Psi Swarm Robot / PsiSwarmV9

Psi Swarm robot library version 0.9

Dependents:   PsiSwarm_V9_Blank

Fork of PsiSwarmV9 by James Hilder

serial.cpp@10:e58323951c08, 2016-10-16 (annotated)

Committer:
jah128
Date:
Sun Oct 16 16:00:20 2016 +0000
Revision:
10:e58323951c08
Parent:
9:dde9e21030eb
Child:
11:312663037b8c
Added Sensors class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File
jah128 10:e58323951c08 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 10:e58323951c08 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 10:e58323951c08 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 0:d6269d17c8cf 10 *
jah128 0:d6269d17c8cf 11 * File: serial.cpp
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 9:dde9e21030eb 16 * PsiSwarm Library Version: 0.8
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 *
jah128 0:d6269d17c8cf 21 */
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 #include "psiswarm.h"
jah128 0:d6269d17c8cf 24
jah128 0:d6269d17c8cf 25 static float command_timeout_period = 0.1f; //If a complete command message is not received in 0.1s then consider it a user message
jah128 0:d6269d17c8cf 26 char pc_command_message_started = 0;
jah128 0:d6269d17c8cf 27 char pc_command_message_byte = 0;
jah128 0:d6269d17c8cf 28 char pc_command_message[3];
jah128 0:d6269d17c8cf 29 char bt_command_message_started = 0;
jah128 0:d6269d17c8cf 30 char bt_command_message_byte = 0;
jah128 0:d6269d17c8cf 31 char bt_command_message[3];
jah128 0:d6269d17c8cf 32
jah128 0:d6269d17c8cf 33 char allow_commands = 1;
jah128 0:d6269d17c8cf 34 char allow_requests = 1;
jah128 2:c6986ee3c7c5 35 char file_transfer_state = 0;
jah128 0:d6269d17c8cf 36
jah128 2:c6986ee3c7c5 37 int block_size = 88; // The data block size for file transfer
jah128 2:c6986ee3c7c5 38 char data_block[89]; // Stores the data block to write for Bluetooth file transfer
jah128 2:c6986ee3c7c5 39 int data_written; // Stores if partial data has been written to a file
jah128 2:c6986ee3c7c5 40 int file_length; // Stores the file length for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 41 int final_block; // Stores the index of the final data block for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 42 int block_index; // Stores the current block index for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 43 char filename [21]; // Stores the filename for a Bluetooth file transfer
jah128 1:060690a934a9 44
jah128 1:060690a934a9 45 Timeout ft_timeout;
jah128 0:d6269d17c8cf 46 Timeout pc_command_timeout;
jah128 0:d6269d17c8cf 47 Timeout bt_command_timeout;
jah128 0:d6269d17c8cf 48
jah128 0:d6269d17c8cf 49 // A predefined message structure for command messages is as follows:
jah128 0:d6269d17c8cf 50 // [Byte 0][Byte 1][Byte 2][Byte 3][Byte 4]
jah128 0:d6269d17c8cf 51 // Byte 0 and Byte 4 must be equal to COMMAND_MESSAGE_BYTE [in psiswarm.h] or message is treated as a user message
jah128 0:d6269d17c8cf 52
jah128 0:d6269d17c8cf 53
jah128 0:d6269d17c8cf 54
jah128 0:d6269d17c8cf 55
jah128 1:060690a934a9 56 void IF_start_file_transfer_mode()
jah128 1:060690a934a9 57 {
jah128 1:060690a934a9 58 display.clear_display();
jah128 1:060690a934a9 59 display.set_position(0,0);
jah128 1:060690a934a9 60 display.write_string("FILE TRANSFER");
jah128 1:060690a934a9 61 display.set_position(1,0);
jah128 1:060690a934a9 62 display.write_string("MODE...");
jah128 2:c6986ee3c7c5 63 data_written = 0;
jah128 1:060690a934a9 64 file_transfer_mode = 1;
jah128 1:060690a934a9 65 file_transfer_state = 0;
jah128 1:060690a934a9 66 file_length = 0;
jah128 1:060690a934a9 67 user_code_restore_mode = user_code_running;
jah128 1:060690a934a9 68 user_code_running = 0;
jah128 1:060690a934a9 69 ft_timeout.attach(IF_file_transfer_timeout,2.0);
jah128 1:060690a934a9 70 }
jah128 1:060690a934a9 71
jah128 1:060690a934a9 72
jah128 1:060690a934a9 73 void IF_invalid_transfer(void)
jah128 1:060690a934a9 74 {
jah128 1:060690a934a9 75 debug("File transfer failed\n");
jah128 10:e58323951c08 76 if(data_written == 1) {
jah128 2:c6986ee3c7c5 77 debug("Deleting corrupted file\n");
jah128 2:c6986ee3c7c5 78 remove(filename);
jah128 2:c6986ee3c7c5 79 }
jah128 1:060690a934a9 80 display.clear_display();
jah128 1:060690a934a9 81 display.set_position(0,0);
jah128 1:060690a934a9 82 display.write_string("TRANSFER FAILED");
jah128 1:060690a934a9 83 wait(0.5);
jah128 1:060690a934a9 84 IF_end_file_transfer_mode();
jah128 1:060690a934a9 85 }
jah128 1:060690a934a9 86
jah128 1:060690a934a9 87 void IF_file_transfer_timeout(void)
jah128 1:060690a934a9 88 {
jah128 1:060690a934a9 89 debug("File transfer failed: timeout\n");
jah128 1:060690a934a9 90 display.clear_display();
jah128 1:060690a934a9 91 display.set_position(0,0);
jah128 1:060690a934a9 92 display.write_string("TRANSFER TIMEOUT");
jah128 1:060690a934a9 93 wait(0.5);
jah128 1:060690a934a9 94 IF_end_file_transfer_mode();
jah128 1:060690a934a9 95 }
jah128 1:060690a934a9 96
jah128 1:060690a934a9 97 void IF_end_file_transfer_mode(void)
jah128 1:060690a934a9 98 {
jah128 1:060690a934a9 99 display.clear_display();
jah128 1:060690a934a9 100 file_transfer_mode = 0;
jah128 1:060690a934a9 101 user_code_running = user_code_restore_mode;
jah128 1:060690a934a9 102 }
jah128 1:060690a934a9 103
jah128 0:d6269d17c8cf 104
jah128 0:d6269d17c8cf 105 void IF_handle_file_transfer_serial_message(char * message, char length, char interface)
jah128 0:d6269d17c8cf 106 {
jah128 0:d6269d17c8cf 107 // Code for handling a serial (Bluetooth) message when in file-transfer mode
jah128 0:d6269d17c8cf 108 //
jah128 0:d6269d17c8cf 109 // message = pointer to message char array
jah128 0:d6269d17c8cf 110 // length = length of message
jah128 0:d6269d17c8cf 111 // interface = 0 for PC serial connection, 1 for Bluetooth [NB only Bluetooth used for file transfer in this version]
jah128 0:d6269d17c8cf 112
jah128 2:c6986ee3c7c5 113 if(file_transfer_state < 2)debug("FTM Message:%.*s [%d]\n",length,message,length);
jah128 2:c6986ee3c7c5 114 else debug("FTM data block received (%d bytes)\n",length);
jah128 1:060690a934a9 115 int expected_size;
jah128 1:060690a934a9 116 // The first byte in EVERY message received should be 33; if it isn't, abort the transfer
jah128 1:060690a934a9 117 if(message[0] != 33) {
jah128 1:060690a934a9 118 IF_invalid_transfer();
jah128 1:060690a934a9 119 } else {
jah128 1:060690a934a9 120 switch(file_transfer_state) {
jah128 1:060690a934a9 121 case 0: //First message received is the target filename
jah128 1:060690a934a9 122 //The filenames cannot be more that 8.3 characters long (FAT12 format)
jah128 1:060690a934a9 123 if(length == 1 || length > 13) IF_invalid_transfer();
jah128 1:060690a934a9 124 else {
jah128 2:c6986ee3c7c5 125 strcpy(filename, "/local/");
jah128 2:c6986ee3c7c5 126 strncat(filename, message + 1, length - 1);
jah128 2:c6986ee3c7c5 127 debug("Target filename:%s\n",filename);
jah128 1:060690a934a9 128 //Send acknowledge ("FN")
jah128 1:060690a934a9 129 ft_timeout.detach();
jah128 1:060690a934a9 130 ft_timeout.attach(IF_file_transfer_timeout,2.0);
jah128 1:060690a934a9 131 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,2,"FN");
jah128 1:060690a934a9 132 file_transfer_state = 1;
jah128 1:060690a934a9 133 }
jah128 1:060690a934a9 134 break;
jah128 1:060690a934a9 135 case 1: //Second message is the length of the file in bytes
jah128 1:060690a934a9 136 //Length is encoded as a 3-byte value
jah128 1:060690a934a9 137 if(length != 4) IF_invalid_transfer();
jah128 1:060690a934a9 138 else {
jah128 1:060690a934a9 139 file_length = (message[1]) * 256;
jah128 1:060690a934a9 140 file_length += (message[2]);
jah128 1:060690a934a9 141 file_length *= 256;
jah128 1:060690a934a9 142 file_length += message[3];
jah128 1:060690a934a9 143 file_transfer_state = 2;
jah128 1:060690a934a9 144 display.clear_display();
jah128 1:060690a934a9 145 char display_message[17];
jah128 1:060690a934a9 146 sprintf(display_message,"F:%s",filename);
jah128 1:060690a934a9 147 display.set_position(0,0);
jah128 1:060690a934a9 148 display.write_string(display_message);
jah128 1:060690a934a9 149 display.set_position(1,0);
jah128 1:060690a934a9 150 sprintf(display_message,"S:%d b",file_length);
jah128 1:060690a934a9 151 display.write_string(display_message);
jah128 1:060690a934a9 152 block_index = 0;
jah128 1:060690a934a9 153 //Work out how many blocks the file will be sent in (size = block_size, tested at 100 bytes)
jah128 1:060690a934a9 154 //Allocate memory for the file up to a limit of 16 blocks; larger files will be split across
jah128 1:060690a934a9 155 //multiple blocks....
jah128 1:060690a934a9 156 final_block = file_length / block_size;
jah128 1:060690a934a9 157 if(file_length % block_size != 0) final_block ++;
jah128 2:c6986ee3c7c5 158 //int target_size = file_length;
jah128 2:c6986ee3c7c5 159 //if(file_length > (block_size * 16)) target_size = block_size * 16;
jah128 2:c6986ee3c7c5 160 //file_data = (char *) malloc(target_size);
jah128 2:c6986ee3c7c5 161 debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size);
jah128 1:060690a934a9 162 ft_timeout.detach();
jah128 1:060690a934a9 163 ft_timeout.attach(IF_file_transfer_timeout,1.0);
jah128 1:060690a934a9 164 //Send acknowledge (size of file)
jah128 1:060690a934a9 165 bt.printf("%c%c%c%c%c",RESPONSE_MESSAGE_BYTE,3,message[1],message[2],message[3]);
jah128 1:060690a934a9 166 }
jah128 1:060690a934a9 167 break;
jah128 1:060690a934a9 168 case 2:
jah128 1:060690a934a9 169 block_index ++;
jah128 2:c6986ee3c7c5 170 display.clear_display();
jah128 2:c6986ee3c7c5 171 display.set_position(0,0);
jah128 2:c6986ee3c7c5 172 display.write_string("FILE TRANSFER");
jah128 2:c6986ee3c7c5 173 display.set_position(1,0);
jah128 2:c6986ee3c7c5 174 char details_string[17];
jah128 2:c6986ee3c7c5 175 sprintf(details_string,"BLOCK %d OF %d",block_index,final_block);
jah128 2:c6986ee3c7c5 176 display.write_string(details_string);
jah128 2:c6986ee3c7c5 177 expected_size = block_size;
jah128 1:060690a934a9 178 if(block_index == final_block) expected_size = file_length % block_size;
jah128 1:060690a934a9 179 if(expected_size == 0) expected_size = block_size;
jah128 10:e58323951c08 180 if(length!=expected_size + 1) {
jah128 10:e58323951c08 181 // Unexpected length
jah128 2:c6986ee3c7c5 182 debug("File data unexpected length in packet %d (%d bytes received, %d bytes expected)\n",block_index,length-1,expected_size);
jah128 10:e58323951c08 183 } else {
jah128 10:e58323951c08 184 char transfer_mode[2]= {'a'};
jah128 10:e58323951c08 185 if(block_index == 1) {
jah128 2:c6986ee3c7c5 186 transfer_mode[0]='w';
jah128 2:c6986ee3c7c5 187 }
jah128 2:c6986ee3c7c5 188 FILE *fp = fopen(filename,transfer_mode);
jah128 2:c6986ee3c7c5 189 //strncpy(data_block,message+1,length);
jah128 2:c6986ee3c7c5 190 //data_block[length]=0;
jah128 2:c6986ee3c7c5 191 //fprintf(fp,data_block);
jah128 2:c6986ee3c7c5 192 int bytes_written;
jah128 2:c6986ee3c7c5 193 bytes_written = fwrite(message+1,expected_size,1,fp);
jah128 2:c6986ee3c7c5 194 fclose(fp);
jah128 2:c6986ee3c7c5 195 if(data_written == false && bytes_written > 0) data_written = true;
jah128 2:c6986ee3c7c5 196 debug("Bytes written: %d\n",expected_size * bytes_written);
jah128 10:e58323951c08 197 if(block_index < final_block) {
jah128 10:e58323951c08 198 debug("Message packet %d received and written\n",block_index);
jah128 10:e58323951c08 199 //Send acknowledge ("D")
jah128 10:e58323951c08 200 ft_timeout.detach();
jah128 10:e58323951c08 201 ft_timeout.attach(IF_file_transfer_timeout,1.0);
jah128 10:e58323951c08 202 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"D");
jah128 10:e58323951c08 203 } else {
jah128 2:c6986ee3c7c5 204 //Last data block written
jah128 2:c6986ee3c7c5 205 //[Put file checking code here]
jah128 2:c6986ee3c7c5 206 //Send acknowledge ("P");
jah128 2:c6986ee3c7c5 207 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"F");
jah128 2:c6986ee3c7c5 208 ft_timeout.detach();
jah128 2:c6986ee3c7c5 209 debug("File transfer completed successfully\n");
jah128 2:c6986ee3c7c5 210 wait(0.25);
jah128 2:c6986ee3c7c5 211 //Calculate CRC16 value for file
jah128 2:c6986ee3c7c5 212 IF_calculateCRC16(file_length);
jah128 10:e58323951c08 213
jah128 2:c6986ee3c7c5 214 display.clear_display();
jah128 2:c6986ee3c7c5 215 display.write_string("FILE TRANSFER");
jah128 2:c6986ee3c7c5 216 display.set_position(1,0);
jah128 10:e58323951c08 217 display.write_string("COMPLETE");
jah128 2:c6986ee3c7c5 218 wait(1);
jah128 2:c6986ee3c7c5 219 debug("File transfer mode ended\n");
jah128 2:c6986ee3c7c5 220 IF_end_file_transfer_mode();
jah128 2:c6986ee3c7c5 221 }
jah128 1:060690a934a9 222 }
jah128 2:c6986ee3c7c5 223 break;
jah128 1:060690a934a9 224 }
jah128 1:060690a934a9 225 }
jah128 0:d6269d17c8cf 226 }
jah128 0:d6269d17c8cf 227
jah128 0:d6269d17c8cf 228
jah128 0:d6269d17c8cf 229 void IF_handle_user_serial_message(char * message, char length, char interface)
jah128 0:d6269d17c8cf 230 {
jah128 0:d6269d17c8cf 231 char buffer[255];
jah128 0:d6269d17c8cf 232 sprintf(buffer,message,length);
jah128 0:d6269d17c8cf 233 for(int i=0; i<length; i++) {
jah128 0:d6269d17c8cf 234 buffer[i]=message[i];
jah128 0:d6269d17c8cf 235 }
jah128 0:d6269d17c8cf 236 buffer[length]=0;
jah128 0:d6269d17c8cf 237 // if(interface) debug("Received BT message:%s [%d chars]\n",buffer,length);
jah128 0:d6269d17c8cf 238 // else debug("Received USB message:%s [%d chars]\n",buffer,length);
jah128 0:d6269d17c8cf 239 handle_user_serial_message(message,length,interface);
jah128 0:d6269d17c8cf 240 }
jah128 0:d6269d17c8cf 241
jah128 0:d6269d17c8cf 242 void IF_handle_command_serial_message(char message[3], char interface)
jah128 0:d6269d17c8cf 243 {
jah128 0:d6269d17c8cf 244 char iface [4];
jah128 0:d6269d17c8cf 245 if(interface) strcpy(iface,"BT");
jah128 0:d6269d17c8cf 246 else strcpy(iface,"USB");
jah128 0:d6269d17c8cf 247 char command [26];
jah128 0:d6269d17c8cf 248 char subcommand[30];
jah128 0:d6269d17c8cf 249 float dec;
jah128 0:d6269d17c8cf 250 float l_dec;
jah128 0:d6269d17c8cf 251 float r_dec;
jah128 0:d6269d17c8cf 252 int irp_delay;
jah128 0:d6269d17c8cf 253 char colour_string[7];
jah128 0:d6269d17c8cf 254 char ret_message[50];
jah128 0:d6269d17c8cf 255 char send_message = 0;
jah128 0:d6269d17c8cf 256 char command_status = 0;
jah128 0:d6269d17c8cf 257 // command_status values:
jah128 0:d6269d17c8cf 258 // 0 - unrecognised command
jah128 0:d6269d17c8cf 259 // 1 - command actioned
jah128 0:d6269d17c8cf 260 // 2 - command blocked
jah128 0:d6269d17c8cf 261 // 3 - invalid parameters
jah128 0:d6269d17c8cf 262
jah128 0:d6269d17c8cf 263 subcommand[0]=0;
jah128 0:d6269d17c8cf 264 command[0]=0;
jah128 0:d6269d17c8cf 265 switch(message[0]) {
jah128 0:d6269d17c8cf 266
jah128 0:d6269d17c8cf 267 // MOTOR COMMANDS
jah128 0:d6269d17c8cf 268
jah128 0:d6269d17c8cf 269 case 1:
jah128 0:d6269d17c8cf 270 strcpy(command,"SET LEFT MOTOR");
jah128 0:d6269d17c8cf 271 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 272 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 273 if(allow_commands) {
jah128 0:d6269d17c8cf 274 command_status = 1;
jah128 8:6c92789d5f87 275 motors.set_left_motor_speed(dec);
jah128 0:d6269d17c8cf 276 } else command_status = 2;
jah128 0:d6269d17c8cf 277 break;
jah128 0:d6269d17c8cf 278 case 2:
jah128 0:d6269d17c8cf 279 strcpy(command,"SET RIGHT MOTOR");
jah128 0:d6269d17c8cf 280 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 281 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 282 if(allow_commands) {
jah128 8:6c92789d5f87 283 motors.set_right_motor_speed(dec);
jah128 0:d6269d17c8cf 284 command_status = 1;
jah128 0:d6269d17c8cf 285 } else command_status = 2;
jah128 0:d6269d17c8cf 286 break;
jah128 0:d6269d17c8cf 287 case 3:
jah128 0:d6269d17c8cf 288 strcpy(command,"SET BOTH MOTORS");
jah128 0:d6269d17c8cf 289 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 290 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 291 if(allow_commands) {
jah128 0:d6269d17c8cf 292 command_status = 1;
jah128 8:6c92789d5f87 293 motors.forward(dec);
jah128 0:d6269d17c8cf 294 } else command_status = 2;
jah128 0:d6269d17c8cf 295 break;
jah128 0:d6269d17c8cf 296 case 4:
jah128 0:d6269d17c8cf 297 strcpy(command,"BRAKE LEFT MOTOR");
jah128 0:d6269d17c8cf 298 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 299 if(allow_commands) {
jah128 0:d6269d17c8cf 300 command_status = 1;
jah128 8:6c92789d5f87 301 motors.brake_left_motor();
jah128 0:d6269d17c8cf 302 } else command_status = 2;
jah128 0:d6269d17c8cf 303 break;
jah128 0:d6269d17c8cf 304 case 5:
jah128 0:d6269d17c8cf 305 strcpy(command,"BRAKE RIGHT MOTOR");
jah128 0:d6269d17c8cf 306 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 307 if(allow_commands) {
jah128 0:d6269d17c8cf 308 command_status = 1;
jah128 8:6c92789d5f87 309 motors.brake_right_motor();
jah128 0:d6269d17c8cf 310 } else command_status = 2;
jah128 0:d6269d17c8cf 311 break;
jah128 0:d6269d17c8cf 312 case 6:
jah128 0:d6269d17c8cf 313 strcpy(command,"BRAKE BOTH MOTORS");
jah128 0:d6269d17c8cf 314 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 315 if(allow_commands) {
jah128 0:d6269d17c8cf 316 command_status = 1;
jah128 8:6c92789d5f87 317 motors.brake();
jah128 0:d6269d17c8cf 318 } else command_status = 2;
jah128 0:d6269d17c8cf 319 break;
jah128 0:d6269d17c8cf 320 case 7:
jah128 0:d6269d17c8cf 321 strcpy(command,"STOP BOTH MOTORS");
jah128 0:d6269d17c8cf 322 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 323 if(allow_commands) {
jah128 0:d6269d17c8cf 324 command_status = 1;
jah128 8:6c92789d5f87 325 motors.stop();
jah128 0:d6269d17c8cf 326 } else command_status = 2;
jah128 0:d6269d17c8cf 327 break;
jah128 0:d6269d17c8cf 328 case 8:
jah128 0:d6269d17c8cf 329 strcpy(command,"TURN ON SPOT");
jah128 0:d6269d17c8cf 330 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 331 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 332 if(allow_commands) {
jah128 0:d6269d17c8cf 333 command_status = 1;
jah128 8:6c92789d5f87 334 motors.turn(dec);
jah128 0:d6269d17c8cf 335 } else command_status = 2;
jah128 0:d6269d17c8cf 336 break;
jah128 0:d6269d17c8cf 337 case 9:
jah128 0:d6269d17c8cf 338 strcpy(command,"SET EACH MOTOR");
jah128 0:d6269d17c8cf 339 l_dec = IF_decode_float(message[1]);
jah128 0:d6269d17c8cf 340 r_dec = IF_decode_float(message[2]);
jah128 0:d6269d17c8cf 341 sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
jah128 0:d6269d17c8cf 342 if(allow_commands) {
jah128 0:d6269d17c8cf 343 command_status = 1;
jah128 8:6c92789d5f87 344 motors.set_left_motor_speed(l_dec);
jah128 8:6c92789d5f87 345 motors.set_right_motor_speed(r_dec);
jah128 0:d6269d17c8cf 346 } else command_status = 2;
jah128 0:d6269d17c8cf 347 break;
jah128 0:d6269d17c8cf 348 // LED COMMANDS
jah128 0:d6269d17c8cf 349
jah128 0:d6269d17c8cf 350 case 10:
jah128 0:d6269d17c8cf 351 strcpy(command,"SET LED STATES");
jah128 0:d6269d17c8cf 352 sprintf(subcommand,"G:%s R:%s",IF_char_to_binary_char(message[1]), IF_char_to_binary_char(message[2]));
jah128 0:d6269d17c8cf 353 if(allow_commands) {
jah128 0:d6269d17c8cf 354 command_status = 1;
jah128 9:dde9e21030eb 355 led.set_leds(message[1],message[2]);
jah128 0:d6269d17c8cf 356 } else command_status = 2;
jah128 0:d6269d17c8cf 357 break;
jah128 0:d6269d17c8cf 358 case 11:
jah128 0:d6269d17c8cf 359 strcpy(command,"SET RED LED STATES");
jah128 0:d6269d17c8cf 360 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 361 if(allow_commands) {
jah128 0:d6269d17c8cf 362 command_status = 1;
jah128 9:dde9e21030eb 363 led.set_red_leds(message[1]);
jah128 0:d6269d17c8cf 364 } else command_status = 2;
jah128 0:d6269d17c8cf 365 break;
jah128 0:d6269d17c8cf 366 case 12:
jah128 0:d6269d17c8cf 367 strcpy(command,"SET GREEN LED STATES");
jah128 0:d6269d17c8cf 368 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 369 if(allow_commands) {
jah128 0:d6269d17c8cf 370 command_status = 1;
jah128 9:dde9e21030eb 371 led.set_green_leds(message[1]);
jah128 0:d6269d17c8cf 372 } else command_status = 2;
jah128 0:d6269d17c8cf 373 break;
jah128 0:d6269d17c8cf 374 case 13:
jah128 0:d6269d17c8cf 375 strcpy(command,"SET LED");
jah128 0:d6269d17c8cf 376 switch(message[2]) {
jah128 0:d6269d17c8cf 377 case 1:
jah128 0:d6269d17c8cf 378 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 379 break;
jah128 0:d6269d17c8cf 380 case 2:
jah128 0:d6269d17c8cf 381 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 382 break;
jah128 0:d6269d17c8cf 383 case 3:
jah128 0:d6269d17c8cf 384 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 385 break;
jah128 0:d6269d17c8cf 386 case 0:
jah128 0:d6269d17c8cf 387 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 388 break;
jah128 0:d6269d17c8cf 389 }
jah128 0:d6269d17c8cf 390 if(message[1] < 8 && message[2] < 4) {
jah128 0:d6269d17c8cf 391 sprintf(subcommand,"%d %s",message[1],colour_string);
jah128 0:d6269d17c8cf 392 if(allow_commands) {
jah128 0:d6269d17c8cf 393 command_status = 1;
jah128 9:dde9e21030eb 394 led.set_led(message[1],message[2]);
jah128 0:d6269d17c8cf 395 } else command_status = 2;
jah128 0:d6269d17c8cf 396 } else {
jah128 0:d6269d17c8cf 397 sprintf(subcommand,"[INVALID CODE]");
jah128 0:d6269d17c8cf 398 command_status = 3;
jah128 0:d6269d17c8cf 399 }
jah128 0:d6269d17c8cf 400 break;
jah128 0:d6269d17c8cf 401 case 14:
jah128 0:d6269d17c8cf 402 strcpy(command,"SET CENTER LED STATE");
jah128 0:d6269d17c8cf 403 switch(message[1]) {
jah128 0:d6269d17c8cf 404 case 1:
jah128 0:d6269d17c8cf 405 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 406 break;
jah128 0:d6269d17c8cf 407 case 2:
jah128 0:d6269d17c8cf 408 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 409 break;
jah128 0:d6269d17c8cf 410 case 3:
jah128 0:d6269d17c8cf 411 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 412 break;
jah128 0:d6269d17c8cf 413 case 0:
jah128 0:d6269d17c8cf 414 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 415 break;
jah128 0:d6269d17c8cf 416 }
jah128 0:d6269d17c8cf 417 if(message[1] < 4) {
jah128 0:d6269d17c8cf 418 sprintf(subcommand,"%s",colour_string);
jah128 0:d6269d17c8cf 419 if(allow_commands) {
jah128 0:d6269d17c8cf 420 command_status = 1;
jah128 9:dde9e21030eb 421 led.set_center_led(message[1]);
jah128 0:d6269d17c8cf 422 } else command_status = 2;
jah128 0:d6269d17c8cf 423 } else {
jah128 0:d6269d17c8cf 424 sprintf(subcommand,"[INVALID CODE]");
jah128 0:d6269d17c8cf 425 command_status = 3;
jah128 0:d6269d17c8cf 426 }
jah128 0:d6269d17c8cf 427 break;
jah128 0:d6269d17c8cf 428 case 15:
jah128 0:d6269d17c8cf 429 strcpy(command,"SET C.LED BRIGHTNESS");
jah128 0:d6269d17c8cf 430 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 431 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 432 if(allow_commands) {
jah128 0:d6269d17c8cf 433 command_status = 1;
jah128 9:dde9e21030eb 434 led.set_center_led_brightness(dec);
jah128 0:d6269d17c8cf 435 } else command_status = 2;
jah128 0:d6269d17c8cf 436 break;
jah128 0:d6269d17c8cf 437 case 16:
jah128 0:d6269d17c8cf 438 strcpy(command,"SET MBED LEDS");
jah128 0:d6269d17c8cf 439 sprintf(subcommand,"%s",IF_nibble_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 440 if(allow_commands) {
jah128 0:d6269d17c8cf 441 command_status = 1;
jah128 0:d6269d17c8cf 442 mbed_led1 = (message[1] & 128) >> 7;
jah128 0:d6269d17c8cf 443 mbed_led2 = (message[1] & 64) >> 6;
jah128 0:d6269d17c8cf 444 mbed_led3 = (message[1] & 32) >> 5;
jah128 0:d6269d17c8cf 445 mbed_led4 = (message[1] & 16) >> 4;
jah128 0:d6269d17c8cf 446 } else command_status = 2;
jah128 0:d6269d17c8cf 447 break;
jah128 0:d6269d17c8cf 448 case 17:
jah128 0:d6269d17c8cf 449 strcpy(command,"BLINK OUTER LEDS");
jah128 0:d6269d17c8cf 450 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 451 sprintf(subcommand,"FOR %1.5fS",dec);
jah128 0:d6269d17c8cf 452 if(allow_commands) {
jah128 0:d6269d17c8cf 453 command_status = 1;
jah128 9:dde9e21030eb 454 led.blink_leds(dec);
jah128 0:d6269d17c8cf 455 } else command_status = 2;
jah128 0:d6269d17c8cf 456 break;
jah128 0:d6269d17c8cf 457 case 18:
jah128 0:d6269d17c8cf 458 strcpy(command,"SET BASE LED STATE");
jah128 0:d6269d17c8cf 459 switch(message[1]) {
jah128 0:d6269d17c8cf 460 case 1:
jah128 0:d6269d17c8cf 461 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 462 break;
jah128 0:d6269d17c8cf 463 case 0:
jah128 0:d6269d17c8cf 464 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 465 break;
jah128 0:d6269d17c8cf 466 }
jah128 9:dde9e21030eb 467 if(allow_commands) {
jah128 9:dde9e21030eb 468 command_status = 1;
jah128 9:dde9e21030eb 469 led.set_base_led(message[1]);
jah128 9:dde9e21030eb 470 } else command_status = 2;
jah128 0:d6269d17c8cf 471 break;
jah128 0:d6269d17c8cf 472 case 19:
jah128 0:d6269d17c8cf 473 strcpy(command,"SET CENTER LED ");
jah128 0:d6269d17c8cf 474 switch(message[1]) {
jah128 0:d6269d17c8cf 475 case 1:
jah128 0:d6269d17c8cf 476 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 477 break;
jah128 0:d6269d17c8cf 478 case 2:
jah128 0:d6269d17c8cf 479 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 480 break;
jah128 0:d6269d17c8cf 481 case 3:
jah128 0:d6269d17c8cf 482 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 483 break;
jah128 0:d6269d17c8cf 484 case 0:
jah128 0:d6269d17c8cf 485 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 486 break;
jah128 0:d6269d17c8cf 487 }
jah128 0:d6269d17c8cf 488 dec = IF_decode_unsigned_float(message[2]);
jah128 0:d6269d17c8cf 489 sprintf(subcommand,"%s @ %1.5f brightness",colour_string,dec);
jah128 0:d6269d17c8cf 490 if(allow_commands) {
jah128 0:d6269d17c8cf 491 command_status = 1;
jah128 9:dde9e21030eb 492 led.set_center_led(message[1],dec);
jah128 0:d6269d17c8cf 493 } else command_status = 2;
jah128 0:d6269d17c8cf 494 break;
jah128 0:d6269d17c8cf 495
jah128 0:d6269d17c8cf 496 // DISPLAY COMMANDS
jah128 0:d6269d17c8cf 497
jah128 0:d6269d17c8cf 498 case 20:
jah128 0:d6269d17c8cf 499 strcpy(command,"SET DISPLAY ");
jah128 0:d6269d17c8cf 500 switch(message[1]) {
jah128 0:d6269d17c8cf 501 case 0:
jah128 0:d6269d17c8cf 502 strcpy(subcommand,"CLEAR");
jah128 0:d6269d17c8cf 503 if(allow_commands) {
jah128 0:d6269d17c8cf 504 command_status = 1;
jah128 0:d6269d17c8cf 505 display.clear_display();
jah128 0:d6269d17c8cf 506 } else command_status = 2;
jah128 0:d6269d17c8cf 507 break;
jah128 0:d6269d17c8cf 508 case 1:
jah128 0:d6269d17c8cf 509 strcpy(subcommand,"MESSAGE 1");
jah128 0:d6269d17c8cf 510 if(allow_commands) {
jah128 0:d6269d17c8cf 511 command_status = 1;
jah128 0:d6269d17c8cf 512 display.clear_display();
jah128 0:d6269d17c8cf 513 display.home();
jah128 0:d6269d17c8cf 514 display.write_string("PC CONNECTION");
jah128 0:d6269d17c8cf 515 display.set_position(1,0);
jah128 0:d6269d17c8cf 516 display.write_string("STARTED");
jah128 0:d6269d17c8cf 517 } else command_status = 2;
jah128 0:d6269d17c8cf 518 break;
jah128 0:d6269d17c8cf 519 case 2:
jah128 0:d6269d17c8cf 520 strcpy(subcommand,"MESSAGE 2");
jah128 0:d6269d17c8cf 521 if(allow_commands) {
jah128 0:d6269d17c8cf 522 command_status = 1;
jah128 0:d6269d17c8cf 523 display.clear_display();
jah128 0:d6269d17c8cf 524 display.home();
jah128 0:d6269d17c8cf 525 display.write_string("PC CONNECTION");
jah128 0:d6269d17c8cf 526 display.set_position(1,0);
jah128 0:d6269d17c8cf 527 display.write_string("TERMINATED");
jah128 0:d6269d17c8cf 528 } else command_status = 2;
jah128 0:d6269d17c8cf 529 break;
jah128 0:d6269d17c8cf 530 case 3:
jah128 0:d6269d17c8cf 531 strcpy(subcommand,"MESSAGE 3");
jah128 0:d6269d17c8cf 532 if(allow_commands) {
jah128 0:d6269d17c8cf 533 command_status = 1;
jah128 0:d6269d17c8cf 534 display.clear_display();
jah128 0:d6269d17c8cf 535 display.home();
jah128 0:d6269d17c8cf 536 display.write_string("ANDROID DEVICE");
jah128 0:d6269d17c8cf 537 display.set_position(1,0);
jah128 0:d6269d17c8cf 538 display.write_string("CONNECTED");
jah128 0:d6269d17c8cf 539 } else command_status = 2;
jah128 0:d6269d17c8cf 540 break;
jah128 0:d6269d17c8cf 541 case 4:
jah128 0:d6269d17c8cf 542 strcpy(subcommand,"MESSAGE 4");
jah128 0:d6269d17c8cf 543 if(allow_commands) {
jah128 0:d6269d17c8cf 544 command_status = 1;
jah128 0:d6269d17c8cf 545 display.clear_display();
jah128 0:d6269d17c8cf 546 display.home();
jah128 0:d6269d17c8cf 547 display.write_string("ANDROID DEVICE");
jah128 0:d6269d17c8cf 548 display.set_position(1,0);
jah128 0:d6269d17c8cf 549 display.write_string("DISCONNECTED");
jah128 0:d6269d17c8cf 550 } else command_status = 2;
jah128 0:d6269d17c8cf 551 break;
jah128 3:7c0d1f581757 552 case 5:
jah128 3:7c0d1f581757 553 strcpy(subcommand,"MESSAGE 5");
jah128 3:7c0d1f581757 554 if(allow_commands) {
jah128 3:7c0d1f581757 555 command_status = 1;
jah128 3:7c0d1f581757 556 display.clear_display();
jah128 3:7c0d1f581757 557 display.home();
jah128 3:7c0d1f581757 558 display.write_string("PSI CONSOLE");
jah128 3:7c0d1f581757 559 display.set_position(1,0);
jah128 3:7c0d1f581757 560 display.write_string("CONNECTED");
jah128 3:7c0d1f581757 561 } else command_status = 2;
jah128 3:7c0d1f581757 562 break;
jah128 10:e58323951c08 563 case 6:
jah128 3:7c0d1f581757 564 strcpy(subcommand,"MESSAGE 6");
jah128 3:7c0d1f581757 565 if(allow_commands) {
jah128 3:7c0d1f581757 566 command_status = 1;
jah128 3:7c0d1f581757 567 display.clear_display();
jah128 3:7c0d1f581757 568 display.home();
jah128 3:7c0d1f581757 569 display.write_string("PSI CONSOLE");
jah128 3:7c0d1f581757 570 display.set_position(1,0);
jah128 3:7c0d1f581757 571 display.write_string("DISCONNECTED");
jah128 3:7c0d1f581757 572 } else command_status = 2;
jah128 10:e58323951c08 573 break;
jah128 0:d6269d17c8cf 574 }
jah128 0:d6269d17c8cf 575 break;
jah128 0:d6269d17c8cf 576 case 21:
jah128 0:d6269d17c8cf 577 strcpy(command,"SET CURSOR ");
jah128 0:d6269d17c8cf 578 if(message[1] < 2 && message[2] < 16) {
jah128 0:d6269d17c8cf 579 sprintf(subcommand,"[%d,%d]",message[1],message[2]);
jah128 0:d6269d17c8cf 580 if(allow_commands) {
jah128 0:d6269d17c8cf 581 display.set_position(message[1],message[2]);
jah128 0:d6269d17c8cf 582 } else command_status = 2;
jah128 0:d6269d17c8cf 583 } else {
jah128 0:d6269d17c8cf 584 sprintf(subcommand,"[INVALID]");
jah128 0:d6269d17c8cf 585 command_status = 3;
jah128 0:d6269d17c8cf 586 }
jah128 0:d6269d17c8cf 587 break;
jah128 10:e58323951c08 588 case 22: {
jah128 0:d6269d17c8cf 589 strcpy(command,"PRINT CHARACTERS ");
jah128 0:d6269d17c8cf 590 char print_message[2];
jah128 0:d6269d17c8cf 591 print_message[0]=message[1];
jah128 0:d6269d17c8cf 592 print_message[1]=message[2];
jah128 0:d6269d17c8cf 593 sprintf(subcommand,"[%c,%c]",message[1],message[2]);
jah128 0:d6269d17c8cf 594 if(allow_commands) {
jah128 0:d6269d17c8cf 595 display.write_string(print_message,2);
jah128 0:d6269d17c8cf 596 } else command_status = 2;
jah128 0:d6269d17c8cf 597 break;
jah128 10:e58323951c08 598 }
jah128 0:d6269d17c8cf 599 case 23:
jah128 0:d6269d17c8cf 600 strcpy(command,"SET DISPLAY B.NESS");
jah128 0:d6269d17c8cf 601 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 602 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 603 if(allow_commands) {
jah128 0:d6269d17c8cf 604 command_status = 1;
jah128 0:d6269d17c8cf 605 display.set_backlight_brightness(dec);
jah128 0:d6269d17c8cf 606 } else command_status = 2;
jah128 0:d6269d17c8cf 607 break;
jah128 0:d6269d17c8cf 608
jah128 0:d6269d17c8cf 609 case 30:
jah128 0:d6269d17c8cf 610 strcpy(command,"SET DEBUG MODE");
jah128 0:d6269d17c8cf 611 switch(message[1]) {
jah128 0:d6269d17c8cf 612 case 1:
jah128 0:d6269d17c8cf 613 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 614 break;
jah128 0:d6269d17c8cf 615 case 0:
jah128 0:d6269d17c8cf 616 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 617 break;
jah128 0:d6269d17c8cf 618 }
jah128 0:d6269d17c8cf 619 if(message[2] & 1) strcat (subcommand,"-PC");
jah128 0:d6269d17c8cf 620 if(message[2] & 2) strcat (subcommand,"-BT");
jah128 0:d6269d17c8cf 621 if(message[2] & 4) strcat (subcommand,"-DISP");
jah128 0:d6269d17c8cf 622 if(allow_commands) {
jah128 0:d6269d17c8cf 623 command_status = 1;
jah128 0:d6269d17c8cf 624 debug_mode = message[1];
jah128 0:d6269d17c8cf 625 debug_output = message[2];
jah128 0:d6269d17c8cf 626 } else command_status = 2;
jah128 0:d6269d17c8cf 627 break;
jah128 0:d6269d17c8cf 628 case 31:
jah128 0:d6269d17c8cf 629 strcpy(command,"SET DEMO MODE");
jah128 0:d6269d17c8cf 630 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 631 case 1:
jah128 0:d6269d17c8cf 632 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 633 break;
jah128 0:d6269d17c8cf 634 case 0:
jah128 0:d6269d17c8cf 635 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 636 break;
jah128 0:d6269d17c8cf 637 }
jah128 0:d6269d17c8cf 638 if(allow_commands) {
jah128 0:d6269d17c8cf 639 command_status = 1;
jah128 0:d6269d17c8cf 640 demo_on = message[1] % 2;
jah128 0:d6269d17c8cf 641 if(demo_on == 1) {
jah128 0:d6269d17c8cf 642 user_code_restore_mode = user_code_running;
jah128 0:d6269d17c8cf 643 user_code_running = 0;
jah128 0:d6269d17c8cf 644 } else {
jah128 0:d6269d17c8cf 645 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 646 }
jah128 0:d6269d17c8cf 647 } else command_status = 2;
jah128 0:d6269d17c8cf 648 break;
jah128 0:d6269d17c8cf 649 case 32:
jah128 0:d6269d17c8cf 650 strcpy(command,"SET USER CODE");
jah128 0:d6269d17c8cf 651 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 652 case 1:
jah128 0:d6269d17c8cf 653 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 654 break;
jah128 0:d6269d17c8cf 655 case 0:
jah128 0:d6269d17c8cf 656 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 657 break;
jah128 0:d6269d17c8cf 658 }
jah128 0:d6269d17c8cf 659 if(allow_commands) {
jah128 0:d6269d17c8cf 660 command_status = 1;
jah128 0:d6269d17c8cf 661 user_code_running = message[1] % 2;
jah128 0:d6269d17c8cf 662 } else command_status = 2;
jah128 0:d6269d17c8cf 663 break;
jah128 0:d6269d17c8cf 664 case 33:
jah128 0:d6269d17c8cf 665 strcpy(command,"PAUSE USER CODE");
jah128 0:d6269d17c8cf 666 dec = IF_decode_unsigned_float(message[1],message[2]) * 10;
jah128 0:d6269d17c8cf 667 sprintf(subcommand,"FOR %2.3fS",dec);
jah128 0:d6269d17c8cf 668 if(allow_commands) {
jah128 0:d6269d17c8cf 669 command_status = 1;
jah128 0:d6269d17c8cf 670 pause_user_code(dec);
jah128 0:d6269d17c8cf 671 } else command_status = 2;
jah128 0:d6269d17c8cf 672 break;
jah128 0:d6269d17c8cf 673
jah128 0:d6269d17c8cf 674 case 34:
jah128 0:d6269d17c8cf 675 strcpy(command,"RESET ENCODERS");
jah128 0:d6269d17c8cf 676 if(allow_commands) {
jah128 0:d6269d17c8cf 677 command_status = 1;
jah128 0:d6269d17c8cf 678 reset_encoders();
jah128 0:d6269d17c8cf 679 } else command_status = 2;
jah128 0:d6269d17c8cf 680 break;
jah128 0:d6269d17c8cf 681
jah128 0:d6269d17c8cf 682 case 35:
jah128 0:d6269d17c8cf 683 strcpy(command,"SET ALLOW COMMANDS");
jah128 0:d6269d17c8cf 684 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 685 case 1:
jah128 0:d6269d17c8cf 686 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 687 break;
jah128 0:d6269d17c8cf 688 case 0:
jah128 0:d6269d17c8cf 689 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 690 break;
jah128 0:d6269d17c8cf 691 }
jah128 0:d6269d17c8cf 692 allow_commands = message[1] % 2;
jah128 0:d6269d17c8cf 693 command_status = 1;
jah128 0:d6269d17c8cf 694 break;
jah128 0:d6269d17c8cf 695
jah128 0:d6269d17c8cf 696 case 36:
jah128 0:d6269d17c8cf 697 irp_delay = (message[1] << 8) + message[2];
jah128 0:d6269d17c8cf 698 sprintf(command,"SET IR PULSE DELAY %d MS",irp_delay);
jah128 0:d6269d17c8cf 699 if(allow_commands) {
jah128 0:d6269d17c8cf 700 command_status = 1;
jah128 0:d6269d17c8cf 701 ir_pulse_delay = irp_delay;
jah128 0:d6269d17c8cf 702 } else command_status = 2;
jah128 0:d6269d17c8cf 703 break;
jah128 0:d6269d17c8cf 704 case 37:
jah128 0:d6269d17c8cf 705 irp_delay = (message[1] << 8) + message[2];
jah128 0:d6269d17c8cf 706 sprintf(command,"SET BASE IR PULSE DELAY %d MS",irp_delay);
jah128 0:d6269d17c8cf 707 if(allow_commands) {
jah128 0:d6269d17c8cf 708 command_status = 1;
jah128 0:d6269d17c8cf 709 base_ir_pulse_delay = irp_delay;
jah128 0:d6269d17c8cf 710 } else command_status = 2;
jah128 0:d6269d17c8cf 711 break;
jah128 0:d6269d17c8cf 712
jah128 0:d6269d17c8cf 713 // MOTOR REQUESTS
jah128 0:d6269d17c8cf 714 case 40:
jah128 0:d6269d17c8cf 715 strcpy(command,"GET LEFT MOTOR SPEED");
jah128 0:d6269d17c8cf 716 sprintf(ret_message,"%1.5f",motor_left_speed);
jah128 0:d6269d17c8cf 717 send_message = 1;
jah128 0:d6269d17c8cf 718 break;
jah128 0:d6269d17c8cf 719
jah128 0:d6269d17c8cf 720 case 41:
jah128 0:d6269d17c8cf 721 strcpy(command,"GET RIGHT MOTOR SPEED");
jah128 0:d6269d17c8cf 722 sprintf(ret_message,"%1.5f",motor_right_speed);
jah128 0:d6269d17c8cf 723 send_message = 1;
jah128 0:d6269d17c8cf 724 break;
jah128 0:d6269d17c8cf 725 case 42:
jah128 0:d6269d17c8cf 726 strcpy(command,"GET BRAKE STATES");
jah128 0:d6269d17c8cf 727 sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:d6269d17c8cf 728 send_message = 1;
jah128 0:d6269d17c8cf 729 break;
jah128 0:d6269d17c8cf 730 case 43:
jah128 0:d6269d17c8cf 731 strcpy(command,"GET MOTOR STATES");
jah128 0:d6269d17c8cf 732 //sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:d6269d17c8cf 733 send_message = 1;
jah128 0:d6269d17c8cf 734 break;
jah128 0:d6269d17c8cf 735 case 44:
jah128 0:d6269d17c8cf 736 strcpy(command,"GET ENCODERS");
jah128 0:d6269d17c8cf 737 sprintf(ret_message,"%d,%d",left_encoder,right_encoder);
jah128 0:d6269d17c8cf 738 send_message = 1;
jah128 0:d6269d17c8cf 739 break;
jah128 0:d6269d17c8cf 740
jah128 0:d6269d17c8cf 741 // LED REQUESTS
jah128 0:d6269d17c8cf 742 case 50:
jah128 0:d6269d17c8cf 743 strcpy(command,"GET LED STATES");
jah128 9:dde9e21030eb 744 sprintf(ret_message,"%04x",led.get_led_states());
jah128 0:d6269d17c8cf 745 send_message = 1;
jah128 0:d6269d17c8cf 746 break;
jah128 0:d6269d17c8cf 747
jah128 0:d6269d17c8cf 748 // GENERAL REQUESTS
jah128 0:d6269d17c8cf 749 case 60:
jah128 0:d6269d17c8cf 750 strcpy(command,"GET SOFTWARE VERSION");
jah128 0:d6269d17c8cf 751 sprintf(ret_message,"%1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 752 send_message = 1;
jah128 0:d6269d17c8cf 753 break;
jah128 0:d6269d17c8cf 754
jah128 0:d6269d17c8cf 755 case 61:
jah128 0:d6269d17c8cf 756 strcpy(command,"GET UPTIME");
jah128 0:d6269d17c8cf 757 sprintf(ret_message,"%6.2f",get_uptime());
jah128 0:d6269d17c8cf 758 send_message = 1;
jah128 0:d6269d17c8cf 759 break;
jah128 0:d6269d17c8cf 760
jah128 0:d6269d17c8cf 761 case 62:
jah128 0:d6269d17c8cf 762 strcpy(command,"GET ID");
jah128 0:d6269d17c8cf 763 sprintf(ret_message,"%d",robot_id);
jah128 0:d6269d17c8cf 764 send_message = 1;
jah128 0:d6269d17c8cf 765 break;
jah128 0:d6269d17c8cf 766
jah128 0:d6269d17c8cf 767 case 63:
jah128 0:d6269d17c8cf 768 strcpy(command,"GET SWITCH BYTE");
jah128 0:d6269d17c8cf 769 sprintf(ret_message,"%02x",switch_byte);
jah128 0:d6269d17c8cf 770 send_message = 1;
jah128 0:d6269d17c8cf 771 break;
jah128 0:d6269d17c8cf 772 case 64:
jah128 0:d6269d17c8cf 773 strcpy(command,"GET USER CODE");
jah128 0:d6269d17c8cf 774 sprintf(ret_message,"%d",user_code_running);
jah128 0:d6269d17c8cf 775 send_message = 1;
jah128 0:d6269d17c8cf 776 break;
jah128 0:d6269d17c8cf 777 case 65:
jah128 0:d6269d17c8cf 778 strcpy(command,"GET RESPONSE STRING");
jah128 0:d6269d17c8cf 779 sprintf(ret_message,"PSI");
jah128 0:d6269d17c8cf 780 send_message = 1;
jah128 0:d6269d17c8cf 781 break;
jah128 0:d6269d17c8cf 782 case 66:
jah128 0:d6269d17c8cf 783 strcpy(command,"GET PROGRAM NAME");
jah128 0:d6269d17c8cf 784 sprintf(ret_message,"%s",program_name);
jah128 0:d6269d17c8cf 785 send_message = 1;
jah128 0:d6269d17c8cf 786 break;
jah128 0:d6269d17c8cf 787 case 67:
jah128 0:d6269d17c8cf 788 strcpy(command,"GET AUTHOR NAME");
jah128 0:d6269d17c8cf 789 sprintf(ret_message,"%s",author_name);
jah128 0:d6269d17c8cf 790 send_message = 1;
jah128 0:d6269d17c8cf 791 break;
jah128 0:d6269d17c8cf 792 case 68:
jah128 0:d6269d17c8cf 793 strcpy(command,"GET DEBUG MODE");
jah128 0:d6269d17c8cf 794 sprintf(ret_message,"%1d%1d",debug_mode,debug_output);
jah128 0:d6269d17c8cf 795 send_message = 1;
jah128 0:d6269d17c8cf 796 break;
jah128 0:d6269d17c8cf 797 case 69:
jah128 0:d6269d17c8cf 798 strcpy(command,"GET SYSTEM WARNINGS");
jah128 0:d6269d17c8cf 799 sprintf(ret_message,"%d",system_warnings);
jah128 0:d6269d17c8cf 800 send_message = 1;
jah128 0:d6269d17c8cf 801 break;
jah128 0:d6269d17c8cf 802
jah128 0:d6269d17c8cf 803
jah128 0:d6269d17c8cf 804 // Sensors
jah128 0:d6269d17c8cf 805 case 80:
jah128 0:d6269d17c8cf 806 strcpy(command,"STORE BG. IR VALUES");
jah128 0:d6269d17c8cf 807 if(allow_commands) {
jah128 0:d6269d17c8cf 808 command_status = 1;
jah128 10:e58323951c08 809 sensors.store_background_raw_ir_values();
jah128 0:d6269d17c8cf 810 } else command_status = 2;
jah128 0:d6269d17c8cf 811 break;
jah128 0:d6269d17c8cf 812 case 81:
jah128 0:d6269d17c8cf 813 strcpy(command,"STORE IL. IR VALUES");
jah128 0:d6269d17c8cf 814 if(allow_commands) {
jah128 0:d6269d17c8cf 815 command_status = 1;
jah128 10:e58323951c08 816 sensors.store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 817 } else command_status = 2;
jah128 0:d6269d17c8cf 818 break;
jah128 0:d6269d17c8cf 819 case 82:
jah128 0:d6269d17c8cf 820 strcpy(command,"STORE IR VALUES");
jah128 0:d6269d17c8cf 821 if(allow_commands) {
jah128 0:d6269d17c8cf 822 command_status = 1;
jah128 10:e58323951c08 823 sensors.store_ir_values();
jah128 0:d6269d17c8cf 824 } else command_status = 2;
jah128 0:d6269d17c8cf 825 break;
jah128 0:d6269d17c8cf 826 case 83:
jah128 0:d6269d17c8cf 827 strcpy(command,"STORE BG BASE IR VALUES");
jah128 0:d6269d17c8cf 828 if(allow_commands) {
jah128 0:d6269d17c8cf 829 command_status = 1;
jah128 10:e58323951c08 830 sensors.store_background_base_ir_values();
jah128 0:d6269d17c8cf 831 } else command_status = 2;
jah128 0:d6269d17c8cf 832 break;
jah128 0:d6269d17c8cf 833 case 84:
jah128 0:d6269d17c8cf 834 strcpy(command,"STORE IL. BASE IR VALUES");
jah128 0:d6269d17c8cf 835 if(allow_commands) {
jah128 0:d6269d17c8cf 836 command_status = 1;
jah128 10:e58323951c08 837 sensors.store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 838 } else command_status = 2;
jah128 0:d6269d17c8cf 839 break;
jah128 0:d6269d17c8cf 840 case 85:
jah128 0:d6269d17c8cf 841 strcpy(command,"STORE BASE IR VALUES");
jah128 0:d6269d17c8cf 842 if(allow_commands) {
jah128 0:d6269d17c8cf 843 command_status = 1;
jah128 10:e58323951c08 844 sensors.store_base_ir_values();
jah128 0:d6269d17c8cf 845 } else command_status = 2;
jah128 0:d6269d17c8cf 846 break;
jah128 0:d6269d17c8cf 847 case 86:
jah128 0:d6269d17c8cf 848 strcpy(command,"STORE ALL IR VALUES");
jah128 0:d6269d17c8cf 849 if(allow_commands) {
jah128 0:d6269d17c8cf 850 command_status = 1;
jah128 10:e58323951c08 851 sensors.store_ir_values();
jah128 10:e58323951c08 852 sensors.store_base_ir_values();
jah128 0:d6269d17c8cf 853 } else command_status = 2;
jah128 0:d6269d17c8cf 854 break;
jah128 0:d6269d17c8cf 855 case 90:
jah128 0:d6269d17c8cf 856 sprintf(command,"%s %d","GET BG IR VALUE",message[1]);
jah128 10:e58323951c08 857 sprintf(ret_message,"%d",sensors.get_background_raw_ir_value(message[1]));
jah128 0:d6269d17c8cf 858 send_message = 1;
jah128 0:d6269d17c8cf 859 break;
jah128 0:d6269d17c8cf 860 case 91:
jah128 0:d6269d17c8cf 861 sprintf(command,"%s %d","GET IL IR VALUE",message[1]);
jah128 10:e58323951c08 862 sprintf(ret_message,"%d",sensors.get_illuminated_raw_ir_value(message[1]));
jah128 0:d6269d17c8cf 863 send_message = 1;
jah128 0:d6269d17c8cf 864 break;
jah128 0:d6269d17c8cf 865 case 92:
jah128 0:d6269d17c8cf 866 strcpy(command,"GET BG IR VALUES");
jah128 10:e58323951c08 867 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",sensors.get_background_raw_ir_value(0),sensors.get_background_raw_ir_value(1),sensors.get_background_raw_ir_value(2),sensors.get_background_raw_ir_value(3),sensors.get_background_raw_ir_value(4),sensors.get_background_raw_ir_value(5),sensors.get_background_raw_ir_value(6),sensors.get_background_raw_ir_value(7));
jah128 0:d6269d17c8cf 868 send_message = 1;
jah128 0:d6269d17c8cf 869 break;
jah128 0:d6269d17c8cf 870 case 93:
jah128 0:d6269d17c8cf 871 strcpy(command,"GET ILLUMINATED IR VALUES");
jah128 10:e58323951c08 872 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",sensors.get_illuminated_raw_ir_value(0),sensors.get_illuminated_raw_ir_value(1),sensors.get_illuminated_raw_ir_value(2),sensors.get_illuminated_raw_ir_value(3),sensors.get_illuminated_raw_ir_value(4),sensors.get_illuminated_raw_ir_value(5),sensors.get_illuminated_raw_ir_value(6),sensors.get_illuminated_raw_ir_value(7));
jah128 0:d6269d17c8cf 873 send_message = 1;
jah128 0:d6269d17c8cf 874 break;
jah128 0:d6269d17c8cf 875 case 94:
jah128 0:d6269d17c8cf 876 sprintf(command,"%s %d","GET BG BASE IR VALUE",message[1]);
jah128 10:e58323951c08 877 sprintf(ret_message,"%d",sensors.get_background_base_ir_value(message[1]));
jah128 0:d6269d17c8cf 878 send_message = 1;
jah128 0:d6269d17c8cf 879 break;
jah128 0:d6269d17c8cf 880 case 95:
jah128 0:d6269d17c8cf 881 sprintf(command,"%s %d","GET IL BASE IR VALUE",message[1]);
jah128 10:e58323951c08 882 sprintf(ret_message,"%d",sensors.get_illuminated_base_ir_value(message[1]));
jah128 0:d6269d17c8cf 883 send_message = 1;
jah128 0:d6269d17c8cf 884 break;
jah128 0:d6269d17c8cf 885 case 96:
jah128 0:d6269d17c8cf 886 strcpy(command,"GET BG BASE IR VALUES");
jah128 10:e58323951c08 887 sprintf(ret_message,"%03X%03X%03X%03X%03X",sensors.get_background_base_ir_value(0),sensors.get_background_base_ir_value(1),sensors.get_background_base_ir_value(2),sensors.get_background_base_ir_value(3),sensors.get_background_base_ir_value(4));
jah128 0:d6269d17c8cf 888 send_message = 1;
jah128 0:d6269d17c8cf 889 break;
jah128 0:d6269d17c8cf 890 case 97:
jah128 0:d6269d17c8cf 891 strcpy(command,"GET IL BASE IR VALUES");
jah128 10:e58323951c08 892 sprintf(ret_message,"%03X%03X%03X%03X%03X",sensors.get_illuminated_base_ir_value(0),sensors.get_illuminated_base_ir_value(1),sensors.get_illuminated_base_ir_value(2),sensors.get_illuminated_base_ir_value(3),sensors.get_illuminated_base_ir_value(4));
jah128 0:d6269d17c8cf 893 send_message = 1;
jah128 0:d6269d17c8cf 894 break;
jah128 2:c6986ee3c7c5 895 case 98:
jah128 2:c6986ee3c7c5 896 strcpy(command,"CALCULATE BASE IR VALUES");
jah128 10:e58323951c08 897 sprintf(ret_message,"%03X%03X%03X%03X%03X",sensors.calculate_base_ir_value(0),sensors.calculate_base_ir_value(1),sensors.calculate_base_ir_value(2),sensors.calculate_base_ir_value(3),sensors.calculate_base_ir_value(4));
jah128 2:c6986ee3c7c5 898 send_message = 1;
jah128 2:c6986ee3c7c5 899 break;
jah128 2:c6986ee3c7c5 900 case 99:
jah128 2:c6986ee3c7c5 901 strcpy(command,"CALCULATE SIDE IR VALUES");
jah128 10:e58323951c08 902 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",sensors.calculate_side_ir_value(0),sensors.calculate_side_ir_value(1),sensors.calculate_side_ir_value(2),sensors.calculate_side_ir_value(3),sensors.calculate_side_ir_value(4),sensors.calculate_side_ir_value(5),sensors.calculate_side_ir_value(6),sensors.calculate_side_ir_value(7));
jah128 2:c6986ee3c7c5 903 send_message = 1;
jah128 2:c6986ee3c7c5 904 break;
jah128 0:d6269d17c8cf 905 case 100:
jah128 0:d6269d17c8cf 906 strcpy(command,"START FILE TRANSFER MODE");
jah128 0:d6269d17c8cf 907 if(allow_commands) {
jah128 0:d6269d17c8cf 908 command_status = 1;
jah128 1:060690a934a9 909 IF_start_file_transfer_mode();
jah128 0:d6269d17c8cf 910 sprintf(ret_message,"OK");
jah128 0:d6269d17c8cf 911 send_message = 1;
jah128 0:d6269d17c8cf 912 } else command_status = 2;
jah128 0:d6269d17c8cf 913 break;
jah128 3:7c0d1f581757 914 case 110:
jah128 3:7c0d1f581757 915 strcpy(command,"GET FIRMWARE VERSION");
jah128 3:7c0d1f581757 916 sprintf(ret_message,"%1.2f",firmware_version);
jah128 3:7c0d1f581757 917 send_message = 1;
jah128 3:7c0d1f581757 918 break;
jah128 3:7c0d1f581757 919 case 111:
jah128 3:7c0d1f581757 920 strcpy(command,"GET SERIAL NUMBER");
jah128 3:7c0d1f581757 921 sprintf(ret_message,"%2.3f",serial_number);
jah128 3:7c0d1f581757 922 send_message = 1;
jah128 3:7c0d1f581757 923 break;
jah128 3:7c0d1f581757 924 case 112:
jah128 3:7c0d1f581757 925 strcpy(command,"GET HAS SIDE IR");
jah128 3:7c0d1f581757 926 sprintf(ret_message,"%d",has_side_ir);
jah128 3:7c0d1f581757 927 send_message = 1;
jah128 3:7c0d1f581757 928 break;
jah128 3:7c0d1f581757 929 case 113:
jah128 3:7c0d1f581757 930 strcpy(command,"GET HAS BASE IR");
jah128 3:7c0d1f581757 931 sprintf(ret_message,"%d",has_base_ir);
jah128 3:7c0d1f581757 932 send_message = 1;
jah128 3:7c0d1f581757 933 break;
jah128 3:7c0d1f581757 934 case 114:
jah128 3:7c0d1f581757 935 strcpy(command,"GET HAS ENCODERS");
jah128 3:7c0d1f581757 936 sprintf(ret_message,"%d",has_wheel_encoders);
jah128 3:7c0d1f581757 937 send_message = 1;
jah128 3:7c0d1f581757 938 break;
jah128 3:7c0d1f581757 939 case 115:
jah128 3:7c0d1f581757 940 strcpy(command,"GET HAS AUDIO");
jah128 3:7c0d1f581757 941 sprintf(ret_message,"%d",has_audio_pic);
jah128 3:7c0d1f581757 942 send_message = 1;
jah128 3:7c0d1f581757 943 break;
jah128 3:7c0d1f581757 944 case 116:
jah128 3:7c0d1f581757 945 strcpy(command,"GET HAS RECHARGING");
jah128 3:7c0d1f581757 946 sprintf(ret_message,"%d",has_recharging_circuit);
jah128 3:7c0d1f581757 947 send_message = 1;
jah128 3:7c0d1f581757 948 break;
jah128 3:7c0d1f581757 949 case 117:
jah128 3:7c0d1f581757 950 strcpy(command,"GET HAS COMPASS");
jah128 3:7c0d1f581757 951 sprintf(ret_message,"%d",has_compass);
jah128 3:7c0d1f581757 952 send_message = 1;
jah128 3:7c0d1f581757 953 break;
jah128 3:7c0d1f581757 954 case 118:
jah128 3:7c0d1f581757 955 strcpy(command,"GET HAS ULTRASONIC");
jah128 3:7c0d1f581757 956 sprintf(ret_message,"%d",has_ultrasonic_sensor);
jah128 3:7c0d1f581757 957 send_message = 1;
jah128 3:7c0d1f581757 958 break;
jah128 3:7c0d1f581757 959 case 119:
jah128 3:7c0d1f581757 960 strcpy(command,"GET HAS TEMPERATURE");
jah128 3:7c0d1f581757 961 sprintf(ret_message,"%d",has_temperature_sensor);
jah128 3:7c0d1f581757 962 send_message = 1;
jah128 3:7c0d1f581757 963 break;
jah128 3:7c0d1f581757 964 case 120:
jah128 3:7c0d1f581757 965 strcpy(command,"GET HAS BASE COLOUR");
jah128 3:7c0d1f581757 966 sprintf(ret_message,"%d",has_base_colour_sensor);
jah128 3:7c0d1f581757 967 send_message = 1;
jah128 3:7c0d1f581757 968 break;
jah128 3:7c0d1f581757 969 case 121:
jah128 3:7c0d1f581757 970 strcpy(command,"GET HAS TOP COLOUR");
jah128 3:7c0d1f581757 971 sprintf(ret_message,"%d",has_top_colour_sensor);
jah128 3:7c0d1f581757 972 send_message = 1;
jah128 3:7c0d1f581757 973 break;
jah128 3:7c0d1f581757 974 case 122:
jah128 3:7c0d1f581757 975 strcpy(command,"GET HAS RADIO");
jah128 3:7c0d1f581757 976 sprintf(ret_message,"%d",has_433_radio);
jah128 3:7c0d1f581757 977 send_message = 1;
jah128 3:7c0d1f581757 978 break;
jah128 10:e58323951c08 979 case 123: {
jah128 3:7c0d1f581757 980 strcpy(command,"GET FIRMWARE H-DESC");
jah128 3:7c0d1f581757 981 char byte0 = 0;
jah128 3:7c0d1f581757 982 char byte1 = 1;
jah128 3:7c0d1f581757 983 if(has_side_ir)byte0+=128;
jah128 3:7c0d1f581757 984 if(has_base_ir)byte0+=64;
jah128 3:7c0d1f581757 985 if(has_wheel_encoders)byte0+=32;
jah128 3:7c0d1f581757 986 if(has_audio_pic)byte0+=16;
jah128 3:7c0d1f581757 987 if(has_recharging_circuit)byte0+=8;
jah128 3:7c0d1f581757 988 if(has_compass)byte0+=4;
jah128 3:7c0d1f581757 989 if(has_ultrasonic_sensor)byte0+=2;
jah128 3:7c0d1f581757 990 if(has_temperature_sensor)byte0+=1;
jah128 3:7c0d1f581757 991 if(has_base_colour_sensor)byte1+=128;
jah128 3:7c0d1f581757 992 if(has_top_colour_sensor)byte1+=64;
jah128 3:7c0d1f581757 993 if(has_433_radio)byte1+=32;
jah128 3:7c0d1f581757 994 sprintf(ret_message,"%c%c",byte0,byte1);
jah128 3:7c0d1f581757 995 send_message = 1;
jah128 3:7c0d1f581757 996 break;
jah128 10:e58323951c08 997 }
jah128 3:7c0d1f581757 998 case 124:
jah128 3:7c0d1f581757 999 strcpy(command,"GET PCB VERSION");
jah128 3:7c0d1f581757 1000 sprintf(ret_message,"%1.2f",pcb_version);
jah128 3:7c0d1f581757 1001 send_message = 1;
jah128 3:7c0d1f581757 1002 break;
jah128 0:d6269d17c8cf 1003 }
jah128 0:d6269d17c8cf 1004
jah128 0:d6269d17c8cf 1005
jah128 0:d6269d17c8cf 1006 if(send_message) {
jah128 0:d6269d17c8cf 1007 char message_length = strlen(ret_message);
jah128 0:d6269d17c8cf 1008 switch(interface) {
jah128 0:d6269d17c8cf 1009 case 0:
jah128 0:d6269d17c8cf 1010 pc.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:d6269d17c8cf 1011 break;
jah128 0:d6269d17c8cf 1012 case 1:
jah128 0:d6269d17c8cf 1013 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:d6269d17c8cf 1014 break;
jah128 0:d6269d17c8cf 1015 }
jah128 0:d6269d17c8cf 1016 debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length);
jah128 0:d6269d17c8cf 1017 } else {
jah128 0:d6269d17c8cf 1018 switch(interface) {
jah128 0:d6269d17c8cf 1019 case 0:
jah128 0:d6269d17c8cf 1020 pc.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:d6269d17c8cf 1021 break;
jah128 0:d6269d17c8cf 1022 case 1:
jah128 0:d6269d17c8cf 1023 bt.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:d6269d17c8cf 1024 break;
jah128 0:d6269d17c8cf 1025 }
jah128 0:d6269d17c8cf 1026 switch(command_status) {
jah128 0:d6269d17c8cf 1027 case 0:
jah128 0:d6269d17c8cf 1028 debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1029 break;
jah128 0:d6269d17c8cf 1030 case 1:
jah128 0:d6269d17c8cf 1031 debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1032 break;
jah128 0:d6269d17c8cf 1033 case 2:
jah128 0:d6269d17c8cf 1034 debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1035 break;
jah128 0:d6269d17c8cf 1036 case 3:
jah128 0:d6269d17c8cf 1037 debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1038 break;
jah128 0:d6269d17c8cf 1039 }
jah128 0:d6269d17c8cf 1040 }
jah128 0:d6269d17c8cf 1041 }
jah128 0:d6269d17c8cf 1042
jah128 0:d6269d17c8cf 1043 char * IF_nibble_to_binary_char(char in)
jah128 0:d6269d17c8cf 1044 {
jah128 0:d6269d17c8cf 1045 char * ret = (char*)malloc(sizeof(char)*5);
jah128 0:d6269d17c8cf 1046 for(int i=0; i<4; i++) {
jah128 0:d6269d17c8cf 1047 if(in & (128 >> i)) ret[i]='1';
jah128 0:d6269d17c8cf 1048 else ret[i]='0';
jah128 0:d6269d17c8cf 1049 }
jah128 0:d6269d17c8cf 1050 ret[4]=0;
jah128 0:d6269d17c8cf 1051 return ret;
jah128 0:d6269d17c8cf 1052 }
jah128 0:d6269d17c8cf 1053
jah128 0:d6269d17c8cf 1054 char * IF_char_to_binary_char(char in)
jah128 0:d6269d17c8cf 1055 {
jah128 0:d6269d17c8cf 1056 char * ret = (char*)malloc(sizeof(char)*9);
jah128 0:d6269d17c8cf 1057 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1058 if(in & (128 >> i)) ret[i]='1';
jah128 0:d6269d17c8cf 1059 else ret[i]='0';
jah128 0:d6269d17c8cf 1060 }
jah128 0:d6269d17c8cf 1061 ret[8]=0;
jah128 0:d6269d17c8cf 1062 return ret;
jah128 0:d6269d17c8cf 1063 }
jah128 0:d6269d17c8cf 1064
jah128 0:d6269d17c8cf 1065 float IF_decode_unsigned_float(char byte0, char byte1)
jah128 0:d6269d17c8cf 1066 {
jah128 0:d6269d17c8cf 1067 unsigned short sval = (byte0) << 8;
jah128 0:d6269d17c8cf 1068 sval += byte1;
jah128 0:d6269d17c8cf 1069 float scaled = sval / 65535.0f;
jah128 0:d6269d17c8cf 1070 return scaled;
jah128 0:d6269d17c8cf 1071 }
jah128 0:d6269d17c8cf 1072
jah128 0:d6269d17c8cf 1073 float IF_decode_float(char byte0, char byte1)
jah128 0:d6269d17c8cf 1074 {
jah128 0:d6269d17c8cf 1075 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:d6269d17c8cf 1076 char sign = byte0 / 128;
jah128 0:d6269d17c8cf 1077 short sval = (byte0 % 128) << 8;
jah128 0:d6269d17c8cf 1078 sval += byte1;
jah128 0:d6269d17c8cf 1079 float scaled = sval / 32767.0f;
jah128 0:d6269d17c8cf 1080 if(sign == 0) scaled = 0-scaled;
jah128 0:d6269d17c8cf 1081 return scaled;
jah128 0:d6269d17c8cf 1082 }
jah128 0:d6269d17c8cf 1083
jah128 0:d6269d17c8cf 1084 float IF_decode_unsigned_float(char byte0)
jah128 0:d6269d17c8cf 1085 {
jah128 0:d6269d17c8cf 1086 unsigned short sval = (byte0);
jah128 0:d6269d17c8cf 1087 float scaled = sval / 255.0f;
jah128 0:d6269d17c8cf 1088 return scaled;
jah128 0:d6269d17c8cf 1089 }
jah128 0:d6269d17c8cf 1090
jah128 0:d6269d17c8cf 1091 float IF_decode_float(char byte0)
jah128 0:d6269d17c8cf 1092 {
jah128 0:d6269d17c8cf 1093 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:d6269d17c8cf 1094 char sign = byte0 / 128;
jah128 0:d6269d17c8cf 1095 short sval = (byte0 % 128);
jah128 0:d6269d17c8cf 1096 float scaled = sval / 127.0f;
jah128 0:d6269d17c8cf 1097 if(sign == 0) scaled = 0-scaled;
jah128 0:d6269d17c8cf 1098 return scaled;
jah128 0:d6269d17c8cf 1099 }
jah128 0:d6269d17c8cf 1100
jah128 0:d6269d17c8cf 1101 void IF_setup_serial_interfaces()
jah128 0:d6269d17c8cf 1102 {
jah128 0:d6269d17c8cf 1103 if(ENABLE_PC_SERIAL) {
jah128 0:d6269d17c8cf 1104 pc.baud(PC_BAUD);
jah128 0:d6269d17c8cf 1105 pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
jah128 0:d6269d17c8cf 1106 }
jah128 0:d6269d17c8cf 1107 if(ENABLE_BLUETOOTH) {
jah128 0:d6269d17c8cf 1108 bt.baud(BLUETOOTH_BAUD);
jah128 0:d6269d17c8cf 1109 bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
jah128 0:d6269d17c8cf 1110 }
jah128 0:d6269d17c8cf 1111 }
jah128 0:d6269d17c8cf 1112
jah128 0:d6269d17c8cf 1113 void IF_pc_rx_command_timeout()
jah128 0:d6269d17c8cf 1114 {
jah128 0:d6269d17c8cf 1115 char message_array[6];
jah128 0:d6269d17c8cf 1116 char length = 1 + pc_command_message_byte;
jah128 0:d6269d17c8cf 1117 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1118 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1119 for(int k=0; k<pc_command_message_byte; k++) {
jah128 0:d6269d17c8cf 1120 message_array[k+1] = pc_command_message[k];
jah128 0:d6269d17c8cf 1121 }
jah128 0:d6269d17c8cf 1122 IF_handle_user_serial_message(message_array, length, 0);
jah128 0:d6269d17c8cf 1123 }
jah128 0:d6269d17c8cf 1124
jah128 0:d6269d17c8cf 1125 void IF_bt_rx_command_timeout()
jah128 0:d6269d17c8cf 1126 {
jah128 0:d6269d17c8cf 1127 char message_array[6];
jah128 0:d6269d17c8cf 1128 char length = 1 + bt_command_message_byte;
jah128 0:d6269d17c8cf 1129 bt_command_message_started = 0;
jah128 0:d6269d17c8cf 1130 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1131 for(int k=0; k<bt_command_message_byte; k++) {
jah128 0:d6269d17c8cf 1132 message_array[k+1] = bt_command_message[k];
jah128 0:d6269d17c8cf 1133 }
jah128 0:d6269d17c8cf 1134 IF_handle_user_serial_message(message_array, length, 1);
jah128 0:d6269d17c8cf 1135 }
jah128 0:d6269d17c8cf 1136
jah128 0:d6269d17c8cf 1137 void IF_pc_rx_callback()
jah128 0:d6269d17c8cf 1138 {
jah128 0:d6269d17c8cf 1139 int count = 0;
jah128 0:d6269d17c8cf 1140 char message_array[255];
jah128 0:d6269d17c8cf 1141
jah128 0:d6269d17c8cf 1142 while(pc.readable()) {
jah128 0:d6269d17c8cf 1143 char tc = pc.getc();
jah128 0:d6269d17c8cf 1144 message_array[count] = tc;
jah128 0:d6269d17c8cf 1145 count ++;
jah128 0:d6269d17c8cf 1146 if(pc_command_message_started == 1) {
jah128 0:d6269d17c8cf 1147 if(pc_command_message_byte == 3) {
jah128 0:d6269d17c8cf 1148 pc_command_timeout.detach();
jah128 0:d6269d17c8cf 1149 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1150 // A complete command message succesfully received, call handler
jah128 0:d6269d17c8cf 1151 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1152 count = 0;
jah128 0:d6269d17c8cf 1153 IF_handle_command_serial_message(pc_command_message , 0);
jah128 0:d6269d17c8cf 1154 } else {
jah128 0:d6269d17c8cf 1155 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 0:d6269d17c8cf 1156 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1157 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1158 message_array[1] = pc_command_message[0];
jah128 0:d6269d17c8cf 1159 message_array[2] = pc_command_message[1];
jah128 0:d6269d17c8cf 1160 message_array[3] = pc_command_message[2];
jah128 0:d6269d17c8cf 1161 message_array[4] = tc;
jah128 0:d6269d17c8cf 1162 count = 5;
jah128 0:d6269d17c8cf 1163 }
jah128 0:d6269d17c8cf 1164 } else {
jah128 0:d6269d17c8cf 1165 pc_command_message[pc_command_message_byte] = tc;
jah128 0:d6269d17c8cf 1166 pc_command_message_byte ++;
jah128 0:d6269d17c8cf 1167 }
jah128 0:d6269d17c8cf 1168 } else {
jah128 0:d6269d17c8cf 1169 if(count == 1) {
jah128 0:d6269d17c8cf 1170 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1171 pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
jah128 0:d6269d17c8cf 1172 pc_command_message_started = 1;
jah128 0:d6269d17c8cf 1173 pc_command_message_byte = 0;
jah128 0:d6269d17c8cf 1174
jah128 0:d6269d17c8cf 1175 }
jah128 0:d6269d17c8cf 1176 }
jah128 0:d6269d17c8cf 1177 }
jah128 0:d6269d17c8cf 1178 }
jah128 0:d6269d17c8cf 1179 if(!pc_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 0);
jah128 0:d6269d17c8cf 1180 }
jah128 0:d6269d17c8cf 1181
jah128 0:d6269d17c8cf 1182 Timeout bt_message_timeout;
jah128 10:e58323951c08 1183 //static float bt_message_timeout_period = 0.001; // 1 millisecond
jah128 0:d6269d17c8cf 1184 char bt_buffer[255];
jah128 0:d6269d17c8cf 1185 int bt_buffer_index = 0;
jah128 0:d6269d17c8cf 1186
jah128 0:d6269d17c8cf 1187 void IF_bt_message_timeout()
jah128 0:d6269d17c8cf 1188 {
jah128 0:d6269d17c8cf 1189 char buffer[255];
jah128 0:d6269d17c8cf 1190
jah128 0:d6269d17c8cf 1191 sprintf(buffer, bt_buffer, bt_buffer_index);
jah128 0:d6269d17c8cf 1192 buffer[bt_buffer_index] = 0;
jah128 0:d6269d17c8cf 1193 if(file_transfer_mode == 1) {
jah128 0:d6269d17c8cf 1194 IF_handle_file_transfer_serial_message(bt_buffer, bt_buffer_index, 1);
jah128 0:d6269d17c8cf 1195 } else {
jah128 0:d6269d17c8cf 1196 // debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
jah128 0:d6269d17c8cf 1197 if(bt_buffer_index == 5 && buffer[0] == COMMAND_MESSAGE_BYTE && buffer[4] == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1198 bt_command_message[0] = buffer[1];
jah128 0:d6269d17c8cf 1199 bt_command_message[1] = buffer[2];
jah128 0:d6269d17c8cf 1200 bt_command_message[2] = buffer[3];
jah128 0:d6269d17c8cf 1201 IF_handle_command_serial_message(bt_command_message , 1);
jah128 0:d6269d17c8cf 1202 } else IF_handle_user_serial_message(bt_buffer, bt_buffer_index, 1);
jah128 0:d6269d17c8cf 1203 }
jah128 0:d6269d17c8cf 1204 bt_buffer_index = 0;
jah128 0:d6269d17c8cf 1205 }
jah128 0:d6269d17c8cf 1206
jah128 0:d6269d17c8cf 1207
jah128 3:7c0d1f581757 1208 //void IF_bt_rx_callback()
jah128 3:7c0d1f581757 1209 //{
jah128 3:7c0d1f581757 1210 // while(bt.readable()) {
jah128 3:7c0d1f581757 1211 // char byte = bt.getc();
jah128 3:7c0d1f581757 1212 //
jah128 3:7c0d1f581757 1213 // bt_buffer[bt_buffer_index] = byte;
jah128 3:7c0d1f581757 1214 // bt_buffer_index++;
jah128 3:7c0d1f581757 1215 // }
jah128 3:7c0d1f581757 1216 //
jah128 3:7c0d1f581757 1217 // bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
jah128 3:7c0d1f581757 1218 //}
jah128 0:d6269d17c8cf 1219
jah128 0:d6269d17c8cf 1220
jah128 10:e58323951c08 1221 void IF_set_filename(char * filename_in)
jah128 10:e58323951c08 1222 {
jah128 2:c6986ee3c7c5 1223 strcpy(filename,filename_in);
jah128 2:c6986ee3c7c5 1224 }
jah128 10:e58323951c08 1225
jah128 10:e58323951c08 1226 unsigned short IF_calculateCRC16(int file_length)
jah128 10:e58323951c08 1227 {
jah128 10:e58323951c08 1228 unsigned short crc16table[256] = {
jah128 2:c6986ee3c7c5 1229 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
jah128 2:c6986ee3c7c5 1230 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
jah128 2:c6986ee3c7c5 1231 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
jah128 2:c6986ee3c7c5 1232 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
jah128 2:c6986ee3c7c5 1233 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
jah128 2:c6986ee3c7c5 1234 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
jah128 2:c6986ee3c7c5 1235 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
jah128 2:c6986ee3c7c5 1236 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
jah128 2:c6986ee3c7c5 1237 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
jah128 2:c6986ee3c7c5 1238 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
jah128 2:c6986ee3c7c5 1239 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
jah128 2:c6986ee3c7c5 1240 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
jah128 2:c6986ee3c7c5 1241 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
jah128 2:c6986ee3c7c5 1242 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
jah128 2:c6986ee3c7c5 1243 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
jah128 10:e58323951c08 1244 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
jah128 2:c6986ee3c7c5 1245 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
jah128 2:c6986ee3c7c5 1246 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
jah128 2:c6986ee3c7c5 1247 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
jah128 2:c6986ee3c7c5 1248 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
jah128 2:c6986ee3c7c5 1249 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
jah128 2:c6986ee3c7c5 1250 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
jah128 2:c6986ee3c7c5 1251 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
jah128 2:c6986ee3c7c5 1252 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
jah128 2:c6986ee3c7c5 1253 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
jah128 2:c6986ee3c7c5 1254 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
jah128 2:c6986ee3c7c5 1255 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
jah128 2:c6986ee3c7c5 1256 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
jah128 2:c6986ee3c7c5 1257 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
jah128 2:c6986ee3c7c5 1258 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
jah128 2:c6986ee3c7c5 1259 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
jah128 10:e58323951c08 1260 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
jah128 10:e58323951c08 1261 };
jah128 10:e58323951c08 1262
jah128 2:c6986ee3c7c5 1263 //Opens, reads and calculates the CRC16 value for file pointed to by filename
jah128 2:c6986ee3c7c5 1264 unsigned short crc_value = 0;
jah128 2:c6986ee3c7c5 1265 FILE *fp = fopen(filename,"r");
jah128 2:c6986ee3c7c5 1266 char * buffer;
jah128 2:c6986ee3c7c5 1267 int limit = 512;
jah128 2:c6986ee3c7c5 1268 if(file_length < 512) limit = file_length;
jah128 2:c6986ee3c7c5 1269 buffer = (char*) malloc (sizeof(char)*limit);
jah128 2:c6986ee3c7c5 1270 int blocks = 1;
jah128 2:c6986ee3c7c5 1271 if(file_length > limit) blocks += file_length / limit;
jah128 10:e58323951c08 1272 for(int i=0; i<blocks; i++) {
jah128 2:c6986ee3c7c5 1273 //Determine size of this block
jah128 2:c6986ee3c7c5 1274 int blocksize = limit;
jah128 10:e58323951c08 1275 if(i == blocks-1) {
jah128 10:e58323951c08 1276 if((file_length % limit) != 0) blocksize = file_length % limit;
jah128 10:e58323951c08 1277 }
jah128 2:c6986ee3c7c5 1278 debug("Calculating %d bytes of CRC data...\n",blocksize);
jah128 2:c6986ee3c7c5 1279 int result;
jah128 2:c6986ee3c7c5 1280 result = fread(buffer,1,blocksize,fp);
jah128 2:c6986ee3c7c5 1281 debug("Data read: %d\n",result);
jah128 10:e58323951c08 1282 for(int j=0; j<blocksize; j++) {
jah128 2:c6986ee3c7c5 1283 int subindex = ((crc_value>>8)^*(char *)(buffer[j]))&0x00FF;
jah128 2:c6986ee3c7c5 1284 //debug("J:%d Subindex:%d\n",j,subindex);
jah128 2:c6986ee3c7c5 1285 unsigned short table_value = crc16table[subindex];
jah128 10:e58323951c08 1286 crc_value=(crc_value<<8)^table_value;
jah128 2:c6986ee3c7c5 1287 }
jah128 2:c6986ee3c7c5 1288 }
jah128 2:c6986ee3c7c5 1289 fclose(fp);
jah128 2:c6986ee3c7c5 1290 debug("CRC Calculated: %x\n",crc_value);
jah128 10:e58323951c08 1291 return crc_value;
jah128 2:c6986ee3c7c5 1292 }
jah128 2:c6986ee3c7c5 1293
jah128 3:7c0d1f581757 1294 void IF_bt_rx_callback()
jah128 3:7c0d1f581757 1295 {
jah128 3:7c0d1f581757 1296 int count = 0;
jah128 3:7c0d1f581757 1297 char message_array[255];
jah128 3:7c0d1f581757 1298
jah128 3:7c0d1f581757 1299 wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
jah128 3:7c0d1f581757 1300
jah128 3:7c0d1f581757 1301 while(bt.readable()) {
jah128 3:7c0d1f581757 1302 char tc = bt.getc();
jah128 3:7c0d1f581757 1303 message_array[count] = tc;
jah128 3:7c0d1f581757 1304 count ++;
jah128 3:7c0d1f581757 1305 if(bt_command_message_started == 1) {
jah128 3:7c0d1f581757 1306 if(bt_command_message_byte == 3) {
jah128 3:7c0d1f581757 1307 bt_command_timeout.detach();
jah128 3:7c0d1f581757 1308 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 3:7c0d1f581757 1309 // A complete command message succesfully received, call handler
jah128 3:7c0d1f581757 1310 bt_command_message_started = 0;
jah128 3:7c0d1f581757 1311 count = 0;
jah128 3:7c0d1f581757 1312 IF_handle_command_serial_message(bt_command_message , 1);
jah128 3:7c0d1f581757 1313 } else {
jah128 3:7c0d1f581757 1314 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 3:7c0d1f581757 1315 bt_command_message_started = 0;
jah128 3:7c0d1f581757 1316 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 3:7c0d1f581757 1317 message_array[1] = bt_command_message[0];
jah128 3:7c0d1f581757 1318 message_array[2] = bt_command_message[1];
jah128 3:7c0d1f581757 1319 message_array[3] = bt_command_message[2];
jah128 3:7c0d1f581757 1320 message_array[4] = tc;
jah128 3:7c0d1f581757 1321 count = 5;
jah128 3:7c0d1f581757 1322 }
jah128 3:7c0d1f581757 1323 } else {
jah128 3:7c0d1f581757 1324 bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
jah128 3:7c0d1f581757 1325 bt_command_message[bt_command_message_byte] = tc;
jah128 3:7c0d1f581757 1326 bt_command_message_byte ++;
jah128 3:7c0d1f581757 1327 }
jah128 3:7c0d1f581757 1328 } else {
jah128 3:7c0d1f581757 1329 if(count == 1) {
jah128 3:7c0d1f581757 1330 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 3:7c0d1f581757 1331 bt_command_message_started = 1;
jah128 3:7c0d1f581757 1332 bt_command_message_byte = 0;
jah128 3:7c0d1f581757 1333
jah128 3:7c0d1f581757 1334 }
jah128 3:7c0d1f581757 1335 }
jah128 3:7c0d1f581757 1336 }
jah128 3:7c0d1f581757 1337 }
jah128 3:7c0d1f581757 1338 if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
jah128 3:7c0d1f581757 1339 }