James Hilder
Library for the PsiSwarm Robot - Version 0.4
Diff: serial.cpp
- Revision:
- 0:d6269d17c8cf
- Child:
- 1:060690a934a9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial.cpp Thu Feb 04 21:48:54 2016 +0000
@@ -0,0 +1,995 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File
+ *
+ * File: serial.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.4
+ *
+ * February 2016
+ *
+ *
+ */
+
+#include "psiswarm.h"
+
+static float command_timeout_period = 0.1f; //If a complete command message is not received in 0.1s then consider it a user message
+char pc_command_message_started = 0;
+char pc_command_message_byte = 0;
+char pc_command_message[3];
+char bt_command_message_started = 0;
+char bt_command_message_byte = 0;
+char bt_command_message[3];
+
+char allow_commands = 1;
+char allow_requests = 1;
+
+Timeout pc_command_timeout;
+Timeout bt_command_timeout;
+
+// A predefined message structure for command messages is as follows:
+// [Byte 0][Byte 1][Byte 2][Byte 3][Byte 4]
+// Byte 0 and Byte 4 must be equal to COMMAND_MESSAGE_BYTE [in psiswarm.h] or message is treated as a user message
+
+
+
+void handle_user_serial_message(char * message, char length, char interface)
+{
+ // This is where user code for handling a (non-system) serial message should go
+ //
+ // message = pointer to message char array
+ // length = length of message
+ // interface = 0 for PC serial connection, 1 for Bluetooth
+
+ if(interface) {
+ if(length == 8) {
+ for(int i = 0; i < length; i++) {
+ // Convert single byte value into a beacon heading in the range +/-180 degrees
+ float beacon_heading = message[i];
+ float degrees_per_value = 256.0f / 360.0f;
+
+ if(beacon_heading != 0)
+ beacon_heading /= degrees_per_value;
+
+ beacon_heading -= 180;
+
+ flocking_headings[i] = beacon_heading;
+
+ debug("%d, ", flocking_headings[i]);
+ //debug("%f, ", beacon_heading);
+ }
+
+ debug("\n");
+ }
+ }
+}
+
+
+void IF_handle_file_transfer_serial_message(char * message, char length, char interface)
+{
+ // Code for handling a serial (Bluetooth) message when in file-transfer mode
+ //
+ // message = pointer to message char array
+ // length = length of message
+ // interface = 0 for PC serial connection, 1 for Bluetooth [NB only Bluetooth used for file transfer in this version]
+
+ debug("FTM Message:%s [%d]\n",message,length);
+
+}
+
+
+void IF_handle_user_serial_message(char * message, char length, char interface)
+{
+ char buffer[255];
+ sprintf(buffer,message,length);
+ for(int i=0; i<length; i++) {
+ buffer[i]=message[i];
+ }
+ buffer[length]=0;
+// if(interface) debug("Received BT message:%s [%d chars]\n",buffer,length);
+// else debug("Received USB message:%s [%d chars]\n",buffer,length);
+ handle_user_serial_message(message,length,interface);
+}
+
+void IF_handle_command_serial_message(char message[3], char interface)
+{
+ char iface [4];
+ if(interface) strcpy(iface,"BT");
+ else strcpy(iface,"USB");
+ char command [26];
+ char subcommand[30];
+ float dec;
+ float l_dec;
+ float r_dec;
+ int irp_delay;
+ char colour_string[7];
+ char ret_message[50];
+ char send_message = 0;
+ char command_status = 0;
+ // command_status values:
+ // 0 - unrecognised command
+ // 1 - command actioned
+ // 2 - command blocked
+ // 3 - invalid parameters
+
+ subcommand[0]=0;
+ command[0]=0;
+ switch(message[0]) {
+
+ // MOTOR COMMANDS
+
+ case 1:
+ strcpy(command,"SET LEFT MOTOR");
+ dec = IF_decode_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ command_status = 1;
+ set_left_motor_speed(dec);
+ } else command_status = 2;
+ break;
+ case 2:
+ strcpy(command,"SET RIGHT MOTOR");
+ dec = IF_decode_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ set_right_motor_speed(dec);
+ command_status = 1;
+ } else command_status = 2;
+ break;
+ case 3:
+ strcpy(command,"SET BOTH MOTORS");
+ dec = IF_decode_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ command_status = 1;
+ forward(dec);
+ } else command_status = 2;
+ break;
+ case 4:
+ strcpy(command,"BRAKE LEFT MOTOR");
+ sprintf(subcommand,"");
+ if(allow_commands) {
+ command_status = 1;
+ brake_left_motor();
+ } else command_status = 2;
+ break;
+ case 5:
+ strcpy(command,"BRAKE RIGHT MOTOR");
+ sprintf(subcommand,"");
+ if(allow_commands) {
+ command_status = 1;
+ brake_right_motor();
+ } else command_status = 2;
+ break;
+ case 6:
+ strcpy(command,"BRAKE BOTH MOTORS");
+ sprintf(subcommand,"");
+ if(allow_commands) {
+ command_status = 1;
+ brake();
+ } else command_status = 2;
+ break;
+ case 7:
+ strcpy(command,"STOP BOTH MOTORS");
+ sprintf(subcommand,"");
+ if(allow_commands) {
+ command_status = 1;
+ stop();
+ } else command_status = 2;
+ break;
+ case 8:
+ strcpy(command,"TURN ON SPOT");
+ dec = IF_decode_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ command_status = 1;
+ turn(dec);
+ } else command_status = 2;
+ break;
+ case 9:
+ strcpy(command,"SET EACH MOTOR");
+ l_dec = IF_decode_float(message[1]);
+ r_dec = IF_decode_float(message[2]);
+ sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
+ if(allow_commands) {
+ command_status = 1;
+
+ set_left_motor_speed(l_dec);
+ set_right_motor_speed(r_dec);
+ } else command_status = 2;
+ break;
+ // LED COMMANDS
+
+ case 10:
+ strcpy(command,"SET LED STATES");
+ sprintf(subcommand,"G:%s R:%s",IF_char_to_binary_char(message[1]), IF_char_to_binary_char(message[2]));
+ if(allow_commands) {
+ command_status = 1;
+ set_leds(message[1],message[2]);
+ } else command_status = 2;
+ break;
+ case 11:
+ strcpy(command,"SET RED LED STATES");
+ sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
+ if(allow_commands) {
+ command_status = 1;
+ set_red_leds(message[1]);
+ } else command_status = 2;
+ break;
+ case 12:
+ strcpy(command,"SET GREEN LED STATES");
+ sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
+ if(allow_commands) {
+ command_status = 1;
+ set_green_leds(message[1]);
+ } else command_status = 2;
+ break;
+ case 13:
+ strcpy(command,"SET LED");
+ switch(message[2]) {
+ case 1:
+ strcpy(colour_string,"RED");
+ break;
+ case 2:
+ strcpy(colour_string,"GREEN");
+ break;
+ case 3:
+ strcpy(colour_string,"BOTH");
+ break;
+ case 0:
+ strcpy(colour_string,"OFF");
+ break;
+ }
+ if(message[1] < 8 && message[2] < 4) {
+ sprintf(subcommand,"%d %s",message[1],colour_string);
+ if(allow_commands) {
+ command_status = 1;
+ set_led(message[1],message[2]);
+ } else command_status = 2;
+ } else {
+ sprintf(subcommand,"[INVALID CODE]");
+ command_status = 3;
+ }
+ break;
+ case 14:
+ strcpy(command,"SET CENTER LED STATE");
+ switch(message[1]) {
+ case 1:
+ strcpy(colour_string,"RED");
+ break;
+ case 2:
+ strcpy(colour_string,"GREEN");
+ break;
+ case 3:
+ strcpy(colour_string,"BOTH");
+ break;
+ case 0:
+ strcpy(colour_string,"OFF");
+ break;
+ }
+ if(message[1] < 4) {
+ sprintf(subcommand,"%s",colour_string);
+ if(allow_commands) {
+ command_status = 1;
+ set_center_led(message[1]);
+ } else command_status = 2;
+ } else {
+ sprintf(subcommand,"[INVALID CODE]");
+ command_status = 3;
+ }
+ break;
+ case 15:
+ strcpy(command,"SET C.LED BRIGHTNESS");
+ dec = IF_decode_unsigned_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ command_status = 1;
+ set_center_led_brightness(dec);
+ } else command_status = 2;
+ break;
+ case 16:
+ strcpy(command,"SET MBED LEDS");
+ sprintf(subcommand,"%s",IF_nibble_to_binary_char(message[1]));
+ if(allow_commands) {
+ command_status = 1;
+ mbed_led1 = (message[1] & 128) >> 7;
+ mbed_led2 = (message[1] & 64) >> 6;
+ mbed_led3 = (message[1] & 32) >> 5;
+ mbed_led4 = (message[1] & 16) >> 4;
+ } else command_status = 2;
+ break;
+ case 17:
+ strcpy(command,"BLINK OUTER LEDS");
+ dec = IF_decode_unsigned_float(message[1],message[2]);
+ sprintf(subcommand,"FOR %1.5fS",dec);
+ if(allow_commands) {
+ command_status = 1;
+ blink_leds(dec);
+ } else command_status = 2;
+ break;
+ case 18:
+ strcpy(command,"SET BASE LED STATE");
+ switch(message[1]) {
+ case 1:
+ strcpy(subcommand,"ON");
+ break;
+ case 0:
+ strcpy(subcommand,"OFF");
+ break;
+ }
+ //Function not yet implemented
+ break;
+ case 19:
+ strcpy(command,"SET CENTER LED ");
+ switch(message[1]) {
+ case 1:
+ strcpy(colour_string,"RED");
+ break;
+ case 2:
+ strcpy(colour_string,"GREEN");
+ break;
+ case 3:
+ strcpy(colour_string,"BOTH");
+ break;
+ case 0:
+ strcpy(colour_string,"OFF");
+ break;
+ }
+ dec = IF_decode_unsigned_float(message[2]);
+ sprintf(subcommand,"%s @ %1.5f brightness",colour_string,dec);
+ if(allow_commands) {
+ command_status = 1;
+ set_center_led(message[1],dec);
+ } else command_status = 2;
+ break;
+
+ // DISPLAY COMMANDS
+
+ case 20:
+ strcpy(command,"SET DISPLAY ");
+ switch(message[1]) {
+ case 0:
+ strcpy(subcommand,"CLEAR");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ } else command_status = 2;
+ break;
+ case 1:
+ strcpy(subcommand,"MESSAGE 1");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("PC CONNECTION");
+ display.set_position(1,0);
+ display.write_string("STARTED");
+ } else command_status = 2;
+ break;
+ case 2:
+ strcpy(subcommand,"MESSAGE 2");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("PC CONNECTION");
+ display.set_position(1,0);
+ display.write_string("TERMINATED");
+ } else command_status = 2;
+ break;
+ case 3:
+ strcpy(subcommand,"MESSAGE 3");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("ANDROID DEVICE");
+ display.set_position(1,0);
+ display.write_string("CONNECTED");
+ } else command_status = 2;
+ break;
+ case 4:
+ strcpy(subcommand,"MESSAGE 4");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("ANDROID DEVICE");
+ display.set_position(1,0);
+ display.write_string("DISCONNECTED");
+ } else command_status = 2;
+ break;
+ }
+ break;
+ case 21:
+ strcpy(command,"SET CURSOR ");
+ if(message[1] < 2 && message[2] < 16) {
+ sprintf(subcommand,"[%d,%d]",message[1],message[2]);
+ if(allow_commands) {
+ display.set_position(message[1],message[2]);
+ } else command_status = 2;
+ } else {
+ sprintf(subcommand,"[INVALID]");
+ command_status = 3;
+ }
+ break;
+ case 22:
+ strcpy(command,"PRINT CHARACTERS ");
+ char print_message[2];
+ print_message[0]=message[1];
+ print_message[1]=message[2];
+ sprintf(subcommand,"[%c,%c]",message[1],message[2]);
+ if(allow_commands) {
+ display.write_string(print_message,2);
+ } else command_status = 2;
+ break;
+ case 23:
+ strcpy(command,"SET DISPLAY B.NESS");
+ dec = IF_decode_unsigned_float(message[1],message[2]);
+ sprintf(subcommand,"%1.5f",dec);
+ if(allow_commands) {
+ command_status = 1;
+ display.set_backlight_brightness(dec);
+ } else command_status = 2;
+ break;
+
+ case 30:
+ strcpy(command,"SET DEBUG MODE");
+ switch(message[1]) {
+ case 1:
+ strcpy(subcommand,"ON");
+ break;
+ case 0:
+ strcpy(subcommand,"OFF");
+ break;
+ }
+ if(message[2] & 1) strcat (subcommand,"-PC");
+ if(message[2] & 2) strcat (subcommand,"-BT");
+ if(message[2] & 4) strcat (subcommand,"-DISP");
+ if(allow_commands) {
+ command_status = 1;
+ debug_mode = message[1];
+ debug_output = message[2];
+ } else command_status = 2;
+ break;
+ case 31:
+ strcpy(command,"SET DEMO MODE");
+ switch(message[1] % 2) {
+ case 1:
+ strcpy(subcommand,"ON");
+ break;
+ case 0:
+ strcpy(subcommand,"OFF");
+ break;
+ }
+ if(allow_commands) {
+ command_status = 1;
+ demo_on = message[1] % 2;
+ if(demo_on == 1) {
+ user_code_restore_mode = user_code_running;
+ user_code_running = 0;
+ } else {
+ user_code_running = user_code_restore_mode;
+ }
+ } else command_status = 2;
+ break;
+ case 32:
+ strcpy(command,"SET USER CODE");
+ switch(message[1] % 2) {
+ case 1:
+ strcpy(subcommand,"ON");
+ break;
+ case 0:
+ strcpy(subcommand,"OFF");
+ break;
+ }
+ if(allow_commands) {
+ command_status = 1;
+ user_code_running = message[1] % 2;
+ } else command_status = 2;
+ break;
+ case 33:
+ strcpy(command,"PAUSE USER CODE");
+ dec = IF_decode_unsigned_float(message[1],message[2]) * 10;
+ sprintf(subcommand,"FOR %2.3fS",dec);
+ if(allow_commands) {
+ command_status = 1;
+ pause_user_code(dec);
+ } else command_status = 2;
+ break;
+
+ case 34:
+ strcpy(command,"RESET ENCODERS");
+ if(allow_commands) {
+ command_status = 1;
+ reset_encoders();
+ } else command_status = 2;
+ break;
+
+ case 35:
+ strcpy(command,"SET ALLOW COMMANDS");
+ switch(message[1] % 2) {
+ case 1:
+ strcpy(subcommand,"ON");
+ break;
+ case 0:
+ strcpy(subcommand,"OFF");
+ break;
+ }
+ allow_commands = message[1] % 2;
+ command_status = 1;
+ break;
+
+ case 36:
+ irp_delay = (message[1] << 8) + message[2];
+ sprintf(command,"SET IR PULSE DELAY %d MS",irp_delay);
+ if(allow_commands) {
+ command_status = 1;
+ ir_pulse_delay = irp_delay;
+ } else command_status = 2;
+ break;
+ case 37:
+ irp_delay = (message[1] << 8) + message[2];
+ sprintf(command,"SET BASE IR PULSE DELAY %d MS",irp_delay);
+ if(allow_commands) {
+ command_status = 1;
+ base_ir_pulse_delay = irp_delay;
+ } else command_status = 2;
+ break;
+
+ // MOTOR REQUESTS
+ case 40:
+ strcpy(command,"GET LEFT MOTOR SPEED");
+ sprintf(ret_message,"%1.5f",motor_left_speed);
+ send_message = 1;
+ break;
+
+ case 41:
+ strcpy(command,"GET RIGHT MOTOR SPEED");
+ sprintf(ret_message,"%1.5f",motor_right_speed);
+ send_message = 1;
+ break;
+ case 42:
+ strcpy(command,"GET BRAKE STATES");
+ sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
+ send_message = 1;
+ break;
+ case 43:
+ strcpy(command,"GET MOTOR STATES");
+ //sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
+ send_message = 1;
+ break;
+ case 44:
+ strcpy(command,"GET ENCODERS");
+ sprintf(ret_message,"%d,%d",left_encoder,right_encoder);
+ send_message = 1;
+ break;
+
+ // LED REQUESTS
+ case 50:
+ strcpy(command,"GET LED STATES");
+ sprintf(ret_message,"%04x",get_led_states());
+ send_message = 1;
+ break;
+
+ // GENERAL REQUESTS
+ case 60:
+ strcpy(command,"GET SOFTWARE VERSION");
+ sprintf(ret_message,"%1.2f",SOFTWARE_VERSION_CODE);
+ send_message = 1;
+ break;
+
+ case 61:
+ strcpy(command,"GET UPTIME");
+ sprintf(ret_message,"%6.2f",get_uptime());
+ send_message = 1;
+ break;
+
+ case 62:
+ strcpy(command,"GET ID");
+ sprintf(ret_message,"%d",robot_id);
+ send_message = 1;
+ break;
+
+ case 63:
+ strcpy(command,"GET SWITCH BYTE");
+ sprintf(ret_message,"%02x",switch_byte);
+ send_message = 1;
+ break;
+ case 64:
+ strcpy(command,"GET USER CODE");
+ sprintf(ret_message,"%d",user_code_running);
+ send_message = 1;
+ break;
+ case 65:
+ strcpy(command,"GET RESPONSE STRING");
+ sprintf(ret_message,"PSI");
+ send_message = 1;
+ break;
+ case 66:
+ strcpy(command,"GET PROGRAM NAME");
+ sprintf(ret_message,"%s",program_name);
+ send_message = 1;
+ break;
+ case 67:
+ strcpy(command,"GET AUTHOR NAME");
+ sprintf(ret_message,"%s",author_name);
+ send_message = 1;
+ break;
+ case 68:
+ strcpy(command,"GET DEBUG MODE");
+ sprintf(ret_message,"%1d%1d",debug_mode,debug_output);
+ send_message = 1;
+ break;
+ case 69:
+ strcpy(command,"GET SYSTEM WARNINGS");
+ sprintf(ret_message,"%d",system_warnings);
+ send_message = 1;
+ break;
+
+
+ // Sensors
+ case 80:
+ strcpy(command,"STORE BG. IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_background_raw_ir_values();
+ } else command_status = 2;
+ break;
+ case 81:
+ strcpy(command,"STORE IL. IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_illuminated_raw_ir_values();
+ } else command_status = 2;
+ break;
+ case 82:
+ strcpy(command,"STORE IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_ir_values();
+ } else command_status = 2;
+ break;
+ case 83:
+ strcpy(command,"STORE BG BASE IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_background_base_ir_values();
+ } else command_status = 2;
+ break;
+ case 84:
+ strcpy(command,"STORE IL. BASE IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_illuminated_base_ir_values();
+ } else command_status = 2;
+ break;
+ case 85:
+ strcpy(command,"STORE BASE IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_base_ir_values();
+ } else command_status = 2;
+ break;
+ case 86:
+ strcpy(command,"STORE ALL IR VALUES");
+ if(allow_commands) {
+ command_status = 1;
+ store_ir_values();
+ store_base_ir_values();
+ } else command_status = 2;
+ break;
+ case 90:
+ sprintf(command,"%s %d","GET BG IR VALUE",message[1]);
+ sprintf(ret_message,"%d",get_background_raw_ir_value(message[1]));
+ send_message = 1;
+ break;
+ case 91:
+ sprintf(command,"%s %d","GET IL IR VALUE",message[1]);
+ sprintf(ret_message,"%d",get_illuminated_raw_ir_value(message[1]));
+ send_message = 1;
+ break;
+ case 92:
+ strcpy(command,"GET BG IR VALUES");
+ sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_background_raw_ir_value(0),get_background_raw_ir_value(1),get_background_raw_ir_value(2),get_background_raw_ir_value(3),get_background_raw_ir_value(4),get_background_raw_ir_value(5),get_background_raw_ir_value(6),get_background_raw_ir_value(7));
+ send_message = 1;
+ break;
+ case 93:
+ strcpy(command,"GET ILLUMINATED IR VALUES");
+ sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_illuminated_raw_ir_value(0),get_illuminated_raw_ir_value(1),get_illuminated_raw_ir_value(2),get_illuminated_raw_ir_value(3),get_illuminated_raw_ir_value(4),get_illuminated_raw_ir_value(5),get_illuminated_raw_ir_value(6),get_illuminated_raw_ir_value(7));
+ send_message = 1;
+ break;
+ case 94:
+ sprintf(command,"%s %d","GET BG BASE IR VALUE",message[1]);
+ sprintf(ret_message,"%d",get_background_base_ir_value(message[1]));
+ send_message = 1;
+ break;
+ case 95:
+ sprintf(command,"%s %d","GET IL BASE IR VALUE",message[1]);
+ sprintf(ret_message,"%d",get_illuminated_base_ir_value(message[1]));
+ send_message = 1;
+ break;
+ case 96:
+ strcpy(command,"GET BG BASE IR VALUES");
+ sprintf(ret_message,"%03X%03X%03X%03X%03X",get_background_base_ir_value(0),get_background_base_ir_value(1),get_background_base_ir_value(2),get_background_base_ir_value(3),get_background_base_ir_value(4));
+ send_message = 1;
+ break;
+ case 97:
+ strcpy(command,"GET IL BASE IR VALUES");
+ sprintf(ret_message,"%03X%03X%03X%03X%03X",get_illuminated_base_ir_value(0),get_illuminated_base_ir_value(1),get_illuminated_base_ir_value(2),get_illuminated_base_ir_value(3),get_illuminated_base_ir_value(4));
+ send_message = 1;
+ break;
+ case 100:
+ strcpy(command,"START FILE TRANSFER MODE");
+ if(allow_commands) {
+ command_status = 1;
+ file_transfer_mode = 1;
+ user_code_restore_mode = user_code_running;
+ user_code_running = 0;
+ sprintf(ret_message,"OK");
+ send_message = 1;
+ } else command_status = 2;
+ break;
+ }
+
+
+ if(send_message) {
+ char message_length = strlen(ret_message);
+ switch(interface) {
+ case 0:
+ pc.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
+ break;
+ case 1:
+ bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
+ break;
+ }
+ debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length);
+ } else {
+ switch(interface) {
+ case 0:
+ pc.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
+ break;
+ case 1:
+ bt.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
+ break;
+ }
+ switch(command_status) {
+ case 0:
+ debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]);
+ break;
+ case 1:
+ debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
+ break;
+ case 2:
+ debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
+ break;
+ case 3:
+ debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
+ break;
+ }
+ }
+}
+
+char * IF_nibble_to_binary_char(char in)
+{
+ char * ret = (char*)malloc(sizeof(char)*5);
+ for(int i=0; i<4; i++) {
+ if(in & (128 >> i)) ret[i]='1';
+ else ret[i]='0';
+ }
+ ret[4]=0;
+ return ret;
+}
+
+char * IF_char_to_binary_char(char in)
+{
+ char * ret = (char*)malloc(sizeof(char)*9);
+ for(int i=0; i<8; i++) {
+ if(in & (128 >> i)) ret[i]='1';
+ else ret[i]='0';
+ }
+ ret[8]=0;
+ return ret;
+}
+
+float IF_decode_unsigned_float(char byte0, char byte1)
+{
+ unsigned short sval = (byte0) << 8;
+ sval += byte1;
+ float scaled = sval / 65535.0f;
+ return scaled;
+}
+
+float IF_decode_float(char byte0, char byte1)
+{
+ // MSB is byte 0 is sign, rest is linear spread between 0 and 1
+ char sign = byte0 / 128;
+ short sval = (byte0 % 128) << 8;
+ sval += byte1;
+ float scaled = sval / 32767.0f;
+ if(sign == 0) scaled = 0-scaled;
+ return scaled;
+}
+
+float IF_decode_unsigned_float(char byte0)
+{
+ unsigned short sval = (byte0);
+ float scaled = sval / 255.0f;
+ return scaled;
+}
+
+float IF_decode_float(char byte0)
+{
+ // MSB is byte 0 is sign, rest is linear spread between 0 and 1
+ char sign = byte0 / 128;
+ short sval = (byte0 % 128);
+ float scaled = sval / 127.0f;
+ if(sign == 0) scaled = 0-scaled;
+ return scaled;
+}
+
+void IF_setup_serial_interfaces()
+{
+ if(ENABLE_PC_SERIAL) {
+ pc.baud(PC_BAUD);
+ pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
+ }
+ if(ENABLE_BLUETOOTH) {
+ bt.baud(BLUETOOTH_BAUD);
+ bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
+ }
+}
+
+void IF_pc_rx_command_timeout()
+{
+ char message_array[6];
+ char length = 1 + pc_command_message_byte;
+ pc_command_message_started = 0;
+ message_array[0] = COMMAND_MESSAGE_BYTE;
+ for(int k=0; k<pc_command_message_byte; k++) {
+ message_array[k+1] = pc_command_message[k];
+ }
+ IF_handle_user_serial_message(message_array, length, 0);
+}
+
+void IF_bt_rx_command_timeout()
+{
+ char message_array[6];
+ char length = 1 + bt_command_message_byte;
+ bt_command_message_started = 0;
+ message_array[0] = COMMAND_MESSAGE_BYTE;
+ for(int k=0; k<bt_command_message_byte; k++) {
+ message_array[k+1] = bt_command_message[k];
+ }
+ IF_handle_user_serial_message(message_array, length, 1);
+}
+
+void IF_pc_rx_callback()
+{
+ int count = 0;
+ char message_array[255];
+
+ while(pc.readable()) {
+ char tc = pc.getc();
+ message_array[count] = tc;
+ count ++;
+ if(pc_command_message_started == 1) {
+ if(pc_command_message_byte == 3) {
+ pc_command_timeout.detach();
+ if(tc == COMMAND_MESSAGE_BYTE) {
+ // A complete command message succesfully received, call handler
+ pc_command_message_started = 0;
+ count = 0;
+ IF_handle_command_serial_message(pc_command_message , 0);
+ } else {
+ // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
+ pc_command_message_started = 0;
+ message_array[0] = COMMAND_MESSAGE_BYTE;
+ message_array[1] = pc_command_message[0];
+ message_array[2] = pc_command_message[1];
+ message_array[3] = pc_command_message[2];
+ message_array[4] = tc;
+ count = 5;
+ }
+ } else {
+ pc_command_message[pc_command_message_byte] = tc;
+ pc_command_message_byte ++;
+ }
+ } else {
+ if(count == 1) {
+ if(tc == COMMAND_MESSAGE_BYTE) {
+ pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
+ pc_command_message_started = 1;
+ pc_command_message_byte = 0;
+
+ }
+ }
+ }
+ }
+ if(!pc_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 0);
+}
+
+Timeout bt_message_timeout;
+static float bt_message_timeout_period = 0.001; // 1 millisecond
+char bt_buffer[255];
+int bt_buffer_index = 0;
+
+void IF_bt_message_timeout()
+{
+ char buffer[255];
+
+ sprintf(buffer, bt_buffer, bt_buffer_index);
+ buffer[bt_buffer_index] = 0;
+ if(file_transfer_mode == 1) {
+ IF_handle_file_transfer_serial_message(bt_buffer, bt_buffer_index, 1);
+ } else {
+// debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
+ if(bt_buffer_index == 5 && buffer[0] == COMMAND_MESSAGE_BYTE && buffer[4] == COMMAND_MESSAGE_BYTE) {
+ bt_command_message[0] = buffer[1];
+ bt_command_message[1] = buffer[2];
+ bt_command_message[2] = buffer[3];
+ IF_handle_command_serial_message(bt_command_message , 1);
+ } else IF_handle_user_serial_message(bt_buffer, bt_buffer_index, 1);
+ }
+ bt_buffer_index = 0;
+}
+
+void IF_bt_rx_callback()
+{
+ while(bt.readable()) {
+ char byte = bt.getc();
+
+ bt_buffer[bt_buffer_index] = byte;
+ bt_buffer_index++;
+ }
+
+ bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
+}
+
+//void IF_bt_rx_callback()
+//{
+// int count = 0;
+// char message_array[255];
+//
+// wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
+//
+// while(bt.readable()) {
+// char tc = bt.getc();
+// message_array[count] = tc;
+// count ++;
+// if(bt_command_message_started == 1) {
+// if(bt_command_message_byte == 3) {
+// bt_command_timeout.detach();
+// if(tc == COMMAND_MESSAGE_BYTE) {
+// // A complete command message succesfully received, call handler
+// bt_command_message_started = 0;
+// count = 0;
+// IF_handle_command_serial_message(bt_command_message , 1);
+// } else {
+// // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
+// bt_command_message_started = 0;
+// message_array[0] = COMMAND_MESSAGE_BYTE;
+// message_array[1] = bt_command_message[0];
+// message_array[2] = bt_command_message[1];
+// message_array[3] = bt_command_message[2];
+// message_array[4] = tc;
+// count = 5;
+// }
+// } else {
+// bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
+// bt_command_message[bt_command_message_byte] = tc;
+// bt_command_message_byte ++;
+// }
+// } else {
+// if(count == 1) {
+// if(tc == COMMAND_MESSAGE_BYTE) {
+// bt_command_message_started = 1;
+// bt_command_message_byte = 0;
+//
+// }
+// }
+// }
+// }
+// if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
+//}
\ No newline at end of file