void make_bricklet_enumerate(EnumerateCallback *ec, const uint8_t bricklet) {
com_make_default_header(ec, bs[bricklet].uid, sizeof(EnumerateCallback), FID_ENUMERATE_CALLBACK);
memset(ec->uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(bs[bricklet].uid, ec->uid);
memset(ec->connected_uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(com_info.uid, ec->connected_uid);
ec->position = 'a' + bricklet;
ec->version_fw[0] = bs[bricklet].firmware_version[0];
ec->version_fw[1] = bs[bricklet].firmware_version[1];
ec->version_fw[2] = bs[bricklet].firmware_version[2];
ec->version_hw[0] = bs[bricklet].hardware_version[0];
ec->version_hw[1] = bs[bricklet].hardware_version[1];
ec->version_hw[2] = bs[bricklet].hardware_version[2];
ec->device_identifier = bs[bricklet].device_identifier;
}
void get_identity(const ComType com, const GetIdentity *data) {
logd("GetIdentitiy for %lu\n\r", data->header.uid);
GetIdentityReturn gir = MESSAGE_EMPTY_INITIALIZER;
gir.header = data->header;
gir.header.length = sizeof(GetIdentityReturn);
if(data->header.uid == com_info.uid) {
memset(gir.uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(com_info.uid, gir.uid);
strncpy(gir.connected_uid, NO_CONNECTED_UID_STR, NO_CONNECTED_UID_STR_LENGTH);
gir.position = '0';
gir.version_fw[0] = BRICK_FIRMWARE_VERSION_MAJOR;
gir.version_fw[1] = BRICK_FIRMWARE_VERSION_MINOR;
gir.version_fw[2] = BRICK_FIRMWARE_VERSION_REVISION;
gir.version_hw[0] = brick_hardware_version[0];
gir.version_hw[1] = brick_hardware_version[1];
gir.version_hw[2] = brick_hardware_version[2];
gir.device_identifier = BRICK_DEVICE_IDENTIFIER;
} else {
for(uint8_t i = 0; i < BRICKLET_NUM; i++) {
if(bs[i].uid == data->header.uid && bricklet_attached[i] != BRICKLET_INIT_CO_MCU) {
memset(gir.uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(bs[i].uid, gir.uid);
memset(gir.connected_uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(com_info.uid, gir.connected_uid);
gir.position = 'a' + i;
gir.version_fw[0] = bs[i].firmware_version[0];
gir.version_fw[1] = bs[i].firmware_version[1];
gir.version_fw[2] = bs[i].firmware_version[2];
gir.version_hw[0] = bs[i].hardware_version[0];
gir.version_hw[1] = bs[i].hardware_version[1];
gir.version_hw[2] = bs[i].hardware_version[2];
gir.device_identifier = bs[i].device_identifier;
break;
}
}
}
if(gir.device_identifier != 0) {
send_blocking_with_timeout(&gir, sizeof(GetIdentityReturn), com);
}
}
// Insert stack address into enumerate message
void spi_stack_master_insert_position(void* data, const uint8_t position) {
if(spi_stack_buffer_size_recv > sizeof(MessageHeader)) {
EnumerateCallback *enum_cb = (EnumerateCallback*)data;
if(enum_cb->header.fid == FID_ENUMERATE_CALLBACK || enum_cb->header.fid == FID_GET_IDENTITY) {
if(enum_cb->position == '0') {
enum_cb->position = '0' + position;
uid_to_serial_number(com_info.uid, enum_cb->connected_uid);
}
}
}
}
void make_bricklet_enumerate(EnumerateCallback *ec, const uint8_t bricklet) {
com_make_default_header(ec, bs[bricklet].uid, sizeof(EnumerateCallback), FID_ENUMERATE_CALLBACK);
memset(ec->uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(bs[bricklet].uid, ec->uid);
memset(ec->connected_uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(com_info.uid, ec->connected_uid);
ec->position = 'a' + bricklet;
ec->version_fw[0] = bs[bricklet].firmware_version[0];
ec->version_fw[1] = bs[bricklet].firmware_version[1];
ec->version_fw[2] = bs[bricklet].firmware_version[2];
ec->version_hw[0] = bs[bricklet].hardware_version[0];
ec->version_hw[1] = bs[bricklet].hardware_version[1];
ec->version_hw[2] = bs[bricklet].hardware_version[2];
ec->device_identifier = bs[bricklet].device_identifier;
if(bricklet_attached[bricklet] == BRICKLET_INIT_CO_MCU) {
// A co mcu Bricklet does the initial enumeration itself
ec->device_identifier = 0;
}
}
void make_brick_enumerate(EnumerateCallback *ec) {
com_make_default_header(ec, com_info.uid, sizeof(EnumerateCallback), FID_ENUMERATE_CALLBACK);
memset(ec->uid, '\0', UID_STR_MAX_LENGTH);
uid_to_serial_number(com_info.uid, ec->uid);
strncpy(ec->connected_uid, NO_CONNECTED_UID_STR, NO_CONNECTED_UID_STR_LENGTH);
ec->position = '0';
ec->version_fw[0] = BRICK_FIRMWARE_VERSION_MAJOR;
ec->version_fw[1] = BRICK_FIRMWARE_VERSION_MINOR;
ec->version_fw[2] = BRICK_FIRMWARE_VERSION_REVISION;
ec->version_hw[0] = brick_hardware_version[0];
ec->version_hw[1] = brick_hardware_version[1];
ec->version_hw[2] = brick_hardware_version[2];
ec->device_identifier = BRICK_DEVICE_IDENTIFIER;
}
void brick_init(void) {
// Wait 5ms so everything can power up
SLEEP_MS(5);
logging_init();
logsi("Booting %d\n\r", BRICK_DEVICE_IDENTIFIER);
logsi("Compiled on %s %s\n\r", __DATE__, __TIME__);
logsi("Processor family %s\n\r", IS_SAM3() ? "SAM3S" : "SAM4S");
led_init();
led_on(LED_STD_BLUE);
#ifdef LED_STD_RED
#if LOGGING_LEVEL == LOGGING_NONE
led_off(LED_STD_RED);
#else
led_on(LED_STD_RED);
#endif
#endif
logsi("LEDs initialized\n\r");
com_info.uid = uid_get_uid32();
// Add 0 at end for printing
char sn[MAX_BASE58_STR_SIZE] = {'\0'};
uid_to_serial_number(com_info.uid, sn);
set_serial_number_descriptor(sn, MAX_BASE58_STR_SIZE);
logsi("Unique ID %s (%lu)\n\r\n\r", sn, com_info.uid);
wdt_start();
logsi("Watchdog disabled\n\r");
mutex_init();
logsi("Mutexes initialized\n\r");
// Disable JTAG (Pins are needed for i2c)
#ifdef DISABLE_JTAG_ON_STARTUP
MATRIX->CCFG_SYSIO |= (CCFG_SYSIO_SYSIO12 |
CCFG_SYSIO_SYSIO4 |
CCFG_SYSIO_SYSIO5 |
CCFG_SYSIO_SYSIO6 |
CCFG_SYSIO_SYSIO7);
logsi("JTAG disabled\n\r");
#endif
com_info.current = COM_NONE;
PIO_InitializeInterrupts(15);
bricklet_clear_eeproms();
i2c_eeprom_master_init(TWI_BRICKLET);
logsi("I2C for Bricklets initialized\n\r");
usb_detect_configure();
adc_init();
adc_enable_temperature_sensor();
#ifndef NO_PERIODIC_ADC_CONVERISION
adc_start_periodic_conversion();
#endif
logsi("A/D converter initialized\n\r");
bricklet_init();
}
