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| Stephen_NewVistas |
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#include <string.h>
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#include <stdio.h>
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#include "rs485.h"
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#define PRINTPACKETDEBUG
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#define DEVADDRESS 0xF0
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#define DEBUG
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static list_t functionList = { .index = 0 };
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Packet buildPacket;
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static unsigned int buffPtr;
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static unsigned char buffer[128+1];
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int checksum;
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int pState = START;
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int returnState;
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unsigned int plength;
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unsigned char command;
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int message;
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// extern int message;
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// extern unsigned char packetBuffer[128];
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// extern unsigned int packetBufferSize;
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static unsigned char packetBuffer[128];
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static unsigned int packetBufferSize;
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extern int Bluetooth_ReceivePacket( Packet *_packet );
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extern int Bluetooth_SendChar( unsigned char );
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#ifdef __cplusplus
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extern "C" {
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#endif
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unsigned char RegisterCommand( unsigned char _command , void (*_function)( unsigned char *) ){
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functionList.list[ functionList.index ].function = _function;
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functionList.list[ functionList.index ].command = _command;
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functionList.index++;
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return 0;
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}
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int CheckFunction( Packet *_packet ){
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int i = 0;
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void (*Caller)(unsigned char *);
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for( i = 0 ; i < functionList.index ; i++ ){
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if( _packet->command == functionList.list[i].command ){
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Caller = (void (*)(unsigned char *))functionList.list[i].function;
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Caller( (unsigned char *)_packet->packetData );
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return 1;
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}
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}
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return 0;
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}
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void RS495_Init( void ){
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}
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static void SendAck( void ){
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#ifdef DEBUG
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pc.printf( "\n\rAck Sent.\n\r" );
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#endif // DEBUG
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unsigned char ack = ACKCHAR;
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Bluetooth_SendChar( ack );
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}
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static void SendNack( void ){
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#ifdef DEBUG
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pc.printf( "\n\rNack Sent.\n\r" );
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#endif // DEBUG
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unsigned char nack = NAKCHAR;
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Bluetooth_SendChar( nack );
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}
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static int ProcessPacket( Packet *_packet ){
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return Bluetooth_ReceivePacket( _packet );
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}
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void SendMessage( void ){
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int j = 0;
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Bluetooth_SendChar( packetBuffer[ j++ ] );
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while( j < packetBufferSize ){
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if( packetBuffer[ j ] == STARTPACK ){
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Bluetooth_SendChar( ESCAPE ); // #SCD Added this line, I think it should be here
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Bluetooth_SendChar( 0x01 );
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j++;
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}
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else if( packetBuffer[ j ] == ESCAPE ){
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Bluetooth_SendChar( ESCAPE );
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Bluetooth_SendChar( ESCAPE );
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j++;
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}
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else if( packetBuffer[ j ] == STARTPOLL ){
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Bluetooth_SendChar( ESCAPE );
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Bluetooth_SendChar( 0x02 );
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j++;
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}
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else{
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Bluetooth_SendChar( packetBuffer[ j++ ] );
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}
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}
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}
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/******************************************************************************
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* Function void setResponse(int, int, int)
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*
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* This function sets the feedback information to be send in the master device.
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*
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* PreCondition: None
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*
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* Input: '_packet' - prebuilt packet to send
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*
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* Output: None
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*
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* Side Effects: None
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*
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*****************************************************************************/
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void SetResponse( Packet *_packet ){
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packetBufferSize = getFormattedPacket(_packet, packetBuffer);
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message = 1;
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}
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/******************************************************************************
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* Function void SerialHandler(unsigned char )
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*
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* This function handles the received data from the Serial Communication.
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*
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* PreCondition: None
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*
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* Input: 'RXByte' - the received data from Serial Communication
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*
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*
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* Output: None
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*
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* Side Effects: None
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139
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*
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*****************************************************************************/
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void SerialHandler(unsigned char RXByte){
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#ifdef DEBUG
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pc.printf( "RXByte: %x" , RXByte );
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#endif
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147
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// check the incoming byte for special characters
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149
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if( RXByte == STARTPACK ){ // start of packet byte
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0:226550611f0d
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150
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#ifdef DEBUG
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151
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pc.printf( " - STARTBYTE\n\r" );
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152
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#endif
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153
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pState = DEVICEADDRESS; // move on to check the destination address
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154
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buffPtr = 0; // reset buffer pointer
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155
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buffer[buffPtr++] = STARTPACK; // load RXByte into buffer
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156
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checksum = STARTPACK; // add to checksum
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| Stephen_NewVistas |
0:226550611f0d
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157
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return; // exit function, will be called again in next state
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| Stephen_NewVistas |
0:226550611f0d
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158
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}
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| Stephen_NewVistas |
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159
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else if( RXByte == STARTPOLL ){ // poll byte
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| Stephen_NewVistas |
0:226550611f0d
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160
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#ifdef DEBUG
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| Stephen_NewVistas |
0:226550611f0d
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161
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pc.printf( " - STARTPOLL\n\r" );
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162
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#endif
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| Stephen_NewVistas |
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163
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pState = POLL; // move on to check the distination address
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| Stephen_NewVistas |
0:226550611f0d
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164
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return; // exit function, will be called again in next state
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| Stephen_NewVistas |
0:226550611f0d
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165
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}
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| Stephen_NewVistas |
0:226550611f0d
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166
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else if( RXByte == ESCAPE ){ // escape byte
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| Stephen_NewVistas |
0:226550611f0d
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167
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if( pState == HANDLEESCAPE ){ // if this is the second escape byte in a row
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| Stephen_NewVistas |
0:226550611f0d
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168
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}
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| Stephen_NewVistas |
0:226550611f0d
|
169
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else{
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| Stephen_NewVistas |
0:226550611f0d
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170
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#ifdef DEBUG
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| Stephen_NewVistas |
0:226550611f0d
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171
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pc.printf( " - ESCAPE TO " );
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| Stephen_NewVistas |
0:226550611f0d
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172
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#endif
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| Stephen_NewVistas |
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173
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returnState = pState; // if this is the first escape byte, record the current state
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| Stephen_NewVistas |
0:226550611f0d
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174
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pState = HANDLEESCAPE; // change state
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| Stephen_NewVistas |
0:226550611f0d
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175
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return; // exit function, will be called again in next state
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| Stephen_NewVistas |
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176
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}
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| Stephen_NewVistas |
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177
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}
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| Stephen_NewVistas |
0:226550611f0d
|
178
|
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| Stephen_NewVistas |
0:226550611f0d
|
179
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if( pState == HANDLEESCAPE ){ // if entering here RXByte needs to be unescaped
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| Stephen_NewVistas |
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180
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switch( RXByte ){
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| Stephen_NewVistas |
0:226550611f0d
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181
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case 1: // unescape a 0x7F/Start of packet byte
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| Stephen_NewVistas |
0:226550611f0d
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182
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RXByte = 0x7F;
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| Stephen_NewVistas |
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183
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#ifdef DEBUG
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| Stephen_NewVistas |
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184
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pc.printf( " -> %x" , RXByte );
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| Stephen_NewVistas |
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185
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#endif
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| Stephen_NewVistas |
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186
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break;
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187
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188
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case 2: // unescape a 0x8F/Poll byte
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| Stephen_NewVistas |
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189
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RXByte = 0x8F;
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| Stephen_NewVistas |
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190
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#ifdef DEBUG
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| Stephen_NewVistas |
0:226550611f0d
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191
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pc.printf( " -> %x" , RXByte );
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| Stephen_NewVistas |
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192
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#endif
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| Stephen_NewVistas |
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193
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break;
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| Stephen_NewVistas |
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194
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| Stephen_NewVistas |
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195
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case ESCAPE: // unescape a 0x8E/Escape byte
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| Stephen_NewVistas |
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196
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RXByte = 0x8E;
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| Stephen_NewVistas |
0:226550611f0d
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197
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#ifdef DEBUG
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| Stephen_NewVistas |
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198
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pc.printf( " -> %x" , RXByte );
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| Stephen_NewVistas |
0:226550611f0d
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199
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#endif
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| Stephen_NewVistas |
0:226550611f0d
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200
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break;
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| Stephen_NewVistas |
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|
201
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}
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| Stephen_NewVistas |
0:226550611f0d
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202
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pState = returnState; // change back to state before escape byte received
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| Stephen_NewVistas |
0:226550611f0d
|
203
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}
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| Stephen_NewVistas |
0:226550611f0d
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204
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| Stephen_NewVistas |
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205
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switch( pState ){
|
| Stephen_NewVistas |
0:226550611f0d
|
206
|
|
| Stephen_NewVistas |
0:226550611f0d
|
207
|
case POLL: // of switch( pState ) // poll state checks RXByte to see if there is an address match
|
| Stephen_NewVistas |
0:226550611f0d
|
208
|
|
| Stephen_NewVistas |
0:226550611f0d
|
209
|
|
| Stephen_NewVistas |
0:226550611f0d
|
210
|
if( RXByte == DEVADDRESS ){ // if the device is being polled...
|
| Stephen_NewVistas |
0:226550611f0d
|
211
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
212
|
pc.printf( " - Address Match: %x" , DEVADDRESS );
|
| Stephen_NewVistas |
0:226550611f0d
|
213
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
214
|
|
| Stephen_NewVistas |
0:226550611f0d
|
215
|
if( message ){ // if a message is available send it
|
| Stephen_NewVistas |
0:226550611f0d
|
216
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
217
|
pc.printf( " - Message to Send\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
218
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
219
|
SendMessage(); // #SCD haven't tested this
|
| Stephen_NewVistas |
0:226550611f0d
|
220
|
pState = RESPONSE; // change state to wait for ACK or NACK
|
| Stephen_NewVistas |
0:226550611f0d
|
221
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
222
|
else{ // device is pulled but no message to be sent
|
| Stephen_NewVistas |
0:226550611f0d
|
223
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
224
|
pc.printf( " - No message to Send\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
225
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
226
|
SendAck(); // just send an ACK
|
| Stephen_NewVistas |
0:226550611f0d
|
227
|
pState = START;
|
| Stephen_NewVistas |
0:226550611f0d
|
228
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
229
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
230
|
else{
|
| Stephen_NewVistas |
0:226550611f0d
|
231
|
pState = START; // device not addressed, do nothing
|
| Stephen_NewVistas |
0:226550611f0d
|
232
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
233
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
234
|
|
| Stephen_NewVistas |
0:226550611f0d
|
235
|
case START: // of switch( pState ) // this state really does nothing and just waits for
|
| Stephen_NewVistas |
0:226550611f0d
|
236
|
pState = START; // if the device is not addressed in a packet
|
| Stephen_NewVistas |
0:226550611f0d
|
237
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
238
|
|
| Stephen_NewVistas |
0:226550611f0d
|
239
|
case RESPONSE: // of switch( pState ) // a message was sent it last state and now this state is
|
| Stephen_NewVistas |
0:226550611f0d
|
240
|
|
| Stephen_NewVistas |
0:226550611f0d
|
241
|
switch( RXByte ){
|
| Stephen_NewVistas |
0:226550611f0d
|
242
|
|
| Stephen_NewVistas |
0:226550611f0d
|
243
|
case ACKCHAR: // ACK is received - message successful, clear message to be sent
|
| Stephen_NewVistas |
0:226550611f0d
|
244
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
245
|
pc.printf( " - ACK RECEIVED\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
246
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
247
|
message = 0;
|
| Stephen_NewVistas |
0:226550611f0d
|
248
|
pState = START;
|
| Stephen_NewVistas |
0:226550611f0d
|
249
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
250
|
|
| Stephen_NewVistas |
0:226550611f0d
|
251
|
case NAKCHAR: // NACK is received - message not successful
|
| Stephen_NewVistas |
0:226550611f0d
|
252
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
253
|
pc.printf( " - NACK RECEIVED\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
254
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
255
|
if( message ){ // if a message still needs to be sent, send again
|
| Stephen_NewVistas |
0:226550611f0d
|
256
|
SendMessage();
|
| Stephen_NewVistas |
0:226550611f0d
|
257
|
message = 0; // clear message after this seconda attempt to prevent too many tries
|
| Stephen_NewVistas |
0:226550611f0d
|
258
|
pState = RESPONSE; // set state to come by here next time around
|
| Stephen_NewVistas |
0:226550611f0d
|
259
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
260
|
else{ // if a NACK is received for the second time in a row
|
| Stephen_NewVistas |
0:226550611f0d
|
261
|
//#error #SCD // throw an error and do not resend
|
| Stephen_NewVistas |
0:226550611f0d
|
262
|
pc.printf( "Received two NACKs from master. Message failed.\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
263
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
264
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
265
|
|
| Stephen_NewVistas |
0:226550611f0d
|
266
|
default:
|
| Stephen_NewVistas |
0:226550611f0d
|
267
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
268
|
pc.printf( " - EXPECTED ACK or NACK\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
269
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
270
|
pState = START; // if neither an ACK nor NACK is received, reset state
|
| Stephen_NewVistas |
0:226550611f0d
|
271
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
272
|
|
| Stephen_NewVistas |
0:226550611f0d
|
273
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
274
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
275
|
|
| Stephen_NewVistas |
0:226550611f0d
|
276
|
case DEVICEADDRESS: // of switch( pState ) // checks to see if device is addressed in current packet
|
| Stephen_NewVistas |
0:226550611f0d
|
277
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
278
|
pc.printf( " - DEVICEADDRESS\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
279
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
280
|
|
| Stephen_NewVistas |
0:226550611f0d
|
281
|
if( RXByte == DEVADDRESS ){
|
| Stephen_NewVistas |
0:226550611f0d
|
282
|
#ifdef PRINT_ADDRESS_MATCH
|
| Stephen_NewVistas |
0:226550611f0d
|
283
|
pc.printf( "Address Match: %d\n\r" , DEVADDRESS );
|
| Stephen_NewVistas |
0:226550611f0d
|
284
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
285
|
|
| Stephen_NewVistas |
0:226550611f0d
|
286
|
pState = SOURCEADD; // next state is grabbing the source device ID
|
| Stephen_NewVistas |
0:226550611f0d
|
287
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
288
|
buildPacket.deviceID = RXByte; // build packet
|
| Stephen_NewVistas |
0:226550611f0d
|
289
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
290
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
291
|
else{
|
| Stephen_NewVistas |
0:226550611f0d
|
292
|
pState = START; // if device is not addressed reset state
|
| Stephen_NewVistas |
0:226550611f0d
|
293
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
294
|
|
| Stephen_NewVistas |
0:226550611f0d
|
295
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
296
|
|
| Stephen_NewVistas |
0:226550611f0d
|
297
|
case SOURCEADD: // of switch( pState ) // records the source address of the packet
|
| Stephen_NewVistas |
0:226550611f0d
|
298
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
299
|
pc.printf( " - SOURCEADD\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
300
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
301
|
|
| Stephen_NewVistas |
0:226550611f0d
|
302
|
pState = COLLECTCOMMAND; // state advances to get the command byte
|
| Stephen_NewVistas |
0:226550611f0d
|
303
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
304
|
buildPacket.sourceID = RXByte; // build packet
|
| Stephen_NewVistas |
0:226550611f0d
|
305
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
306
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
307
|
|
| Stephen_NewVistas |
0:226550611f0d
|
308
|
case COLLECTCOMMAND: // of switch( pState )// records the command byte of the packet
|
| Stephen_NewVistas |
0:226550611f0d
|
309
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
310
|
pc.printf( " - COMMAND\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
311
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
312
|
|
| Stephen_NewVistas |
0:226550611f0d
|
313
|
command = RXByte; // record command byte
|
| Stephen_NewVistas |
0:226550611f0d
|
314
|
buildPacket.command = RXByte; // build packet
|
| Stephen_NewVistas |
0:226550611f0d
|
315
|
pState = COLLECTCOUNT1; // advance to get packetLength
|
| Stephen_NewVistas |
0:226550611f0d
|
316
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
317
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
318
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
319
|
|
| Stephen_NewVistas |
0:226550611f0d
|
320
|
case COLLECTCOUNT1: // of switch( pState ) // records first byte of packetLength
|
| Stephen_NewVistas |
0:226550611f0d
|
321
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
322
|
pc.printf( " - COUNT MSB \n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
323
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
324
|
|
| Stephen_NewVistas |
0:226550611f0d
|
325
|
pState = COLLECTCOUNT2; // advance state to get next byte of packetLength
|
| Stephen_NewVistas |
0:226550611f0d
|
326
|
plength = RXByte;
|
| Stephen_NewVistas |
0:226550611f0d
|
327
|
plength <<= 8; // store byte in packetLength #SCD is this storing correctly?
|
| Stephen_NewVistas |
0:226550611f0d
|
328
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
329
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
330
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
331
|
|
| Stephen_NewVistas |
0:226550611f0d
|
332
|
case COLLECTCOUNT2: // of switch( pState ) // records second byte of packetLength
|
| Stephen_NewVistas |
0:226550611f0d
|
333
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
334
|
pc.printf( " - COUNT LSB\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
335
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
336
|
|
| Stephen_NewVistas |
0:226550611f0d
|
337
|
plength += RXByte; // add RXByte to packetLength total
|
| Stephen_NewVistas |
0:226550611f0d
|
338
|
buildPacket.packetLength = plength; // build packet
|
| Stephen_NewVistas |
0:226550611f0d
|
339
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
340
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
341
|
if( plength == 0 ) // if packetLength is 0, advance to checksum state
|
| Stephen_NewVistas |
0:226550611f0d
|
342
|
pState = COLLECTCHECKSUM;
|
| Stephen_NewVistas |
0:226550611f0d
|
343
|
else // otherwise move on to collect packet payload
|
| Stephen_NewVistas |
0:226550611f0d
|
344
|
pState = COLLECTPACKET;
|
| Stephen_NewVistas |
0:226550611f0d
|
345
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
346
|
|
| Stephen_NewVistas |
0:226550611f0d
|
347
|
case COLLECTPACKET: // of switch( pState ) // collects packetData, enters this state multiple times
|
| Stephen_NewVistas |
0:226550611f0d
|
348
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
349
|
pc.printf( " - PACKETDATA \n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
350
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
351
|
|
| Stephen_NewVistas |
0:226550611f0d
|
352
|
plength--; // decrement length
|
| Stephen_NewVistas |
0:226550611f0d
|
353
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
354
|
checksum += RXByte; // add RXByte to checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
355
|
|
| Stephen_NewVistas |
0:226550611f0d
|
356
|
if( plength == 0 ){ // if collected all packetData advance state
|
| Stephen_NewVistas |
0:226550611f0d
|
357
|
pState = COLLECTCHECKSUM;
|
| Stephen_NewVistas |
0:226550611f0d
|
358
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
359
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
360
|
|
| Stephen_NewVistas |
0:226550611f0d
|
361
|
case COLLECTCHECKSUM:// of switch( pState ) // collects checksum of packet and checks for validity
|
| Stephen_NewVistas |
0:226550611f0d
|
362
|
#ifdef DEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
363
|
pc.printf( " - CHECKSUM\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
364
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
365
|
memcpy( &buildPacket.packetData , &buffer[6] , buildPacket.packetLength );
|
| Stephen_NewVistas |
0:226550611f0d
|
366
|
|
| Stephen_NewVistas |
0:226550611f0d
|
367
|
if( RXByte == ( ( checksum* - 1 ) & 0xFF ) ){ // compares RXByte with LSB of checksum
|
| Stephen_NewVistas |
0:226550611f0d
|
368
|
message = 0; // if checksum is correct clear message #SCD could a message be waiting?
|
| Stephen_NewVistas |
0:226550611f0d
|
369
|
memset(packetBuffer, '\0', 128); // clear packetBuffer
|
| Stephen_NewVistas |
0:226550611f0d
|
370
|
|
| Stephen_NewVistas |
0:226550611f0d
|
371
|
buffer[buffPtr++] = RXByte; // add RXByte to buffer
|
| Stephen_NewVistas |
0:226550611f0d
|
372
|
|
| Stephen_NewVistas |
0:226550611f0d
|
373
|
#ifdef PRINTPACKETDEBUG
|
| Stephen_NewVistas |
0:226550611f0d
|
374
|
pc.printf( "Receive Buffer: " ); // debug print received packet
|
| Stephen_NewVistas |
0:226550611f0d
|
375
|
unsigned int i = 0;
|
| Stephen_NewVistas |
0:226550611f0d
|
376
|
for( i = 0 ; i < buffPtr ; i++ ){
|
| Stephen_NewVistas |
0:226550611f0d
|
377
|
pc.printf( "%x " , buffer[ i ] );
|
| Stephen_NewVistas |
0:226550611f0d
|
378
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
379
|
pc.printf( "\n\r" );
|
| Stephen_NewVistas |
0:226550611f0d
|
380
|
#endif
|
| Stephen_NewVistas |
0:226550611f0d
|
381
|
|
| Stephen_NewVistas |
0:226550611f0d
|
382
|
int errorResult = ProcessPacket( &buildPacket );
|
| Stephen_NewVistas |
0:226550611f0d
|
383
|
|
| Stephen_NewVistas |
0:226550611f0d
|
384
|
if( errorResult == -1 ){ // check to make sure function performed properly
|
| Stephen_NewVistas |
0:226550611f0d
|
385
|
//#SCD setResponse(RPIADDRESS, command, ERRORCOMMAND);
|
| Stephen_NewVistas |
0:226550611f0d
|
386
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
387
|
SendAck(); // send an ACK
|
| Stephen_NewVistas |
0:226550611f0d
|
388
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
389
|
else{
|
| Stephen_NewVistas |
0:226550611f0d
|
390
|
SendNack(); // if checksum is not corret, send a NACK
|
| Stephen_NewVistas |
0:226550611f0d
|
391
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
392
|
|
| Stephen_NewVistas |
0:226550611f0d
|
393
|
pState = START;
|
| Stephen_NewVistas |
0:226550611f0d
|
394
|
break;
|
| Stephen_NewVistas |
0:226550611f0d
|
395
|
|
| Stephen_NewVistas |
0:226550611f0d
|
396
|
} // end switch( pState )
|
| Stephen_NewVistas |
0:226550611f0d
|
397
|
|
| Stephen_NewVistas |
0:226550611f0d
|
398
|
} // end serial2Handler function
|
| Stephen_NewVistas |
0:226550611f0d
|
399
|
|
| Stephen_NewVistas |
0:226550611f0d
|
400
|
|
| Stephen_NewVistas |
0:226550611f0d
|
401
|
|
| Stephen_NewVistas |
0:226550611f0d
|
402
|
#ifdef __cplusplus
|
| Stephen_NewVistas |
0:226550611f0d
|
403
|
}
|
| Stephen_NewVistas |
0:226550611f0d
|
404
|
#endif
|