* we must wait for RX_DATA_READY to be set before we
can continue */
if (flags & SMIC_RX_DATA_READY) {
write_smic_control(smic, SMIC_CC_SMS_RD_START);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_START;
} else {
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_READ_START:
if (status != SMIC_SC_SMS_RD_START) {
start_error_recovery(smic,
"state = SMIC_READ_START, "
"status != SMIC_SC_SMS_RD_START");
return SI_SM_CALL_WITH_DELAY;
}
if (flags & SMIC_RX_DATA_READY) {
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_NEXT);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_NEXT;
} else {
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_READ_NEXT:
switch (status) {
/* smic tells us that this is the last byte to be read
--> clean up */
case SMIC_SC_SMS_RD_END:
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_END);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_END;
break;
case SMIC_SC_SMS_RD_NEXT:
if (flags & SMIC_RX_DATA_READY) {
read_next_byte(smic);
write_smic_control(smic, SMIC_CC_SMS_RD_NEXT);
write_smic_flags(smic, flags | SMIC_FLAG_BSY);
smic->state = SMIC_READ_NEXT;
} else {
return SI_SM_CALL_WITH_DELAY;
}
break;
default:
start_error_recovery(
smic,
"state = SMIC_READ_NEXT, "
"status != SMIC_SC_SMS_RD_(NEXT|END)");
return SI_SM_CALL_WITH_DELAY;
}
break;
case SMIC_READ_END:
if (status != SMIC_SC_SMS_READY) {
start_error_recovery(smic,
"state = SMIC_READ_END, "
"status != SMIC_SC_SMS_READY");
return SI_SM_CALL_WITH_DELAY;
}
data = read_smic_data(smic);
/* data register holds an error code */
if (data != 0) {
if (smic_debug & SMIC_DEBUG_ENABLE) {
printk(KERN_INFO
"SMIC_READ_END: data = %02x\n", data);
}
start_error_recovery(smic,
"state = SMIC_READ_END, "
"data != SUCCESS");
return SI_SM_CALL_WITH_DELAY;
} else {
smic->state = SMIC_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
case SMIC_HOSED:
init_smic_data(smic, smic->io);
return SI_SM_HOSED;
default:
if (smic_debug & SMIC_DEBUG_ENABLE) {
printk(KERN_WARNING "smic->state = %d\n", smic->state);
start_error_recovery(smic, "state = UNKNOWN");
return SI_SM_CALL_WITH_DELAY;
}
}
smic->smic_timeout = SMIC_RETRY_TIMEOUT;
return SI_SM_CALL_WITHOUT_DELAY;
}
/*==========la fonction main()=======*/
int main(void) {
lcd_init_printf();
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
print("Hello!");
play("L16 ceg>c");
// start receiving data at 9600 baud
serial_set_baud_rate(9600);
serial_receive_ring(buffer, 100);
int i=0;
char dirct,chaine[4], comp='C',*recuper = NULL, *ok;
long val, veri=0;
char command;
/* la boucle qui permet de recuperer la trame caractere par caractere */
while(1){
for(i=0;i<4;i++){
command = read_next_byte();
if (command)
{
chaine[i] = command;
}
}
/*recuperation de la lettre recu dans la trame */
dirct = chaine[0];
/*recuperation du reste de la trame en chaine de caractere */
recuper = strchr(chaine,chaine[1]);
/*conversion de cette chaine recuperer en entier (type long)*/
val = strtol(recuper, &ok,10);
/* cette condition permet d'eviter l'execution de la meme trame plusieurs fois*/
if(dirct != comp || veri != val)
{
clear();
printf("%s",chaine);
switch(dirct)
{
case 'A':
avancer(val);
break;
case 'R':
reculer(val);
break;
case 'D':
droit(val);
break;
case 'G':
gauche(val);
break;
case 'M':
melodie();
break;
default:
set_motors(0,0);
break;
}
comp = dirct;
veri = val;
}
}
return 0;
}
static enum si_sm_result kcs_event(struct si_sm_data *kcs, long time)
{
unsigned char status;
unsigned char state;
status = read_status(kcs);
if (kcs_debug & KCS_DEBUG_STATES)
printk(KERN_DEBUG "KCS: State = %d, %x\n", kcs->state, status);
if (!check_ibf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
state = GET_STATUS_STATE(status);
switch (kcs->state) {
case KCS_IDLE:
clear_obf(kcs, status);
if (GET_STATUS_ATN(status))
return SI_SM_ATTN;
else
return SI_SM_IDLE;
case KCS_START_OP:
if (state != KCS_IDLE_STATE) {
start_error_recovery(kcs,
"State machine not idle at start");
break;
}
clear_obf(kcs, status);
write_cmd(kcs, KCS_WRITE_START);
kcs->state = KCS_WAIT_WRITE_START;
break;
case KCS_WAIT_WRITE_START:
if (state != KCS_WRITE_STATE) {
start_error_recovery(
kcs,
"Not in write state at write start");
break;
}
read_data(kcs);
if (kcs->write_count == 1) {
write_cmd(kcs, KCS_WRITE_END);
kcs->state = KCS_WAIT_WRITE_END;
} else {
write_next_byte(kcs);
kcs->state = KCS_WAIT_WRITE;
}
break;
case KCS_WAIT_WRITE:
if (state != KCS_WRITE_STATE) {
start_error_recovery(kcs,
"Not in write state for write");
break;
}
clear_obf(kcs, status);
if (kcs->write_count == 1) {
write_cmd(kcs, KCS_WRITE_END);
kcs->state = KCS_WAIT_WRITE_END;
} else {
write_next_byte(kcs);
}
break;
case KCS_WAIT_WRITE_END:
if (state != KCS_WRITE_STATE) {
start_error_recovery(kcs,
"Not in write state"
" for write end");
break;
}
clear_obf(kcs, status);
write_next_byte(kcs);
kcs->state = KCS_WAIT_READ;
break;
case KCS_WAIT_READ:
if ((state != KCS_READ_STATE) && (state != KCS_IDLE_STATE)) {
start_error_recovery(
kcs,
"Not in read or idle in read state");
break;
}
if (state == KCS_READ_STATE) {
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
read_next_byte(kcs);
} else {
clear_obf(kcs, status);
kcs->orig_write_count = 0;
kcs->state = KCS_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
break;
case KCS_ERROR0:
clear_obf(kcs, status);
status = read_status(kcs);
if (GET_STATUS_OBF(status))
if (time_before(jiffies, kcs->error0_timeout))
return SI_SM_CALL_WITH_TICK_DELAY;
write_cmd(kcs, KCS_GET_STATUS_ABORT);
kcs->state = KCS_ERROR1;
break;
case KCS_ERROR1:
clear_obf(kcs, status);
write_data(kcs, 0);
kcs->state = KCS_ERROR2;
break;
case KCS_ERROR2:
if (state != KCS_READ_STATE) {
start_error_recovery(kcs,
"Not in read state for error2");
break;
}
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
clear_obf(kcs, status);
write_data(kcs, KCS_READ_BYTE);
kcs->state = KCS_ERROR3;
break;
case KCS_ERROR3:
if (state != KCS_IDLE_STATE) {
start_error_recovery(kcs,
"Not in idle state for error3");
break;
}
if (!check_obf(kcs, status, time))
return SI_SM_CALL_WITH_DELAY;
clear_obf(kcs, status);
if (kcs->orig_write_count) {
restart_kcs_transaction(kcs);
} else {
kcs->state = KCS_IDLE;
return SI_SM_TRANSACTION_COMPLETE;
}
break;
case KCS_HOSED:
break;
}
if (kcs->state == KCS_HOSED) {
init_kcs_data(kcs, kcs->io);
return SI_SM_HOSED;
}
return SI_SM_CALL_WITHOUT_DELAY;
}
int main()
{
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
// start receiving data at 115.2 kbaud
serial_set_baud_rate(115200);
serial_receive_ring(buffer, 100);
while(1)
{
// wait for a command
char command = read_next_byte();
// The list of commands is below: add your own simply by
// choosing a command byte and introducing another case
// statement.
switch(command)
{
case (char)0x00:
// silent error - probable master resetting
break;
case (char)0x81:
send_signature();
break;
case (char)0x86:
send_raw_sensor_values();
break;
case (char)0x87:
send_calibrated_sensor_values(1);
break;
case (char)0xB0:
send_trimpot();
break;
case (char)0xB1:
send_battery_millivolts();
break;
case (char)0xB3:
do_play();
break;
case (char)0xB4:
calibrate_line_sensors(IR_EMITTERS_ON);
send_calibrated_sensor_values(1);
break;
case (char)0xB5:
line_sensors_reset_calibration();
break;
case (char)0xB6:
send_line_position();
break;
case (char)0xB7:
do_clear();
break;
case (char)0xB8:
do_print();
break;
case (char)0xB9:
do_lcd_goto_xy();
break;
case (char)0xBA:
auto_calibrate();
break;
case (char)0xBB:
set_pid();
break;
case (char)0xBC:
stop_pid();
break;
case (char)0xC1:
m1_forward();
break;
case (char)0xC2:
m1_backward();
break;
case (char)0xC5:
m2_forward();
break;
case (char)0xC6:
m2_backward();
break;
default:
clear();
print("Bad cmd");
lcd_goto_xy(0,1);
print_hex_byte(command);
play("o7l16crc");
continue; // bad command
}
}
}
void length_esc_fn(struct state *s) {
debug(__func__, s);
s->next_packet_size = read_next_byte(s);
s->next = read_data_fn;
}