SakuraIO
Fork of SakuraIO by
Diff: SakuraIO.cpp
- Revision:
- 0:8d34375d954c
- Child:
- 3:c54a1eba22c4
- Child:
- 4:3d73874507bc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SakuraIO.cpp Sat Nov 19 03:20:17 2016 +0000 @@ -0,0 +1,339 @@ +#include "mbed.h" +#include "SakuraIO.h" +#include "SakuraIO/commands.h" +#include "SakuraIO/debug.h" + +uint8_t SakuraIO::executeCommand(uint8_t cmd,uint8_t requestLength, uint8_t *request, uint8_t *responseLength, uint8_t *response) +{ + uint8_t parity = 0x00; + uint8_t result = 0x00; + uint8_t tmpResponseLength, tmpResponse; + + dbgln("executeCommand"); + + this->begin(); + + // request + this->sendByte(cmd); + this->sendByte(requestLength); + parity = cmd ^ requestLength; + for(int16_t i=0; i<requestLength; i++){ + parity ^= request[i]; + this->sendByte(request[i]); + } + this->sendByte(parity); + //this->finishSending(); + + tmpResponseLength = 0; + if(responseLength != NULL){ + tmpResponseLength = *responseLength; + } + + wait_ms(10); + + // response + this->startReceive(tmpResponseLength+3); + result = this->receiveByte(); + if(result != CMD_ERROR_NONE){ + dbgln("Invalid status"); + this->end(); + return result; + } + tmpResponseLength = this->receiveByte(); + parity = result ^ tmpResponseLength; + if(responseLength != NULL){ + if(*responseLength < tmpResponseLength){ + tmpResponseLength = *responseLength; + } + *responseLength = tmpResponseLength; + } + for(int16_t i=0; i<tmpResponseLength; i++){ + tmpResponse = this->receiveByte(); + parity ^= tmpResponse; + if(response != NULL){ + response[i] = tmpResponse; + } + } + dbgln("Parity"); + uint8_t p = this->receiveByte(true); + parity ^= p; + dbg("Parity="); + dbgln(p); + if(parity != 0x00){ + result = CMD_ERROR_PARITY; + dbgln("Invalid parity"); + }else{ + dbgln("Success"); + } + //this->finishReceiving(); + + this->end(); + return result; +} + +/* Common Commands */ + +uint8_t SakuraIO::getConnectionStatus(){ + uint8_t responseLength = 1; + uint8_t response[1] = {0x00}; + if(executeCommand(CMD_GET_CONNECTION_STATUS, 0, NULL, &responseLength, response) != CMD_ERROR_NONE){ + return 0x7F; + } + return response[0]; +} + +uint8_t SakuraIO::getSignalQuarity(){ + uint8_t responseLength = 1; + uint8_t response[1] = {0x00}; + + if(executeCommand(CMD_GET_SIGNAL_QUALITY, 0, NULL, &responseLength, response) != CMD_ERROR_NONE){ + return 0x00; + } + return response[0]; +} + +uint64_t SakuraIO::getUnixtime(){ + uint8_t responseLength = 8; + uint8_t response[8] = {0x00}; + if(executeCommand(CMD_GET_DATETIME, 0, NULL, &responseLength, response) != CMD_ERROR_NONE){ + return 0x00; + } + return *((uint64_t *)response); +} + +uint8_t SakuraIO::echoback(uint8_t length, uint8_t *data, uint8_t *response){ + uint8_t responseLength = length; + if(executeCommand(CMD_ECHO_BACK, length, data, &responseLength, response) != CMD_ERROR_NONE){ + return 0x00; + } + return responseLength; +} + +/* IO Commands */ + +uint16_t SakuraIO::getADC(uint8_t channel){ + uint8_t request[1] = {channel}; + uint8_t response[2] = {0x00}; + uint8_t responseLength = sizeof(response); + if(executeCommand(CMD_READ_ADC, 1, request, &responseLength, response) != CMD_ERROR_NONE){ + return 0xffff; + } + return *((uint16_t *)response); +} + +/* TX Commands */ +uint8_t SakuraIO::enqueueTxRaw(uint8_t ch, uint8_t type, uint8_t length, uint8_t *data, uint64_t offset){ + uint8_t request[18] = {0x00}; + uint8_t requestLength = 10; + request[0] = ch; + request[1] = type; + for(uint8_t i=0;i<length;i++){ + request[2+i] = data[i]; + } + if(offset != 0){ + requestLength = 18; + for(uint8_t i=0;i<8;i++){ + request[10+i] = ((uint8_t *)&offset)[i]; + } + } + return executeCommand(CMD_TX_ENQUEUE, requestLength, request, NULL, NULL); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, int32_t value, uint64_t offset){ + return enqueueTxRaw(ch, 'i', 4, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint32_t value, uint64_t offset){ + return enqueueTxRaw(ch, 'I', 4, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, int64_t value, uint64_t offset){ + return enqueueTxRaw(ch, 'l', 8, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint64_t value, uint64_t offset){ + return enqueueTxRaw(ch, 'L', 8, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, float value, uint64_t offset){ + return enqueueTxRaw(ch, 'f', 4, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, double value, uint64_t offset){ + return enqueueTxRaw(ch, 'd', 8, (uint8_t *)&value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint8_t value[8], uint64_t offset){ + return enqueueTxRaw(ch, 'b', 8, (uint8_t *)value, offset); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, int32_t value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint32_t value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, int64_t value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint64_t value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, float value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, double value){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::enqueueTx(uint8_t ch, uint8_t value[8]){ + return enqueueTx(ch, value, (uint32_t)0); +} + +uint8_t SakuraIO::getTxQueueLength(uint8_t *available, uint8_t *queued){ + uint8_t response[2] = {0x00}; + uint8_t responseLength = 2; + uint8_t ret = executeCommand(CMD_TX_LENGTH, 0, NULL, &responseLength, response); + *available = response[0]; + *queued = response[1]; + return ret; +} + +uint8_t SakuraIO::clearTx(){ + return executeCommand(CMD_TX_CLEAR, 0, NULL, NULL, NULL); +} + +uint8_t SakuraIO::send(){ + return executeCommand(CMD_TX_SEND, 0, NULL, NULL, NULL); +} + +uint8_t SakuraIO::getTxStatus(uint8_t *queue, uint8_t *immediate){ + uint8_t response[2] = {0x00}; + uint8_t responseLength = 2; + uint8_t ret = executeCommand(CMD_TX_STAT, 0, NULL, &responseLength, response); + *queue = response[0]; + *immediate = response[1]; + return ret; +} + +/* RX Commands */ + +uint8_t SakuraIO::dequeueRx(uint8_t *ch, uint8_t *type, uint8_t *value, int64_t *offset){ + uint8_t response[18] = {0x00}; + uint8_t responseLength = 18; + uint8_t ret = executeCommand(CMD_RX_DEQUEUE, 0, NULL, &responseLength, response); + if(ret != CMD_ERROR_NONE){ + return ret; + } + + *ch = response[0]; + *type = response[1]; + for(uint8_t i=0; i<8; i++){ + value[i] = response[2+i]; + } + for(uint8_t i=0; i<8; i++){ + ((uint8_t *)offset)[i] = response[10+i]; + } + + return ret; +} + +uint8_t SakuraIO::peekRx(uint8_t *ch, uint8_t *type, uint8_t *value, int64_t *offset){ + uint8_t response[18] = {0x00}; + uint8_t responseLength = 18; + uint8_t ret = executeCommand(CMD_RX_PEEK, 0, NULL, &responseLength, response); + if(ret != CMD_ERROR_NONE){ + return ret; + } + + *ch = response[0]; + *type = response[1]; + for(uint8_t i=0; i<8; i++){ + value[0] = response[2+i]; + } + for(uint8_t i=0; i<8; i++){ + ((uint8_t *)offset)[i] = response[10+i]; + } + + return ret; +} + +uint8_t SakuraIO::getRxQueueLength(uint8_t *available, uint8_t *queued){ + uint8_t response[2] = {0x00}; + uint8_t responseLength = 2; + uint8_t ret = executeCommand(CMD_RX_LENGTH, 0, NULL, &responseLength, response); + *available = response[0]; + *queued = response[1]; + return ret; +} + +uint8_t SakuraIO::clearRx(){ + return executeCommand(CMD_RX_CLEAR, 0, NULL, NULL, NULL); +} + +/* Operation command */ + +uint16_t SakuraIO::getProductID(){ + uint8_t response[2] = {0x00}; + uint8_t responseLength = 2; + uint8_t ret = executeCommand(CMD_GET_PRODUCT_ID, 0, NULL, &responseLength, response); + if(ret != CMD_ERROR_NONE){ + return 0x00; + } + return *((uint16_t *)response); +} + +uint8_t SakuraIO::getUniqueID(char *data){ + uint8_t response[11] = {0x00}; + uint8_t responseLength = 10; + uint8_t ret = executeCommand(CMD_GET_UNIQUE_ID, 0, NULL, &responseLength, response); + if(ret != CMD_ERROR_NONE){ + return ret; + } + for(uint8_t i=0; i<responseLength; i++){ + data[i] = (char)response[i]; + } + data[responseLength] = 0x00; + return ret; +} + +uint8_t SakuraIO::getFirmwareVersion(char *data){ + uint8_t response[33] = {0x00}; + uint8_t responseLength = 32; + uint8_t ret = executeCommand(CMD_GET_FIRMWARE_VERSION, 0, NULL, &responseLength, response); + if(ret != CMD_ERROR_NONE){ + return ret; + } + for(uint8_t i=0; i<responseLength; i++){ + data[i] = (char)response[i]; + } + data[responseLength] = 0x00; + return ret; +} + +uint8_t SakuraIO::unlock(){ + uint8_t request[4] = {0x53, 0x6B, 0x72, 0x61}; + return executeCommand(CMD_UNLOCK, 4, request, NULL, NULL); +} + +uint8_t SakuraIO::updateFirmware(){ + return executeCommand(CMD_UPDATE_FIRMWARE, 0, 0, NULL, NULL); +} + +uint8_t SakuraIO::getFirmwareUpdateStatus(){ + uint8_t response[1] = {0x00}; + uint8_t responseLength = 1; + if(executeCommand(CMD_GET_UPDATE_FIRMWARE_STATUS, 0, 0, &responseLength, response) != CMD_ERROR_NONE){ + return 0xff; + } + return response[0]; +} + +uint8_t SakuraIO::reset(){ + return executeCommand(CMD_SOFTWARE_RESET, 0, 0, NULL, NULL); +}