arducontrol/motorola.c

   1 #include "packet.h"
   2
   3 static uint8_t motorola_speed_to_value(uint8_t speed)
   4 {
   5         if(speed>14)
   6                 return 15;
   7         else if(speed)
   8                 return speed+1;
   9         else
  10                 return 0;
  11 }
  12
  13 static void motorola_common_packet(uint8_t addr, uint8_t aux, uint8_t value)
  14 {
  15         uint8_t i;
  16
  17         clear_packet();
  18
  19         packet.bit_duration = 2;
  20         packet.length = 18*8;
  21
  22         for(i=0; i<4; ++i)
  23         {
  24                 uint8_t d = addr%3;
  25                 addr /= 3;
  26
  27                 packet.data[i*2] = (d==0 ? 0x01 : 0x7F);
  28                 packet.data[i*2+1] = (d==1 ? 0x7F : 0x01);
  29         }
  30
  31         packet.data[8] = (aux ? 0x7F : 0x01);
  32         packet.data[9] = packet.data[8];
  33
  34         for(i=0; i<4; ++i)
  35         {
  36                 packet.data[10+i*2] = ((value&1) ? 0x7F : 0x01);
  37                 value >>= 1;
  38         }
  39
  40         packet.repeat_count = 2;
  41         // Duration of three trits
  42         packet.repeat_delay = 96;
  43         packet.final_delay = 224;
  44 }
  45
  46 static void motorola_old_packet(uint8_t addr, uint8_t aux, uint8_t value)
  47 {
  48         uint8_t i;
  49
  50         motorola_common_packet(addr, aux, value);
  51
  52         for(i=0; i<4; ++i)
  53                 packet.data[11+i*2] = packet.data[10+i*2];
  54 }
  55
  56 void motorola_locomotive_speed_packet(uint8_t addr, uint8_t aux, uint8_t speed)
  57 {
  58         motorola_old_packet(addr, aux, motorola_speed_to_value(speed));
  59
  60         packet.ready = 1;
  61 }
  62
  63 void motorola_locomotive_reverse_packet(uint8_t addr, uint8_t aux)
  64 {
  65         motorola_old_packet(addr, aux, 1);
  66
  67         packet.ready = 1;
  68 }
  69
  70 void motorola_locomotive_speed_direction_packet(uint8_t addr, uint8_t aux, uint8_t speed, uint8_t dir)
  71 {
  72         motorola_common_packet(addr, aux, motorola_speed_to_value(speed));
  73
  74         packet.data[11] = (dir ? 0x01 : 0x7F);
  75         packet.data[13] = (dir ? 0x7F : 0x01);
  76         packet.data[15] = (dir ? 0x01 : 0x7F);
  77         packet.data[17] = 0x80-packet.data[16];
  78
  79         packet.ready = 1;
  80 }
  81
  82 void motorola_locomotive_speed_function_packet(uint8_t addr, uint8_t aux, uint8_t speed, uint8_t func, uint8_t state)
  83 {
  84         uint8_t i;
  85         uint8_t value;
  86
  87         value = motorola_speed_to_value(speed);
  88         motorola_common_packet(addr, aux, value);
  89
  90         /*
  91         001 -> 011
  92         010 -> 100
  93         011 -> 110
  94         100 -> 111
  95         */
  96         func += 2;
  97         if(func>=5)
  98                 ++func;
  99         if(state)
 100                 func |= 8;
 101         if(func==value)
 102                 func = ((value&8) ? 2 : 5) | (func&8);
 103
 104         for(i=0; i<4; ++i)
 105         {
 106                 packet.data[11+i*2] = ((func&1) ? 0x7F : 0x01);
 107                 func >>= 1;
 108         }
 109
 110         packet.ready = 1;
 111 }
 112
 113 void motorola_solenoid_packet(uint8_t addr, uint8_t output, uint8_t state)
 114 {
 115         uint8_t value = output;
 116         if(state)
 117                 value |= 8;
 118
 119         motorola_old_packet(addr, 0, value);
 120         packet.repeat_delay >>= 1;
 121         packet.bit_duration = 1;
 122
 123         packet.ready = 1;
 124 }