UKESF Headstart Summer School / PsiSwarmLab-ScriptingBased

Modified version of the UKESF lab source which can be carried out with no knowledge of C

Fork of PsiSwarm-Headstart by UKESF Headstart Summer School

serial.cpp@5:f6be169e465b, 2018-09-14 (annotated)

Committer:
YRL50
Date:
Fri Sep 14 16:00:48 2018 +0000
Revision:
5:f6be169e465b
Parent:
3:7c0d1f581757 
Fixing compile warnings

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 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: serial.cpp
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 2:c6986ee3c7c5 8 * PsiSwarm Library Version: 0.41
jah128 0:d6269d17c8cf 9 *
jah128 2:c6986ee3c7c5 10 * March 2016
jah128 0:d6269d17c8cf 11 *
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 */
jah128 0:d6269d17c8cf 14
jah128 0:d6269d17c8cf 15 #include "psiswarm.h"
jah128 0:d6269d17c8cf 16
jah128 0:d6269d17c8cf 17 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 18 char pc_command_message_started = 0;
jah128 0:d6269d17c8cf 19 char pc_command_message_byte = 0;
jah128 0:d6269d17c8cf 20 char pc_command_message[3];
jah128 0:d6269d17c8cf 21 char bt_command_message_started = 0;
jah128 0:d6269d17c8cf 22 char bt_command_message_byte = 0;
jah128 0:d6269d17c8cf 23 char bt_command_message[3];
jah128 0:d6269d17c8cf 24
jah128 0:d6269d17c8cf 25 char allow_commands = 1;
jah128 0:d6269d17c8cf 26 char allow_requests = 1;
jah128 2:c6986ee3c7c5 27 char file_transfer_state = 0;
jah128 0:d6269d17c8cf 28
jah128 2:c6986ee3c7c5 29 int block_size = 88; // The data block size for file transfer
jah128 2:c6986ee3c7c5 30 char data_block[89]; // Stores the data block to write for Bluetooth file transfer
jah128 2:c6986ee3c7c5 31 int data_written; // Stores if partial data has been written to a file
jah128 2:c6986ee3c7c5 32 int file_length; // Stores the file length for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 33 int final_block; // Stores the index of the final data block for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 34 int block_index; // Stores the current block index for a Bluetooth file transfer
jah128 2:c6986ee3c7c5 35 char filename [21]; // Stores the filename for a Bluetooth file transfer
jah128 1:060690a934a9 36
jah128 1:060690a934a9 37 Timeout ft_timeout;
jah128 0:d6269d17c8cf 38 Timeout pc_command_timeout;
jah128 0:d6269d17c8cf 39 Timeout bt_command_timeout;
jah128 0:d6269d17c8cf 40
jah128 0:d6269d17c8cf 41 // A predefined message structure for command messages is as follows:
jah128 0:d6269d17c8cf 42 // [Byte 0][Byte 1][Byte 2][Byte 3][Byte 4]
jah128 0:d6269d17c8cf 43 // 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 44
jah128 0:d6269d17c8cf 45
jah128 0:d6269d17c8cf 46
jah128 0:d6269d17c8cf 47
jah128 1:060690a934a9 48 void IF_start_file_transfer_mode()
jah128 1:060690a934a9 49 {
jah128 1:060690a934a9 50 display.clear_display();
jah128 1:060690a934a9 51 display.set_position(0,0);
jah128 1:060690a934a9 52 display.write_string("FILE TRANSFER");
jah128 1:060690a934a9 53 display.set_position(1,0);
jah128 1:060690a934a9 54 display.write_string("MODE...");
jah128 2:c6986ee3c7c5 55 data_written = 0;
jah128 1:060690a934a9 56 file_transfer_mode = 1;
jah128 1:060690a934a9 57 file_transfer_state = 0;
jah128 1:060690a934a9 58 file_length = 0;
jah128 1:060690a934a9 59 user_code_restore_mode = user_code_running;
jah128 1:060690a934a9 60 user_code_running = 0;
jah128 1:060690a934a9 61 ft_timeout.attach(IF_file_transfer_timeout,2.0);
jah128 1:060690a934a9 62 }
jah128 1:060690a934a9 63
jah128 1:060690a934a9 64
jah128 1:060690a934a9 65 void IF_invalid_transfer(void)
jah128 1:060690a934a9 66 {
jah128 1:060690a934a9 67 debug("File transfer failed\n");
jah128 2:c6986ee3c7c5 68 if(data_written == 1){
jah128 2:c6986ee3c7c5 69 debug("Deleting corrupted file\n");
jah128 2:c6986ee3c7c5 70 remove(filename);
jah128 2:c6986ee3c7c5 71 }
jah128 1:060690a934a9 72 display.clear_display();
jah128 1:060690a934a9 73 display.set_position(0,0);
jah128 1:060690a934a9 74 display.write_string("TRANSFER FAILED");
jah128 1:060690a934a9 75 wait(0.5);
jah128 1:060690a934a9 76 IF_end_file_transfer_mode();
jah128 1:060690a934a9 77 }
jah128 1:060690a934a9 78
jah128 1:060690a934a9 79 void IF_file_transfer_timeout(void)
jah128 1:060690a934a9 80 {
jah128 1:060690a934a9 81 debug("File transfer failed: timeout\n");
jah128 1:060690a934a9 82 display.clear_display();
jah128 1:060690a934a9 83 display.set_position(0,0);
jah128 1:060690a934a9 84 display.write_string("TRANSFER TIMEOUT");
jah128 1:060690a934a9 85 wait(0.5);
jah128 1:060690a934a9 86 IF_end_file_transfer_mode();
jah128 1:060690a934a9 87 }
jah128 1:060690a934a9 88
jah128 1:060690a934a9 89 void IF_end_file_transfer_mode(void)
jah128 1:060690a934a9 90 {
jah128 1:060690a934a9 91 display.clear_display();
jah128 1:060690a934a9 92 file_transfer_mode = 0;
jah128 1:060690a934a9 93 user_code_running = user_code_restore_mode;
jah128 1:060690a934a9 94 }
jah128 1:060690a934a9 95
jah128 0:d6269d17c8cf 96
jah128 0:d6269d17c8cf 97 void IF_handle_file_transfer_serial_message(char * message, char length, char interface)
jah128 0:d6269d17c8cf 98 {
jah128 0:d6269d17c8cf 99 // Code for handling a serial (Bluetooth) message when in file-transfer mode
jah128 0:d6269d17c8cf 100 //
jah128 0:d6269d17c8cf 101 // message = pointer to message char array
jah128 0:d6269d17c8cf 102 // length = length of message
jah128 0:d6269d17c8cf 103 // interface = 0 for PC serial connection, 1 for Bluetooth [NB only Bluetooth used for file transfer in this version]
jah128 0:d6269d17c8cf 104
jah128 2:c6986ee3c7c5 105 if(file_transfer_state < 2)debug("FTM Message:%.*s [%d]\n",length,message,length);
jah128 2:c6986ee3c7c5 106 else debug("FTM data block received (%d bytes)\n",length);
jah128 1:060690a934a9 107 int expected_size;
jah128 1:060690a934a9 108 // The first byte in EVERY message received should be 33; if it isn't, abort the transfer
jah128 1:060690a934a9 109 if(message[0] != 33) {
jah128 1:060690a934a9 110 IF_invalid_transfer();
jah128 1:060690a934a9 111 } else {
jah128 1:060690a934a9 112 switch(file_transfer_state) {
jah128 1:060690a934a9 113 case 0: //First message received is the target filename
jah128 1:060690a934a9 114 //The filenames cannot be more that 8.3 characters long (FAT12 format)
jah128 1:060690a934a9 115 if(length == 1 || length > 13) IF_invalid_transfer();
jah128 1:060690a934a9 116 else {
jah128 2:c6986ee3c7c5 117 strcpy(filename, "/local/");
jah128 2:c6986ee3c7c5 118 strncat(filename, message + 1, length - 1);
jah128 2:c6986ee3c7c5 119 debug("Target filename:%s\n",filename);
jah128 1:060690a934a9 120 //Send acknowledge ("FN")
jah128 1:060690a934a9 121 ft_timeout.detach();
jah128 1:060690a934a9 122 ft_timeout.attach(IF_file_transfer_timeout,2.0);
jah128 1:060690a934a9 123 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,2,"FN");
jah128 1:060690a934a9 124 file_transfer_state = 1;
jah128 1:060690a934a9 125 }
jah128 1:060690a934a9 126 break;
jah128 1:060690a934a9 127 case 1: //Second message is the length of the file in bytes
jah128 1:060690a934a9 128 //Length is encoded as a 3-byte value
jah128 1:060690a934a9 129 if(length != 4) IF_invalid_transfer();
jah128 1:060690a934a9 130 else {
jah128 1:060690a934a9 131 file_length = (message[1]) * 256;
jah128 1:060690a934a9 132 file_length += (message[2]);
jah128 1:060690a934a9 133 file_length *= 256;
jah128 1:060690a934a9 134 file_length += message[3];
jah128 1:060690a934a9 135 file_transfer_state = 2;
jah128 1:060690a934a9 136 display.clear_display();
jah128 1:060690a934a9 137 char display_message[17];
jah128 1:060690a934a9 138 sprintf(display_message,"F:%s",filename);
jah128 1:060690a934a9 139 display.set_position(0,0);
jah128 1:060690a934a9 140 display.write_string(display_message);
jah128 1:060690a934a9 141 display.set_position(1,0);
jah128 1:060690a934a9 142 sprintf(display_message,"S:%d b",file_length);
jah128 1:060690a934a9 143 display.write_string(display_message);
jah128 1:060690a934a9 144 block_index = 0;
jah128 1:060690a934a9 145 //Work out how many blocks the file will be sent in (size = block_size, tested at 100 bytes)
jah128 1:060690a934a9 146 //Allocate memory for the file up to a limit of 16 blocks; larger files will be split across
jah128 1:060690a934a9 147 //multiple blocks....
jah128 1:060690a934a9 148 final_block = file_length / block_size;
jah128 1:060690a934a9 149 if(file_length % block_size != 0) final_block ++;
jah128 2:c6986ee3c7c5 150 //int target_size = file_length;
jah128 2:c6986ee3c7c5 151 //if(file_length > (block_size * 16)) target_size = block_size * 16;
jah128 2:c6986ee3c7c5 152 //file_data = (char *) malloc(target_size);
jah128 2:c6986ee3c7c5 153 debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size);
jah128 1:060690a934a9 154 ft_timeout.detach();
jah128 1:060690a934a9 155 ft_timeout.attach(IF_file_transfer_timeout,1.0);
jah128 1:060690a934a9 156 //Send acknowledge (size of file)
jah128 1:060690a934a9 157 bt.printf("%c%c%c%c%c",RESPONSE_MESSAGE_BYTE,3,message[1],message[2],message[3]);
jah128 1:060690a934a9 158 }
jah128 1:060690a934a9 159 break;
jah128 1:060690a934a9 160 case 2:
jah128 1:060690a934a9 161 block_index ++;
jah128 2:c6986ee3c7c5 162 display.clear_display();
jah128 2:c6986ee3c7c5 163 display.set_position(0,0);
jah128 2:c6986ee3c7c5 164 display.write_string("FILE TRANSFER");
jah128 2:c6986ee3c7c5 165 display.set_position(1,0);
jah128 2:c6986ee3c7c5 166 char details_string[17];
jah128 2:c6986ee3c7c5 167 sprintf(details_string,"BLOCK %d OF %d",block_index,final_block);
jah128 2:c6986ee3c7c5 168 display.write_string(details_string);
jah128 2:c6986ee3c7c5 169 expected_size = block_size;
jah128 1:060690a934a9 170 if(block_index == final_block) expected_size = file_length % block_size;
jah128 1:060690a934a9 171 if(expected_size == 0) expected_size = block_size;
jah128 1:060690a934a9 172 if(length!=expected_size + 1){
jah128 1:060690a934a9 173 // Unexpected length
jah128 2:c6986ee3c7c5 174 debug("File data unexpected length in packet %d (%d bytes received, %d bytes expected)\n",block_index,length-1,expected_size);
jah128 1:060690a934a9 175 }else{
jah128 2:c6986ee3c7c5 176 char transfer_mode[2]={'a'};
jah128 2:c6986ee3c7c5 177 if(block_index == 1){
jah128 2:c6986ee3c7c5 178 transfer_mode[0]='w';
jah128 2:c6986ee3c7c5 179 }
jah128 2:c6986ee3c7c5 180 FILE *fp = fopen(filename,transfer_mode);
jah128 2:c6986ee3c7c5 181 //strncpy(data_block,message+1,length);
jah128 2:c6986ee3c7c5 182 //data_block[length]=0;
jah128 2:c6986ee3c7c5 183 //fprintf(fp,data_block);
jah128 2:c6986ee3c7c5 184 int bytes_written;
jah128 2:c6986ee3c7c5 185 bytes_written = fwrite(message+1,expected_size,1,fp);
jah128 2:c6986ee3c7c5 186 fclose(fp);
jah128 2:c6986ee3c7c5 187 if(data_written == false && bytes_written > 0) data_written = true;
jah128 2:c6986ee3c7c5 188 debug("Bytes written: %d\n",expected_size * bytes_written);
jah128 2:c6986ee3c7c5 189 if(block_index < final_block){
jah128 2:c6986ee3c7c5 190 debug("Message packet %d received and written\n",block_index);
jah128 2:c6986ee3c7c5 191 //Send acknowledge ("D")
jah128 1:060690a934a9 192 ft_timeout.detach();
jah128 1:060690a934a9 193 ft_timeout.attach(IF_file_transfer_timeout,1.0);
jah128 2:c6986ee3c7c5 194 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"D");
jah128 2:c6986ee3c7c5 195 }
jah128 2:c6986ee3c7c5 196 else{
jah128 2:c6986ee3c7c5 197 //Last data block written
jah128 2:c6986ee3c7c5 198 //[Put file checking code here]
jah128 2:c6986ee3c7c5 199 //Send acknowledge ("P");
jah128 2:c6986ee3c7c5 200 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"F");
jah128 2:c6986ee3c7c5 201 ft_timeout.detach();
jah128 2:c6986ee3c7c5 202 debug("File transfer completed successfully\n");
jah128 2:c6986ee3c7c5 203 wait(0.25);
jah128 2:c6986ee3c7c5 204 //Calculate CRC16 value for file
jah128 2:c6986ee3c7c5 205 IF_calculateCRC16(file_length);
jah128 2:c6986ee3c7c5 206
jah128 2:c6986ee3c7c5 207 display.clear_display();
jah128 2:c6986ee3c7c5 208 display.write_string("FILE TRANSFER");
jah128 2:c6986ee3c7c5 209 display.set_position(1,0);
jah128 2:c6986ee3c7c5 210 display.write_string("COMPLETE");
jah128 2:c6986ee3c7c5 211 wait(1);
jah128 2:c6986ee3c7c5 212 debug("File transfer mode ended\n");
jah128 2:c6986ee3c7c5 213 IF_end_file_transfer_mode();
jah128 2:c6986ee3c7c5 214 }
jah128 1:060690a934a9 215 }
jah128 2:c6986ee3c7c5 216 break;
jah128 1:060690a934a9 217 }
jah128 1:060690a934a9 218 }
jah128 0:d6269d17c8cf 219 }
jah128 0:d6269d17c8cf 220
jah128 0:d6269d17c8cf 221
jah128 0:d6269d17c8cf 222 void IF_handle_user_serial_message(char * message, char length, char interface)
jah128 0:d6269d17c8cf 223 {
jah128 0:d6269d17c8cf 224 char buffer[255];
jah128 0:d6269d17c8cf 225 sprintf(buffer,message,length);
jah128 0:d6269d17c8cf 226 for(int i=0; i<length; i++) {
jah128 0:d6269d17c8cf 227 buffer[i]=message[i];
jah128 0:d6269d17c8cf 228 }
jah128 0:d6269d17c8cf 229 buffer[length]=0;
jah128 0:d6269d17c8cf 230 // if(interface) debug("Received BT message:%s [%d chars]\n",buffer,length);
jah128 0:d6269d17c8cf 231 // else debug("Received USB message:%s [%d chars]\n",buffer,length);
jah128 0:d6269d17c8cf 232 handle_user_serial_message(message,length,interface);
jah128 0:d6269d17c8cf 233 }
jah128 0:d6269d17c8cf 234
jah128 0:d6269d17c8cf 235 void IF_handle_command_serial_message(char message[3], char interface)
jah128 0:d6269d17c8cf 236 {
jah128 0:d6269d17c8cf 237 char iface [4];
jah128 0:d6269d17c8cf 238 if(interface) strcpy(iface,"BT");
jah128 0:d6269d17c8cf 239 else strcpy(iface,"USB");
jah128 0:d6269d17c8cf 240 char command [26];
jah128 0:d6269d17c8cf 241 char subcommand[30];
jah128 0:d6269d17c8cf 242 float dec;
jah128 0:d6269d17c8cf 243 float l_dec;
jah128 0:d6269d17c8cf 244 float r_dec;
jah128 0:d6269d17c8cf 245 int irp_delay;
jah128 0:d6269d17c8cf 246 char colour_string[7];
jah128 0:d6269d17c8cf 247 char ret_message[50];
jah128 0:d6269d17c8cf 248 char send_message = 0;
jah128 0:d6269d17c8cf 249 char command_status = 0;
jah128 0:d6269d17c8cf 250 // command_status values:
jah128 0:d6269d17c8cf 251 // 0 - unrecognised command
jah128 0:d6269d17c8cf 252 // 1 - command actioned
jah128 0:d6269d17c8cf 253 // 2 - command blocked
jah128 0:d6269d17c8cf 254 // 3 - invalid parameters
jah128 0:d6269d17c8cf 255
jah128 0:d6269d17c8cf 256 subcommand[0]=0;
jah128 0:d6269d17c8cf 257 command[0]=0;
jah128 0:d6269d17c8cf 258 switch(message[0]) {
jah128 0:d6269d17c8cf 259
jah128 0:d6269d17c8cf 260 // MOTOR COMMANDS
jah128 0:d6269d17c8cf 261
jah128 0:d6269d17c8cf 262 case 1:
jah128 0:d6269d17c8cf 263 strcpy(command,"SET LEFT MOTOR");
jah128 0:d6269d17c8cf 264 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 265 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 266 if(allow_commands) {
jah128 0:d6269d17c8cf 267 command_status = 1;
jah128 0:d6269d17c8cf 268 set_left_motor_speed(dec);
jah128 0:d6269d17c8cf 269 } else command_status = 2;
jah128 0:d6269d17c8cf 270 break;
jah128 0:d6269d17c8cf 271 case 2:
jah128 0:d6269d17c8cf 272 strcpy(command,"SET RIGHT MOTOR");
jah128 0:d6269d17c8cf 273 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 274 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 275 if(allow_commands) {
jah128 0:d6269d17c8cf 276 set_right_motor_speed(dec);
jah128 0:d6269d17c8cf 277 command_status = 1;
jah128 0:d6269d17c8cf 278 } else command_status = 2;
jah128 0:d6269d17c8cf 279 break;
jah128 0:d6269d17c8cf 280 case 3:
jah128 0:d6269d17c8cf 281 strcpy(command,"SET BOTH MOTORS");
jah128 0:d6269d17c8cf 282 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 283 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 284 if(allow_commands) {
jah128 0:d6269d17c8cf 285 command_status = 1;
jah128 0:d6269d17c8cf 286 forward(dec);
jah128 0:d6269d17c8cf 287 } else command_status = 2;
jah128 0:d6269d17c8cf 288 break;
jah128 0:d6269d17c8cf 289 case 4:
jah128 0:d6269d17c8cf 290 strcpy(command,"BRAKE LEFT MOTOR");
jah128 0:d6269d17c8cf 291 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 292 if(allow_commands) {
jah128 0:d6269d17c8cf 293 command_status = 1;
jah128 0:d6269d17c8cf 294 brake_left_motor();
jah128 0:d6269d17c8cf 295 } else command_status = 2;
jah128 0:d6269d17c8cf 296 break;
jah128 0:d6269d17c8cf 297 case 5:
jah128 0:d6269d17c8cf 298 strcpy(command,"BRAKE RIGHT MOTOR");
jah128 0:d6269d17c8cf 299 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 300 if(allow_commands) {
jah128 0:d6269d17c8cf 301 command_status = 1;
jah128 0:d6269d17c8cf 302 brake_right_motor();
jah128 0:d6269d17c8cf 303 } else command_status = 2;
jah128 0:d6269d17c8cf 304 break;
jah128 0:d6269d17c8cf 305 case 6:
jah128 0:d6269d17c8cf 306 strcpy(command,"BRAKE BOTH MOTORS");
jah128 0:d6269d17c8cf 307 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 308 if(allow_commands) {
jah128 0:d6269d17c8cf 309 command_status = 1;
jah128 0:d6269d17c8cf 310 brake();
jah128 0:d6269d17c8cf 311 } else command_status = 2;
jah128 0:d6269d17c8cf 312 break;
jah128 0:d6269d17c8cf 313 case 7:
jah128 0:d6269d17c8cf 314 strcpy(command,"STOP BOTH MOTORS");
jah128 0:d6269d17c8cf 315 sprintf(subcommand,"");
jah128 0:d6269d17c8cf 316 if(allow_commands) {
jah128 0:d6269d17c8cf 317 command_status = 1;
jah128 0:d6269d17c8cf 318 stop();
jah128 0:d6269d17c8cf 319 } else command_status = 2;
jah128 0:d6269d17c8cf 320 break;
jah128 0:d6269d17c8cf 321 case 8:
jah128 0:d6269d17c8cf 322 strcpy(command,"TURN ON SPOT");
jah128 0:d6269d17c8cf 323 dec = IF_decode_float(message[1],message[2]);
jah128 0:d6269d17c8cf 324 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 325 if(allow_commands) {
jah128 0:d6269d17c8cf 326 command_status = 1;
jah128 0:d6269d17c8cf 327 turn(dec);
jah128 0:d6269d17c8cf 328 } else command_status = 2;
jah128 0:d6269d17c8cf 329 break;
jah128 0:d6269d17c8cf 330 case 9:
jah128 0:d6269d17c8cf 331 strcpy(command,"SET EACH MOTOR");
jah128 0:d6269d17c8cf 332 l_dec = IF_decode_float(message[1]);
jah128 0:d6269d17c8cf 333 r_dec = IF_decode_float(message[2]);
jah128 0:d6269d17c8cf 334 sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
jah128 0:d6269d17c8cf 335 if(allow_commands) {
jah128 0:d6269d17c8cf 336 command_status = 1;
jah128 0:d6269d17c8cf 337 set_left_motor_speed(l_dec);
jah128 0:d6269d17c8cf 338 set_right_motor_speed(r_dec);
jah128 0:d6269d17c8cf 339 } else command_status = 2;
jah128 0:d6269d17c8cf 340 break;
jah128 0:d6269d17c8cf 341 // LED COMMANDS
jah128 0:d6269d17c8cf 342
jah128 0:d6269d17c8cf 343 case 10:
jah128 0:d6269d17c8cf 344 strcpy(command,"SET LED STATES");
jah128 0:d6269d17c8cf 345 sprintf(subcommand,"G:%s R:%s",IF_char_to_binary_char(message[1]), IF_char_to_binary_char(message[2]));
jah128 0:d6269d17c8cf 346 if(allow_commands) {
jah128 0:d6269d17c8cf 347 command_status = 1;
jah128 0:d6269d17c8cf 348 set_leds(message[1],message[2]);
jah128 0:d6269d17c8cf 349 } else command_status = 2;
jah128 0:d6269d17c8cf 350 break;
jah128 0:d6269d17c8cf 351 case 11:
jah128 0:d6269d17c8cf 352 strcpy(command,"SET RED LED STATES");
jah128 0:d6269d17c8cf 353 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 354 if(allow_commands) {
jah128 0:d6269d17c8cf 355 command_status = 1;
jah128 0:d6269d17c8cf 356 set_red_leds(message[1]);
jah128 0:d6269d17c8cf 357 } else command_status = 2;
jah128 0:d6269d17c8cf 358 break;
jah128 0:d6269d17c8cf 359 case 12:
jah128 0:d6269d17c8cf 360 strcpy(command,"SET GREEN LED STATES");
jah128 0:d6269d17c8cf 361 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 362 if(allow_commands) {
jah128 0:d6269d17c8cf 363 command_status = 1;
jah128 0:d6269d17c8cf 364 set_green_leds(message[1]);
jah128 0:d6269d17c8cf 365 } else command_status = 2;
jah128 0:d6269d17c8cf 366 break;
jah128 0:d6269d17c8cf 367 case 13:
jah128 0:d6269d17c8cf 368 strcpy(command,"SET LED");
jah128 0:d6269d17c8cf 369 switch(message[2]) {
jah128 0:d6269d17c8cf 370 case 1:
jah128 0:d6269d17c8cf 371 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 372 break;
jah128 0:d6269d17c8cf 373 case 2:
jah128 0:d6269d17c8cf 374 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 375 break;
jah128 0:d6269d17c8cf 376 case 3:
jah128 0:d6269d17c8cf 377 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 378 break;
jah128 0:d6269d17c8cf 379 case 0:
jah128 0:d6269d17c8cf 380 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 381 break;
jah128 0:d6269d17c8cf 382 }
jah128 0:d6269d17c8cf 383 if(message[1] < 8 && message[2] < 4) {
jah128 0:d6269d17c8cf 384 sprintf(subcommand,"%d %s",message[1],colour_string);
jah128 0:d6269d17c8cf 385 if(allow_commands) {
jah128 0:d6269d17c8cf 386 command_status = 1;
jah128 0:d6269d17c8cf 387 set_led(message[1],message[2]);
jah128 0:d6269d17c8cf 388 } else command_status = 2;
jah128 0:d6269d17c8cf 389 } else {
jah128 0:d6269d17c8cf 390 sprintf(subcommand,"[INVALID CODE]");
jah128 0:d6269d17c8cf 391 command_status = 3;
jah128 0:d6269d17c8cf 392 }
jah128 0:d6269d17c8cf 393 break;
jah128 0:d6269d17c8cf 394 case 14:
jah128 0:d6269d17c8cf 395 strcpy(command,"SET CENTER LED STATE");
jah128 0:d6269d17c8cf 396 switch(message[1]) {
jah128 0:d6269d17c8cf 397 case 1:
jah128 0:d6269d17c8cf 398 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 399 break;
jah128 0:d6269d17c8cf 400 case 2:
jah128 0:d6269d17c8cf 401 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 402 break;
jah128 0:d6269d17c8cf 403 case 3:
jah128 0:d6269d17c8cf 404 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 405 break;
jah128 0:d6269d17c8cf 406 case 0:
jah128 0:d6269d17c8cf 407 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 408 break;
jah128 0:d6269d17c8cf 409 }
jah128 0:d6269d17c8cf 410 if(message[1] < 4) {
jah128 0:d6269d17c8cf 411 sprintf(subcommand,"%s",colour_string);
jah128 0:d6269d17c8cf 412 if(allow_commands) {
jah128 0:d6269d17c8cf 413 command_status = 1;
jah128 0:d6269d17c8cf 414 set_center_led(message[1]);
jah128 0:d6269d17c8cf 415 } else command_status = 2;
jah128 0:d6269d17c8cf 416 } else {
jah128 0:d6269d17c8cf 417 sprintf(subcommand,"[INVALID CODE]");
jah128 0:d6269d17c8cf 418 command_status = 3;
jah128 0:d6269d17c8cf 419 }
jah128 0:d6269d17c8cf 420 break;
jah128 0:d6269d17c8cf 421 case 15:
jah128 0:d6269d17c8cf 422 strcpy(command,"SET C.LED BRIGHTNESS");
jah128 0:d6269d17c8cf 423 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 424 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 425 if(allow_commands) {
jah128 0:d6269d17c8cf 426 command_status = 1;
jah128 0:d6269d17c8cf 427 set_center_led_brightness(dec);
jah128 0:d6269d17c8cf 428 } else command_status = 2;
jah128 0:d6269d17c8cf 429 break;
jah128 0:d6269d17c8cf 430 case 16:
jah128 0:d6269d17c8cf 431 strcpy(command,"SET MBED LEDS");
jah128 0:d6269d17c8cf 432 sprintf(subcommand,"%s",IF_nibble_to_binary_char(message[1]));
jah128 0:d6269d17c8cf 433 if(allow_commands) {
jah128 0:d6269d17c8cf 434 command_status = 1;
jah128 0:d6269d17c8cf 435 mbed_led1 = (message[1] & 128) >> 7;
jah128 0:d6269d17c8cf 436 mbed_led2 = (message[1] & 64) >> 6;
jah128 0:d6269d17c8cf 437 mbed_led3 = (message[1] & 32) >> 5;
jah128 0:d6269d17c8cf 438 mbed_led4 = (message[1] & 16) >> 4;
jah128 0:d6269d17c8cf 439 } else command_status = 2;
jah128 0:d6269d17c8cf 440 break;
jah128 0:d6269d17c8cf 441 case 17:
jah128 0:d6269d17c8cf 442 strcpy(command,"BLINK OUTER LEDS");
jah128 0:d6269d17c8cf 443 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 444 sprintf(subcommand,"FOR %1.5fS",dec);
jah128 0:d6269d17c8cf 445 if(allow_commands) {
jah128 0:d6269d17c8cf 446 command_status = 1;
jah128 0:d6269d17c8cf 447 blink_leds(dec);
jah128 0:d6269d17c8cf 448 } else command_status = 2;
jah128 0:d6269d17c8cf 449 break;
jah128 0:d6269d17c8cf 450 case 18:
jah128 0:d6269d17c8cf 451 strcpy(command,"SET BASE LED STATE");
jah128 0:d6269d17c8cf 452 switch(message[1]) {
jah128 0:d6269d17c8cf 453 case 1:
jah128 0:d6269d17c8cf 454 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 455 break;
jah128 0:d6269d17c8cf 456 case 0:
jah128 0:d6269d17c8cf 457 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 458 break;
jah128 0:d6269d17c8cf 459 }
jah128 0:d6269d17c8cf 460 //Function not yet implemented
jah128 0:d6269d17c8cf 461 break;
jah128 0:d6269d17c8cf 462 case 19:
jah128 0:d6269d17c8cf 463 strcpy(command,"SET CENTER LED ");
jah128 0:d6269d17c8cf 464 switch(message[1]) {
jah128 0:d6269d17c8cf 465 case 1:
jah128 0:d6269d17c8cf 466 strcpy(colour_string,"RED");
jah128 0:d6269d17c8cf 467 break;
jah128 0:d6269d17c8cf 468 case 2:
jah128 0:d6269d17c8cf 469 strcpy(colour_string,"GREEN");
jah128 0:d6269d17c8cf 470 break;
jah128 0:d6269d17c8cf 471 case 3:
jah128 0:d6269d17c8cf 472 strcpy(colour_string,"BOTH");
jah128 0:d6269d17c8cf 473 break;
jah128 0:d6269d17c8cf 474 case 0:
jah128 0:d6269d17c8cf 475 strcpy(colour_string,"OFF");
jah128 0:d6269d17c8cf 476 break;
jah128 0:d6269d17c8cf 477 }
jah128 0:d6269d17c8cf 478 dec = IF_decode_unsigned_float(message[2]);
jah128 0:d6269d17c8cf 479 sprintf(subcommand,"%s @ %1.5f brightness",colour_string,dec);
jah128 0:d6269d17c8cf 480 if(allow_commands) {
jah128 0:d6269d17c8cf 481 command_status = 1;
jah128 0:d6269d17c8cf 482 set_center_led(message[1],dec);
jah128 0:d6269d17c8cf 483 } else command_status = 2;
jah128 0:d6269d17c8cf 484 break;
jah128 0:d6269d17c8cf 485
jah128 0:d6269d17c8cf 486 // DISPLAY COMMANDS
jah128 0:d6269d17c8cf 487
jah128 0:d6269d17c8cf 488 case 20:
jah128 0:d6269d17c8cf 489 strcpy(command,"SET DISPLAY ");
jah128 0:d6269d17c8cf 490 switch(message[1]) {
jah128 0:d6269d17c8cf 491 case 0:
jah128 0:d6269d17c8cf 492 strcpy(subcommand,"CLEAR");
jah128 0:d6269d17c8cf 493 if(allow_commands) {
jah128 0:d6269d17c8cf 494 command_status = 1;
jah128 0:d6269d17c8cf 495 display.clear_display();
jah128 0:d6269d17c8cf 496 } else command_status = 2;
jah128 0:d6269d17c8cf 497 break;
jah128 0:d6269d17c8cf 498 case 1:
jah128 0:d6269d17c8cf 499 strcpy(subcommand,"MESSAGE 1");
jah128 0:d6269d17c8cf 500 if(allow_commands) {
jah128 0:d6269d17c8cf 501 command_status = 1;
jah128 0:d6269d17c8cf 502 display.clear_display();
jah128 0:d6269d17c8cf 503 display.home();
jah128 0:d6269d17c8cf 504 display.write_string("PC CONNECTION");
jah128 0:d6269d17c8cf 505 display.set_position(1,0);
jah128 0:d6269d17c8cf 506 display.write_string("STARTED");
jah128 0:d6269d17c8cf 507 } else command_status = 2;
jah128 0:d6269d17c8cf 508 break;
jah128 0:d6269d17c8cf 509 case 2:
jah128 0:d6269d17c8cf 510 strcpy(subcommand,"MESSAGE 2");
jah128 0:d6269d17c8cf 511 if(allow_commands) {
jah128 0:d6269d17c8cf 512 command_status = 1;
jah128 0:d6269d17c8cf 513 display.clear_display();
jah128 0:d6269d17c8cf 514 display.home();
jah128 0:d6269d17c8cf 515 display.write_string("PC CONNECTION");
jah128 0:d6269d17c8cf 516 display.set_position(1,0);
jah128 0:d6269d17c8cf 517 display.write_string("TERMINATED");
jah128 0:d6269d17c8cf 518 } else command_status = 2;
jah128 0:d6269d17c8cf 519 break;
jah128 0:d6269d17c8cf 520 case 3:
jah128 0:d6269d17c8cf 521 strcpy(subcommand,"MESSAGE 3");
jah128 0:d6269d17c8cf 522 if(allow_commands) {
jah128 0:d6269d17c8cf 523 command_status = 1;
jah128 0:d6269d17c8cf 524 display.clear_display();
jah128 0:d6269d17c8cf 525 display.home();
jah128 0:d6269d17c8cf 526 display.write_string("ANDROID DEVICE");
jah128 0:d6269d17c8cf 527 display.set_position(1,0);
jah128 0:d6269d17c8cf 528 display.write_string("CONNECTED");
jah128 0:d6269d17c8cf 529 } else command_status = 2;
jah128 0:d6269d17c8cf 530 break;
jah128 0:d6269d17c8cf 531 case 4:
jah128 0:d6269d17c8cf 532 strcpy(subcommand,"MESSAGE 4");
jah128 0:d6269d17c8cf 533 if(allow_commands) {
jah128 0:d6269d17c8cf 534 command_status = 1;
jah128 0:d6269d17c8cf 535 display.clear_display();
jah128 0:d6269d17c8cf 536 display.home();
jah128 0:d6269d17c8cf 537 display.write_string("ANDROID DEVICE");
jah128 0:d6269d17c8cf 538 display.set_position(1,0);
jah128 0:d6269d17c8cf 539 display.write_string("DISCONNECTED");
jah128 0:d6269d17c8cf 540 } else command_status = 2;
jah128 0:d6269d17c8cf 541 break;
jah128 3:7c0d1f581757 542 case 5:
jah128 3:7c0d1f581757 543 strcpy(subcommand,"MESSAGE 5");
jah128 3:7c0d1f581757 544 if(allow_commands) {
jah128 3:7c0d1f581757 545 command_status = 1;
jah128 3:7c0d1f581757 546 display.clear_display();
jah128 3:7c0d1f581757 547 display.home();
jah128 3:7c0d1f581757 548 display.write_string("PSI CONSOLE");
jah128 3:7c0d1f581757 549 display.set_position(1,0);
jah128 3:7c0d1f581757 550 display.write_string("CONNECTED");
jah128 3:7c0d1f581757 551 } else command_status = 2;
jah128 3:7c0d1f581757 552 break;
jah128 3:7c0d1f581757 553 case 6:
jah128 3:7c0d1f581757 554 strcpy(subcommand,"MESSAGE 6");
jah128 3:7c0d1f581757 555 if(allow_commands) {
jah128 3:7c0d1f581757 556 command_status = 1;
jah128 3:7c0d1f581757 557 display.clear_display();
jah128 3:7c0d1f581757 558 display.home();
jah128 3:7c0d1f581757 559 display.write_string("PSI CONSOLE");
jah128 3:7c0d1f581757 560 display.set_position(1,0);
jah128 3:7c0d1f581757 561 display.write_string("DISCONNECTED");
jah128 3:7c0d1f581757 562 } else command_status = 2;
jah128 3:7c0d1f581757 563 break;
jah128 0:d6269d17c8cf 564 }
jah128 0:d6269d17c8cf 565 break;
jah128 0:d6269d17c8cf 566 case 21:
jah128 0:d6269d17c8cf 567 strcpy(command,"SET CURSOR ");
jah128 0:d6269d17c8cf 568 if(message[1] < 2 && message[2] < 16) {
jah128 0:d6269d17c8cf 569 sprintf(subcommand,"[%d,%d]",message[1],message[2]);
jah128 0:d6269d17c8cf 570 if(allow_commands) {
jah128 0:d6269d17c8cf 571 display.set_position(message[1],message[2]);
jah128 0:d6269d17c8cf 572 } else command_status = 2;
jah128 0:d6269d17c8cf 573 } else {
jah128 0:d6269d17c8cf 574 sprintf(subcommand,"[INVALID]");
jah128 0:d6269d17c8cf 575 command_status = 3;
jah128 0:d6269d17c8cf 576 }
jah128 0:d6269d17c8cf 577 break;
jah128 0:d6269d17c8cf 578 case 22:
jah128 0:d6269d17c8cf 579 strcpy(command,"PRINT CHARACTERS ");
jah128 0:d6269d17c8cf 580 char print_message[2];
jah128 0:d6269d17c8cf 581 print_message[0]=message[1];
jah128 0:d6269d17c8cf 582 print_message[1]=message[2];
jah128 0:d6269d17c8cf 583 sprintf(subcommand,"[%c,%c]",message[1],message[2]);
jah128 0:d6269d17c8cf 584 if(allow_commands) {
jah128 0:d6269d17c8cf 585 display.write_string(print_message,2);
jah128 0:d6269d17c8cf 586 } else command_status = 2;
jah128 0:d6269d17c8cf 587 break;
jah128 0:d6269d17c8cf 588 case 23:
jah128 0:d6269d17c8cf 589 strcpy(command,"SET DISPLAY B.NESS");
jah128 0:d6269d17c8cf 590 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:d6269d17c8cf 591 sprintf(subcommand,"%1.5f",dec);
jah128 0:d6269d17c8cf 592 if(allow_commands) {
jah128 0:d6269d17c8cf 593 command_status = 1;
jah128 0:d6269d17c8cf 594 display.set_backlight_brightness(dec);
jah128 0:d6269d17c8cf 595 } else command_status = 2;
jah128 0:d6269d17c8cf 596 break;
jah128 0:d6269d17c8cf 597
jah128 0:d6269d17c8cf 598 case 30:
jah128 0:d6269d17c8cf 599 strcpy(command,"SET DEBUG MODE");
jah128 0:d6269d17c8cf 600 switch(message[1]) {
jah128 0:d6269d17c8cf 601 case 1:
jah128 0:d6269d17c8cf 602 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 603 break;
jah128 0:d6269d17c8cf 604 case 0:
jah128 0:d6269d17c8cf 605 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 606 break;
jah128 0:d6269d17c8cf 607 }
jah128 0:d6269d17c8cf 608 if(message[2] & 1) strcat (subcommand,"-PC");
jah128 0:d6269d17c8cf 609 if(message[2] & 2) strcat (subcommand,"-BT");
jah128 0:d6269d17c8cf 610 if(message[2] & 4) strcat (subcommand,"-DISP");
jah128 0:d6269d17c8cf 611 if(allow_commands) {
jah128 0:d6269d17c8cf 612 command_status = 1;
jah128 0:d6269d17c8cf 613 debug_mode = message[1];
jah128 0:d6269d17c8cf 614 debug_output = message[2];
jah128 0:d6269d17c8cf 615 } else command_status = 2;
jah128 0:d6269d17c8cf 616 break;
jah128 0:d6269d17c8cf 617 case 31:
jah128 0:d6269d17c8cf 618 strcpy(command,"SET DEMO MODE");
jah128 0:d6269d17c8cf 619 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 620 case 1:
jah128 0:d6269d17c8cf 621 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 622 break;
jah128 0:d6269d17c8cf 623 case 0:
jah128 0:d6269d17c8cf 624 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 625 break;
jah128 0:d6269d17c8cf 626 }
jah128 0:d6269d17c8cf 627 if(allow_commands) {
jah128 0:d6269d17c8cf 628 command_status = 1;
jah128 0:d6269d17c8cf 629 demo_on = message[1] % 2;
jah128 0:d6269d17c8cf 630 if(demo_on == 1) {
jah128 0:d6269d17c8cf 631 user_code_restore_mode = user_code_running;
jah128 0:d6269d17c8cf 632 user_code_running = 0;
jah128 0:d6269d17c8cf 633 } else {
jah128 0:d6269d17c8cf 634 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 635 }
jah128 0:d6269d17c8cf 636 } else command_status = 2;
jah128 0:d6269d17c8cf 637 break;
jah128 0:d6269d17c8cf 638 case 32:
jah128 0:d6269d17c8cf 639 strcpy(command,"SET USER CODE");
jah128 0:d6269d17c8cf 640 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 641 case 1:
jah128 0:d6269d17c8cf 642 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 643 break;
jah128 0:d6269d17c8cf 644 case 0:
jah128 0:d6269d17c8cf 645 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 646 break;
jah128 0:d6269d17c8cf 647 }
jah128 0:d6269d17c8cf 648 if(allow_commands) {
jah128 0:d6269d17c8cf 649 command_status = 1;
jah128 0:d6269d17c8cf 650 user_code_running = message[1] % 2;
jah128 0:d6269d17c8cf 651 } else command_status = 2;
jah128 0:d6269d17c8cf 652 break;
jah128 0:d6269d17c8cf 653 case 33:
jah128 0:d6269d17c8cf 654 strcpy(command,"PAUSE USER CODE");
jah128 0:d6269d17c8cf 655 dec = IF_decode_unsigned_float(message[1],message[2]) * 10;
jah128 0:d6269d17c8cf 656 sprintf(subcommand,"FOR %2.3fS",dec);
jah128 0:d6269d17c8cf 657 if(allow_commands) {
jah128 0:d6269d17c8cf 658 command_status = 1;
jah128 0:d6269d17c8cf 659 pause_user_code(dec);
jah128 0:d6269d17c8cf 660 } else command_status = 2;
jah128 0:d6269d17c8cf 661 break;
jah128 0:d6269d17c8cf 662
jah128 0:d6269d17c8cf 663 case 34:
jah128 0:d6269d17c8cf 664 strcpy(command,"RESET ENCODERS");
jah128 0:d6269d17c8cf 665 if(allow_commands) {
jah128 0:d6269d17c8cf 666 command_status = 1;
jah128 0:d6269d17c8cf 667 reset_encoders();
jah128 0:d6269d17c8cf 668 } else command_status = 2;
jah128 0:d6269d17c8cf 669 break;
jah128 0:d6269d17c8cf 670
jah128 0:d6269d17c8cf 671 case 35:
jah128 0:d6269d17c8cf 672 strcpy(command,"SET ALLOW COMMANDS");
jah128 0:d6269d17c8cf 673 switch(message[1] % 2) {
jah128 0:d6269d17c8cf 674 case 1:
jah128 0:d6269d17c8cf 675 strcpy(subcommand,"ON");
jah128 0:d6269d17c8cf 676 break;
jah128 0:d6269d17c8cf 677 case 0:
jah128 0:d6269d17c8cf 678 strcpy(subcommand,"OFF");
jah128 0:d6269d17c8cf 679 break;
jah128 0:d6269d17c8cf 680 }
jah128 0:d6269d17c8cf 681 allow_commands = message[1] % 2;
jah128 0:d6269d17c8cf 682 command_status = 1;
jah128 0:d6269d17c8cf 683 break;
jah128 0:d6269d17c8cf 684
jah128 0:d6269d17c8cf 685 case 36:
jah128 0:d6269d17c8cf 686 irp_delay = (message[1] << 8) + message[2];
jah128 0:d6269d17c8cf 687 sprintf(command,"SET IR PULSE DELAY %d MS",irp_delay);
jah128 0:d6269d17c8cf 688 if(allow_commands) {
jah128 0:d6269d17c8cf 689 command_status = 1;
jah128 0:d6269d17c8cf 690 ir_pulse_delay = irp_delay;
jah128 0:d6269d17c8cf 691 } else command_status = 2;
jah128 0:d6269d17c8cf 692 break;
jah128 0:d6269d17c8cf 693 case 37:
jah128 0:d6269d17c8cf 694 irp_delay = (message[1] << 8) + message[2];
jah128 0:d6269d17c8cf 695 sprintf(command,"SET BASE IR PULSE DELAY %d MS",irp_delay);
jah128 0:d6269d17c8cf 696 if(allow_commands) {
jah128 0:d6269d17c8cf 697 command_status = 1;
jah128 0:d6269d17c8cf 698 base_ir_pulse_delay = irp_delay;
jah128 0:d6269d17c8cf 699 } else command_status = 2;
jah128 0:d6269d17c8cf 700 break;
jah128 0:d6269d17c8cf 701
jah128 0:d6269d17c8cf 702 // MOTOR REQUESTS
jah128 0:d6269d17c8cf 703 case 40:
jah128 0:d6269d17c8cf 704 strcpy(command,"GET LEFT MOTOR SPEED");
jah128 0:d6269d17c8cf 705 sprintf(ret_message,"%1.5f",motor_left_speed);
jah128 0:d6269d17c8cf 706 send_message = 1;
jah128 0:d6269d17c8cf 707 break;
jah128 0:d6269d17c8cf 708
jah128 0:d6269d17c8cf 709 case 41:
jah128 0:d6269d17c8cf 710 strcpy(command,"GET RIGHT MOTOR SPEED");
jah128 0:d6269d17c8cf 711 sprintf(ret_message,"%1.5f",motor_right_speed);
jah128 0:d6269d17c8cf 712 send_message = 1;
jah128 0:d6269d17c8cf 713 break;
jah128 0:d6269d17c8cf 714 case 42:
jah128 0:d6269d17c8cf 715 strcpy(command,"GET BRAKE STATES");
jah128 0:d6269d17c8cf 716 sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:d6269d17c8cf 717 send_message = 1;
jah128 0:d6269d17c8cf 718 break;
jah128 0:d6269d17c8cf 719 case 43:
jah128 0:d6269d17c8cf 720 strcpy(command,"GET MOTOR STATES");
jah128 0:d6269d17c8cf 721 //sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:d6269d17c8cf 722 send_message = 1;
jah128 0:d6269d17c8cf 723 break;
jah128 0:d6269d17c8cf 724 case 44:
jah128 0:d6269d17c8cf 725 strcpy(command,"GET ENCODERS");
jah128 0:d6269d17c8cf 726 sprintf(ret_message,"%d,%d",left_encoder,right_encoder);
jah128 0:d6269d17c8cf 727 send_message = 1;
jah128 0:d6269d17c8cf 728 break;
jah128 0:d6269d17c8cf 729
jah128 0:d6269d17c8cf 730 // LED REQUESTS
jah128 0:d6269d17c8cf 731 case 50:
jah128 0:d6269d17c8cf 732 strcpy(command,"GET LED STATES");
jah128 0:d6269d17c8cf 733 sprintf(ret_message,"%04x",get_led_states());
jah128 0:d6269d17c8cf 734 send_message = 1;
jah128 0:d6269d17c8cf 735 break;
jah128 0:d6269d17c8cf 736
jah128 0:d6269d17c8cf 737 // GENERAL REQUESTS
jah128 0:d6269d17c8cf 738 case 60:
jah128 0:d6269d17c8cf 739 strcpy(command,"GET SOFTWARE VERSION");
jah128 0:d6269d17c8cf 740 sprintf(ret_message,"%1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 741 send_message = 1;
jah128 0:d6269d17c8cf 742 break;
jah128 0:d6269d17c8cf 743
jah128 0:d6269d17c8cf 744 case 61:
jah128 0:d6269d17c8cf 745 strcpy(command,"GET UPTIME");
jah128 0:d6269d17c8cf 746 sprintf(ret_message,"%6.2f",get_uptime());
jah128 0:d6269d17c8cf 747 send_message = 1;
jah128 0:d6269d17c8cf 748 break;
jah128 0:d6269d17c8cf 749
jah128 0:d6269d17c8cf 750 case 62:
jah128 0:d6269d17c8cf 751 strcpy(command,"GET ID");
jah128 0:d6269d17c8cf 752 sprintf(ret_message,"%d",robot_id);
jah128 0:d6269d17c8cf 753 send_message = 1;
jah128 0:d6269d17c8cf 754 break;
jah128 0:d6269d17c8cf 755
jah128 0:d6269d17c8cf 756 case 63:
jah128 0:d6269d17c8cf 757 strcpy(command,"GET SWITCH BYTE");
jah128 0:d6269d17c8cf 758 sprintf(ret_message,"%02x",switch_byte);
jah128 0:d6269d17c8cf 759 send_message = 1;
jah128 0:d6269d17c8cf 760 break;
jah128 0:d6269d17c8cf 761 case 64:
jah128 0:d6269d17c8cf 762 strcpy(command,"GET USER CODE");
jah128 0:d6269d17c8cf 763 sprintf(ret_message,"%d",user_code_running);
jah128 0:d6269d17c8cf 764 send_message = 1;
jah128 0:d6269d17c8cf 765 break;
jah128 0:d6269d17c8cf 766 case 65:
jah128 0:d6269d17c8cf 767 strcpy(command,"GET RESPONSE STRING");
jah128 0:d6269d17c8cf 768 sprintf(ret_message,"PSI");
jah128 0:d6269d17c8cf 769 send_message = 1;
jah128 0:d6269d17c8cf 770 break;
jah128 0:d6269d17c8cf 771 case 66:
jah128 0:d6269d17c8cf 772 strcpy(command,"GET PROGRAM NAME");
jah128 0:d6269d17c8cf 773 sprintf(ret_message,"%s",program_name);
jah128 0:d6269d17c8cf 774 send_message = 1;
jah128 0:d6269d17c8cf 775 break;
jah128 0:d6269d17c8cf 776 case 67:
jah128 0:d6269d17c8cf 777 strcpy(command,"GET AUTHOR NAME");
jah128 0:d6269d17c8cf 778 sprintf(ret_message,"%s",author_name);
jah128 0:d6269d17c8cf 779 send_message = 1;
jah128 0:d6269d17c8cf 780 break;
jah128 0:d6269d17c8cf 781 case 68:
jah128 0:d6269d17c8cf 782 strcpy(command,"GET DEBUG MODE");
jah128 0:d6269d17c8cf 783 sprintf(ret_message,"%1d%1d",debug_mode,debug_output);
jah128 0:d6269d17c8cf 784 send_message = 1;
jah128 0:d6269d17c8cf 785 break;
jah128 0:d6269d17c8cf 786 case 69:
jah128 0:d6269d17c8cf 787 strcpy(command,"GET SYSTEM WARNINGS");
jah128 0:d6269d17c8cf 788 sprintf(ret_message,"%d",system_warnings);
jah128 0:d6269d17c8cf 789 send_message = 1;
jah128 0:d6269d17c8cf 790 break;
jah128 0:d6269d17c8cf 791
jah128 0:d6269d17c8cf 792
jah128 0:d6269d17c8cf 793 // Sensors
jah128 0:d6269d17c8cf 794 case 80:
jah128 0:d6269d17c8cf 795 strcpy(command,"STORE BG. IR VALUES");
jah128 0:d6269d17c8cf 796 if(allow_commands) {
jah128 0:d6269d17c8cf 797 command_status = 1;
jah128 0:d6269d17c8cf 798 store_background_raw_ir_values();
jah128 0:d6269d17c8cf 799 } else command_status = 2;
jah128 0:d6269d17c8cf 800 break;
jah128 0:d6269d17c8cf 801 case 81:
jah128 0:d6269d17c8cf 802 strcpy(command,"STORE IL. IR VALUES");
jah128 0:d6269d17c8cf 803 if(allow_commands) {
jah128 0:d6269d17c8cf 804 command_status = 1;
jah128 0:d6269d17c8cf 805 store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 806 } else command_status = 2;
jah128 0:d6269d17c8cf 807 break;
jah128 0:d6269d17c8cf 808 case 82:
jah128 0:d6269d17c8cf 809 strcpy(command,"STORE IR VALUES");
jah128 0:d6269d17c8cf 810 if(allow_commands) {
jah128 0:d6269d17c8cf 811 command_status = 1;
jah128 0:d6269d17c8cf 812 store_ir_values();
jah128 0:d6269d17c8cf 813 } else command_status = 2;
jah128 0:d6269d17c8cf 814 break;
jah128 0:d6269d17c8cf 815 case 83:
jah128 0:d6269d17c8cf 816 strcpy(command,"STORE BG BASE IR VALUES");
jah128 0:d6269d17c8cf 817 if(allow_commands) {
jah128 0:d6269d17c8cf 818 command_status = 1;
jah128 0:d6269d17c8cf 819 store_background_base_ir_values();
jah128 0:d6269d17c8cf 820 } else command_status = 2;
jah128 0:d6269d17c8cf 821 break;
jah128 0:d6269d17c8cf 822 case 84:
jah128 0:d6269d17c8cf 823 strcpy(command,"STORE IL. BASE IR VALUES");
jah128 0:d6269d17c8cf 824 if(allow_commands) {
jah128 0:d6269d17c8cf 825 command_status = 1;
jah128 0:d6269d17c8cf 826 store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 827 } else command_status = 2;
jah128 0:d6269d17c8cf 828 break;
jah128 0:d6269d17c8cf 829 case 85:
jah128 0:d6269d17c8cf 830 strcpy(command,"STORE BASE IR VALUES");
jah128 0:d6269d17c8cf 831 if(allow_commands) {
jah128 0:d6269d17c8cf 832 command_status = 1;
jah128 0:d6269d17c8cf 833 store_base_ir_values();
jah128 0:d6269d17c8cf 834 } else command_status = 2;
jah128 0:d6269d17c8cf 835 break;
jah128 0:d6269d17c8cf 836 case 86:
jah128 0:d6269d17c8cf 837 strcpy(command,"STORE ALL IR VALUES");
jah128 0:d6269d17c8cf 838 if(allow_commands) {
jah128 0:d6269d17c8cf 839 command_status = 1;
jah128 0:d6269d17c8cf 840 store_ir_values();
jah128 0:d6269d17c8cf 841 store_base_ir_values();
jah128 0:d6269d17c8cf 842 } else command_status = 2;
jah128 0:d6269d17c8cf 843 break;
jah128 0:d6269d17c8cf 844 case 90:
jah128 0:d6269d17c8cf 845 sprintf(command,"%s %d","GET BG IR VALUE",message[1]);
jah128 0:d6269d17c8cf 846 sprintf(ret_message,"%d",get_background_raw_ir_value(message[1]));
jah128 0:d6269d17c8cf 847 send_message = 1;
jah128 0:d6269d17c8cf 848 break;
jah128 0:d6269d17c8cf 849 case 91:
jah128 0:d6269d17c8cf 850 sprintf(command,"%s %d","GET IL IR VALUE",message[1]);
jah128 0:d6269d17c8cf 851 sprintf(ret_message,"%d",get_illuminated_raw_ir_value(message[1]));
jah128 0:d6269d17c8cf 852 send_message = 1;
jah128 0:d6269d17c8cf 853 break;
jah128 0:d6269d17c8cf 854 case 92:
jah128 0:d6269d17c8cf 855 strcpy(command,"GET BG IR VALUES");
jah128 0:d6269d17c8cf 856 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_background_raw_ir_value(0),get_background_raw_ir_value(1),get_background_raw_ir_value(2),get_background_raw_ir_value(3),get_background_raw_ir_value(4),get_background_raw_ir_value(5),get_background_raw_ir_value(6),get_background_raw_ir_value(7));
jah128 0:d6269d17c8cf 857 send_message = 1;
jah128 0:d6269d17c8cf 858 break;
jah128 0:d6269d17c8cf 859 case 93:
jah128 0:d6269d17c8cf 860 strcpy(command,"GET ILLUMINATED IR VALUES");
jah128 0:d6269d17c8cf 861 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_illuminated_raw_ir_value(0),get_illuminated_raw_ir_value(1),get_illuminated_raw_ir_value(2),get_illuminated_raw_ir_value(3),get_illuminated_raw_ir_value(4),get_illuminated_raw_ir_value(5),get_illuminated_raw_ir_value(6),get_illuminated_raw_ir_value(7));
jah128 0:d6269d17c8cf 862 send_message = 1;
jah128 0:d6269d17c8cf 863 break;
jah128 0:d6269d17c8cf 864 case 94:
jah128 0:d6269d17c8cf 865 sprintf(command,"%s %d","GET BG BASE IR VALUE",message[1]);
jah128 0:d6269d17c8cf 866 sprintf(ret_message,"%d",get_background_base_ir_value(message[1]));
jah128 0:d6269d17c8cf 867 send_message = 1;
jah128 0:d6269d17c8cf 868 break;
jah128 0:d6269d17c8cf 869 case 95:
jah128 0:d6269d17c8cf 870 sprintf(command,"%s %d","GET IL BASE IR VALUE",message[1]);
jah128 0:d6269d17c8cf 871 sprintf(ret_message,"%d",get_illuminated_base_ir_value(message[1]));
jah128 0:d6269d17c8cf 872 send_message = 1;
jah128 0:d6269d17c8cf 873 break;
jah128 0:d6269d17c8cf 874 case 96:
jah128 0:d6269d17c8cf 875 strcpy(command,"GET BG BASE IR VALUES");
jah128 0:d6269d17c8cf 876 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_background_base_ir_value(0),get_background_base_ir_value(1),get_background_base_ir_value(2),get_background_base_ir_value(3),get_background_base_ir_value(4));
jah128 0:d6269d17c8cf 877 send_message = 1;
jah128 0:d6269d17c8cf 878 break;
jah128 0:d6269d17c8cf 879 case 97:
jah128 0:d6269d17c8cf 880 strcpy(command,"GET IL BASE IR VALUES");
jah128 0:d6269d17c8cf 881 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_illuminated_base_ir_value(0),get_illuminated_base_ir_value(1),get_illuminated_base_ir_value(2),get_illuminated_base_ir_value(3),get_illuminated_base_ir_value(4));
jah128 0:d6269d17c8cf 882 send_message = 1;
jah128 0:d6269d17c8cf 883 break;
jah128 2:c6986ee3c7c5 884 case 98:
jah128 2:c6986ee3c7c5 885 strcpy(command,"CALCULATE BASE IR VALUES");
jah128 2:c6986ee3c7c5 886 sprintf(ret_message,"%03X%03X%03X%03X%03X",calculate_base_ir_value(0),calculate_base_ir_value(1),calculate_base_ir_value(2),calculate_base_ir_value(3),calculate_base_ir_value(4));
jah128 2:c6986ee3c7c5 887 send_message = 1;
jah128 2:c6986ee3c7c5 888 break;
jah128 2:c6986ee3c7c5 889 case 99:
jah128 2:c6986ee3c7c5 890 strcpy(command,"CALCULATE SIDE IR VALUES");
jah128 2:c6986ee3c7c5 891 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",calculate_side_ir_value(0),calculate_side_ir_value(1),calculate_side_ir_value(2),calculate_side_ir_value(3),calculate_side_ir_value(4),calculate_side_ir_value(5),calculate_side_ir_value(6),calculate_side_ir_value(7));
jah128 2:c6986ee3c7c5 892 send_message = 1;
jah128 2:c6986ee3c7c5 893 break;
jah128 0:d6269d17c8cf 894 case 100:
jah128 0:d6269d17c8cf 895 strcpy(command,"START FILE TRANSFER MODE");
jah128 0:d6269d17c8cf 896 if(allow_commands) {
jah128 0:d6269d17c8cf 897 command_status = 1;
jah128 1:060690a934a9 898 IF_start_file_transfer_mode();
jah128 0:d6269d17c8cf 899 sprintf(ret_message,"OK");
jah128 0:d6269d17c8cf 900 send_message = 1;
jah128 0:d6269d17c8cf 901 } else command_status = 2;
jah128 0:d6269d17c8cf 902 break;
jah128 3:7c0d1f581757 903 case 110:
jah128 3:7c0d1f581757 904 strcpy(command,"GET FIRMWARE VERSION");
jah128 3:7c0d1f581757 905 sprintf(ret_message,"%1.2f",firmware_version);
jah128 3:7c0d1f581757 906 send_message = 1;
jah128 3:7c0d1f581757 907 break;
jah128 3:7c0d1f581757 908 case 111:
jah128 3:7c0d1f581757 909 strcpy(command,"GET SERIAL NUMBER");
jah128 3:7c0d1f581757 910 sprintf(ret_message,"%2.3f",serial_number);
jah128 3:7c0d1f581757 911 send_message = 1;
jah128 3:7c0d1f581757 912 break;
jah128 3:7c0d1f581757 913 case 112:
jah128 3:7c0d1f581757 914 strcpy(command,"GET HAS SIDE IR");
jah128 3:7c0d1f581757 915 sprintf(ret_message,"%d",has_side_ir);
jah128 3:7c0d1f581757 916 send_message = 1;
jah128 3:7c0d1f581757 917 break;
jah128 3:7c0d1f581757 918 case 113:
jah128 3:7c0d1f581757 919 strcpy(command,"GET HAS BASE IR");
jah128 3:7c0d1f581757 920 sprintf(ret_message,"%d",has_base_ir);
jah128 3:7c0d1f581757 921 send_message = 1;
jah128 3:7c0d1f581757 922 break;
jah128 3:7c0d1f581757 923 case 114:
jah128 3:7c0d1f581757 924 strcpy(command,"GET HAS ENCODERS");
jah128 3:7c0d1f581757 925 sprintf(ret_message,"%d",has_wheel_encoders);
jah128 3:7c0d1f581757 926 send_message = 1;
jah128 3:7c0d1f581757 927 break;
jah128 3:7c0d1f581757 928 case 115:
jah128 3:7c0d1f581757 929 strcpy(command,"GET HAS AUDIO");
jah128 3:7c0d1f581757 930 sprintf(ret_message,"%d",has_audio_pic);
jah128 3:7c0d1f581757 931 send_message = 1;
jah128 3:7c0d1f581757 932 break;
jah128 3:7c0d1f581757 933 case 116:
jah128 3:7c0d1f581757 934 strcpy(command,"GET HAS RECHARGING");
jah128 3:7c0d1f581757 935 sprintf(ret_message,"%d",has_recharging_circuit);
jah128 3:7c0d1f581757 936 send_message = 1;
jah128 3:7c0d1f581757 937 break;
jah128 3:7c0d1f581757 938 case 117:
jah128 3:7c0d1f581757 939 strcpy(command,"GET HAS COMPASS");
jah128 3:7c0d1f581757 940 sprintf(ret_message,"%d",has_compass);
jah128 3:7c0d1f581757 941 send_message = 1;
jah128 3:7c0d1f581757 942 break;
jah128 3:7c0d1f581757 943 case 118:
jah128 3:7c0d1f581757 944 strcpy(command,"GET HAS ULTRASONIC");
jah128 3:7c0d1f581757 945 sprintf(ret_message,"%d",has_ultrasonic_sensor);
jah128 3:7c0d1f581757 946 send_message = 1;
jah128 3:7c0d1f581757 947 break;
jah128 3:7c0d1f581757 948 case 119:
jah128 3:7c0d1f581757 949 strcpy(command,"GET HAS TEMPERATURE");
jah128 3:7c0d1f581757 950 sprintf(ret_message,"%d",has_temperature_sensor);
jah128 3:7c0d1f581757 951 send_message = 1;
jah128 3:7c0d1f581757 952 break;
jah128 3:7c0d1f581757 953 case 120:
jah128 3:7c0d1f581757 954 strcpy(command,"GET HAS BASE COLOUR");
jah128 3:7c0d1f581757 955 sprintf(ret_message,"%d",has_base_colour_sensor);
jah128 3:7c0d1f581757 956 send_message = 1;
jah128 3:7c0d1f581757 957 break;
jah128 3:7c0d1f581757 958 case 121:
jah128 3:7c0d1f581757 959 strcpy(command,"GET HAS TOP COLOUR");
jah128 3:7c0d1f581757 960 sprintf(ret_message,"%d",has_top_colour_sensor);
jah128 3:7c0d1f581757 961 send_message = 1;
jah128 3:7c0d1f581757 962 break;
jah128 3:7c0d1f581757 963 case 122:
jah128 3:7c0d1f581757 964 strcpy(command,"GET HAS RADIO");
jah128 3:7c0d1f581757 965 sprintf(ret_message,"%d",has_433_radio);
jah128 3:7c0d1f581757 966 send_message = 1;
jah128 3:7c0d1f581757 967 break;
jah128 3:7c0d1f581757 968 case 123:
YRL50 5:f6be169e465b 969 {
jah128 3:7c0d1f581757 970 strcpy(command,"GET FIRMWARE H-DESC");
jah128 3:7c0d1f581757 971 char byte0 = 0;
jah128 3:7c0d1f581757 972 char byte1 = 1;
jah128 3:7c0d1f581757 973 if(has_side_ir)byte0+=128;
jah128 3:7c0d1f581757 974 if(has_base_ir)byte0+=64;
jah128 3:7c0d1f581757 975 if(has_wheel_encoders)byte0+=32;
jah128 3:7c0d1f581757 976 if(has_audio_pic)byte0+=16;
jah128 3:7c0d1f581757 977 if(has_recharging_circuit)byte0+=8;
jah128 3:7c0d1f581757 978 if(has_compass)byte0+=4;
jah128 3:7c0d1f581757 979 if(has_ultrasonic_sensor)byte0+=2;
jah128 3:7c0d1f581757 980 if(has_temperature_sensor)byte0+=1;
jah128 3:7c0d1f581757 981 if(has_base_colour_sensor)byte1+=128;
jah128 3:7c0d1f581757 982 if(has_top_colour_sensor)byte1+=64;
jah128 3:7c0d1f581757 983 if(has_433_radio)byte1+=32;
jah128 3:7c0d1f581757 984 sprintf(ret_message,"%c%c",byte0,byte1);
jah128 3:7c0d1f581757 985 send_message = 1;
jah128 3:7c0d1f581757 986 break;
YRL50 5:f6be169e465b 987 }
jah128 3:7c0d1f581757 988 case 124:
jah128 3:7c0d1f581757 989 strcpy(command,"GET PCB VERSION");
jah128 3:7c0d1f581757 990 sprintf(ret_message,"%1.2f",pcb_version);
jah128 3:7c0d1f581757 991 send_message = 1;
jah128 3:7c0d1f581757 992 break;
jah128 0:d6269d17c8cf 993 }
jah128 0:d6269d17c8cf 994
jah128 0:d6269d17c8cf 995
jah128 0:d6269d17c8cf 996 if(send_message) {
jah128 0:d6269d17c8cf 997 char message_length = strlen(ret_message);
jah128 0:d6269d17c8cf 998 switch(interface) {
jah128 0:d6269d17c8cf 999 case 0:
jah128 0:d6269d17c8cf 1000 pc.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:d6269d17c8cf 1001 break;
jah128 0:d6269d17c8cf 1002 case 1:
jah128 0:d6269d17c8cf 1003 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:d6269d17c8cf 1004 break;
jah128 0:d6269d17c8cf 1005 }
jah128 0:d6269d17c8cf 1006 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 1007 } else {
jah128 0:d6269d17c8cf 1008 switch(interface) {
jah128 0:d6269d17c8cf 1009 case 0:
jah128 0:d6269d17c8cf 1010 pc.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:d6269d17c8cf 1011 break;
jah128 0:d6269d17c8cf 1012 case 1:
jah128 0:d6269d17c8cf 1013 bt.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:d6269d17c8cf 1014 break;
jah128 0:d6269d17c8cf 1015 }
jah128 0:d6269d17c8cf 1016 switch(command_status) {
jah128 0:d6269d17c8cf 1017 case 0:
jah128 0:d6269d17c8cf 1018 debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1019 break;
jah128 0:d6269d17c8cf 1020 case 1:
jah128 0:d6269d17c8cf 1021 debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1022 break;
jah128 0:d6269d17c8cf 1023 case 2:
jah128 0:d6269d17c8cf 1024 debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1025 break;
jah128 0:d6269d17c8cf 1026 case 3:
jah128 0:d6269d17c8cf 1027 debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:d6269d17c8cf 1028 break;
jah128 0:d6269d17c8cf 1029 }
jah128 0:d6269d17c8cf 1030 }
jah128 0:d6269d17c8cf 1031 }
jah128 0:d6269d17c8cf 1032
jah128 0:d6269d17c8cf 1033 char * IF_nibble_to_binary_char(char in)
jah128 0:d6269d17c8cf 1034 {
jah128 0:d6269d17c8cf 1035 char * ret = (char*)malloc(sizeof(char)*5);
jah128 0:d6269d17c8cf 1036 for(int i=0; i<4; i++) {
jah128 0:d6269d17c8cf 1037 if(in & (128 >> i)) ret[i]='1';
jah128 0:d6269d17c8cf 1038 else ret[i]='0';
jah128 0:d6269d17c8cf 1039 }
jah128 0:d6269d17c8cf 1040 ret[4]=0;
jah128 0:d6269d17c8cf 1041 return ret;
jah128 0:d6269d17c8cf 1042 }
jah128 0:d6269d17c8cf 1043
jah128 0:d6269d17c8cf 1044 char * IF_char_to_binary_char(char in)
jah128 0:d6269d17c8cf 1045 {
jah128 0:d6269d17c8cf 1046 char * ret = (char*)malloc(sizeof(char)*9);
jah128 0:d6269d17c8cf 1047 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1048 if(in & (128 >> i)) ret[i]='1';
jah128 0:d6269d17c8cf 1049 else ret[i]='0';
jah128 0:d6269d17c8cf 1050 }
jah128 0:d6269d17c8cf 1051 ret[8]=0;
jah128 0:d6269d17c8cf 1052 return ret;
jah128 0:d6269d17c8cf 1053 }
jah128 0:d6269d17c8cf 1054
jah128 0:d6269d17c8cf 1055 float IF_decode_unsigned_float(char byte0, char byte1)
jah128 0:d6269d17c8cf 1056 {
jah128 0:d6269d17c8cf 1057 unsigned short sval = (byte0) << 8;
jah128 0:d6269d17c8cf 1058 sval += byte1;
jah128 0:d6269d17c8cf 1059 float scaled = sval / 65535.0f;
jah128 0:d6269d17c8cf 1060 return scaled;
jah128 0:d6269d17c8cf 1061 }
jah128 0:d6269d17c8cf 1062
jah128 0:d6269d17c8cf 1063 float IF_decode_float(char byte0, char byte1)
jah128 0:d6269d17c8cf 1064 {
jah128 0:d6269d17c8cf 1065 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:d6269d17c8cf 1066 char sign = byte0 / 128;
jah128 0:d6269d17c8cf 1067 short sval = (byte0 % 128) << 8;
jah128 0:d6269d17c8cf 1068 sval += byte1;
jah128 0:d6269d17c8cf 1069 float scaled = sval / 32767.0f;
jah128 0:d6269d17c8cf 1070 if(sign == 0) scaled = 0-scaled;
jah128 0:d6269d17c8cf 1071 return scaled;
jah128 0:d6269d17c8cf 1072 }
jah128 0:d6269d17c8cf 1073
jah128 0:d6269d17c8cf 1074 float IF_decode_unsigned_float(char byte0)
jah128 0:d6269d17c8cf 1075 {
jah128 0:d6269d17c8cf 1076 unsigned short sval = (byte0);
jah128 0:d6269d17c8cf 1077 float scaled = sval / 255.0f;
jah128 0:d6269d17c8cf 1078 return scaled;
jah128 0:d6269d17c8cf 1079 }
jah128 0:d6269d17c8cf 1080
jah128 0:d6269d17c8cf 1081 float IF_decode_float(char byte0)
jah128 0:d6269d17c8cf 1082 {
jah128 0:d6269d17c8cf 1083 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:d6269d17c8cf 1084 char sign = byte0 / 128;
jah128 0:d6269d17c8cf 1085 short sval = (byte0 % 128);
jah128 0:d6269d17c8cf 1086 float scaled = sval / 127.0f;
jah128 0:d6269d17c8cf 1087 if(sign == 0) scaled = 0-scaled;
jah128 0:d6269d17c8cf 1088 return scaled;
jah128 0:d6269d17c8cf 1089 }
jah128 0:d6269d17c8cf 1090
jah128 0:d6269d17c8cf 1091 void IF_setup_serial_interfaces()
jah128 0:d6269d17c8cf 1092 {
jah128 0:d6269d17c8cf 1093 if(ENABLE_PC_SERIAL) {
jah128 0:d6269d17c8cf 1094 pc.baud(PC_BAUD);
jah128 0:d6269d17c8cf 1095 pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
jah128 0:d6269d17c8cf 1096 }
jah128 0:d6269d17c8cf 1097 if(ENABLE_BLUETOOTH) {
jah128 0:d6269d17c8cf 1098 bt.baud(BLUETOOTH_BAUD);
jah128 0:d6269d17c8cf 1099 bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
jah128 0:d6269d17c8cf 1100 }
jah128 0:d6269d17c8cf 1101 }
jah128 0:d6269d17c8cf 1102
jah128 0:d6269d17c8cf 1103 void IF_pc_rx_command_timeout()
jah128 0:d6269d17c8cf 1104 {
jah128 0:d6269d17c8cf 1105 char message_array[6];
jah128 0:d6269d17c8cf 1106 char length = 1 + pc_command_message_byte;
jah128 0:d6269d17c8cf 1107 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1108 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1109 for(int k=0; k<pc_command_message_byte; k++) {
jah128 0:d6269d17c8cf 1110 message_array[k+1] = pc_command_message[k];
jah128 0:d6269d17c8cf 1111 }
jah128 0:d6269d17c8cf 1112 IF_handle_user_serial_message(message_array, length, 0);
jah128 0:d6269d17c8cf 1113 }
jah128 0:d6269d17c8cf 1114
jah128 0:d6269d17c8cf 1115 void IF_bt_rx_command_timeout()
jah128 0:d6269d17c8cf 1116 {
jah128 0:d6269d17c8cf 1117 char message_array[6];
jah128 0:d6269d17c8cf 1118 char length = 1 + bt_command_message_byte;
jah128 0:d6269d17c8cf 1119 bt_command_message_started = 0;
jah128 0:d6269d17c8cf 1120 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1121 for(int k=0; k<bt_command_message_byte; k++) {
jah128 0:d6269d17c8cf 1122 message_array[k+1] = bt_command_message[k];
jah128 0:d6269d17c8cf 1123 }
jah128 0:d6269d17c8cf 1124 IF_handle_user_serial_message(message_array, length, 1);
jah128 0:d6269d17c8cf 1125 }
jah128 0:d6269d17c8cf 1126
jah128 0:d6269d17c8cf 1127 void IF_pc_rx_callback()
jah128 0:d6269d17c8cf 1128 {
jah128 0:d6269d17c8cf 1129 int count = 0;
jah128 0:d6269d17c8cf 1130 char message_array[255];
jah128 0:d6269d17c8cf 1131
jah128 0:d6269d17c8cf 1132 while(pc.readable()) {
jah128 0:d6269d17c8cf 1133 char tc = pc.getc();
jah128 0:d6269d17c8cf 1134 message_array[count] = tc;
jah128 0:d6269d17c8cf 1135 count ++;
jah128 0:d6269d17c8cf 1136 if(pc_command_message_started == 1) {
jah128 0:d6269d17c8cf 1137 if(pc_command_message_byte == 3) {
jah128 0:d6269d17c8cf 1138 pc_command_timeout.detach();
jah128 0:d6269d17c8cf 1139 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1140 // A complete command message succesfully received, call handler
jah128 0:d6269d17c8cf 1141 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1142 count = 0;
jah128 0:d6269d17c8cf 1143 IF_handle_command_serial_message(pc_command_message , 0);
jah128 0:d6269d17c8cf 1144 } else {
jah128 0:d6269d17c8cf 1145 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 0:d6269d17c8cf 1146 pc_command_message_started = 0;
jah128 0:d6269d17c8cf 1147 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:d6269d17c8cf 1148 message_array[1] = pc_command_message[0];
jah128 0:d6269d17c8cf 1149 message_array[2] = pc_command_message[1];
jah128 0:d6269d17c8cf 1150 message_array[3] = pc_command_message[2];
jah128 0:d6269d17c8cf 1151 message_array[4] = tc;
jah128 0:d6269d17c8cf 1152 count = 5;
jah128 0:d6269d17c8cf 1153 }
jah128 0:d6269d17c8cf 1154 } else {
jah128 0:d6269d17c8cf 1155 pc_command_message[pc_command_message_byte] = tc;
jah128 0:d6269d17c8cf 1156 pc_command_message_byte ++;
jah128 0:d6269d17c8cf 1157 }
jah128 0:d6269d17c8cf 1158 } else {
jah128 0:d6269d17c8cf 1159 if(count == 1) {
jah128 0:d6269d17c8cf 1160 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1161 pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
jah128 0:d6269d17c8cf 1162 pc_command_message_started = 1;
jah128 0:d6269d17c8cf 1163 pc_command_message_byte = 0;
jah128 0:d6269d17c8cf 1164
jah128 0:d6269d17c8cf 1165 }
jah128 0:d6269d17c8cf 1166 }
jah128 0:d6269d17c8cf 1167 }
jah128 0:d6269d17c8cf 1168 }
jah128 0:d6269d17c8cf 1169 if(!pc_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 0);
jah128 0:d6269d17c8cf 1170 }
jah128 0:d6269d17c8cf 1171
jah128 0:d6269d17c8cf 1172 Timeout bt_message_timeout;
YRL50 5:f6be169e465b 1173 //static float bt_message_timeout_period = 0.001; // 1 millisecond
jah128 0:d6269d17c8cf 1174 char bt_buffer[255];
jah128 0:d6269d17c8cf 1175 int bt_buffer_index = 0;
jah128 0:d6269d17c8cf 1176
jah128 0:d6269d17c8cf 1177 void IF_bt_message_timeout()
jah128 0:d6269d17c8cf 1178 {
jah128 0:d6269d17c8cf 1179 char buffer[255];
jah128 0:d6269d17c8cf 1180
jah128 0:d6269d17c8cf 1181 sprintf(buffer, bt_buffer, bt_buffer_index);
jah128 0:d6269d17c8cf 1182 buffer[bt_buffer_index] = 0;
jah128 0:d6269d17c8cf 1183 if(file_transfer_mode == 1) {
jah128 0:d6269d17c8cf 1184 IF_handle_file_transfer_serial_message(bt_buffer, bt_buffer_index, 1);
jah128 0:d6269d17c8cf 1185 } else {
jah128 0:d6269d17c8cf 1186 // debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
jah128 0:d6269d17c8cf 1187 if(bt_buffer_index == 5 && buffer[0] == COMMAND_MESSAGE_BYTE && buffer[4] == COMMAND_MESSAGE_BYTE) {
jah128 0:d6269d17c8cf 1188 bt_command_message[0] = buffer[1];
jah128 0:d6269d17c8cf 1189 bt_command_message[1] = buffer[2];
jah128 0:d6269d17c8cf 1190 bt_command_message[2] = buffer[3];
jah128 0:d6269d17c8cf 1191 IF_handle_command_serial_message(bt_command_message , 1);
jah128 0:d6269d17c8cf 1192 } else IF_handle_user_serial_message(bt_buffer, bt_buffer_index, 1);
jah128 0:d6269d17c8cf 1193 }
jah128 0:d6269d17c8cf 1194 bt_buffer_index = 0;
jah128 0:d6269d17c8cf 1195 }
jah128 0:d6269d17c8cf 1196
jah128 0:d6269d17c8cf 1197
jah128 3:7c0d1f581757 1198 //void IF_bt_rx_callback()
jah128 3:7c0d1f581757 1199 //{
jah128 3:7c0d1f581757 1200 // while(bt.readable()) {
jah128 3:7c0d1f581757 1201 // char byte = bt.getc();
jah128 3:7c0d1f581757 1202 //
jah128 3:7c0d1f581757 1203 // bt_buffer[bt_buffer_index] = byte;
jah128 3:7c0d1f581757 1204 // bt_buffer_index++;
jah128 3:7c0d1f581757 1205 // }
jah128 3:7c0d1f581757 1206 //
jah128 3:7c0d1f581757 1207 // bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
jah128 3:7c0d1f581757 1208 //}
jah128 0:d6269d17c8cf 1209
jah128 0:d6269d17c8cf 1210
jah128 2:c6986ee3c7c5 1211 void IF_set_filename(char * filename_in){
jah128 2:c6986ee3c7c5 1212 strcpy(filename,filename_in);
jah128 2:c6986ee3c7c5 1213 }
jah128 2:c6986ee3c7c5 1214
jah128 2:c6986ee3c7c5 1215 unsigned short IF_calculateCRC16(int file_length){
jah128 2:c6986ee3c7c5 1216 unsigned short crc16table[256] = {
jah128 2:c6986ee3c7c5 1217 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
jah128 2:c6986ee3c7c5 1218 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
jah128 2:c6986ee3c7c5 1219 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
jah128 2:c6986ee3c7c5 1220 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
jah128 2:c6986ee3c7c5 1221 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
jah128 2:c6986ee3c7c5 1222 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
jah128 2:c6986ee3c7c5 1223 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
jah128 2:c6986ee3c7c5 1224 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
jah128 2:c6986ee3c7c5 1225 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
jah128 2:c6986ee3c7c5 1226 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
jah128 2:c6986ee3c7c5 1227 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
jah128 2:c6986ee3c7c5 1228 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
jah128 2:c6986ee3c7c5 1229 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
jah128 2:c6986ee3c7c5 1230 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
jah128 2:c6986ee3c7c5 1231 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
jah128 2:c6986ee3c7c5 1232 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
jah128 2:c6986ee3c7c5 1233 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
jah128 2:c6986ee3c7c5 1234 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
jah128 2:c6986ee3c7c5 1235 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
jah128 2:c6986ee3c7c5 1236 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
jah128 2:c6986ee3c7c5 1237 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
jah128 2:c6986ee3c7c5 1238 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
jah128 2:c6986ee3c7c5 1239 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
jah128 2:c6986ee3c7c5 1240 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
jah128 2:c6986ee3c7c5 1241 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
jah128 2:c6986ee3c7c5 1242 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
jah128 2:c6986ee3c7c5 1243 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
jah128 2:c6986ee3c7c5 1244 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
jah128 2:c6986ee3c7c5 1245 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
jah128 2:c6986ee3c7c5 1246 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
jah128 2:c6986ee3c7c5 1247 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
jah128 2:c6986ee3c7c5 1248 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202};
jah128 2:c6986ee3c7c5 1249
jah128 2:c6986ee3c7c5 1250 //Opens, reads and calculates the CRC16 value for file pointed to by filename
jah128 2:c6986ee3c7c5 1251 unsigned short crc_value = 0;
jah128 2:c6986ee3c7c5 1252 FILE *fp = fopen(filename,"r");
jah128 2:c6986ee3c7c5 1253 char * buffer;
jah128 2:c6986ee3c7c5 1254 int limit = 512;
jah128 2:c6986ee3c7c5 1255 if(file_length < 512) limit = file_length;
jah128 2:c6986ee3c7c5 1256 buffer = (char*) malloc (sizeof(char)*limit);
jah128 2:c6986ee3c7c5 1257 int blocks = 1;
jah128 2:c6986ee3c7c5 1258 if(file_length > limit) blocks += file_length / limit;
jah128 2:c6986ee3c7c5 1259 for(int i=0;i<blocks;i++){
jah128 2:c6986ee3c7c5 1260 //Determine size of this block
jah128 2:c6986ee3c7c5 1261 int blocksize = limit;
jah128 2:c6986ee3c7c5 1262 if(i == blocks-1){
jah128 2:c6986ee3c7c5 1263 if((file_length % limit) != 0) blocksize = file_length % limit;
jah128 2:c6986ee3c7c5 1264 }
jah128 2:c6986ee3c7c5 1265 debug("Calculating %d bytes of CRC data...\n",blocksize);
jah128 2:c6986ee3c7c5 1266 int result;
jah128 2:c6986ee3c7c5 1267 result = fread(buffer,1,blocksize,fp);
jah128 2:c6986ee3c7c5 1268 debug("Data read: %d\n",result);
jah128 2:c6986ee3c7c5 1269 for(int j=0;j<blocksize;j++){
jah128 2:c6986ee3c7c5 1270 int subindex = ((crc_value>>8)^*(char *)(buffer[j]))&0x00FF;
jah128 2:c6986ee3c7c5 1271 //debug("J:%d Subindex:%d\n",j,subindex);
jah128 2:c6986ee3c7c5 1272 unsigned short table_value = crc16table[subindex];
jah128 2:c6986ee3c7c5 1273 crc_value=(crc_value<<8)^table_value;
jah128 2:c6986ee3c7c5 1274 }
jah128 2:c6986ee3c7c5 1275 }
jah128 2:c6986ee3c7c5 1276 fclose(fp);
jah128 2:c6986ee3c7c5 1277 debug("CRC Calculated: %x\n",crc_value);
jah128 2:c6986ee3c7c5 1278 return crc_value;
jah128 2:c6986ee3c7c5 1279 }
jah128 2:c6986ee3c7c5 1280
jah128 3:7c0d1f581757 1281 void IF_bt_rx_callback()
jah128 3:7c0d1f581757 1282 {
jah128 3:7c0d1f581757 1283 int count = 0;
jah128 3:7c0d1f581757 1284 char message_array[255];
jah128 3:7c0d1f581757 1285
jah128 3:7c0d1f581757 1286 wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
jah128 3:7c0d1f581757 1287
jah128 3:7c0d1f581757 1288 while(bt.readable()) {
jah128 3:7c0d1f581757 1289 char tc = bt.getc();
jah128 3:7c0d1f581757 1290 message_array[count] = tc;
jah128 3:7c0d1f581757 1291 count ++;
jah128 3:7c0d1f581757 1292 if(bt_command_message_started == 1) {
jah128 3:7c0d1f581757 1293 if(bt_command_message_byte == 3) {
jah128 3:7c0d1f581757 1294 bt_command_timeout.detach();
jah128 3:7c0d1f581757 1295 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 3:7c0d1f581757 1296 // A complete command message succesfully received, call handler
jah128 3:7c0d1f581757 1297 bt_command_message_started = 0;
jah128 3:7c0d1f581757 1298 count = 0;
jah128 3:7c0d1f581757 1299 IF_handle_command_serial_message(bt_command_message , 1);
jah128 3:7c0d1f581757 1300 } else {
jah128 3:7c0d1f581757 1301 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 3:7c0d1f581757 1302 bt_command_message_started = 0;
jah128 3:7c0d1f581757 1303 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 3:7c0d1f581757 1304 message_array[1] = bt_command_message[0];
jah128 3:7c0d1f581757 1305 message_array[2] = bt_command_message[1];
jah128 3:7c0d1f581757 1306 message_array[3] = bt_command_message[2];
jah128 3:7c0d1f581757 1307 message_array[4] = tc;
jah128 3:7c0d1f581757 1308 count = 5;
jah128 3:7c0d1f581757 1309 }
jah128 3:7c0d1f581757 1310 } else {
jah128 3:7c0d1f581757 1311 bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
jah128 3:7c0d1f581757 1312 bt_command_message[bt_command_message_byte] = tc;
jah128 3:7c0d1f581757 1313 bt_command_message_byte ++;
jah128 3:7c0d1f581757 1314 }
jah128 3:7c0d1f581757 1315 } else {
jah128 3:7c0d1f581757 1316 if(count == 1) {
jah128 3:7c0d1f581757 1317 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 3:7c0d1f581757 1318 bt_command_message_started = 1;
jah128 3:7c0d1f581757 1319 bt_command_message_byte = 0;
jah128 3:7c0d1f581757 1320
jah128 3:7c0d1f581757 1321 }
jah128 3:7c0d1f581757 1322 }
jah128 3:7c0d1f581757 1323 }
jah128 3:7c0d1f581757 1324 }
jah128 3:7c0d1f581757 1325 if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
jah128 3:7c0d1f581757 1326 }