Detect and set arducontrol baud rate on startup

[r2c2.git] / source / libr2c2 / arducontrol.cpp

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 201d9a2ebdd73e7871527c2f09c87b3a7f29cba2..07a2215c4cfb4386940acdf185530cbefd9204e5 100644 (file)
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -760,12 +760,12 @@ ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
        next_address(1),
        size(0),
        bits(0),
-       pending(false)
+       misses(0)
 { }
 
 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 {
-       if(size==32)
+       if(size>32)
        {
                if(control.debug>=1)
                        IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
@@ -795,7 +795,6 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
        cmd.length = 6;
 
        next = t+200*Time::msec;
-       pending = true;
 
        if(control.debug>=1)
                IO::print("Search %08X/%d\n", bits, size);
@@ -806,31 +805,24 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 {
        unsigned char type = reply[0];
-       if(type==MFX_FEEDBACK && length==2 && pending)
+       if(type==MFX_SEARCH_FEEDBACK && length==2)
        {
-               pending = false;
-               bool finished = true;
                if(reply[1])
                {
-                       if(size<32)
-                               ++size;
-                       finished = false;
+                       misses = 0;
+                       ++size;
                }
-               else if(size>0)
+               else if(size>0 && misses<6)
                {
-                       unsigned mask = 1<<(32-size);
-                       if(!(bits&mask))
-                       {
-                               bits |= mask;
-                               finished = false;
-                       }
+                       ++misses;
+                       bits ^= 1<<(32-size);
                }
-
-               if(finished)
+               else
                {
                        next = Time::now()+2*Time::sec;
                        bits = 0;
                        size = 0;
+                       misses = 0;
                }
        }
 }
@@ -856,6 +848,8 @@ void ArduControl::ControlThread::exit()
 
 void ArduControl::ControlThread::main()
 {
+       init_baud_rate();
+
        while(!done)
        {
                PendingCommand cmd;
@@ -872,6 +866,51 @@ void ArduControl::ControlThread::main()
        }
 }
 
+void ArduControl::ControlThread::init_baud_rate()
+{
+       static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
+       unsigned rate = 0;
+       control.serial.set_data_bits(8);
+       control.serial.set_parity(IO::Serial::NONE);
+       control.serial.set_stop_bits(1);
+       for(unsigned i=0; rates[i]; ++i)
+       {
+               control.serial.set_baud_rate(rates[i]);
+               control.serial.put('\xFF');
+               if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
+               {
+                       int c = control.serial.get();
+                       if(c==0xFF)
+                       {
+                               rate = rates[i];
+                               break;
+                       }
+               }
+       }
+
+       if(control.debug>=1)
+               IO::print("ArduControl detected at %d bits/s\n", rate);
+
+       if(rate!=rates[0])
+       {
+               PendingCommand cmd;
+               cmd.command[0] = SET_BAUD_RATE;
+               cmd.command[1] = rates[0]>>8;
+               cmd.command[2] = rates[0];
+               cmd.length = 3;
+               if(do_command(cmd)==COMMAND_OK)
+               {
+                       control.serial.set_baud_rate(rates[0]);
+                       if(do_command(cmd)==COMMAND_OK)
+                       {
+                               Time::sleep(Time::sec);
+                               if(control.debug>=1)
+                                       IO::print("Rate changed to %d bits/s\n", rates[0]);
+                       }
+               }
+       }
+}
+
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
        if(control.pop_command(cmd))