mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-01 09:24:05 +02:00
90 lines
1.6 KiB
C
90 lines
1.6 KiB
C
/*
|
|
* fw/sample.c - Acceleration sensor sample protocol
|
|
*
|
|
* Written 2012 by Werner Almesberger
|
|
* Copyright 2012 Werner Almesberger
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*/
|
|
|
|
|
|
#include <stddef.h>
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#include <avr/interrupt.h>
|
|
|
|
#include "rf.h"
|
|
#include "sweep.h"
|
|
#include "accel.h"
|
|
#include "proto.h"
|
|
#include "dispatch.h"
|
|
|
|
#include "io.h"
|
|
|
|
/* @@@ keep it small for now - we're running out of RAM :-( */
|
|
//#define MAX_PACKET 120 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
|
|
#define MAX_PACKET 50 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
|
|
|
|
static uint8_t buf[MAX_PACKET+3] = { SAMPLES, 0, 0 };
|
|
static uint16_t *p;
|
|
static bool expect_x;
|
|
|
|
|
|
static void handler(bool x, uint16_t v)
|
|
{
|
|
uint32_t t;
|
|
|
|
if (x != expect_x)
|
|
return;
|
|
t = uptime_irq();
|
|
if (p == (uint16_t *) (buf+3))
|
|
*p++ = t >> 16;
|
|
*p++ = t;
|
|
*p++ = v;
|
|
expect_x = !expect_x;
|
|
|
|
if (x)
|
|
return;
|
|
if ((uint8_t *) (p+4) <= buf+MAX_PACKET)
|
|
return;
|
|
|
|
rf_send(buf, (uint8_t *) p-buf);
|
|
buf[1]++;
|
|
p = (uint16_t *) (buf+3);
|
|
}
|
|
|
|
|
|
static bool sample_first(uint8_t limit, const uint8_t *payload)
|
|
{
|
|
if (payload[0]) {
|
|
buf[1] = 0;
|
|
cli();
|
|
sample = handler;
|
|
p = (uint16_t *) (buf+3);
|
|
expect_x = 1;
|
|
sei();
|
|
} else {
|
|
cli();
|
|
sample = NULL;
|
|
sei();
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
|
|
static bool sample_more(uint8_t seq, uint8_t limit, const uint8_t *payload)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
struct handler sample_handler = {
|
|
.type = SAMPLE,
|
|
.first = sample_first,
|
|
.more = sample_more,
|
|
};
|