Add command to change arducontrol baud rate

[model-railway-devices.git] / arducontrol / interface.c

diff --git a/arducontrol/interface.c b/arducontrol/interface.c
index 9d21e9cbfe1ddf874d0e41b9807aa29a2164686e..a73189648669345eda9a8589bc7d56ab9e94f12d 100644 (file)
--- a/arducontrol/interface.c
+++ b/arducontrol/interface.c
@@ -1,114 +1,148 @@
+#include <avr/io.h>
+#include "clock.h"
 #include "interface.h"
+#include "mfx.h"
 #include "monitor.h"
 #include "motorola.h"
 #include "output.h"
 #include "serial.h"
+#include "s88.h"
 
-volatile uint8_t recv_buf[32];
-uint8_t recv_head = 0;
-uint8_t recv_tail = 0;
-volatile uint8_t recv_fill = 0;
-volatile uint8_t recv_overrun = 0;
-uint8_t cmd_buf[15];
-uint8_t cmd_length;
+static uint8_t cmd_buffer[15];
+static uint8_t cmd_length = 0;
+static uint8_t cmd_read_pos = 0;
+static uint16_t baud_rate = 9600;
+static uint16_t baud_change = 0;
+static uint32_t baud_changed_at = 0;
 
-void process_commands();
-uint8_t process_command();
+static uint8_t dispatch_command(const uint8_t *, uint8_t);
+uint8_t interface_command(const uint8_t *, uint8_t);
 
-void interface_init()
+void interface_init(void)
 {
+       DDRB |= 0x01;
        DDRD = (DDRD&0xFC)|0x02;
 
-       serial_init(9600);
+       serial_init(baud_rate);
 }
 
-void interface_check()
+void interface_check(void)
 {
-       if(recv_overrun)
-       {
-               serial_write(0xFE);
-               serial_write(RECEIVE_OVERRUN);
-               recv_overrun = 0;
-       }
-       if(recv_fill>0)
-               process_commands();
-}
+       if(serial_read_overrun())
+               interface_send1(RECEIVE_OVERRUN);
 
-void process_commands()
-{
-       while(recv_fill>0)
+       uint8_t count = serial_read_available();
+       if(count>0)
        {
-               uint8_t consumed;
-               uint8_t c = recv_buf[recv_tail];
-
-               cmd_length = 0;
+               PORTB |= 0x01;
+               if(cmd_length==0)
+               {
+                       uint8_t l = ~serial_read();
+                       if(l==0)
+                               serial_write(0xFF);
+                       else if(l>=0x10)
+                               interface_send1(FRAMING_ERROR);
+                       else
+                       {
+                               cmd_length = l;
+                               --count;
+                               cmd_read_pos = 0;
+                       }
+               }
 
-               if(c>=0xF0)
+               if(cmd_read_pos<cmd_length)
                {
-                       cmd_length = ~c;
-                       if(recv_fill<=cmd_length)
-                               break;
+                       if(cmd_read_pos+count>cmd_length)
+                               count = cmd_length-cmd_read_pos;
+                       for(uint8_t i=0; i<count; ++i)
+                               cmd_buffer[cmd_read_pos++] = serial_read();
 
-                       uint8_t i, j;
-                       for(i=0, j=recv_tail+1; i<cmd_length; ++i, ++j)
+                       if(cmd_read_pos>=cmd_length)
                        {
-                               if(j>=sizeof(recv_buf))
-                                       j = 0;
-                               cmd_buf[i] = recv_buf[j];
+                               uint8_t result = dispatch_command(cmd_buffer, cmd_length);
+                               interface_send1(result);
+                               cmd_length = 0;
                        }
-
-                       consumed = 1+cmd_length;
                }
-               else
+               PORTB &= ~0x01;
+       }
+
+       if(baud_change)
+       {
+               if(!baud_changed_at)
                {
-                       serial_write(0xFE);
-                       serial_write(FRAMING_ERROR);
-                       consumed = 1;
+                       baud_changed_at = clock_get();
+                       serial_set_baud(baud_change);
                }
-
-               recv_tail += consumed;
-               if(recv_tail>=sizeof(recv_buf))
-                       recv_tail -= sizeof(recv_buf);
-               recv_fill -= consumed;
-
-               if(cmd_length>0)
+               else if(clock_get()-baud_changed_at>3*CLOCK_RATE)
                {
-                       uint8_t result = process_command();
-                       serial_write(0xFE);
-                       serial_write(result);
+                       baud_change = 0;
+                       serial_set_baud(baud_rate);
+                       interface_send1(BAUD_CHANGE_FAILED);
                }
        }
 }
 
-uint8_t process_command()
+static uint8_t dispatch_command(const uint8_t *cmd, uint8_t length)
 {
-       uint8_t type = cmd_buf[0]>>4;
+       uint8_t type = cmd[0]>>4;
        if(type==0)
        {
-               uint8_t subtype = (cmd_buf[0]>>3)&1;
+               uint8_t subtype = (cmd[0]>>3)&1;
                if(subtype==0)
-                       return output_command();
+                       return output_command(cmd, length);
                else
-                       return monitor_command();
+                       return monitor_command(cmd, length);
        }
        else if(type==1)
-               return motorola_command();
+               return motorola_command(cmd, length);
+       else if(type==2)
+               return mfx_command(cmd, length);
+       else if(type==3)
+               return s88_command(cmd, length);
+       else if(type==7)
+               return interface_command(cmd, length);
        else
                return INVALID_COMMAND;
 }
 
-static inline void receive(uint8_t c)
+void interface_send(const uint8_t *cmd, uint8_t length)
 {
-       if(recv_fill>=sizeof(recv_buf))
+       serial_write(~length);
+       for(uint8_t i=0; i<length; ++i)
+               serial_write(cmd[i]);
+}
+
+void interface_send1(uint8_t cmd)
+{
+       serial_write(0xFE);
+       serial_write(cmd);
+}
+
+uint8_t interface_command(const uint8_t *cmd, uint8_t length)
+{
+       if(cmd[0]==SET_BAUD_RATE)
        {
-               recv_overrun = 1;
-               return;
+               if(length!=3)
+                       return LENGTH_ERROR;
+
+               uint16_t baud = (cmd[1]<<8)|cmd[2];
+               if(baud!=baud_rate)
+               {
+                       if(baud!=baud_change)
+                       {
+                               baud_change = baud;
+                               baud_changed_at = 0;
+                       }
+                       else
+                       {
+                               baud_rate = baud_change;
+                               baud_change = 0;
+                       }
+               }
        }
+       else
+               return INVALID_COMMAND;
 
-       recv_buf[recv_head++] = c;
-       if(recv_head>=sizeof(recv_buf))
-               recv_head = 0;
-       ++recv_fill;
+       return COMMAND_OK;
 }
-
-SERIAL_SET_CALLBACK(receive)