Satellite Observers Workbench. NOT yet complete, just published for forum posters to \"cherry pick\" pieces of code as requiered as an example.
nexstar/nexstar_old.c@0:0a841b89d614, 2010-10-11 (annotated)
- Committer:
- AjK
- Date:
- Mon Oct 11 10:34:55 2010 +0000
- Revision:
- 0:0a841b89d614
Totally Alpha quality as this project isn\t completed. Just publishing it as it answers many questions asked in the forums
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
AjK | 0:0a841b89d614 | 1 | /**************************************************************************** |
AjK | 0:0a841b89d614 | 2 | * Copyright 2010 Andy Kirkham, Stellar Technologies Ltd |
AjK | 0:0a841b89d614 | 3 | * |
AjK | 0:0a841b89d614 | 4 | * This file is part of the Satellite Observers Workbench (SOWB). |
AjK | 0:0a841b89d614 | 5 | * |
AjK | 0:0a841b89d614 | 6 | * SOWB is free software: you can redistribute it and/or modify |
AjK | 0:0a841b89d614 | 7 | * it under the terms of the GNU General Public License as published by |
AjK | 0:0a841b89d614 | 8 | * the Free Software Foundation, either version 3 of the License, or |
AjK | 0:0a841b89d614 | 9 | * (at your option) any later version. |
AjK | 0:0a841b89d614 | 10 | * |
AjK | 0:0a841b89d614 | 11 | * SOWB is distributed in the hope that it will be useful, |
AjK | 0:0a841b89d614 | 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
AjK | 0:0a841b89d614 | 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
AjK | 0:0a841b89d614 | 14 | * GNU General Public License for more details. |
AjK | 0:0a841b89d614 | 15 | * |
AjK | 0:0a841b89d614 | 16 | * You should have received a copy of the GNU General Public License |
AjK | 0:0a841b89d614 | 17 | * along with SOWB. If not, see <http://www.gnu.org/licenses/>. |
AjK | 0:0a841b89d614 | 18 | * |
AjK | 0:0a841b89d614 | 19 | * $Id: main.cpp 5 2010-07-12 20:51:11Z ajk $ |
AjK | 0:0a841b89d614 | 20 | * |
AjK | 0:0a841b89d614 | 21 | ***************************************************************************/ |
AjK | 0:0a841b89d614 | 22 | |
AjK | 0:0a841b89d614 | 23 | #ifdef NEVERCOMPILETHIS |
AjK | 0:0a841b89d614 | 24 | |
AjK | 0:0a841b89d614 | 25 | #include "mbed.h" |
AjK | 0:0a841b89d614 | 26 | #include "nexstar.h" |
AjK | 0:0a841b89d614 | 27 | #include "utils.h" |
AjK | 0:0a841b89d614 | 28 | #include "debug.h" |
AjK | 0:0a841b89d614 | 29 | #include "main.h" |
AjK | 0:0a841b89d614 | 30 | |
AjK | 0:0a841b89d614 | 31 | DigitalOut led1(LED1); |
AjK | 0:0a841b89d614 | 32 | DigitalOut led2(LED2); |
AjK | 0:0a841b89d614 | 33 | DigitalOut led3(LED3); |
AjK | 0:0a841b89d614 | 34 | DigitalOut led4(LED4); |
AjK | 0:0a841b89d614 | 35 | |
AjK | 0:0a841b89d614 | 36 | /* The main place holder data structure for the Nexstar. */ |
AjK | 0:0a841b89d614 | 37 | NEXSTAR_DATA nexstar; |
AjK | 0:0a841b89d614 | 38 | |
AjK | 0:0a841b89d614 | 39 | /* A timer to look for serial comms failure. */ |
AjK | 0:0a841b89d614 | 40 | OneMS timeout; |
AjK | 0:0a841b89d614 | 41 | |
AjK | 0:0a841b89d614 | 42 | /** nexstar_process(void) |
AjK | 0:0a841b89d614 | 43 | * |
AjK | 0:0a841b89d614 | 44 | * Standard module _process function. |
AjK | 0:0a841b89d614 | 45 | */ |
AjK | 0:0a841b89d614 | 46 | void nexstar_process(void) { |
AjK | 0:0a841b89d614 | 47 | int i, j, q; |
AjK | 0:0a841b89d614 | 48 | signed char status, type; |
AjK | 0:0a841b89d614 | 49 | |
AjK | 0:0a841b89d614 | 50 | BLAT4; |
AjK | 0:0a841b89d614 | 51 | |
AjK | 0:0a841b89d614 | 52 | /* Multiple queued requests will start automatically after the previous |
AjK | 0:0a841b89d614 | 53 | request (see the ISR for details). However, it is possible that when |
AjK | 0:0a841b89d614 | 54 | the ISR detects the completion of a request there are, at that time, |
AjK | 0:0a841b89d614 | 55 | no more pending requests in the queue. So loop over the request queue |
AjK | 0:0a841b89d614 | 56 | and if none are in progress, initiate a request transfer to the Nexstar. */ |
AjK | 0:0a841b89d614 | 57 | if (! nexstar_request_count_status(NEXSTAR_REQUEST_IN_PROGRESS)) { |
AjK | 0:0a841b89d614 | 58 | if (nexstar_request_count_status(NEXSTAR_REQUEST_PENDING)) { |
AjK | 0:0a841b89d614 | 59 | for (i = 0, q = nexstar.currentRequest; i < NEXSTAR_NUM_OF_PACKETS; i++) { |
AjK | 0:0a841b89d614 | 60 | if (nexstar.commsPackets[q].requestStatus == NEXSTAR_REQUEST_PENDING) { |
AjK | 0:0a841b89d614 | 61 | nexstar.currentRequest = q; |
AjK | 0:0a841b89d614 | 62 | nexstar_send_request(q); |
AjK | 0:0a841b89d614 | 63 | i = NEXSTAR_NUM_OF_PACKETS; |
AjK | 0:0a841b89d614 | 64 | } |
AjK | 0:0a841b89d614 | 65 | else { |
AjK | 0:0a841b89d614 | 66 | NEXSTAR_NEXT_REQUEST(q); |
AjK | 0:0a841b89d614 | 67 | } |
AjK | 0:0a841b89d614 | 68 | } |
AjK | 0:0a841b89d614 | 69 | } |
AjK | 0:0a841b89d614 | 70 | } |
AjK | 0:0a841b89d614 | 71 | |
AjK | 0:0a841b89d614 | 72 | /* look through all the comms request packets and see if any need processing. */ |
AjK | 0:0a841b89d614 | 73 | /* |
AjK | 0:0a841b89d614 | 74 | for (i = 0; i < NEXSTAR_NUM_OF_PACKETS; i++) { |
AjK | 0:0a841b89d614 | 75 | status = nexstar.commsPackets[i].requestStatus; |
AjK | 0:0a841b89d614 | 76 | type = nexstar.commsPackets[i].requestType; |
AjK | 0:0a841b89d614 | 77 | if (status == NEXSTAR_REQUEST_TIMEOUT) { |
AjK | 0:0a841b89d614 | 78 | for (j = 0; j < NEXSTAR_NUM_OF_PACKETS; j++) { |
AjK | 0:0a841b89d614 | 79 | REQUEST_SET_PACKET_STATUS(j, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 80 | nexstar_request_packet_reset(&nexstar.commsPackets[j]); |
AjK | 0:0a841b89d614 | 81 | } |
AjK | 0:0a841b89d614 | 82 | NEXSTAR_SET_STATUS(NEXSTAR_NOT_CONNECTED); |
AjK | 0:0a841b89d614 | 83 | } |
AjK | 0:0a841b89d614 | 84 | else if (status == NEXSTAR_REQUEST_COMPLETE) { |
AjK | 0:0a841b89d614 | 85 | switch (type) { |
AjK | 0:0a841b89d614 | 86 | case NEXSTAR_ECHO_COMMS: |
AjK | 0:0a841b89d614 | 87 | nexstar_request_echo(NEXSTAR_PROCESS_REQUEST, i); |
AjK | 0:0a841b89d614 | 88 | break; |
AjK | 0:0a841b89d614 | 89 | case NEXSTAR_ASK_IS_ALIGNED: |
AjK | 0:0a841b89d614 | 90 | nexstar_request_get_aligned(NEXSTAR_PROCESS_REQUEST, i); |
AjK | 0:0a841b89d614 | 91 | break; |
AjK | 0:0a841b89d614 | 92 | case NEXSTAR_ASK_ALTAZM_POSITION: |
AjK | 0:0a841b89d614 | 93 | nexstar_request_get_altazm(NEXSTAR_PROCESS_REQUEST, i); |
AjK | 0:0a841b89d614 | 94 | break; |
AjK | 0:0a841b89d614 | 95 | } |
AjK | 0:0a841b89d614 | 96 | } |
AjK | 0:0a841b89d614 | 97 | } |
AjK | 0:0a841b89d614 | 98 | */ |
AjK | 0:0a841b89d614 | 99 | |
AjK | 0:0a841b89d614 | 100 | if (nexstar.commsPackets[nexstar.currentRequest].requestStatus; == NEXSTAR_REQUEST_COMPLETE) { |
AjK | 0:0a841b89d614 | 101 | switch (type) { |
AjK | 0:0a841b89d614 | 102 | case NEXSTAR_ECHO_COMMS: |
AjK | 0:0a841b89d614 | 103 | nexstar_request_echo(NEXSTAR_PROCESS_REQUEST, nexstar.currentRequest); |
AjK | 0:0a841b89d614 | 104 | break; |
AjK | 0:0a841b89d614 | 105 | case NEXSTAR_ASK_IS_ALIGNED: |
AjK | 0:0a841b89d614 | 106 | nexstar_request_get_aligned(NEXSTAR_PROCESS_REQUEST, nexstar.currentRequest); |
AjK | 0:0a841b89d614 | 107 | break; |
AjK | 0:0a841b89d614 | 108 | case NEXSTAR_ASK_ALTAZM_POSITION: |
AjK | 0:0a841b89d614 | 109 | nexstar_request_get_altazm(NEXSTAR_PROCESS_REQUEST, nexstar.currentRequest); |
AjK | 0:0a841b89d614 | 110 | break; |
AjK | 0:0a841b89d614 | 111 | } |
AjK | 0:0a841b89d614 | 112 | } |
AjK | 0:0a841b89d614 | 113 | |
AjK | 0:0a841b89d614 | 114 | /* If the Nexstar is in an unknown state attempt to ask it for |
AjK | 0:0a841b89d614 | 115 | alignment. Once we get a positive response we at least know |
AjK | 0:0a841b89d614 | 116 | a Nexstar is connected and responding. Until we have that |
AjK | 0:0a841b89d614 | 117 | knowledge there is little else we can do. */ |
AjK | 0:0a841b89d614 | 118 | switch(nexstar.status) { |
AjK | 0:0a841b89d614 | 119 | case NEXSTAR_NOT_CONNECTED: |
AjK | 0:0a841b89d614 | 120 | if (! nexstar_request_count_request_type(NEXSTAR_ECHO_COMMS)) { |
AjK | 0:0a841b89d614 | 121 | Uart2_flush_rxfifo(); |
AjK | 0:0a841b89d614 | 122 | nexstar_request_echo(NEXSTAR_SEND_REQUEST, 0); |
AjK | 0:0a841b89d614 | 123 | } |
AjK | 0:0a841b89d614 | 124 | return; |
AjK | 0:0a841b89d614 | 125 | |
AjK | 0:0a841b89d614 | 126 | case NEXSTAR_CONNECTED: |
AjK | 0:0a841b89d614 | 127 | case NEXSTAR_NOT_ALIGNED: |
AjK | 0:0a841b89d614 | 128 | if (! nexstar_request_count_request_type(NEXSTAR_ASK_IS_ALIGNED)) { |
AjK | 0:0a841b89d614 | 129 | Uart2_flush_rxfifo(); |
AjK | 0:0a841b89d614 | 130 | nexstar_request_get_aligned(NEXSTAR_SEND_REQUEST, 0); |
AjK | 0:0a841b89d614 | 131 | } |
AjK | 0:0a841b89d614 | 132 | return; |
AjK | 0:0a841b89d614 | 133 | |
AjK | 0:0a841b89d614 | 134 | default: |
AjK | 0:0a841b89d614 | 135 | debug.printf("I don't know what to do! status is %d\r\n", nexstar.status); |
AjK | 0:0a841b89d614 | 136 | break; |
AjK | 0:0a841b89d614 | 137 | } |
AjK | 0:0a841b89d614 | 138 | |
AjK | 0:0a841b89d614 | 139 | /* As possible as often, request the Nexstar's pointing position. */ |
AjK | 0:0a841b89d614 | 140 | if (! nexstar_request_count_request_type(NEXSTAR_ASK_ALTAZM_POSITION)) { |
AjK | 0:0a841b89d614 | 141 | nexstar_request_get_altazm(NEXSTAR_SEND_REQUEST, 0); |
AjK | 0:0a841b89d614 | 142 | } |
AjK | 0:0a841b89d614 | 143 | |
AjK | 0:0a841b89d614 | 144 | |
AjK | 0:0a841b89d614 | 145 | } |
AjK | 0:0a841b89d614 | 146 | |
AjK | 0:0a841b89d614 | 147 | /** nexstar_init(void) |
AjK | 0:0a841b89d614 | 148 | * |
AjK | 0:0a841b89d614 | 149 | * Standard module _init function. |
AjK | 0:0a841b89d614 | 150 | */ |
AjK | 0:0a841b89d614 | 151 | void nexstar_init(void) { |
AjK | 0:0a841b89d614 | 152 | |
AjK | 0:0a841b89d614 | 153 | /* Setup the global mode of this Nexstar. */ |
AjK | 0:0a841b89d614 | 154 | NEXSTAR_SET_STATUS(NEXSTAR_NOT_CONNECTED); |
AjK | 0:0a841b89d614 | 155 | |
AjK | 0:0a841b89d614 | 156 | /* Initialise the comms packets and buffers. */ |
AjK | 0:0a841b89d614 | 157 | nexstar.currentRequest = 0; |
AjK | 0:0a841b89d614 | 158 | nexstar.availableRequest = 0; |
AjK | 0:0a841b89d614 | 159 | for (int i = 0; i < NEXSTAR_NUM_OF_PACKETS; i++) { |
AjK | 0:0a841b89d614 | 160 | nexstar_request_packet_reset(&nexstar.commsPackets[i]); |
AjK | 0:0a841b89d614 | 161 | //nexstar.commsPackets[i].requestType = 0; |
AjK | 0:0a841b89d614 | 162 | //nexstar.commsPackets[i].requestStatus = NEXSTAR_REQUEST_IDLE; |
AjK | 0:0a841b89d614 | 163 | //nexstar.commsPackets[i].bufferPointer = 0; |
AjK | 0:0a841b89d614 | 164 | //nexstar.commsPackets[i].callback = NULL; |
AjK | 0:0a841b89d614 | 165 | //memset(nexstar.commsPackets[i].buffer, 0, NEXSTAR_PACKET_BUFFER_SIZE); |
AjK | 0:0a841b89d614 | 166 | } |
AjK | 0:0a841b89d614 | 167 | |
AjK | 0:0a841b89d614 | 168 | /* Prepare the one-shot timeout timers. */ |
AjK | 0:0a841b89d614 | 169 | timeout.mode(ONEMS_MODE_TIMEOUT_CALLBACK); |
AjK | 0:0a841b89d614 | 170 | timeout.attach(nexstar_timeout); |
AjK | 0:0a841b89d614 | 171 | |
AjK | 0:0a841b89d614 | 172 | /* Initialise the UART we use. */ |
AjK | 0:0a841b89d614 | 173 | Uart2_init(); |
AjK | 0:0a841b89d614 | 174 | } |
AjK | 0:0a841b89d614 | 175 | |
AjK | 0:0a841b89d614 | 176 | /** nexstar_request_packet_reset |
AjK | 0:0a841b89d614 | 177 | * |
AjK | 0:0a841b89d614 | 178 | * Return a request packet back to default state. |
AjK | 0:0a841b89d614 | 179 | * |
AjK | 0:0a841b89d614 | 180 | * @param NEXSTAR_COMMS_PACKET *p A pointer to the packet to reset. |
AjK | 0:0a841b89d614 | 181 | */ |
AjK | 0:0a841b89d614 | 182 | void nexstar_request_packet_reset(NEXSTAR_COMMS_PACKET *p) { |
AjK | 0:0a841b89d614 | 183 | p->requestType = 0; |
AjK | 0:0a841b89d614 | 184 | p->bufferPointer = 0; |
AjK | 0:0a841b89d614 | 185 | p->callback = NULL; |
AjK | 0:0a841b89d614 | 186 | memset(p->buffer, 0, NEXSTAR_PACKET_BUFFER_SIZE); |
AjK | 0:0a841b89d614 | 187 | p->requestStatus = NEXSTAR_REQUEST_IDLE; |
AjK | 0:0a841b89d614 | 188 | } |
AjK | 0:0a841b89d614 | 189 | |
AjK | 0:0a841b89d614 | 190 | /** nexstar_p(void) |
AjK | 0:0a841b89d614 | 191 | * |
AjK | 0:0a841b89d614 | 192 | * Get a pointer to the data structure for the Nexstar. |
AjK | 0:0a841b89d614 | 193 | * Used by the API to get data. |
AjK | 0:0a841b89d614 | 194 | */ |
AjK | 0:0a841b89d614 | 195 | NEXSTAR_DATA * nexstar_p(void) { |
AjK | 0:0a841b89d614 | 196 | return &nexstar; |
AjK | 0:0a841b89d614 | 197 | } |
AjK | 0:0a841b89d614 | 198 | |
AjK | 0:0a841b89d614 | 199 | /** nexstar_request_count_request_type(char requestType) |
AjK | 0:0a841b89d614 | 200 | * |
AjK | 0:0a841b89d614 | 201 | * Used to find out if any of the packets are currently marked as the supplied request type. |
AjK | 0:0a841b89d614 | 202 | * |
AjK | 0:0a841b89d614 | 203 | * @param char The status to test. |
AjK | 0:0a841b89d614 | 204 | * @return bool True otherwise false |
AjK | 0:0a841b89d614 | 205 | */ |
AjK | 0:0a841b89d614 | 206 | int nexstar_request_count_request_type(char requestType) { |
AjK | 0:0a841b89d614 | 207 | int count, i; |
AjK | 0:0a841b89d614 | 208 | |
AjK | 0:0a841b89d614 | 209 | for (count = 0, i = 0; i < NEXSTAR_NUM_OF_PACKETS; i++) { |
AjK | 0:0a841b89d614 | 210 | if (nexstar.commsPackets[i].requestType == requestType) { |
AjK | 0:0a841b89d614 | 211 | count++;; |
AjK | 0:0a841b89d614 | 212 | } |
AjK | 0:0a841b89d614 | 213 | } |
AjK | 0:0a841b89d614 | 214 | return count; |
AjK | 0:0a841b89d614 | 215 | } |
AjK | 0:0a841b89d614 | 216 | |
AjK | 0:0a841b89d614 | 217 | /** nexstar_request_count_status (char status) |
AjK | 0:0a841b89d614 | 218 | * |
AjK | 0:0a841b89d614 | 219 | * Used to find out if any of the packets are currently marked as the supplied status. |
AjK | 0:0a841b89d614 | 220 | * |
AjK | 0:0a841b89d614 | 221 | * @param char The status to test. |
AjK | 0:0a841b89d614 | 222 | * @return bool True otherwise false |
AjK | 0:0a841b89d614 | 223 | */ |
AjK | 0:0a841b89d614 | 224 | int nexstar_request_count_status(char status) { |
AjK | 0:0a841b89d614 | 225 | int count, i; |
AjK | 0:0a841b89d614 | 226 | |
AjK | 0:0a841b89d614 | 227 | for (count = 0, i = 0; i < NEXSTAR_NUM_OF_PACKETS; i++) { |
AjK | 0:0a841b89d614 | 228 | if (nexstar.commsPackets[i].requestStatus == status) { |
AjK | 0:0a841b89d614 | 229 | count++;; |
AjK | 0:0a841b89d614 | 230 | } |
AjK | 0:0a841b89d614 | 231 | } |
AjK | 0:0a841b89d614 | 232 | return count; |
AjK | 0:0a841b89d614 | 233 | } |
AjK | 0:0a841b89d614 | 234 | |
AjK | 0:0a841b89d614 | 235 | /** nexstar_timeout(class OneMS *q) |
AjK | 0:0a841b89d614 | 236 | * |
AjK | 0:0a841b89d614 | 237 | * A callback for the timeout timer. |
AjK | 0:0a841b89d614 | 238 | * |
AjK | 0:0a841b89d614 | 239 | * @param pointer class OneMS that invoked the callback. |
AjK | 0:0a841b89d614 | 240 | */ |
AjK | 0:0a841b89d614 | 241 | void nexstar_timeout(class OneMS *q) { |
AjK | 0:0a841b89d614 | 242 | q->stop(); /* Ensure we stop this timer. */ |
AjK | 0:0a841b89d614 | 243 | |
AjK | 0:0a841b89d614 | 244 | /* Mark this request timed out. */ |
AjK | 0:0a841b89d614 | 245 | REQUEST_SET_PACKET_STATUS(nexstar.currentRequest, NEXSTAR_REQUEST_TIMEOUT); |
AjK | 0:0a841b89d614 | 246 | } |
AjK | 0:0a841b89d614 | 247 | |
AjK | 0:0a841b89d614 | 248 | /** nexstar_request_get_altazm(int mode, unsigned char handle) |
AjK | 0:0a841b89d614 | 249 | * |
AjK | 0:0a841b89d614 | 250 | * Used to either create a request to get the current AltAzm position of the Nextsra |
AjK | 0:0a841b89d614 | 251 | * or to process a previously completed request. |
AjK | 0:0a841b89d614 | 252 | * |
AjK | 0:0a841b89d614 | 253 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 254 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 255 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 256 | */ |
AjK | 0:0a841b89d614 | 257 | int nexstar_request_get_altazm(int mode, unsigned char handle) { |
AjK | 0:0a841b89d614 | 258 | |
AjK | 0:0a841b89d614 | 259 | /* Create a request to get the ALT/AZM and queue it. */ |
AjK | 0:0a841b89d614 | 260 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 261 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 262 | nexstar.commsPackets[handle].buffer[0] = 'Z'; |
AjK | 0:0a841b89d614 | 263 | REQUEST_SET(NEXSTAR_ASK_ALTAZM_POSITION, 1); |
AjK | 0:0a841b89d614 | 264 | led3 = 1; |
AjK | 0:0a841b89d614 | 265 | return 1; |
AjK | 0:0a841b89d614 | 266 | } |
AjK | 0:0a841b89d614 | 267 | |
AjK | 0:0a841b89d614 | 268 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 269 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 270 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 271 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 272 | REQUEST_BUFFER_CHECK(9, 0); |
AjK | 0:0a841b89d614 | 273 | nexstar.currentAltRaw = hex2bin(buffer + 5, 4); |
AjK | 0:0a841b89d614 | 274 | nexstar.currentAlt = (double)(((double)nexstar.currentAltRaw / 65536.) * 360.); |
AjK | 0:0a841b89d614 | 275 | nexstar.currentAzmRaw = hex2bin(buffer + 0, 4); |
AjK | 0:0a841b89d614 | 276 | nexstar.currentAzm = (double)(((double)nexstar.currentAzmRaw / 65536.) * 360.); |
AjK | 0:0a841b89d614 | 277 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 278 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 279 | led3 = 0; |
AjK | 0:0a841b89d614 | 280 | return 1; |
AjK | 0:0a841b89d614 | 281 | } |
AjK | 0:0a841b89d614 | 282 | |
AjK | 0:0a841b89d614 | 283 | return 0; |
AjK | 0:0a841b89d614 | 284 | } |
AjK | 0:0a841b89d614 | 285 | |
AjK | 0:0a841b89d614 | 286 | /** nexstar_request_get_aligned(int mode, unsigned char handle) |
AjK | 0:0a841b89d614 | 287 | * |
AjK | 0:0a841b89d614 | 288 | * Used to either create a request to check teh Nexstar is aligned |
AjK | 0:0a841b89d614 | 289 | * or to process a previously completed request. |
AjK | 0:0a841b89d614 | 290 | * |
AjK | 0:0a841b89d614 | 291 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 292 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 293 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 294 | */ |
AjK | 0:0a841b89d614 | 295 | int nexstar_request_get_aligned(int mode, unsigned char handle) { |
AjK | 0:0a841b89d614 | 296 | |
AjK | 0:0a841b89d614 | 297 | /* Create a request to get the ALT/AZM and queue it. */ |
AjK | 0:0a841b89d614 | 298 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 299 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 300 | nexstar.commsPackets[handle].buffer[0] = 'J'; |
AjK | 0:0a841b89d614 | 301 | nexstar.commsPackets[handle].timeout = 2000; |
AjK | 0:0a841b89d614 | 302 | REQUEST_SET(NEXSTAR_ASK_IS_ALIGNED, 1); |
AjK | 0:0a841b89d614 | 303 | led2 = 1; |
AjK | 0:0a841b89d614 | 304 | return 1; |
AjK | 0:0a841b89d614 | 305 | } |
AjK | 0:0a841b89d614 | 306 | |
AjK | 0:0a841b89d614 | 307 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 308 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 309 | if (nexstar.commsPackets[handle].requestStatus == NEXSTAR_REQUEST_TIMEOUT) { |
AjK | 0:0a841b89d614 | 310 | NEXSTAR_SET_STATUS(NEXSTAR_NOT_CONNECTED); |
AjK | 0:0a841b89d614 | 311 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 312 | led2 = 0; |
AjK | 0:0a841b89d614 | 313 | return 0; |
AjK | 0:0a841b89d614 | 314 | } |
AjK | 0:0a841b89d614 | 315 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 316 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 317 | REQUEST_BUFFER_CHECK(1, 0); |
AjK | 0:0a841b89d614 | 318 | NEXSTAR_SET_STATUS((buffer[0] == 1) ? NEXSTAR_ALIGNED : NEXSTAR_NOT_ALIGNED); |
AjK | 0:0a841b89d614 | 319 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 320 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 321 | led2 = 0; |
AjK | 0:0a841b89d614 | 322 | return 1; |
AjK | 0:0a841b89d614 | 323 | } |
AjK | 0:0a841b89d614 | 324 | |
AjK | 0:0a841b89d614 | 325 | return 0; |
AjK | 0:0a841b89d614 | 326 | } |
AjK | 0:0a841b89d614 | 327 | |
AjK | 0:0a841b89d614 | 328 | /** nexstar_request_echo(int mode, unsigned char handle) |
AjK | 0:0a841b89d614 | 329 | * |
AjK | 0:0a841b89d614 | 330 | * Used to either echo a data byte off the Nexstar. |
AjK | 0:0a841b89d614 | 331 | * |
AjK | 0:0a841b89d614 | 332 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 333 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 334 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 335 | */ |
AjK | 0:0a841b89d614 | 336 | int nexstar_request_echo(int mode, unsigned char handle) { |
AjK | 0:0a841b89d614 | 337 | |
AjK | 0:0a841b89d614 | 338 | /* Create a request to get the ALT/AZM and queue it. */ |
AjK | 0:0a841b89d614 | 339 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 340 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 341 | nexstar.commsPackets[handle].buffer[0] = 'K'; |
AjK | 0:0a841b89d614 | 342 | nexstar.commsPackets[handle].buffer[1] = 'k'; |
AjK | 0:0a841b89d614 | 343 | nexstar.commsPackets[handle].timeout = 2000; |
AjK | 0:0a841b89d614 | 344 | REQUEST_SET(NEXSTAR_ECHO_COMMS, 2); |
AjK | 0:0a841b89d614 | 345 | led1 = 1; |
AjK | 0:0a841b89d614 | 346 | return 1; |
AjK | 0:0a841b89d614 | 347 | } |
AjK | 0:0a841b89d614 | 348 | |
AjK | 0:0a841b89d614 | 349 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 350 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 351 | led3 = 1; |
AjK | 0:0a841b89d614 | 352 | if (nexstar.commsPackets[handle].requestStatus == NEXSTAR_REQUEST_TIMEOUT) { |
AjK | 0:0a841b89d614 | 353 | NEXSTAR_SET_STATUS(NEXSTAR_NOT_CONNECTED); |
AjK | 0:0a841b89d614 | 354 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 355 | led1 = 0; |
AjK | 0:0a841b89d614 | 356 | return 0; |
AjK | 0:0a841b89d614 | 357 | } |
AjK | 0:0a841b89d614 | 358 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 359 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 360 | REQUEST_BUFFER_CHECK(1, 0); |
AjK | 0:0a841b89d614 | 361 | if (buffer[0] == 'k') debug.printf("YES! "); |
AjK | 0:0a841b89d614 | 362 | else debug.printf("NO! "); |
AjK | 0:0a841b89d614 | 363 | |
AjK | 0:0a841b89d614 | 364 | NEXSTAR_SET_STATUS((buffer[0] == 'k') ? NEXSTAR_CONNECTED : NEXSTAR_NOT_CONNECTED); |
AjK | 0:0a841b89d614 | 365 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 366 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 367 | led1 = 0; |
AjK | 0:0a841b89d614 | 368 | return 1; |
AjK | 0:0a841b89d614 | 369 | } |
AjK | 0:0a841b89d614 | 370 | |
AjK | 0:0a841b89d614 | 371 | return 0; |
AjK | 0:0a841b89d614 | 372 | } |
AjK | 0:0a841b89d614 | 373 | |
AjK | 0:0a841b89d614 | 374 | /** nexstar_request_set_tracking_mode(int mode, unsigned char handle, char tracking) |
AjK | 0:0a841b89d614 | 375 | * |
AjK | 0:0a841b89d614 | 376 | * Used to set the tracking mode of the Nexstar |
AjK | 0:0a841b89d614 | 377 | * |
AjK | 0:0a841b89d614 | 378 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 379 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 380 | * @param char tracking The mode to send. |
AjK | 0:0a841b89d614 | 381 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 382 | */ |
AjK | 0:0a841b89d614 | 383 | int nexstar_request_set_tracking_mode(int mode, unsigned char handle, char tracking) { |
AjK | 0:0a841b89d614 | 384 | |
AjK | 0:0a841b89d614 | 385 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 386 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 387 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 388 | nexstar.commsPackets[handle].buffer[0] = 'T'; |
AjK | 0:0a841b89d614 | 389 | nexstar.commsPackets[handle].buffer[1] = tracking; |
AjK | 0:0a841b89d614 | 390 | REQUEST_SET(NEXSTAR_SET_TRACKING, 2); |
AjK | 0:0a841b89d614 | 391 | return 1; |
AjK | 0:0a841b89d614 | 392 | } |
AjK | 0:0a841b89d614 | 393 | |
AjK | 0:0a841b89d614 | 394 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 395 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 396 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 397 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 398 | REQUEST_BUFFER_CHECK(0, 0); |
AjK | 0:0a841b89d614 | 399 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 400 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 401 | return 1; |
AjK | 0:0a841b89d614 | 402 | } |
AjK | 0:0a841b89d614 | 403 | |
AjK | 0:0a841b89d614 | 404 | return 0; |
AjK | 0:0a841b89d614 | 405 | } |
AjK | 0:0a841b89d614 | 406 | |
AjK | 0:0a841b89d614 | 407 | /** nexstar_request_get_tracking_mode(int mode, unsigned char handle) |
AjK | 0:0a841b89d614 | 408 | * |
AjK | 0:0a841b89d614 | 409 | * Used to find out what tracking mode Nexstar is in. |
AjK | 0:0a841b89d614 | 410 | * |
AjK | 0:0a841b89d614 | 411 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 412 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 413 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 414 | */ |
AjK | 0:0a841b89d614 | 415 | int nexstar_request_get_tracking_mode(int mode, unsigned char handle) { |
AjK | 0:0a841b89d614 | 416 | |
AjK | 0:0a841b89d614 | 417 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 418 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 419 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 420 | nexstar.commsPackets[handle].buffer[0] = 't'; |
AjK | 0:0a841b89d614 | 421 | REQUEST_SET(NEXSTAR_ASK_TRACKING, 1); |
AjK | 0:0a841b89d614 | 422 | return 1; |
AjK | 0:0a841b89d614 | 423 | } |
AjK | 0:0a841b89d614 | 424 | |
AjK | 0:0a841b89d614 | 425 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 426 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 427 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 428 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 429 | REQUEST_BUFFER_CHECK(1, 0); |
AjK | 0:0a841b89d614 | 430 | nexstar.trackingMode = buffer[0]; |
AjK | 0:0a841b89d614 | 431 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 432 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 433 | return 1; |
AjK | 0:0a841b89d614 | 434 | } |
AjK | 0:0a841b89d614 | 435 | |
AjK | 0:0a841b89d614 | 436 | return 0; |
AjK | 0:0a841b89d614 | 437 | } |
AjK | 0:0a841b89d614 | 438 | |
AjK | 0:0a841b89d614 | 439 | /** nexstar_request_set_slew(int mode, unsigned char handle, double alt, double azm) |
AjK | 0:0a841b89d614 | 440 | * |
AjK | 0:0a841b89d614 | 441 | * Used to set a variable slew rate. |
AjK | 0:0a841b89d614 | 442 | * |
AjK | 0:0a841b89d614 | 443 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 444 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 445 | * @param double alt The alt slew rate in degrees per second. |
AjK | 0:0a841b89d614 | 446 | * @param double azm The azm slew rate in degrees per second. |
AjK | 0:0a841b89d614 | 447 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 448 | */ |
AjK | 0:0a841b89d614 | 449 | int nexstar_request_set_slew(int mode, unsigned char handle, double alt, double azm) { |
AjK | 0:0a841b89d614 | 450 | int i; |
AjK | 0:0a841b89d614 | 451 | |
AjK | 0:0a841b89d614 | 452 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 453 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 454 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 455 | nexstar.commsPackets[handle].buffer[0] = 'P'; |
AjK | 0:0a841b89d614 | 456 | nexstar.commsPackets[handle].buffer[1] = '\x3'; |
AjK | 0:0a841b89d614 | 457 | nexstar.commsPackets[handle].buffer[2] = '\x11'; |
AjK | 0:0a841b89d614 | 458 | nexstar.commsPackets[handle].buffer[3] = alt > 0 ? '\x6' : '\x7'; |
AjK | 0:0a841b89d614 | 459 | i = ((int)(alt * 3600.)) * 4; |
AjK | 0:0a841b89d614 | 460 | nexstar.commsPackets[handle].buffer[4] = (char)((i & 0xFF00) >> 8); |
AjK | 0:0a841b89d614 | 461 | nexstar.commsPackets[handle].buffer[5] = (char)(i & 0xFF); |
AjK | 0:0a841b89d614 | 462 | nexstar.commsPackets[handle].buffer[6] = '\0'; |
AjK | 0:0a841b89d614 | 463 | nexstar.commsPackets[handle].buffer[7] = '\0'; |
AjK | 0:0a841b89d614 | 464 | REQUEST_SET(NEXSTAR_SET_ALT_RATE, 8); |
AjK | 0:0a841b89d614 | 465 | |
AjK | 0:0a841b89d614 | 466 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 467 | nexstar.commsPackets[handle].buffer[0] = 'P'; |
AjK | 0:0a841b89d614 | 468 | nexstar.commsPackets[handle].buffer[1] = '\x3'; |
AjK | 0:0a841b89d614 | 469 | nexstar.commsPackets[handle].buffer[2] = '\x10'; |
AjK | 0:0a841b89d614 | 470 | nexstar.commsPackets[handle].buffer[3] = azm > 0 ? '\x6' : '\x7'; |
AjK | 0:0a841b89d614 | 471 | i = ((int)(azm * 3600.)) * 4; |
AjK | 0:0a841b89d614 | 472 | nexstar.commsPackets[handle].buffer[4] = (char)((i & 0xFF00) >> 8); |
AjK | 0:0a841b89d614 | 473 | nexstar.commsPackets[handle].buffer[5] = (char)(i & 0xFF); |
AjK | 0:0a841b89d614 | 474 | nexstar.commsPackets[handle].buffer[6] = '\0'; |
AjK | 0:0a841b89d614 | 475 | nexstar.commsPackets[handle].buffer[7] = '\0'; |
AjK | 0:0a841b89d614 | 476 | REQUEST_SET(NEXSTAR_SET_AZM_RATE, 8); |
AjK | 0:0a841b89d614 | 477 | return 1; |
AjK | 0:0a841b89d614 | 478 | } |
AjK | 0:0a841b89d614 | 479 | |
AjK | 0:0a841b89d614 | 480 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 481 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 482 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 483 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 484 | REQUEST_BUFFER_CHECK(0, 0); |
AjK | 0:0a841b89d614 | 485 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 486 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 487 | return 1; |
AjK | 0:0a841b89d614 | 488 | } |
AjK | 0:0a841b89d614 | 489 | |
AjK | 0:0a841b89d614 | 490 | return 0; |
AjK | 0:0a841b89d614 | 491 | } |
AjK | 0:0a841b89d614 | 492 | |
AjK | 0:0a841b89d614 | 493 | /** nexstar_request_set_location(int mode, unsigned char handle, NEXSTAR_LOCATION *location) |
AjK | 0:0a841b89d614 | 494 | * |
AjK | 0:0a841b89d614 | 495 | * Used to set the Nexstar's location. |
AjK | 0:0a841b89d614 | 496 | * |
AjK | 0:0a841b89d614 | 497 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 498 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 499 | * @param NEXSTAR_LOCATION *location A pointer to a data struct holding the data. |
AjK | 0:0a841b89d614 | 500 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 501 | */ |
AjK | 0:0a841b89d614 | 502 | int nexstar_request_set_location(int mode, unsigned char handle, NEXSTAR_LOCATION *location) { |
AjK | 0:0a841b89d614 | 503 | |
AjK | 0:0a841b89d614 | 504 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 505 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 506 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 507 | nexstar.commsPackets[handle].buffer[0] = 'W'; |
AjK | 0:0a841b89d614 | 508 | memcpy((char *)nexstar.commsPackets[handle].buffer + 1, (char *)location, 8); |
AjK | 0:0a841b89d614 | 509 | REQUEST_SET(NEXSTAR_SET_LOCATION, 9); |
AjK | 0:0a841b89d614 | 510 | return 1; |
AjK | 0:0a841b89d614 | 511 | } |
AjK | 0:0a841b89d614 | 512 | |
AjK | 0:0a841b89d614 | 513 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 514 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 515 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 516 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 517 | REQUEST_BUFFER_CHECK(1, 0); |
AjK | 0:0a841b89d614 | 518 | nexstar.trackingMode = buffer[0]; |
AjK | 0:0a841b89d614 | 519 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 520 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 521 | return 1; |
AjK | 0:0a841b89d614 | 522 | } |
AjK | 0:0a841b89d614 | 523 | |
AjK | 0:0a841b89d614 | 524 | return 0; |
AjK | 0:0a841b89d614 | 525 | } |
AjK | 0:0a841b89d614 | 526 | |
AjK | 0:0a841b89d614 | 527 | /** nexstar_request_set_time(int mode, unsigned char handle, NEXSTAR_TIME *time) |
AjK | 0:0a841b89d614 | 528 | * |
AjK | 0:0a841b89d614 | 529 | * Used to set the Nexstar time. |
AjK | 0:0a841b89d614 | 530 | * |
AjK | 0:0a841b89d614 | 531 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 532 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 533 | * @param NEXSTAR_TIME *time A pointer to a data struct holding the data. |
AjK | 0:0a841b89d614 | 534 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 535 | */ |
AjK | 0:0a841b89d614 | 536 | int nexstar_request_set_time(int mode, unsigned char handle, NEXSTAR_TIME *time) { |
AjK | 0:0a841b89d614 | 537 | |
AjK | 0:0a841b89d614 | 538 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 539 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 540 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 541 | nexstar.commsPackets[handle].buffer[0] = 'H'; |
AjK | 0:0a841b89d614 | 542 | memcpy((char *)nexstar.commsPackets[handle].buffer + 1, (char *)time, 8); |
AjK | 0:0a841b89d614 | 543 | REQUEST_SET(NEXSTAR_SET_TIME, 9); |
AjK | 0:0a841b89d614 | 544 | return 1; |
AjK | 0:0a841b89d614 | 545 | } |
AjK | 0:0a841b89d614 | 546 | |
AjK | 0:0a841b89d614 | 547 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 548 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 549 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 550 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 551 | REQUEST_BUFFER_CHECK(0, 0); |
AjK | 0:0a841b89d614 | 552 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 553 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 554 | return 1; |
AjK | 0:0a841b89d614 | 555 | } |
AjK | 0:0a841b89d614 | 556 | |
AjK | 0:0a841b89d614 | 557 | return 0; |
AjK | 0:0a841b89d614 | 558 | } |
AjK | 0:0a841b89d614 | 559 | |
AjK | 0:0a841b89d614 | 560 | /** nexstar_request_get_version(int mode, unsigned char handle) |
AjK | 0:0a841b89d614 | 561 | * |
AjK | 0:0a841b89d614 | 562 | * Used to set the Nexstar software version. |
AjK | 0:0a841b89d614 | 563 | * |
AjK | 0:0a841b89d614 | 564 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 565 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 566 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 567 | */ |
AjK | 0:0a841b89d614 | 568 | int nexstar_request_get_version(int mode, unsigned char handle) { |
AjK | 0:0a841b89d614 | 569 | |
AjK | 0:0a841b89d614 | 570 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 571 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 572 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 573 | nexstar.commsPackets[handle].buffer[0] = 'V'; |
AjK | 0:0a841b89d614 | 574 | REQUEST_SET(NEXSTAR_ASK_VERSION, 1); |
AjK | 0:0a841b89d614 | 575 | return 1; |
AjK | 0:0a841b89d614 | 576 | } |
AjK | 0:0a841b89d614 | 577 | |
AjK | 0:0a841b89d614 | 578 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 579 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 580 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 581 | char *buffer = nexstar.commsPackets[handle].buffer; |
AjK | 0:0a841b89d614 | 582 | REQUEST_BUFFER_CHECK(2, 0); |
AjK | 0:0a841b89d614 | 583 | nexstar.version = (buffer[0] << 8) | buffer[1]; |
AjK | 0:0a841b89d614 | 584 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 585 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 586 | return 1; |
AjK | 0:0a841b89d614 | 587 | } |
AjK | 0:0a841b89d614 | 588 | |
AjK | 0:0a841b89d614 | 589 | return 0; |
AjK | 0:0a841b89d614 | 590 | } |
AjK | 0:0a841b89d614 | 591 | |
AjK | 0:0a841b89d614 | 592 | /** nexstar_request_raw(int mode, unsigned char handle, NEXSTAR_COMMS_PACKET *q) |
AjK | 0:0a841b89d614 | 593 | * |
AjK | 0:0a841b89d614 | 594 | * Used for external callers to setup a REQUEST based on an externally defined packet structure. |
AjK | 0:0a841b89d614 | 595 | * |
AjK | 0:0a841b89d614 | 596 | * This function allows other parts of the system to make Nextstar requests that are not covered |
AjK | 0:0a841b89d614 | 597 | * by the API or just want to handle a request via a callback. |
AjK | 0:0a841b89d614 | 598 | * |
AjK | 0:0a841b89d614 | 599 | * @param int mode Determine what action to create, queue request or process packet. |
AjK | 0:0a841b89d614 | 600 | * @param unsigned char handle If processing a request this is the index of the packet to be processed. |
AjK | 0:0a841b89d614 | 601 | * @param pointer A pointer to a predefined comms request packet to copy into our queue. |
AjK | 0:0a841b89d614 | 602 | * @return zero on failure or error, non-zero otherwise. |
AjK | 0:0a841b89d614 | 603 | */ |
AjK | 0:0a841b89d614 | 604 | int nexstar_request_raw(int mode, unsigned char handle, NEXSTAR_COMMS_PACKET *q) { |
AjK | 0:0a841b89d614 | 605 | |
AjK | 0:0a841b89d614 | 606 | /* Create request and queue. */ |
AjK | 0:0a841b89d614 | 607 | if (mode == NEXSTAR_SEND_REQUEST) { |
AjK | 0:0a841b89d614 | 608 | /* Externally handled requests must have a callback defined as a completion handler. */ |
AjK | 0:0a841b89d614 | 609 | if (q->callback == NULL) { |
AjK | 0:0a841b89d614 | 610 | return 0; |
AjK | 0:0a841b89d614 | 611 | } |
AjK | 0:0a841b89d614 | 612 | REQUEST_HANDLE; |
AjK | 0:0a841b89d614 | 613 | memcpy(&nexstar.commsPackets[handle], q, sizeof(NEXSTAR_COMMS_PACKET)); |
AjK | 0:0a841b89d614 | 614 | REQUEST_SET(NEXSTAR_REQUEST_RAW, 0); |
AjK | 0:0a841b89d614 | 615 | return 1; |
AjK | 0:0a841b89d614 | 616 | } |
AjK | 0:0a841b89d614 | 617 | |
AjK | 0:0a841b89d614 | 618 | /* Given a completed request, parse the data and update our information. */ |
AjK | 0:0a841b89d614 | 619 | if (mode == NEXSTAR_PROCESS_REQUEST) { |
AjK | 0:0a841b89d614 | 620 | if (nexstar.commsPackets[handle].requestStatus != NEXSTAR_REQUEST_COMPLETE) return 0; |
AjK | 0:0a841b89d614 | 621 | if (nexstar.commsPackets[handle].callback != NULL) { |
AjK | 0:0a841b89d614 | 622 | (nexstar.commsPackets[handle].callback)(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 623 | } |
AjK | 0:0a841b89d614 | 624 | nexstar_request_packet_reset(&nexstar.commsPackets[handle]); |
AjK | 0:0a841b89d614 | 625 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_IDLE); |
AjK | 0:0a841b89d614 | 626 | return 1; |
AjK | 0:0a841b89d614 | 627 | } |
AjK | 0:0a841b89d614 | 628 | |
AjK | 0:0a841b89d614 | 629 | return 0; |
AjK | 0:0a841b89d614 | 630 | } |
AjK | 0:0a841b89d614 | 631 | |
AjK | 0:0a841b89d614 | 632 | |
AjK | 0:0a841b89d614 | 633 | /** nexstar_send_request(int handle) |
AjK | 0:0a841b89d614 | 634 | * |
AjK | 0:0a841b89d614 | 635 | * Used to send a request packet to Nexstar via the serial port. |
AjK | 0:0a841b89d614 | 636 | * |
AjK | 0:0a841b89d614 | 637 | * @param int handle The packet to send. |
AjK | 0:0a841b89d614 | 638 | * @return zero on failure, non-zero otherwise. |
AjK | 0:0a841b89d614 | 639 | */ |
AjK | 0:0a841b89d614 | 640 | int nexstar_send_request(int handle) { |
AjK | 0:0a841b89d614 | 641 | if (nexstar.commsPackets[handle].requestStatus == NEXSTAR_REQUEST_PENDING) { |
AjK | 0:0a841b89d614 | 642 | nexstar.commsPackets[handle].requestStatus = NEXSTAR_REQUEST_IN_PROGRESS; |
AjK | 0:0a841b89d614 | 643 | if (Uart2_puts(nexstar.commsPackets[handle].buffer, (int)nexstar.commsPackets[handle].txLength) != 0) { |
AjK | 0:0a841b89d614 | 644 | memset(nexstar.commsPackets[handle].buffer, 0, NEXSTAR_PACKET_BUFFER_SIZE); |
AjK | 0:0a841b89d614 | 645 | nexstar.commsPackets[handle].bufferPointer = 0; |
AjK | 0:0a841b89d614 | 646 | // Note, we only start the timeout timer AFTER the TxFIFO goes empty, see below. |
AjK | 0:0a841b89d614 | 647 | return 1; |
AjK | 0:0a841b89d614 | 648 | } |
AjK | 0:0a841b89d614 | 649 | else { |
AjK | 0:0a841b89d614 | 650 | /* If we failed to fill the Tx FIFo then switch this request back to pending. */ |
AjK | 0:0a841b89d614 | 651 | REQUEST_SET_PACKET_STATUS(handle, NEXSTAR_REQUEST_PENDING); |
AjK | 0:0a841b89d614 | 652 | return 0; |
AjK | 0:0a841b89d614 | 653 | } |
AjK | 0:0a841b89d614 | 654 | } |
AjK | 0:0a841b89d614 | 655 | return 0; |
AjK | 0:0a841b89d614 | 656 | } |
AjK | 0:0a841b89d614 | 657 | |
AjK | 0:0a841b89d614 | 658 | /** UART2_IRQHandler(void) |
AjK | 0:0a841b89d614 | 659 | * |
AjK | 0:0a841b89d614 | 660 | * The interrupt service routine for the UART2. |
AjK | 0:0a841b89d614 | 661 | */ |
AjK | 0:0a841b89d614 | 662 | extern "C" void UART2_IRQHandler(void) { |
AjK | 0:0a841b89d614 | 663 | char c; |
AjK | 0:0a841b89d614 | 664 | uint32_t iir; |
AjK | 0:0a841b89d614 | 665 | |
AjK | 0:0a841b89d614 | 666 | /* Get the interrupt identification register which also resets IIR. */ |
AjK | 0:0a841b89d614 | 667 | iir = LPC_UART2->IIR; |
AjK | 0:0a841b89d614 | 668 | |
AjK | 0:0a841b89d614 | 669 | if (iir & 0x0001) { |
AjK | 0:0a841b89d614 | 670 | /* Eh? Then why did we interrupt? */ |
AjK | 0:0a841b89d614 | 671 | return; |
AjK | 0:0a841b89d614 | 672 | } |
AjK | 0:0a841b89d614 | 673 | |
AjK | 0:0a841b89d614 | 674 | /* Do we have incoming data? */ |
AjK | 0:0a841b89d614 | 675 | if (iir & UART_ISSET_RDA) { |
AjK | 0:0a841b89d614 | 676 | c = (char)LPC_UART2->RBR; |
AjK | 0:0a841b89d614 | 677 | //debug.printf(" %c", c & 0x7f); |
AjK | 0:0a841b89d614 | 678 | if (nexstar.commsPackets[nexstar.currentRequest].requestStatus != NEXSTAR_REQUEST_IN_PROGRESS) { |
AjK | 0:0a841b89d614 | 679 | return; |
AjK | 0:0a841b89d614 | 680 | } |
AjK | 0:0a841b89d614 | 681 | nexstar.commsPackets[nexstar.currentRequest].buffer[nexstar.commsPackets[nexstar.currentRequest].bufferPointer] = c; |
AjK | 0:0a841b89d614 | 682 | nexstar.commsPackets[nexstar.currentRequest].bufferPointer++; |
AjK | 0:0a841b89d614 | 683 | nexstar.commsPackets[nexstar.currentRequest].bufferPointer &= (NEXSTAR_PACKET_BUFFER_SIZE-1); |
AjK | 0:0a841b89d614 | 684 | if (c == '#' || c == '\r' || c == '\n') { |
AjK | 0:0a841b89d614 | 685 | timeout.stop(); /* Halt the timeout timer. */ |
AjK | 0:0a841b89d614 | 686 | REQUEST_SET_PACKET_STATUS(nexstar.currentRequest, NEXSTAR_REQUEST_COMPLETE); |
AjK | 0:0a841b89d614 | 687 | |
AjK | 0:0a841b89d614 | 688 | /* Advance to the next request packet and if pending start it. */ |
AjK | 0:0a841b89d614 | 689 | //NEXSTAR_NEXT_REQUEST(nexstar.currentRequest); |
AjK | 0:0a841b89d614 | 690 | //nexstar_send_request(nexstar.currentRequest); |
AjK | 0:0a841b89d614 | 691 | //debug.printf("\r\n"); |
AjK | 0:0a841b89d614 | 692 | } |
AjK | 0:0a841b89d614 | 693 | } |
AjK | 0:0a841b89d614 | 694 | |
AjK | 0:0a841b89d614 | 695 | /* If the THRE goes empty AND the TxFIFO is also empty then a command |
AjK | 0:0a841b89d614 | 696 | was just sent to the Nexstar. Start the serial timeout timer so we |
AjK | 0:0a841b89d614 | 697 | only make a timeout measurement AFTER we have sent our command. |
AjK | 0:0a841b89d614 | 698 | That way we don't include our serial transmit time within the timeout |
AjK | 0:0a841b89d614 | 699 | specified by the timer. */ |
AjK | 0:0a841b89d614 | 700 | if (iir & UART_ISSET_THRE) { |
AjK | 0:0a841b89d614 | 701 | if ((LPC_UART2->FIFOLVL & UART_ISSET_FIFOLVL_TXFULL) == 0) { |
AjK | 0:0a841b89d614 | 702 | timeout.start(nexstar.commsPackets[nexstar.currentRequest].timeout == 0 ? NEXSTAR_SERIAL_TIMEOUT : (uint32_t)nexstar.commsPackets[nexstar.currentRequest].timeout); |
AjK | 0:0a841b89d614 | 703 | } |
AjK | 0:0a841b89d614 | 704 | } |
AjK | 0:0a841b89d614 | 705 | |
AjK | 0:0a841b89d614 | 706 | if (iir & UART_ISSET_RLS) { |
AjK | 0:0a841b89d614 | 707 | // Do nothing for now other than read the iir register and clear the interrupt. |
AjK | 0:0a841b89d614 | 708 | } |
AjK | 0:0a841b89d614 | 709 | } |
AjK | 0:0a841b89d614 | 710 | |
AjK | 0:0a841b89d614 | 711 | /** Uart2_init |
AjK | 0:0a841b89d614 | 712 | * |
AjK | 0:0a841b89d614 | 713 | * Initialise UART2 to our requirements for Nexstar. |
AjK | 0:0a841b89d614 | 714 | */ |
AjK | 0:0a841b89d614 | 715 | void Uart2_init (void) { |
AjK | 0:0a841b89d614 | 716 | |
AjK | 0:0a841b89d614 | 717 | /* Switch on UART2. */ |
AjK | 0:0a841b89d614 | 718 | LPC_SC->PCONP |= UART2_ORMASK_PCONP; |
AjK | 0:0a841b89d614 | 719 | |
AjK | 0:0a841b89d614 | 720 | /* Set PCLK == CCLK, 96Mhz */ |
AjK | 0:0a841b89d614 | 721 | LPC_SC->PCLKSEL1 |= UART2_ORMASK_PCLKSEL1; |
AjK | 0:0a841b89d614 | 722 | |
AjK | 0:0a841b89d614 | 723 | /* Enable the tx/rx to pins and select pin mode. */ |
AjK | 0:0a841b89d614 | 724 | LPC_PINCON->PINSEL0 |= UART2_ORMASK_PINSEL0; |
AjK | 0:0a841b89d614 | 725 | LPC_PINCON->PINMODE0 |= UART2_ORMASK_PINMODE0; |
AjK | 0:0a841b89d614 | 726 | |
AjK | 0:0a841b89d614 | 727 | /* Set the divisor values for 9600 and then set 8,n,1 */ |
AjK | 0:0a841b89d614 | 728 | LPC_UART2->LCR = UART2_SET_LCR_DLAB; |
AjK | 0:0a841b89d614 | 729 | LPC_UART2->DLL = UART2_SET_DLLSB; |
AjK | 0:0a841b89d614 | 730 | LPC_UART2->DLM = UART2_SET_DLMSB; |
AjK | 0:0a841b89d614 | 731 | LPC_UART2->LCR = UART2_SET_LCR; |
AjK | 0:0a841b89d614 | 732 | |
AjK | 0:0a841b89d614 | 733 | /* Enable FIFOs and then clear them. */ |
AjK | 0:0a841b89d614 | 734 | LPC_UART2->FCR = UART2_SET_FCR; |
AjK | 0:0a841b89d614 | 735 | LPC_UART2->FCR = UART2_SET_FCR_CLEAR; |
AjK | 0:0a841b89d614 | 736 | |
AjK | 0:0a841b89d614 | 737 | /* Enable the RDA and THRE interrupts. */ |
AjK | 0:0a841b89d614 | 738 | LPC_UART2->IER = UART2_SET_IER; |
AjK | 0:0a841b89d614 | 739 | |
AjK | 0:0a841b89d614 | 740 | /* Now it's time to do interrupts. */ |
AjK | 0:0a841b89d614 | 741 | NVIC_SetVector(UART2_IRQn, (uint32_t)UART2_IRQHandler); |
AjK | 0:0a841b89d614 | 742 | NVIC_EnableIRQ(UART2_IRQn); |
AjK | 0:0a841b89d614 | 743 | } |
AjK | 0:0a841b89d614 | 744 | |
AjK | 0:0a841b89d614 | 745 | /** Uart2_flush_rxfifo |
AjK | 0:0a841b89d614 | 746 | * |
AjK | 0:0a841b89d614 | 747 | * Flush the input RX fifo to make sure it's empty. |
AjK | 0:0a841b89d614 | 748 | */ |
AjK | 0:0a841b89d614 | 749 | void Uart2_flush_rxfifo(void) { |
AjK | 0:0a841b89d614 | 750 | uint8_t c; |
AjK | 0:0a841b89d614 | 751 | while (LPC_UART2->LSR & 0x1) { |
AjK | 0:0a841b89d614 | 752 | c = LPC_UART2->RBR; |
AjK | 0:0a841b89d614 | 753 | } |
AjK | 0:0a841b89d614 | 754 | } |
AjK | 0:0a841b89d614 | 755 | |
AjK | 0:0a841b89d614 | 756 | /** Uart2_putc |
AjK | 0:0a841b89d614 | 757 | * |
AjK | 0:0a841b89d614 | 758 | * Put the character given into the TxFIFO. |
AjK | 0:0a841b89d614 | 759 | * By design there should always be room in |
AjK | 0:0a841b89d614 | 760 | * the fifo, but check it to make sure. |
AjK | 0:0a841b89d614 | 761 | * |
AjK | 0:0a841b89d614 | 762 | * @param char The character to write. |
AjK | 0:0a841b89d614 | 763 | * @return int zero on failure, non-zero otherwise. |
AjK | 0:0a841b89d614 | 764 | */ |
AjK | 0:0a841b89d614 | 765 | int Uart2_putc(char c) { |
AjK | 0:0a841b89d614 | 766 | /* Check the TxFIFO is not full. */ |
AjK | 0:0a841b89d614 | 767 | if ((LPC_UART2->FIFOLVL & UART_ISSET_FIFOLVL_TXFULL) != 0) return 0; |
AjK | 0:0a841b89d614 | 768 | LPC_UART2->THR = (uint8_t)c; |
AjK | 0:0a841b89d614 | 769 | return -1; |
AjK | 0:0a841b89d614 | 770 | } |
AjK | 0:0a841b89d614 | 771 | |
AjK | 0:0a841b89d614 | 772 | /** Uart2_puts |
AjK | 0:0a841b89d614 | 773 | * |
AjK | 0:0a841b89d614 | 774 | * Put the string given into the TX FIFO. |
AjK | 0:0a841b89d614 | 775 | * By design there should always be room in |
AjK | 0:0a841b89d614 | 776 | * the fifo, but check it to make sure. |
AjK | 0:0a841b89d614 | 777 | * |
AjK | 0:0a841b89d614 | 778 | * @param char *s Pointer The string to write. |
AjK | 0:0a841b89d614 | 779 | * @return int zero on failure, non-zero (number of chars written) otherwise. |
AjK | 0:0a841b89d614 | 780 | */ |
AjK | 0:0a841b89d614 | 781 | int Uart2_puts(char *s, int len) { |
AjK | 0:0a841b89d614 | 782 | int i; |
AjK | 0:0a841b89d614 | 783 | |
AjK | 0:0a841b89d614 | 784 | /* Check the FIFO is empty, as it should always be by design. */ |
AjK | 0:0a841b89d614 | 785 | if ((LPC_UART2->FIFOLVL & UART_ISSET_FIFOLVL_TXFULL) == 0) { |
AjK | 0:0a841b89d614 | 786 | for (i = 0; i < len; i++) { |
AjK | 0:0a841b89d614 | 787 | LPC_UART2->THR = (uint8_t)s[i]; |
AjK | 0:0a841b89d614 | 788 | debug.printf("%c", s[i]); |
AjK | 0:0a841b89d614 | 789 | } |
AjK | 0:0a841b89d614 | 790 | debug.printf("\r\n"); |
AjK | 0:0a841b89d614 | 791 | } |
AjK | 0:0a841b89d614 | 792 | else { |
AjK | 0:0a841b89d614 | 793 | return 0; |
AjK | 0:0a841b89d614 | 794 | } |
AjK | 0:0a841b89d614 | 795 | return i; |
AjK | 0:0a841b89d614 | 796 | } |
AjK | 0:0a841b89d614 | 797 | |
AjK | 0:0a841b89d614 | 798 | #endif |