moppy.cpp

00001 #include "mbed.h"
00002 #include "moppy.h"
00003 
00004 #define SILENCE_ALL     250
00005 #define RESET_ALL       251
00006 #define RESET_COMPLETE  252
00007 #define ERROR_STATE     253
00008 #define RESERVED        254
00009 #define SYNC            255
00010 
00011 void Moppy::consumeAndCheck(int event) {
00012     while(expectedSyncs-->0) {
00013         if(str_buffer[expectedSyncs]!=0)
00014             error("Moppy Flush Error");
00015     }
00016 }
00017 
00018 Moppy::Moppy(PinName tx, PinName rx, int baud) : serial(tx,rx,baud) {
00019     
00020     wait_ms(50);
00021     
00022     //Synchronise
00023     serial.putc(SYNC);
00024     if(serial.getc()!=SYNC)
00025         error("Moppy Initialisation Error");
00026     
00027     //Reset all
00028     serial.putc(RESET_ALL);
00029     if(serial.getc()!=RESET_ALL)
00030         error("Failed to reset all drives");
00031     serial.putc(RESET_COMPLETE);
00032     if(serial.getc()!=RESET_COMPLETE)
00033         error("Failed to reset all drives");
00034     
00035     //Count
00036     serial.putc(249);
00037     driveCount = (249-serial.getc())*2;
00038     serial.putc(SYNC);
00039     if(serial.getc()!=SYNC)
00040         error("Moppy Initialisation Error");
00041     
00042     str_buffer = (char*)calloc(driveCount/2, sizeof(uint8_t)*6);
00043     
00044     freqs = (uint16_t*)calloc(driveCount, sizeof(uint16_t));
00045     
00046     pair_changed = (bool*)calloc(driveCount/2, sizeof(bool));
00047     
00048     expectedSyncs = 0;
00049     read_callback.attach(this, &Moppy::consumeAndCheck);
00050     
00051 }
00052 
00053 void Moppy::setFrequency(int drive, int frequency) {
00054     
00055     freqs[drive] = frequency;
00056     pair_changed[drive>>1] = true;
00057     
00058 }
00059 
00060 void Moppy::flush() {
00061     
00062     //build message
00063     int i=driveCount>>1;
00064     int j=0;
00065     while(i-->0) {
00066         if(pair_changed[i]) {
00067             int freq1 = freqs[i<<1];
00068             int freq2 = freqs[(i<<1)+1];
00069             
00070             str_buffer[j++] = i;
00071             str_buffer[j++] = freq1/250;
00072             str_buffer[j++] = freq1%250;
00073             str_buffer[j++] = freq2/250;
00074             str_buffer[j++] = freq2%250;
00075             str_buffer[j++] = SYNC;
00076             
00077             pair_changed[i] = false; //reset changed flag
00078         }
00079     }
00080     
00081     //send message asynchronously
00082     if(j>0) {
00083         
00084         for(int i=0; i<j; i++) {
00085             serial.putc(str_buffer[i]);
00086             if(str_buffer[i]==SYNC)
00087                 serial.getc();
00088         }
00089         
00090 //        serial.write((uint8_t*)str_buffer, j, NULL);
00091 //        expectedSyncs = j/6;
00092 //        serial.read((uint8_t*)str_buffer, expectedSyncs, read_callback);
00093     }
00094     
00095 }
00096 
00097 bool Moppy::silence() {
00098     serial.putc(250);
00099     return serial.getc()==250;
00100 }