arducontrol/interface.c

   1 #include <avr/io.h>
   2 #include "interface.h"
   3 #include "monitor.h"
   4 #include "motorola.h"
   5 #include "output.h"
   6 #include "serial.h"
   7 #include "s88.h"
   8
   9 uint8_t dispatch_command(const uint8_t *, uint8_t);
  10
  11 void interface_init(void)
  12 {
  13         DDRD = (DDRD&0xFC)|0x02;
  14
  15         serial_init(9600);
  16 }
  17
  18 void interface_check(void)
  19 {
  20         if(serial_read_overrun())
  21                 interface_send1(RECEIVE_OVERRUN);
  22
  23         while(serial_read_available())
  24         {
  25                 uint8_t length = ~serial_read();
  26
  27                 if(length>=0x10)
  28                         interface_send1(FRAMING_ERROR);
  29                 else if(length>0)
  30                 {
  31                         uint8_t cmd[15];
  32                         uint8_t i;
  33
  34                         for(i=0; i<length; ++i)
  35                                 cmd[i] = serial_read();
  36
  37                         uint8_t result = dispatch_command(cmd, length);
  38                         interface_send1(result);
  39                 }
  40         }
  41 }
  42
  43 uint8_t dispatch_command(const uint8_t *cmd, uint8_t length)
  44 {
  45         uint8_t type = cmd[0]>>4;
  46         if(type==0)
  47         {
  48                 uint8_t subtype = (cmd[0]>>3)&1;
  49                 if(subtype==0)
  50                         return output_command(cmd, length);
  51                 else
  52                         return monitor_command(cmd, length);
  53         }
  54         else if(type==1)
  55                 return motorola_command(cmd, length);
  56         else if(type==3)
  57                 return s88_command(cmd, length);
  58         else
  59                 return INVALID_COMMAND;
  60 }
  61
  62 void interface_send(const uint8_t *cmd, uint8_t length)
  63 {
  64         uint8_t i;
  65
  66         serial_write(~length);
  67         for(i=0; i<length; ++i)
  68                 serial_write(cmd[i]);
  69 }
  70
  71 void interface_send1(uint8_t cmd)
  72 {
  73         serial_write(0xFE);
  74         serial_write(cmd);
  75 }