Orefatoi / Mbed 2 deprecated afero_node_suntory_171018

pwm period is now 200us instead of the default 20ms veml6040 config is now AF_BIT | TRIG_BIT

Dependencies:   mbed MMA8451Q USBDevice WakeUp vt100

Fork of afero_node_suntory_2017_06_15 by Orefatoi

afLib/afLib.cpp@6:88cc04eb613a, 2017-03-22 (annotated)

Committer:
wataloh
Date:
Wed Mar 22 23:39:41 2017 +0000
Revision:
6:88cc04eb613a
Parent:
5:9d5c7ee80f3b
Child:
21:d03c7bbb9f37
New calib vals for LED RGB.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wataloh 0:20bce0dcc921 1 /**
wataloh 0:20bce0dcc921 2 * Copyright 2015 Afero, Inc.
wataloh 0:20bce0dcc921 3 *
wataloh 0:20bce0dcc921 4 * Licensed under the Apache License, Version 2.0 (the "License");
wataloh 0:20bce0dcc921 5 * you may not use this file except in compliance with the License.
wataloh 0:20bce0dcc921 6 * You may obtain a copy of the License at
wataloh 0:20bce0dcc921 7 *
wataloh 0:20bce0dcc921 8 * http://www.apache.org/licenses/LICENSE-2.0
wataloh 0:20bce0dcc921 9 *
wataloh 0:20bce0dcc921 10 * Unless required by applicable law or agreed to in writing, software
wataloh 0:20bce0dcc921 11 * distributed under the License is distributed on an "AS IS" BASIS,
wataloh 0:20bce0dcc921 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
wataloh 0:20bce0dcc921 13 * See the License for the specific language governing permissions and
wataloh 0:20bce0dcc921 14 * limitations under the License.
wataloh 0:20bce0dcc921 15 */
wataloh 0:20bce0dcc921 16
wataloh 0:20bce0dcc921 17 #include "mbed.h"
wataloh 0:20bce0dcc921 18 #include "afLib.h"
wataloh 0:20bce0dcc921 19 #include "afErrors.h"
wataloh 0:20bce0dcc921 20 #include "msg_types.h"
wataloh 0:20bce0dcc921 21
wataloh 0:20bce0dcc921 22 #define IS_MCU_ATTR(x) (x >= 0 && x < 1024)
wataloh 0:20bce0dcc921 23
wataloh 0:20bce0dcc921 24 extern Timer t;
wataloh 0:20bce0dcc921 25
wataloh 0:20bce0dcc921 26 static iafLib *_iaflib = NULL;
wataloh 0:20bce0dcc921 27
wataloh 0:20bce0dcc921 28 #define MAX_SYNC_RETRIES 10
wataloh 0:20bce0dcc921 29 static long lastSync = 0;
wataloh 0:20bce0dcc921 30 static int syncRetries = 0;
wataloh 0:20bce0dcc921 31
wataloh 0:20bce0dcc921 32 /**
wataloh 0:20bce0dcc921 33 * create
wataloh 0:20bce0dcc921 34 *
wataloh 0:20bce0dcc921 35 * The public constructor for the afLib. This allows us to create the afLib object once and hold a reference to it.
wataloh 0:20bce0dcc921 36 */
wataloh 0:20bce0dcc921 37 iafLib *iafLib::create(PinName mcuInterrupt, isr isrWrapper,
wataloh 0:20bce0dcc921 38 onAttributeSet attrSet, onAttributeSetComplete attrSetComplete, afSPI *theSPI)
wataloh 0:20bce0dcc921 39 {
wataloh 0:20bce0dcc921 40 if (_iaflib == NULL) {
wataloh 0:20bce0dcc921 41 _iaflib = new afLib( mcuInterrupt, isrWrapper, attrSet, attrSetComplete, theSPI);
wataloh 0:20bce0dcc921 42 }
wataloh 0:20bce0dcc921 43
wataloh 0:20bce0dcc921 44 return _iaflib;
wataloh 0:20bce0dcc921 45 }
wataloh 0:20bce0dcc921 46
wataloh 0:20bce0dcc921 47 void iafLib::destroy()
wataloh 0:20bce0dcc921 48 {
wataloh 0:20bce0dcc921 49 afLib *p = (afLib*)_iaflib;
wataloh 0:20bce0dcc921 50 delete p;
wataloh 0:20bce0dcc921 51 _iaflib = NULL;
wataloh 0:20bce0dcc921 52 }
wataloh 0:20bce0dcc921 53 /**
wataloh 0:20bce0dcc921 54 * afLib
wataloh 0:20bce0dcc921 55 *
wataloh 0:20bce0dcc921 56 * The private constructor for the afLib. This one actually initializes the afLib and prepares it for use.
wataloh 0:20bce0dcc921 57 */
wataloh 0:20bce0dcc921 58 afLib::afLib(PinName mcuInterrupt, isr isrWrapper,
wataloh 0:20bce0dcc921 59 onAttributeSet attrSet, onAttributeSetComplete attrSetComplete, afSPI *theSPI) : fco(mcuInterrupt)
wataloh 0:20bce0dcc921 60 {
wataloh 0:20bce0dcc921 61 queueInit();
wataloh 0:20bce0dcc921 62 _theSPI= theSPI;
wataloh 0:20bce0dcc921 63 _request.p_value = NULL;
wataloh 0:20bce0dcc921 64
wataloh 0:20bce0dcc921 65 //_spiSettings = SPISettings(1000000, LSBFIRST, SPI_MODE0);
wataloh 0:20bce0dcc921 66 _interrupts_pending = 0;
wataloh 0:20bce0dcc921 67 _state = STATE_IDLE;
wataloh 0:20bce0dcc921 68
wataloh 0:20bce0dcc921 69 _writeCmd = NULL;
wataloh 0:20bce0dcc921 70 _writeCmdOffset = 0;
wataloh 0:20bce0dcc921 71
wataloh 0:20bce0dcc921 72 _outstandingSetGetAttrId = 0;
wataloh 0:20bce0dcc921 73
wataloh 0:20bce0dcc921 74 _readCmd = NULL;
wataloh 0:20bce0dcc921 75 _readCmdOffset = 0;
wataloh 0:20bce0dcc921 76 _readBufferLen = 0;
wataloh 0:20bce0dcc921 77
wataloh 0:20bce0dcc921 78 _txStatus = new StatusCommand();
wataloh 0:20bce0dcc921 79 _rxStatus = new StatusCommand();
wataloh 0:20bce0dcc921 80
wataloh 0:20bce0dcc921 81 _onAttrSet = attrSet;
wataloh 0:20bce0dcc921 82 _onAttrSetComplete = attrSetComplete;
wataloh 0:20bce0dcc921 83 _theSPI->begin();
wataloh 0:20bce0dcc921 84
wataloh 0:20bce0dcc921 85 // AJS where does this get moved to??
wataloh 0:20bce0dcc921 86 #ifdef ARDUINO
wataloh 0:20bce0dcc921 87 pinMode(mcuInterrupt, INPUT);
wataloh 0:20bce0dcc921 88 attachInterrupt(mcuInterrupt, isrWrapper, FALLING);
wataloh 0:20bce0dcc921 89 #endif
wataloh 0:20bce0dcc921 90 fco.fall(isrWrapper);
wataloh 1:b2a9a6f2c30e 91 SERIAL_PRINT_DBG_ASR("afLib init done!!\n");
wataloh 0:20bce0dcc921 92 }
wataloh 0:20bce0dcc921 93 //wsugi 20161128
wataloh 0:20bce0dcc921 94 afLib::~afLib()
wataloh 0:20bce0dcc921 95 {
wataloh 1:b2a9a6f2c30e 96 SERIAL_PRINT_DBG_ASR("deleted\n");
wataloh 0:20bce0dcc921 97 if(_readBuffer != NULL)
wataloh 0:20bce0dcc921 98 {
wataloh 2:dfe671e31221 99 delete[] (_readBuffer);
wataloh 0:20bce0dcc921 100 _readBuffer = NULL;
wataloh 0:20bce0dcc921 101 }
wataloh 0:20bce0dcc921 102
wataloh 0:20bce0dcc921 103 if(_writeBuffer != NULL)
wataloh 0:20bce0dcc921 104 {
wataloh 2:dfe671e31221 105 delete[] (_writeBuffer);
wataloh 0:20bce0dcc921 106 _writeBuffer = NULL;
wataloh 0:20bce0dcc921 107 }
wataloh 0:20bce0dcc921 108
wataloh 0:20bce0dcc921 109 if(_readCmd != NULL)
wataloh 0:20bce0dcc921 110 {
wataloh 0:20bce0dcc921 111 delete (_readCmd);
wataloh 0:20bce0dcc921 112 _readCmd = NULL;
wataloh 0:20bce0dcc921 113 }
wataloh 0:20bce0dcc921 114
wataloh 0:20bce0dcc921 115 if(_writeCmd != NULL)
wataloh 0:20bce0dcc921 116 {
wataloh 0:20bce0dcc921 117 delete (_writeCmd);
wataloh 0:20bce0dcc921 118 _writeCmd = NULL;
wataloh 0:20bce0dcc921 119 }
wataloh 0:20bce0dcc921 120
wataloh 0:20bce0dcc921 121 if(_txStatus != NULL)
wataloh 0:20bce0dcc921 122 {
wataloh 0:20bce0dcc921 123 delete (_txStatus);
wataloh 0:20bce0dcc921 124 _txStatus = NULL;
wataloh 0:20bce0dcc921 125 }
wataloh 0:20bce0dcc921 126
wataloh 0:20bce0dcc921 127 if(_rxStatus != NULL)
wataloh 0:20bce0dcc921 128 {
wataloh 0:20bce0dcc921 129 delete (_rxStatus);
wataloh 0:20bce0dcc921 130 _rxStatus = NULL;
wataloh 0:20bce0dcc921 131 }
wataloh 0:20bce0dcc921 132
wataloh 0:20bce0dcc921 133 for (int i = 0; i < REQUEST_QUEUE_SIZE; i++)
wataloh 0:20bce0dcc921 134 {
wataloh 0:20bce0dcc921 135 if (_requestQueue[i].p_value != NULL)
wataloh 0:20bce0dcc921 136 {
wataloh 2:dfe671e31221 137 delete[] (_requestQueue[i].p_value);
wataloh 0:20bce0dcc921 138 _requestQueue[i].p_value = NULL;
wataloh 0:20bce0dcc921 139 }
wataloh 0:20bce0dcc921 140 }
wataloh 0:20bce0dcc921 141 _iaflib = NULL;
wataloh 0:20bce0dcc921 142 }
wataloh 0:20bce0dcc921 143 //wsugi 20161128
wataloh 0:20bce0dcc921 144 /**
wataloh 0:20bce0dcc921 145 * loop
wataloh 0:20bce0dcc921 146 *
wataloh 0:20bce0dcc921 147 * This is how the afLib gets time to run its state machine. This method should be called periodically from the
wataloh 0:20bce0dcc921 148 * loop() function of the Arduino sketch.
wataloh 0:20bce0dcc921 149 * This function pulls pending attribute operations from the queue. It takes approximately 4 calls to loop() to
wataloh 0:20bce0dcc921 150 * complete one attribute operation.
wataloh 0:20bce0dcc921 151 */
wataloh 0:20bce0dcc921 152 void afLib::loop(void) {
wataloh 6:88cc04eb613a 153 if (isIdle())
wataloh 6:88cc04eb613a 154 {
wataloh 6:88cc04eb613a 155 deathWish.attach(&afLib::kick_the_bucket,10);
wataloh 6:88cc04eb613a 156 }
wataloh 0:20bce0dcc921 157 if (isIdle() && (queueGet(&_request.messageType, &_request.requestId, &_request.attrId, &_request.valueLen,
wataloh 0:20bce0dcc921 158 &_request.p_value) == afSUCCESS)) {
wataloh 0:20bce0dcc921 159 switch (_request.messageType) {
wataloh 0:20bce0dcc921 160 case MSG_TYPE_GET:
wataloh 0:20bce0dcc921 161 doGetAttribute(_request.requestId, _request.attrId);
wataloh 0:20bce0dcc921 162 break;
wataloh 0:20bce0dcc921 163
wataloh 0:20bce0dcc921 164 case MSG_TYPE_SET:
wataloh 0:20bce0dcc921 165 doSetAttribute(_request.requestId, _request.attrId, _request.valueLen, _request.p_value);
wataloh 0:20bce0dcc921 166 break;
wataloh 0:20bce0dcc921 167
wataloh 0:20bce0dcc921 168 case MSG_TYPE_UPDATE:
wataloh 0:20bce0dcc921 169 doUpdateAttribute(_request.requestId, _request.attrId, 0, _request.valueLen, _request.p_value);
wataloh 0:20bce0dcc921 170 break;
wataloh 0:20bce0dcc921 171
wataloh 0:20bce0dcc921 172 default:
wataloh 5:9d5c7ee80f3b 173 SERIAL_PRINT_DBG_ASR("%s\n","loop: request type!");
wataloh 0:20bce0dcc921 174 }
wataloh 0:20bce0dcc921 175 }
wataloh 0:20bce0dcc921 176
wataloh 0:20bce0dcc921 177 if (_request.p_value != NULL) {
wataloh 2:dfe671e31221 178 delete[] (_request.p_value); //wsugi delete (_request.p_value);
wataloh 0:20bce0dcc921 179 _request.p_value = NULL;
wataloh 0:20bce0dcc921 180 }
wataloh 0:20bce0dcc921 181 runStateMachine();
wataloh 0:20bce0dcc921 182 }
wataloh 0:20bce0dcc921 183
wataloh 0:20bce0dcc921 184 /**
wataloh 0:20bce0dcc921 185 * updateIntsPending
wataloh 0:20bce0dcc921 186 *
wataloh 0:20bce0dcc921 187 * Interrupt-safe method for updating the interrupt count. This is called to increment and decrement the interrupt count
wataloh 0:20bce0dcc921 188 * as interrupts are received and handled.
wataloh 0:20bce0dcc921 189 */
wataloh 0:20bce0dcc921 190 void afLib::updateIntsPending(int amount) {
wataloh 0:20bce0dcc921 191 fco.disable_irq();
wataloh 0:20bce0dcc921 192 _interrupts_pending += amount;
wataloh 0:20bce0dcc921 193 fco.enable_irq();
wataloh 0:20bce0dcc921 194 }
wataloh 0:20bce0dcc921 195
wataloh 0:20bce0dcc921 196 /**
wataloh 0:20bce0dcc921 197 * sendCommand
wataloh 0:20bce0dcc921 198 *
wataloh 0:20bce0dcc921 199 * This increments the interrupt count to kick off the state machine in the next call to loop().
wataloh 0:20bce0dcc921 200 */
wataloh 0:20bce0dcc921 201 void afLib::sendCommand(void) {
wataloh 0:20bce0dcc921 202 fco.disable_irq();
wataloh 0:20bce0dcc921 203 if (_interrupts_pending == 0 && _state == STATE_IDLE) {
wataloh 0:20bce0dcc921 204 updateIntsPending(1);
wataloh 0:20bce0dcc921 205 }
wataloh 0:20bce0dcc921 206 fco.enable_irq();
wataloh 0:20bce0dcc921 207 }
wataloh 0:20bce0dcc921 208
wataloh 0:20bce0dcc921 209 /**
wataloh 0:20bce0dcc921 210 * getAttribute
wataloh 0:20bce0dcc921 211 *
wataloh 0:20bce0dcc921 212 * The public getAttribute method. This method queues the operation and returns immediately. Applications must call
wataloh 0:20bce0dcc921 213 * loop() for the operation to complete.
wataloh 0:20bce0dcc921 214 */
wataloh 0:20bce0dcc921 215 int afLib::getAttribute(const uint16_t attrId) {
wataloh 0:20bce0dcc921 216 _requestId++;
wataloh 0:20bce0dcc921 217 uint8_t dummy; // This value isn't actually used.
wataloh 0:20bce0dcc921 218 return queuePut(MSG_TYPE_GET, _requestId++, attrId, 0, &dummy);
wataloh 0:20bce0dcc921 219 }
wataloh 0:20bce0dcc921 220
wataloh 0:20bce0dcc921 221 /**
wataloh 0:20bce0dcc921 222 * The many moods of setAttribute
wataloh 0:20bce0dcc921 223 *
wataloh 0:20bce0dcc921 224 * These are the public versions of the setAttribute method.
wataloh 0:20bce0dcc921 225 * These methods queue the operation and return immediately. Applications must call loop() for the operation to complete.
wataloh 0:20bce0dcc921 226 */
wataloh 0:20bce0dcc921 227 int afLib::setAttributeBool(const uint16_t attrId, const bool value) {
wataloh 0:20bce0dcc921 228 _requestId++;
wataloh 0:20bce0dcc921 229 uint8_t val = value ? 1 : 0;
wataloh 0:20bce0dcc921 230 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(val),
wataloh 0:20bce0dcc921 231 (uint8_t *)&val);
wataloh 0:20bce0dcc921 232 }
wataloh 0:20bce0dcc921 233
wataloh 0:20bce0dcc921 234 int afLib::setAttribute8(const uint16_t attrId, const int8_t value) {
wataloh 0:20bce0dcc921 235 _requestId++;
wataloh 0:20bce0dcc921 236 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
wataloh 0:20bce0dcc921 237 (uint8_t *)&value);
wataloh 0:20bce0dcc921 238 }
wataloh 0:20bce0dcc921 239
wataloh 0:20bce0dcc921 240 int afLib::setAttribute16(const uint16_t attrId, const int16_t value) {
wataloh 0:20bce0dcc921 241 _requestId++;
wataloh 0:20bce0dcc921 242 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
wataloh 0:20bce0dcc921 243 (uint8_t *) &value);
wataloh 0:20bce0dcc921 244 }
wataloh 0:20bce0dcc921 245
wataloh 0:20bce0dcc921 246 int afLib::setAttribute32(const uint16_t attrId, const int32_t value) {
wataloh 0:20bce0dcc921 247 _requestId++;
wataloh 0:20bce0dcc921 248 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
wataloh 0:20bce0dcc921 249 (uint8_t *) &value);
wataloh 0:20bce0dcc921 250 }
wataloh 0:20bce0dcc921 251
wataloh 0:20bce0dcc921 252 int afLib::setAttribute64(const uint16_t attrId, const int64_t value) {
wataloh 0:20bce0dcc921 253 _requestId++;
wataloh 0:20bce0dcc921 254 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
wataloh 0:20bce0dcc921 255 (uint8_t *) &value);
wataloh 0:20bce0dcc921 256 }
wataloh 0:20bce0dcc921 257
wataloh 0:20bce0dcc921 258 int afLib::setAttribute(const uint16_t attrId, const string &value) {
wataloh 0:20bce0dcc921 259 _requestId++;
wataloh 0:20bce0dcc921 260 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, value.length(),
wataloh 0:20bce0dcc921 261 (uint8_t *) value.c_str());
wataloh 0:20bce0dcc921 262 }
wataloh 0:20bce0dcc921 263
wataloh 0:20bce0dcc921 264 int afLib::setAttribute(const uint16_t attrId, const uint16_t valueLen, const char *value) {
wataloh 0:20bce0dcc921 265 if (valueLen > MAX_ATTRIBUTE_SIZE) {
wataloh 0:20bce0dcc921 266 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 267 }
wataloh 0:20bce0dcc921 268
wataloh 0:20bce0dcc921 269 if (value == NULL) {
wataloh 0:20bce0dcc921 270 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 271 }
wataloh 0:20bce0dcc921 272
wataloh 0:20bce0dcc921 273 _requestId++;
wataloh 0:20bce0dcc921 274 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, valueLen,
wataloh 0:20bce0dcc921 275 (const uint8_t *) value);
wataloh 0:20bce0dcc921 276 }
wataloh 0:20bce0dcc921 277
wataloh 0:20bce0dcc921 278 int afLib::setAttribute(const uint16_t attrId, const uint16_t valueLen, const uint8_t *value) {
wataloh 0:20bce0dcc921 279 if (valueLen > MAX_ATTRIBUTE_SIZE) {
wataloh 0:20bce0dcc921 280 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 281 }
wataloh 0:20bce0dcc921 282
wataloh 0:20bce0dcc921 283 if (value == NULL) {
wataloh 0:20bce0dcc921 284 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 285 }
wataloh 0:20bce0dcc921 286
wataloh 0:20bce0dcc921 287 _requestId++;
wataloh 0:20bce0dcc921 288 return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, valueLen, value);
wataloh 0:20bce0dcc921 289 }
wataloh 0:20bce0dcc921 290
wataloh 0:20bce0dcc921 291 int afLib::setAttributeComplete(uint8_t requestId, const uint16_t attrId, const uint16_t valueLen, const uint8_t *value) {
wataloh 0:20bce0dcc921 292 if (valueLen > MAX_ATTRIBUTE_SIZE) {
wataloh 0:20bce0dcc921 293 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 294 }
wataloh 0:20bce0dcc921 295
wataloh 0:20bce0dcc921 296 if (value == NULL) {
wataloh 0:20bce0dcc921 297 return afERROR_INVALID_PARAM;
wataloh 0:20bce0dcc921 298 }
wataloh 0:20bce0dcc921 299
wataloh 0:20bce0dcc921 300 return queuePut(MSG_TYPE_UPDATE, requestId, attrId, valueLen, value);
wataloh 0:20bce0dcc921 301 }
wataloh 0:20bce0dcc921 302
wataloh 0:20bce0dcc921 303 /**
wataloh 0:20bce0dcc921 304 * doGetAttribute
wataloh 0:20bce0dcc921 305 *
wataloh 0:20bce0dcc921 306 * The private version of getAttribute. This version actually calls sendCommand() to kick off the state machine and
wataloh 0:20bce0dcc921 307 * execute the operation.
wataloh 0:20bce0dcc921 308 */
wataloh 0:20bce0dcc921 309 int afLib::doGetAttribute(uint8_t requestId, uint16_t attrId) {
wataloh 0:20bce0dcc921 310 if (_interrupts_pending > 0 || _writeCmd != NULL) {
wataloh 0:20bce0dcc921 311 return afERROR_BUSY;
wataloh 0:20bce0dcc921 312 }
wataloh 0:20bce0dcc921 313
wataloh 0:20bce0dcc921 314 _writeCmd = new Command(requestId, MSG_TYPE_GET, attrId);
wataloh 0:20bce0dcc921 315 if (!_writeCmd->isValid()) {
wataloh 5:9d5c7ee80f3b 316 SERIAL_PRINT_DBG_ASR("getAttribute invalid command:");
wataloh 0:20bce0dcc921 317 _writeCmd->dumpBytes();
wataloh 0:20bce0dcc921 318 _writeCmd->dump();
wataloh 0:20bce0dcc921 319 delete (_writeCmd);
wataloh 0:20bce0dcc921 320 _writeCmd = NULL;
wataloh 0:20bce0dcc921 321 return afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 322 }
wataloh 0:20bce0dcc921 323
wataloh 0:20bce0dcc921 324 _outstandingSetGetAttrId = attrId;
wataloh 0:20bce0dcc921 325
wataloh 0:20bce0dcc921 326 // Start the transmission.
wataloh 0:20bce0dcc921 327 sendCommand();
wataloh 0:20bce0dcc921 328
wataloh 0:20bce0dcc921 329 return afSUCCESS;
wataloh 0:20bce0dcc921 330 }
wataloh 0:20bce0dcc921 331
wataloh 0:20bce0dcc921 332 /**
wataloh 0:20bce0dcc921 333 * doSetAttribute
wataloh 0:20bce0dcc921 334 *
wataloh 0:20bce0dcc921 335 * The private version of setAttribute. This version actually calls sendCommand() to kick off the state machine and
wataloh 0:20bce0dcc921 336 * execute the operation.
wataloh 0:20bce0dcc921 337 */
wataloh 0:20bce0dcc921 338 int afLib::doSetAttribute(uint8_t requestId, uint16_t attrId, uint16_t valueLen, uint8_t *value) {
wataloh 0:20bce0dcc921 339 if (_interrupts_pending > 0 || _writeCmd != NULL) {
wataloh 0:20bce0dcc921 340 return afERROR_BUSY;
wataloh 0:20bce0dcc921 341 }
wataloh 0:20bce0dcc921 342 _writeCmd = new Command(requestId, MSG_TYPE_SET, attrId, valueLen, value);
wataloh 0:20bce0dcc921 343 if (!_writeCmd->isValid()) {
wataloh 5:9d5c7ee80f3b 344 SERIAL_PRINT_DBG_ASR("setAttributeComplete invalid command:");
wataloh 0:20bce0dcc921 345 _writeCmd->dumpBytes();
wataloh 0:20bce0dcc921 346 _writeCmd->dump();
wataloh 0:20bce0dcc921 347 delete (_writeCmd);
wataloh 0:20bce0dcc921 348 _writeCmd = NULL;
wataloh 0:20bce0dcc921 349 return afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 350 }
wataloh 0:20bce0dcc921 351
wataloh 0:20bce0dcc921 352 _outstandingSetGetAttrId = attrId;
wataloh 0:20bce0dcc921 353
wataloh 0:20bce0dcc921 354 // Start the transmission.
wataloh 0:20bce0dcc921 355 sendCommand();
wataloh 0:20bce0dcc921 356
wataloh 0:20bce0dcc921 357 return afSUCCESS;
wataloh 0:20bce0dcc921 358 }
wataloh 0:20bce0dcc921 359
wataloh 0:20bce0dcc921 360 /**
wataloh 0:20bce0dcc921 361 * doUpdateAttribute
wataloh 0:20bce0dcc921 362 *
wataloh 0:20bce0dcc921 363 * setAttribute calls on MCU attributes turn into updateAttribute calls. See documentation on the SPI protocol for
wataloh 0:20bce0dcc921 364 * more information. This method calls sendCommand() to kick off the state machine and execute the operation.
wataloh 0:20bce0dcc921 365 */
wataloh 0:20bce0dcc921 366 int afLib::doUpdateAttribute(uint8_t requestId, uint16_t attrId, uint8_t status, uint16_t valueLen, uint8_t *value) {
wataloh 0:20bce0dcc921 367 if (_interrupts_pending > 0 || _writeCmd != NULL) {
wataloh 0:20bce0dcc921 368 return afERROR_BUSY;
wataloh 0:20bce0dcc921 369 }
wataloh 0:20bce0dcc921 370
wataloh 0:20bce0dcc921 371 _writeCmd = new Command(requestId, MSG_TYPE_UPDATE, attrId, status, 3 /* MCU Set it */, valueLen, value);
wataloh 0:20bce0dcc921 372 if (!_writeCmd->isValid()) {
wataloh 5:9d5c7ee80f3b 373 SERIAL_PRINT_DBG_ASR("updateAttribute invalid command:");
wataloh 0:20bce0dcc921 374 _writeCmd->dumpBytes();
wataloh 0:20bce0dcc921 375 _writeCmd->dump();
wataloh 0:20bce0dcc921 376 delete (_writeCmd);
wataloh 0:20bce0dcc921 377 return afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 378 }
wataloh 0:20bce0dcc921 379
wataloh 0:20bce0dcc921 380 // Start the transmission.
wataloh 0:20bce0dcc921 381 sendCommand();
wataloh 0:20bce0dcc921 382
wataloh 0:20bce0dcc921 383 return afSUCCESS;
wataloh 0:20bce0dcc921 384 }
wataloh 0:20bce0dcc921 385
wataloh 0:20bce0dcc921 386 /**
wataloh 0:20bce0dcc921 387 * parseCommand
wataloh 0:20bce0dcc921 388 *
wataloh 0:20bce0dcc921 389 * A debug method for parsing a string into a command. This is not required for library operation and is only supplied
wataloh 0:20bce0dcc921 390 * as an example of how to execute attribute operations from a command line interface.
wataloh 0:20bce0dcc921 391 */
wataloh 0:20bce0dcc921 392 #ifdef ATTRIBUTE_CLI
wataloh 0:20bce0dcc921 393 int afLib::parseCommand(const char *cmd) {
wataloh 0:20bce0dcc921 394 if (_interrupts_pending > 0 || _writeCmd != NULL) {
wataloh 0:20bce0dcc921 395 _theLog->print("Busy: ");
wataloh 0:20bce0dcc921 396 _theLog->print(_interrupts_pending);
wataloh 0:20bce0dcc921 397 _theLog->print(", ");
wataloh 0:20bce0dcc921 398 _theLog->println(_writeCmd != NULL);
wataloh 0:20bce0dcc921 399 return afERROR_BUSY;
wataloh 0:20bce0dcc921 400 }
wataloh 0:20bce0dcc921 401
wataloh 0:20bce0dcc921 402 int reqId = _requestId++;
wataloh 0:20bce0dcc921 403 _writeCmd = new Command(_theLog,reqId, cmd);
wataloh 0:20bce0dcc921 404 if (!_writeCmd->isValid()) {
wataloh 0:20bce0dcc921 405 _theLog->print("BAD: ");
wataloh 0:20bce0dcc921 406 _theLog->println(cmd);
wataloh 0:20bce0dcc921 407 _writeCmd->dumpBytes();
wataloh 0:20bce0dcc921 408 _writeCmd->dump();
wataloh 0:20bce0dcc921 409 delete (_writeCmd);
wataloh 0:20bce0dcc921 410 _writeCmd = NULL;
wataloh 0:20bce0dcc921 411 return afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 412 }
wataloh 0:20bce0dcc921 413
wataloh 0:20bce0dcc921 414 // Start the transmission.
wataloh 0:20bce0dcc921 415 sendCommand();
wataloh 0:20bce0dcc921 416
wataloh 0:20bce0dcc921 417 return afSUCCESS;
wataloh 0:20bce0dcc921 418 }
wataloh 0:20bce0dcc921 419 #endif
wataloh 0:20bce0dcc921 420
wataloh 0:20bce0dcc921 421 /**
wataloh 0:20bce0dcc921 422 * runStateMachine
wataloh 0:20bce0dcc921 423 *
wataloh 0:20bce0dcc921 424 * The state machine for afLib. This state machine is responsible for implementing the KSP SPI protocol and executing
wataloh 0:20bce0dcc921 425 * attribute operations.
wataloh 0:20bce0dcc921 426 * This method is run:
wataloh 0:20bce0dcc921 427 * 1. In response to receiving an interrupt from the ASR-1.
wataloh 0:20bce0dcc921 428 * 2. When an attribute operation is pulled out of the queue and executed.
wataloh 0:20bce0dcc921 429 */
wataloh 0:20bce0dcc921 430 void afLib::runStateMachine(void) {
wataloh 0:20bce0dcc921 431 if (_interrupts_pending > 0) {
wataloh 0:20bce0dcc921 432 switch (_state) {
wataloh 0:20bce0dcc921 433 case STATE_IDLE:
wataloh 6:88cc04eb613a 434 //deathWish.attach(&afLib::kick_the_bucket,10);
wataloh 0:20bce0dcc921 435 onStateIdle();
wataloh 0:20bce0dcc921 436 return;
wataloh 0:20bce0dcc921 437
wataloh 0:20bce0dcc921 438 case STATE_STATUS_SYNC:
wataloh 0:20bce0dcc921 439 onStateSync();
wataloh 0:20bce0dcc921 440 break;
wataloh 0:20bce0dcc921 441
wataloh 0:20bce0dcc921 442 case STATE_STATUS_ACK:
wataloh 0:20bce0dcc921 443 onStateAck();
wataloh 0:20bce0dcc921 444 break;
wataloh 0:20bce0dcc921 445
wataloh 0:20bce0dcc921 446 case STATE_SEND_BYTES:
wataloh 0:20bce0dcc921 447 onStateSendBytes();
wataloh 0:20bce0dcc921 448 break;
wataloh 0:20bce0dcc921 449
wataloh 0:20bce0dcc921 450 case STATE_RECV_BYTES:
wataloh 0:20bce0dcc921 451 onStateRecvBytes();
wataloh 0:20bce0dcc921 452 break;
wataloh 0:20bce0dcc921 453
wataloh 0:20bce0dcc921 454 case STATE_CMD_COMPLETE:
wataloh 0:20bce0dcc921 455 onStateCmdComplete();
wataloh 0:20bce0dcc921 456 break;
wataloh 0:20bce0dcc921 457 }
wataloh 0:20bce0dcc921 458
wataloh 0:20bce0dcc921 459 updateIntsPending(-1);
wataloh 0:20bce0dcc921 460 } else {
wataloh 0:20bce0dcc921 461 if (syncRetries > 0 && syncRetries < MAX_SYNC_RETRIES && t.read_ms() - lastSync > 1000) {
wataloh 0:20bce0dcc921 462 updateIntsPending(1);
wataloh 0:20bce0dcc921 463 } else if (syncRetries >= MAX_SYNC_RETRIES) {
wataloh 5:9d5c7ee80f3b 464 SERIAL_PRINT_DBG_ASR("No response from ASR-1 - does profile have MCU enabled?\n");
wataloh 6:88cc04eb613a 465 #if defined(TARGET_KL25Z)
wataloh 6:88cc04eb613a 466 wtd.kick_the_bucket();
wataloh 6:88cc04eb613a 467 #endif //TARGET_KL25Z
wataloh 0:20bce0dcc921 468 syncRetries = 0;
wataloh 0:20bce0dcc921 469 _state = STATE_IDLE;
wataloh 0:20bce0dcc921 470 }
wataloh 0:20bce0dcc921 471 }
wataloh 0:20bce0dcc921 472 }
wataloh 0:20bce0dcc921 473
wataloh 6:88cc04eb613a 474 void afLib::kick_the_bucket()
wataloh 6:88cc04eb613a 475 {
wataloh 6:88cc04eb613a 476 wtd.kick_the_bucket();
wataloh 6:88cc04eb613a 477 }
wataloh 6:88cc04eb613a 478
wataloh 0:20bce0dcc921 479 /**
wataloh 0:20bce0dcc921 480 * onStateIdle
wataloh 0:20bce0dcc921 481 *
wataloh 0:20bce0dcc921 482 * If there is a command to be written, update the bytes to send. Otherwise we're sending a zero-sync message.
wataloh 0:20bce0dcc921 483 * Either way advance the state to send a sync message.
wataloh 0:20bce0dcc921 484 */
wataloh 0:20bce0dcc921 485 void afLib::onStateIdle(void) {
wataloh 0:20bce0dcc921 486 if (_writeCmd != NULL) {
wataloh 0:20bce0dcc921 487 // Include 2 bytes for length
wataloh 0:20bce0dcc921 488 _bytesToSend = _writeCmd->getSize() + 2;
wataloh 0:20bce0dcc921 489 } else {
wataloh 0:20bce0dcc921 490 _bytesToSend = 0;
wataloh 0:20bce0dcc921 491 }
wataloh 0:20bce0dcc921 492 _state = STATE_STATUS_SYNC;
wataloh 0:20bce0dcc921 493 printState(_state);
wataloh 0:20bce0dcc921 494 }
wataloh 0:20bce0dcc921 495
wataloh 0:20bce0dcc921 496 /**
wataloh 0:20bce0dcc921 497 * onStateSync
wataloh 0:20bce0dcc921 498 *
wataloh 0:20bce0dcc921 499 * Write a sync message over SPI to let the ASR-1 know that we want to send some data.
wataloh 0:20bce0dcc921 500 * Check for a "collision" which occurs if the ASR-1 is trying to send us data at the same time.
wataloh 0:20bce0dcc921 501 */
wataloh 0:20bce0dcc921 502 void afLib::onStateSync(void) {
wataloh 0:20bce0dcc921 503 int result;
wataloh 0:20bce0dcc921 504
wataloh 0:20bce0dcc921 505 _txStatus->setAck(false);
wataloh 0:20bce0dcc921 506 _txStatus->setBytesToSend(_bytesToSend);
wataloh 0:20bce0dcc921 507 _txStatus->setBytesToRecv(0);
wataloh 0:20bce0dcc921 508
wataloh 0:20bce0dcc921 509 result = exchangeStatus(_txStatus, _rxStatus);
wataloh 0:20bce0dcc921 510
wataloh 0:20bce0dcc921 511 if (result == afSUCCESS && _rxStatus->isValid() && inSync(_txStatus, _rxStatus)) {
wataloh 0:20bce0dcc921 512 syncRetries = 0; // Flag that sync completed.
wataloh 0:20bce0dcc921 513 _state = STATE_STATUS_ACK;
wataloh 0:20bce0dcc921 514 if (_txStatus->getBytesToSend() == 0 && _rxStatus->getBytesToRecv() > 0) {
wataloh 0:20bce0dcc921 515 _bytesToRecv = _rxStatus->getBytesToRecv();
wataloh 0:20bce0dcc921 516 }
wataloh 0:20bce0dcc921 517 } else {
wataloh 0:20bce0dcc921 518 // Try resending the preamble
wataloh 0:20bce0dcc921 519 _state = STATE_STATUS_SYNC;
wataloh 0:20bce0dcc921 520 lastSync = t.read_ms();
wataloh 0:20bce0dcc921 521 syncRetries++;
wataloh 0:20bce0dcc921 522 // _txStatus->dumpBytes();
wataloh 0:20bce0dcc921 523 // _rxStatus->dumpBytes();
wataloh 0:20bce0dcc921 524 }
wataloh 0:20bce0dcc921 525 printState(_state);
wataloh 0:20bce0dcc921 526 }
wataloh 0:20bce0dcc921 527
wataloh 0:20bce0dcc921 528 /**
wataloh 0:20bce0dcc921 529 * onStateAck
wataloh 0:20bce0dcc921 530 *
wataloh 0:20bce0dcc921 531 * Acknowledge the previous sync message and advance the state.
wataloh 0:20bce0dcc921 532 * If there are bytes to send, advance to send bytes state.
wataloh 0:20bce0dcc921 533 * If there are bytes to receive, advance to receive bytes state.
wataloh 0:20bce0dcc921 534 * Otherwise it was a zero-sync so advance to command complete.
wataloh 0:20bce0dcc921 535 */
wataloh 0:20bce0dcc921 536 void afLib::onStateAck(void) {
wataloh 0:20bce0dcc921 537 int result;
wataloh 0:20bce0dcc921 538
wataloh 0:20bce0dcc921 539 _txStatus->setAck(true);
wataloh 0:20bce0dcc921 540 _txStatus->setBytesToRecv(_rxStatus->getBytesToRecv());
wataloh 0:20bce0dcc921 541 _bytesToRecv = _rxStatus->getBytesToRecv();
wataloh 0:20bce0dcc921 542 result = writeStatus(_txStatus);
wataloh 0:20bce0dcc921 543 if (result != afSUCCESS) {
wataloh 0:20bce0dcc921 544 _state = STATE_STATUS_SYNC;
wataloh 0:20bce0dcc921 545 printState(_state);
wataloh 0:20bce0dcc921 546 return;
wataloh 0:20bce0dcc921 547 }
wataloh 0:20bce0dcc921 548 if (_bytesToSend > 0) {
wataloh 0:20bce0dcc921 549 _writeBufferLen = (uint16_t) _writeCmd->getSize();
wataloh 0:20bce0dcc921 550 _writeBuffer = new uint8_t[_bytesToSend];
wataloh 0:20bce0dcc921 551 memcpy(_writeBuffer, (uint8_t * ) & _writeBufferLen, 2);
wataloh 0:20bce0dcc921 552 _writeCmd->getBytes(&_writeBuffer[2]);
wataloh 0:20bce0dcc921 553 _state = STATE_SEND_BYTES;
wataloh 0:20bce0dcc921 554 } else if (_bytesToRecv > 0) {
wataloh 0:20bce0dcc921 555 _state = STATE_RECV_BYTES;
wataloh 0:20bce0dcc921 556 } else {
wataloh 0:20bce0dcc921 557 _state = STATE_CMD_COMPLETE;
wataloh 0:20bce0dcc921 558 }
wataloh 0:20bce0dcc921 559 printState(_state);
wataloh 0:20bce0dcc921 560 }
wataloh 0:20bce0dcc921 561
wataloh 0:20bce0dcc921 562 /**
wataloh 0:20bce0dcc921 563 * onStateSendBytes
wataloh 0:20bce0dcc921 564 *
wataloh 0:20bce0dcc921 565 * Send the required number of bytes to the ASR-1 and then advance to command complete.
wataloh 0:20bce0dcc921 566 */
wataloh 0:20bce0dcc921 567 void afLib::onStateSendBytes(void) {
wataloh 0:20bce0dcc921 568 // _theLog->print("send bytes: "); _theLog->println(_bytesToSend);
wataloh 0:20bce0dcc921 569 sendBytes();
wataloh 0:20bce0dcc921 570
wataloh 0:20bce0dcc921 571 if (_bytesToSend == 0) {
wataloh 0:20bce0dcc921 572 _writeBufferLen = 0;
wataloh 2:dfe671e31221 573 delete[] (_writeBuffer); //wsugi delete (_writeBuffer);
wataloh 0:20bce0dcc921 574 _writeBuffer = NULL;
wataloh 0:20bce0dcc921 575 _state = STATE_CMD_COMPLETE;
wataloh 0:20bce0dcc921 576 printState(_state);
wataloh 0:20bce0dcc921 577 }
wataloh 0:20bce0dcc921 578 }
wataloh 0:20bce0dcc921 579
wataloh 0:20bce0dcc921 580 /**
wataloh 0:20bce0dcc921 581 * onStateRecvBytes
wataloh 0:20bce0dcc921 582 *
wataloh 0:20bce0dcc921 583 * Receive the required number of bytes from the ASR-1 and then advance to command complete.
wataloh 0:20bce0dcc921 584 */
wataloh 0:20bce0dcc921 585 void afLib::onStateRecvBytes(void) {
wataloh 0:20bce0dcc921 586 // _theLog->print("receive bytes: "); _theLog->println(_bytesToRecv);
wataloh 0:20bce0dcc921 587 recvBytes();
wataloh 0:20bce0dcc921 588 if (_bytesToRecv == 0) {
wataloh 0:20bce0dcc921 589 _state = STATE_CMD_COMPLETE;
wataloh 0:20bce0dcc921 590 printState(_state);
wataloh 0:20bce0dcc921 591 _readCmd = new Command(_readBufferLen, &_readBuffer[2]);
wataloh 2:dfe671e31221 592 delete[] (_readBuffer); //wsugi delete (_readBuffer);
wataloh 0:20bce0dcc921 593 _readBuffer = NULL;
wataloh 0:20bce0dcc921 594 }
wataloh 0:20bce0dcc921 595 }
wataloh 0:20bce0dcc921 596
wataloh 0:20bce0dcc921 597 /**
wataloh 0:20bce0dcc921 598 * onStateCmdComplete
wataloh 0:20bce0dcc921 599 *
wataloh 0:20bce0dcc921 600 * Call the appropriate sketch callback to report the result of the command.
wataloh 0:20bce0dcc921 601 * Clear the command object and go back to waiting for the next interrupt or command.
wataloh 0:20bce0dcc921 602 */
wataloh 0:20bce0dcc921 603 void afLib::onStateCmdComplete(void) {
wataloh 0:20bce0dcc921 604 _state = STATE_IDLE;
wataloh 0:20bce0dcc921 605 printState(_state);
wataloh 0:20bce0dcc921 606 if (_readCmd != NULL) {
wataloh 0:20bce0dcc921 607 uint8_t *val = new uint8_t[_readCmd->getValueLen()];
wataloh 0:20bce0dcc921 608 _readCmd->getValue(val);
wataloh 0:20bce0dcc921 609
wataloh 0:20bce0dcc921 610 switch (_readCmd->getCommand()) {
wataloh 0:20bce0dcc921 611 case MSG_TYPE_SET:
wataloh 0:20bce0dcc921 612 _onAttrSet(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val);
wataloh 0:20bce0dcc921 613 break;
wataloh 0:20bce0dcc921 614
wataloh 0:20bce0dcc921 615 case MSG_TYPE_UPDATE:
wataloh 0:20bce0dcc921 616 if (_readCmd->getAttrId() == _outstandingSetGetAttrId) {
wataloh 0:20bce0dcc921 617 _outstandingSetGetAttrId = 0;
wataloh 0:20bce0dcc921 618 }
wataloh 0:20bce0dcc921 619 _onAttrSetComplete(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val);
wataloh 0:20bce0dcc921 620 break;
wataloh 0:20bce0dcc921 621
wataloh 0:20bce0dcc921 622 default:
wataloh 0:20bce0dcc921 623 break;
wataloh 0:20bce0dcc921 624 }
wataloh 2:dfe671e31221 625 delete[] (val); //wsugi delete (val);
wataloh 0:20bce0dcc921 626 delete (_readCmd);
wataloh 0:20bce0dcc921 627 _readCmdOffset = 0;
wataloh 0:20bce0dcc921 628 _readCmd = NULL;
wataloh 0:20bce0dcc921 629 }
wataloh 0:20bce0dcc921 630
wataloh 0:20bce0dcc921 631 if (_writeCmd != NULL) {
wataloh 0:20bce0dcc921 632 // Fake a callback here for MCU attributes as we don't get one from the module.
wataloh 0:20bce0dcc921 633 if (_writeCmd->getCommand() == MSG_TYPE_UPDATE && IS_MCU_ATTR(_writeCmd->getAttrId())) {
wataloh 0:20bce0dcc921 634 _onAttrSetComplete(_writeCmd->getReqId(), _writeCmd->getAttrId(), _writeCmd->getValueLen(), _writeCmd->getValueP());
wataloh 0:20bce0dcc921 635 }
wataloh 0:20bce0dcc921 636 delete (_writeCmd);
wataloh 0:20bce0dcc921 637 _writeCmdOffset = 0;
wataloh 0:20bce0dcc921 638 _writeCmd = NULL;
wataloh 0:20bce0dcc921 639 }
wataloh 0:20bce0dcc921 640 }
wataloh 0:20bce0dcc921 641
wataloh 0:20bce0dcc921 642 /**
wataloh 0:20bce0dcc921 643 * exchangeStatus
wataloh 0:20bce0dcc921 644 *
wataloh 0:20bce0dcc921 645 * Write a status command object to the ASR-1 and clock in a status object from the ASR-1 at the same time.
wataloh 0:20bce0dcc921 646 */
wataloh 0:20bce0dcc921 647 int afLib::exchangeStatus(StatusCommand *tx, StatusCommand *rx) {
wataloh 0:20bce0dcc921 648 int result = afSUCCESS;
wataloh 0:20bce0dcc921 649 uint16_t len = tx->getSize();
wataloh 0:20bce0dcc921 650 int bytes[len];
wataloh 0:20bce0dcc921 651 char rbytes[len+1];
wataloh 0:20bce0dcc921 652 int index = 0;
wataloh 0:20bce0dcc921 653 tx->getBytes(bytes);
wataloh 0:20bce0dcc921 654
wataloh 0:20bce0dcc921 655 // _theSPI->beginSPI();
wataloh 0:20bce0dcc921 656
wataloh 0:20bce0dcc921 657 for (int i=0;i<len;i++)
wataloh 0:20bce0dcc921 658 {
wataloh 0:20bce0dcc921 659 rbytes[i]=bytes[i];
wataloh 0:20bce0dcc921 660 }
wataloh 0:20bce0dcc921 661 rbytes[len]=tx->getChecksum();
wataloh 0:20bce0dcc921 662
wataloh 0:20bce0dcc921 663 printTransaction((uint8_t*)rbytes,len+1);
wataloh 0:20bce0dcc921 664
wataloh 0:20bce0dcc921 665 _theSPI->beginSPI();
wataloh 0:20bce0dcc921 666 _theSPI->transfer(rbytes,len+1);
wataloh 0:20bce0dcc921 667 _theSPI->endSPI();
wataloh 0:20bce0dcc921 668
wataloh 0:20bce0dcc921 669 printTransaction((uint8_t*)rbytes,len+1);
wataloh 0:20bce0dcc921 670
wataloh 0:20bce0dcc921 671 uint8_t cmd = bytes[index++];
wataloh 0:20bce0dcc921 672 if (cmd != 0x30 && cmd != 0x31) {
wataloh 5:9d5c7ee80f3b 673 SERIAL_PRINT_DBG_ASR("exchangeStatus bad cmd: 0x%02x\n",cmd);
wataloh 0:20bce0dcc921 674 result = afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 675 }
wataloh 0:20bce0dcc921 676
wataloh 0:20bce0dcc921 677 rx->setBytesToSend(rbytes[index + 0] | (rbytes[index + 1] << 8));
wataloh 0:20bce0dcc921 678 rx->setBytesToRecv(rbytes[index + 2] | (rbytes[index + 3] << 8));
wataloh 0:20bce0dcc921 679 rx->setChecksum(rbytes[index+4]);
wataloh 0:20bce0dcc921 680 //_theSPI->endSPI();
wataloh 0:20bce0dcc921 681 return result;
wataloh 0:20bce0dcc921 682 }
wataloh 0:20bce0dcc921 683
wataloh 0:20bce0dcc921 684 /**
wataloh 0:20bce0dcc921 685 * inSync
wataloh 0:20bce0dcc921 686 *
wataloh 0:20bce0dcc921 687 * Check to make sure the Arduino and the ASR-1 aren't trying to send data at the same time.
wataloh 0:20bce0dcc921 688 * Return true only if there is no collision.
wataloh 0:20bce0dcc921 689 */
wataloh 0:20bce0dcc921 690 bool afLib::inSync(StatusCommand *tx, StatusCommand *rx) {
wataloh 0:20bce0dcc921 691 return (tx->getBytesToSend() == 0 && rx->getBytesToRecv() == 0) ||
wataloh 0:20bce0dcc921 692 (tx->getBytesToSend() > 0 && rx->getBytesToRecv() == 0) ||
wataloh 0:20bce0dcc921 693 (tx->getBytesToSend() == 0 && rx->getBytesToRecv() > 0);
wataloh 0:20bce0dcc921 694 }
wataloh 0:20bce0dcc921 695
wataloh 0:20bce0dcc921 696 /**
wataloh 0:20bce0dcc921 697 * writeStatus
wataloh 0:20bce0dcc921 698 *
wataloh 0:20bce0dcc921 699 * Write a status command to the ASR-1 and ignore the result. If you want to read bytes at the same time, use
wataloh 0:20bce0dcc921 700 * exchangeStatus instead.
wataloh 0:20bce0dcc921 701 */
wataloh 0:20bce0dcc921 702 int afLib::writeStatus(StatusCommand *c) {
wataloh 0:20bce0dcc921 703 int result = afSUCCESS;
wataloh 0:20bce0dcc921 704 uint16_t len = c->getSize();
wataloh 0:20bce0dcc921 705 int bytes[len];
wataloh 0:20bce0dcc921 706 char rbytes[len+1];
wataloh 0:20bce0dcc921 707 int index = 0;
wataloh 0:20bce0dcc921 708 c->getBytes(bytes);
wataloh 0:20bce0dcc921 709
wataloh 0:20bce0dcc921 710 _theSPI->beginSPI();
wataloh 0:20bce0dcc921 711
wataloh 0:20bce0dcc921 712 for (int i=0;i<len;i++)
wataloh 0:20bce0dcc921 713 {
wataloh 0:20bce0dcc921 714 rbytes[i]=bytes[i];
wataloh 0:20bce0dcc921 715 }
wataloh 0:20bce0dcc921 716 rbytes[len]=c->getChecksum();
wataloh 0:20bce0dcc921 717 printTransaction((uint8_t*)rbytes,len+1);
wataloh 0:20bce0dcc921 718 _theSPI->transfer(rbytes,len+1);
wataloh 0:20bce0dcc921 719 printTransaction((uint8_t*)rbytes,len+1);
wataloh 0:20bce0dcc921 720 uint8_t cmd = rbytes[index++];
wataloh 0:20bce0dcc921 721 if (cmd != 0x30 && cmd != 0x31) {
wataloh 5:9d5c7ee80f3b 722 SERIAL_PRINT_DBG_ASR("writeStatus bad cmd: 0x%02x\n",cmd);
wataloh 0:20bce0dcc921 723 result = afERROR_INVALID_COMMAND;
wataloh 0:20bce0dcc921 724 }
wataloh 0:20bce0dcc921 725
wataloh 0:20bce0dcc921 726
wataloh 0:20bce0dcc921 727 _theSPI->endSPI();
wataloh 0:20bce0dcc921 728
wataloh 0:20bce0dcc921 729 // c->dump();
wataloh 0:20bce0dcc921 730 // c->dumpBytes();
wataloh 0:20bce0dcc921 731
wataloh 0:20bce0dcc921 732 return result;
wataloh 0:20bce0dcc921 733 }
wataloh 0:20bce0dcc921 734
wataloh 0:20bce0dcc921 735 /**
wataloh 0:20bce0dcc921 736 * sendBytes
wataloh 0:20bce0dcc921 737 *
wataloh 0:20bce0dcc921 738 * Send the specified number of data bytes to the ASR-1. Do this in chunks of SPI_FRAME_LEN bytes.
wataloh 0:20bce0dcc921 739 */
wataloh 0:20bce0dcc921 740 void afLib::sendBytes() {
wataloh 0:20bce0dcc921 741 uint16_t len = _bytesToSend > SPI_FRAME_LEN ? SPI_FRAME_LEN : _bytesToSend;
wataloh 0:20bce0dcc921 742 uint8_t bytes[SPI_FRAME_LEN];
wataloh 0:20bce0dcc921 743 memset(bytes, 0xff, sizeof(bytes));
wataloh 0:20bce0dcc921 744
wataloh 0:20bce0dcc921 745 memcpy(bytes, &_writeBuffer[_writeCmdOffset], len);
wataloh 0:20bce0dcc921 746
wataloh 0:20bce0dcc921 747 _theSPI->beginSPI();
wataloh 0:20bce0dcc921 748 printTransaction(bytes,len+1);
wataloh 0:20bce0dcc921 749 _theSPI->transfer((char *)bytes,len);
wataloh 0:20bce0dcc921 750 printTransaction(bytes,len+1);
wataloh 0:20bce0dcc921 751 _theSPI->endSPI();
wataloh 0:20bce0dcc921 752
wataloh 0:20bce0dcc921 753 // dumpBytes("Sending:", len, bytes);
wataloh 0:20bce0dcc921 754
wataloh 0:20bce0dcc921 755 _writeCmdOffset += len;
wataloh 0:20bce0dcc921 756 _bytesToSend -= len;
wataloh 0:20bce0dcc921 757 }
wataloh 0:20bce0dcc921 758
wataloh 0:20bce0dcc921 759 /**
wataloh 0:20bce0dcc921 760 * recvBytes
wataloh 0:20bce0dcc921 761 *
wataloh 0:20bce0dcc921 762 * Receive the specified number of data bytes from the ASR-1. Do this in chunks of SPI_FRAME_LEN bytes.
wataloh 0:20bce0dcc921 763 */
wataloh 0:20bce0dcc921 764 void afLib::recvBytes() {
wataloh 0:20bce0dcc921 765 uint16_t len = _bytesToRecv > SPI_FRAME_LEN ? SPI_FRAME_LEN : _bytesToRecv;
wataloh 0:20bce0dcc921 766
wataloh 0:20bce0dcc921 767 if (_readCmdOffset == 0) {
wataloh 0:20bce0dcc921 768 _readBufferLen = _bytesToRecv;
wataloh 0:20bce0dcc921 769 _readBuffer = new uint8_t[_readBufferLen];
wataloh 0:20bce0dcc921 770 }
wataloh 0:20bce0dcc921 771
wataloh 0:20bce0dcc921 772 _theSPI->beginSPI();
wataloh 0:20bce0dcc921 773
wataloh 0:20bce0dcc921 774
wataloh 0:20bce0dcc921 775 char * start =(char*)_readBuffer + _readCmdOffset;
wataloh 0:20bce0dcc921 776 printTransaction((uint8_t*)start,len+1);
wataloh 0:20bce0dcc921 777 _theSPI->transfer(start,len);
wataloh 0:20bce0dcc921 778 printTransaction((uint8_t*)start,len+1);
wataloh 0:20bce0dcc921 779
wataloh 0:20bce0dcc921 780 _theSPI->endSPI();
wataloh 0:20bce0dcc921 781
wataloh 0:20bce0dcc921 782 // dumpBytes("Receiving:", len, _readBuffer);
wataloh 0:20bce0dcc921 783
wataloh 0:20bce0dcc921 784 _readCmdOffset += len;
wataloh 0:20bce0dcc921 785 _bytesToRecv -= len;
wataloh 0:20bce0dcc921 786 }
wataloh 0:20bce0dcc921 787
wataloh 0:20bce0dcc921 788 /**
wataloh 0:20bce0dcc921 789 * isIdle
wataloh 0:20bce0dcc921 790 *
wataloh 0:20bce0dcc921 791 * Provide a way for the sketch to know if we're idle. Returns true if there are no attribute operations in progress.
wataloh 0:20bce0dcc921 792 */
wataloh 0:20bce0dcc921 793 bool afLib::isIdle() {
wataloh 0:20bce0dcc921 794 return _interrupts_pending == 0 && _state == STATE_IDLE && _outstandingSetGetAttrId == 0;
wataloh 0:20bce0dcc921 795 }
wataloh 0:20bce0dcc921 796
wataloh 0:20bce0dcc921 797 /**
wataloh 0:20bce0dcc921 798 * These methods are required to disable/enable interrupts for the Linux version of afLib.
wataloh 0:20bce0dcc921 799 * They are no-ops on Arduino.
wataloh 0:20bce0dcc921 800 */
wataloh 0:20bce0dcc921 801 #ifndef ARDUINO
wataloh 0:20bce0dcc921 802 void noInterrupts(){}
wataloh 0:20bce0dcc921 803 void interrupts(){}
wataloh 0:20bce0dcc921 804 #endif
wataloh 0:20bce0dcc921 805
wataloh 0:20bce0dcc921 806 void afLib::mcuISR() {
wataloh 0:20bce0dcc921 807 // _theLog->println("mcu");
wataloh 0:20bce0dcc921 808 updateIntsPending(1);
wataloh 0:20bce0dcc921 809 }
wataloh 0:20bce0dcc921 810
wataloh 0:20bce0dcc921 811 /****************************************************************************
wataloh 0:20bce0dcc921 812 * Queue Methods *
wataloh 0:20bce0dcc921 813 ****************************************************************************/
wataloh 0:20bce0dcc921 814 /**
wataloh 0:20bce0dcc921 815 * queueInit
wataloh 0:20bce0dcc921 816 *
wataloh 0:20bce0dcc921 817 * Create a small queue to prevent flooding the ASR-1 with attribute operations.
wataloh 0:20bce0dcc921 818 * The initial size is small to allow running on small boards like UNO.
wataloh 0:20bce0dcc921 819 * Size can be increased on larger boards.
wataloh 0:20bce0dcc921 820 */
wataloh 0:20bce0dcc921 821 void afLib::queueInit() {
wataloh 0:20bce0dcc921 822 for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
wataloh 0:20bce0dcc921 823 _requestQueue[i].p_value = NULL;
wataloh 0:20bce0dcc921 824 }
wataloh 0:20bce0dcc921 825 }
wataloh 0:20bce0dcc921 826
wataloh 0:20bce0dcc921 827 /**
wataloh 0:20bce0dcc921 828 * queuePut
wataloh 0:20bce0dcc921 829 *
wataloh 0:20bce0dcc921 830 * Add an item to the end of the queue. Return an error if we're out of space in the queue.
wataloh 0:20bce0dcc921 831 */
wataloh 0:20bce0dcc921 832 int afLib::queuePut(uint8_t messageType, uint8_t requestId, const uint16_t attributeId, uint16_t valueLen,
wataloh 0:20bce0dcc921 833 const uint8_t *value) {
wataloh 0:20bce0dcc921 834 for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
wataloh 0:20bce0dcc921 835 if (_requestQueue[i].p_value == NULL) {
wataloh 0:20bce0dcc921 836 _requestQueue[i].messageType = messageType;
wataloh 0:20bce0dcc921 837 _requestQueue[i].attrId = attributeId;
wataloh 0:20bce0dcc921 838 _requestQueue[i].requestId = requestId;
wataloh 0:20bce0dcc921 839 _requestQueue[i].valueLen = valueLen;
wataloh 0:20bce0dcc921 840 _requestQueue[i].p_value = new uint8_t[valueLen];
wataloh 0:20bce0dcc921 841 memcpy(_requestQueue[i].p_value, value, valueLen);
wataloh 0:20bce0dcc921 842 return afSUCCESS;
wataloh 0:20bce0dcc921 843 }
wataloh 0:20bce0dcc921 844 }
wataloh 0:20bce0dcc921 845
wataloh 0:20bce0dcc921 846 return afERROR_QUEUE_OVERFLOW;
wataloh 0:20bce0dcc921 847 }
wataloh 0:20bce0dcc921 848
wataloh 0:20bce0dcc921 849 /**
wataloh 0:20bce0dcc921 850 * queueGet
wataloh 0:20bce0dcc921 851 *
wataloh 0:20bce0dcc921 852 * Pull and return the oldest item from the queue. Return an error if the queue is empty.
wataloh 0:20bce0dcc921 853 */
wataloh 0:20bce0dcc921 854 int afLib::queueGet(uint8_t *messageType, uint8_t *requestId, uint16_t *attributeId, uint16_t *valueLen,
wataloh 0:20bce0dcc921 855 uint8_t **value) {
wataloh 0:20bce0dcc921 856 for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
wataloh 0:20bce0dcc921 857 if (_requestQueue[i].p_value != NULL) {
wataloh 0:20bce0dcc921 858 *messageType = _requestQueue[i].messageType;
wataloh 0:20bce0dcc921 859 *attributeId = _requestQueue[i].attrId;
wataloh 0:20bce0dcc921 860 *requestId = _requestQueue[i].requestId;
wataloh 0:20bce0dcc921 861 *valueLen = _requestQueue[i].valueLen;
wataloh 0:20bce0dcc921 862 *value = new uint8_t[*valueLen];
wataloh 0:20bce0dcc921 863 memcpy(*value, _requestQueue[i].p_value, *valueLen);
wataloh 2:dfe671e31221 864 delete[] (_requestQueue[i].p_value); //wsugi delete (_requestQueue[i].p_value);
wataloh 0:20bce0dcc921 865 _requestQueue[i].p_value = NULL;
wataloh 0:20bce0dcc921 866 return afSUCCESS;
wataloh 0:20bce0dcc921 867 }
wataloh 0:20bce0dcc921 868 }
wataloh 0:20bce0dcc921 869
wataloh 0:20bce0dcc921 870 return afERROR_QUEUE_UNDERFLOW;
wataloh 0:20bce0dcc921 871 }
wataloh 0:20bce0dcc921 872
wataloh 0:20bce0dcc921 873 /****************************************************************************
wataloh 0:20bce0dcc921 874 * Debug Methods *
wataloh 0:20bce0dcc921 875 ****************************************************************************/
wataloh 0:20bce0dcc921 876 /**
wataloh 0:20bce0dcc921 877 * dumpBytes
wataloh 0:20bce0dcc921 878 *
wataloh 0:20bce0dcc921 879 * Dump a byte buffer to the debug log.
wataloh 0:20bce0dcc921 880 */
wataloh 0:20bce0dcc921 881 void afLib::dumpBytes(char *label, int len, uint8_t *bytes) {
wataloh 1:b2a9a6f2c30e 882 SERIAL_PRINT_DBG_ASR("%s\n",label);
wataloh 0:20bce0dcc921 883 for (int i = 0; i < len; i++) {
wataloh 0:20bce0dcc921 884 if (i > 0) {
wataloh 1:b2a9a6f2c30e 885 SERIAL_PRINT_DBG_ASR(", ");
wataloh 0:20bce0dcc921 886 }
wataloh 0:20bce0dcc921 887 uint8_t b = bytes[i] & 0xff;
wataloh 0:20bce0dcc921 888
wataloh 0:20bce0dcc921 889 if (b < 0x10) {
wataloh 1:b2a9a6f2c30e 890 SERIAL_PRINT_DBG_ASR("0x02x", b);
wataloh 0:20bce0dcc921 891 } else {
wataloh 0:20bce0dcc921 892 //_theLog->print("0x");
wataloh 1:b2a9a6f2c30e 893 SERIAL_PRINT_DBG_ASR("0x02x",b);//, HEX);
wataloh 0:20bce0dcc921 894 }
wataloh 0:20bce0dcc921 895 }
wataloh 1:b2a9a6f2c30e 896 SERIAL_PRINT_DBG_ASR("\n");
wataloh 0:20bce0dcc921 897 }
wataloh 0:20bce0dcc921 898
wataloh 0:20bce0dcc921 899 /**
wataloh 0:20bce0dcc921 900 * printState
wataloh 0:20bce0dcc921 901 *
wataloh 0:20bce0dcc921 902 * Print the current state of the afLib state machine. For debugging, just remove the return statement.
wataloh 0:20bce0dcc921 903 */
wataloh 0:20bce0dcc921 904 void afLib::printState(int state) {
wataloh 0:20bce0dcc921 905 // return;
wataloh 0:20bce0dcc921 906 switch (state) {
wataloh 0:20bce0dcc921 907 case STATE_IDLE:
wataloh 1:b2a9a6f2c30e 908 SERIAL_PRINT_DBG_ASR("STATE_IDLE\n");
wataloh 0:20bce0dcc921 909 break;
wataloh 0:20bce0dcc921 910 case STATE_STATUS_SYNC:
wataloh 1:b2a9a6f2c30e 911 SERIAL_PRINT_DBG_ASR("STATE_STATUS_SYNC\n");
wataloh 0:20bce0dcc921 912 break;
wataloh 0:20bce0dcc921 913 case STATE_STATUS_ACK:
wataloh 1:b2a9a6f2c30e 914 SERIAL_PRINT_DBG_ASR("STATE_STATUS_ACK\n");
wataloh 0:20bce0dcc921 915 break;
wataloh 0:20bce0dcc921 916 case STATE_SEND_BYTES:
wataloh 1:b2a9a6f2c30e 917 SERIAL_PRINT_DBG_ASR("STATE_SEND_BYTES\n");
wataloh 0:20bce0dcc921 918 break;
wataloh 0:20bce0dcc921 919 case STATE_RECV_BYTES:
wataloh 1:b2a9a6f2c30e 920 SERIAL_PRINT_DBG_ASR("STATE_RECV_BYTES\n");
wataloh 0:20bce0dcc921 921 break;
wataloh 0:20bce0dcc921 922 case STATE_CMD_COMPLETE:
wataloh 1:b2a9a6f2c30e 923 SERIAL_PRINT_DBG_ASR("STATE_CMD_COMPLETE\n");
wataloh 0:20bce0dcc921 924 break;
wataloh 0:20bce0dcc921 925 default:
wataloh 1:b2a9a6f2c30e 926 SERIAL_PRINT_DBG_ASR("Unknown State!\n");
wataloh 0:20bce0dcc921 927 break;
wataloh 0:20bce0dcc921 928 }
wataloh 0:20bce0dcc921 929 }
wataloh 0:20bce0dcc921 930
wataloh 0:20bce0dcc921 931 void afLib::printTransaction(uint8_t *rbytes, int len)
wataloh 0:20bce0dcc921 932 {
wataloh 0:20bce0dcc921 933 //return;
wataloh 0:20bce0dcc921 934 int i = 0;
wataloh 0:20bce0dcc921 935 for(;i<=len;++i)
wataloh 0:20bce0dcc921 936 {
wataloh 1:b2a9a6f2c30e 937 SERIAL_PRINT_DBG_ASR("0x%02x:",rbytes[i]);
wataloh 0:20bce0dcc921 938 }
wataloh 1:b2a9a6f2c30e 939 SERIAL_PRINT_DBG_ASR("\n");
wataloh 0:20bce0dcc921 940 }