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/* serial.c */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: robot AT efrei DOT fr
 *
 * 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.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "serial.h"
#include "motor.h"

/* Macros de lecture du tampon. */
#define HEXDIGIT(a) ((a) <= 9 ? (a) + '0' : (a) + ('a' - 10))
#define SERIAL2INT(a, b) (HEX (a) << 4 | HEX (b))

#define CRLF '\r'
#define EOB '\0'

/* Tampon de reception. */
/* Compilateur de merde !
 * char serial_recv_buf[SERIAL_RECV_BUF_LEN];
 * int serial_recv_buf_n; */
short serial_recv_full, serial_recv_working;

/* Tampon d'emmission. */
#define SERIAL_SEND_BUF_LEN 20
char serial_send_buf[SERIAL_SEND_BUF_LEN];
int serial_send_buf_n;
short serial_send_full;

/* Tampon d'emmision non fiable. */
#define SERIAL_UNRELIABLE_SEND_BUF_LEN 34
char serial_unreliable_send_buf[SERIAL_UNRELIABLE_SEND_BUF_LEN];
int serial_unreliable_send_buf_n;
short serial_unreliable_send_full;

/* Initialise la reception serie. */
void
serial_init (void)
{
    serial_recv_buf_n = 0;
    serial_recv_full = 0;
    serial_recv_working = 0;
    serial_send_buf_n = 0;
    serial_send_full = 0;
    serial_unreliable_send_buf_n = 0;
    serial_unreliable_send_full = 0;
}

/* Recois des caract�res. */
#int_RDA
serial_recv ()
{
    char c;
    if (serial_recv_full) return;
    c = getc ();
    if (c == '\n' || c == '\r')
      {
	/* Fin de commande. */
	if (serial_recv_buf_n)
	    serial_recv_full = 1;
      }
    else
      {
	if (c == '!' || serial_recv_buf_n >= SERIAL_RECV_BUF_LEN)
	    /* D�but de commande ou buffer overflow. */
	    serial_recv_buf_n = 0;
	serial_recv_buf[serial_recv_buf_n++] = c;
      }
}

/* Envois des caract�res. */
#int_TBE
serial_send ()
{
    char c;
    if (serial_send_full)
      {
	/* Efface le tampon non-fiable. */
	serial_unreliable_send_buf_n = 0;
	serial_unreliable_send_full = 0;
	/* Envoie le caract�re fiable. */
	c = serial_send_buf[serial_send_buf_n++];
	putc (c);
	/* Si fin de tampon, on le lib�re. */
	if (c == CRLF)
	  {
	    serial_send_buf_n = 0;
	    serial_send_full = 0;
	    disable_interrupts (INT_TBE);
	  }
	/* On ne fait pas le test, normalement ne doit pas arriver.
	 * assert (serial_send_buf_n < SERIAL_SEND_BUF_LEN); */
      }
    else
      {
	if (serial_unreliable_send_full)
	  {
	    /* Envoie le caract�re non-fiable. */
	    c = serial_unreliable_send_buf[serial_unreliable_send_buf_n++];
	    /* Si fin de tampon, on le lib�re. */
	    if (c == EOB)
	      {
		serial_unreliable_send_buf_n = 0;
		serial_unreliable_send_full = 0;
		disable_interrupts (INT_TBE);
	      }
	    else
		putc (c);
	    /* On ne fait pas le test, normalement ne doit pas arriver.
	     * assert (serial_unreliable_send_buf_n <
	     *         SERIAL_UNRELIABLE_SEND_BUF_LEN); */
	  }
      }
}

/* Traite la commande recue. */
void
serial_parse (void)
{
    restart_wdt ();
    /* Si le tampon n'est pas plein, bye, bye. */
    if (!serial_recv_full || serial_recv_working) return;
    serial_recv_working = 1;
    /* V�rifie la pr�sence de caract�re de d�but de s�quence et la taille du
     * tampon. */
    if (serial_recv_buf_n > 1 && serial_recv_buf[0] == '!')
      {
	/* Est-ce une commande moteur. */
	if (!motor_parse ())
	  {
	    switch (serial_recv_com ())
	      {
	      case 'z':
		reset_cpu ();
		break;
	      default:
		serial_send_error ('?');
		break;
	      }
	  }
      }
    else
	serial_send_error ('?');
    serial_recv_buf_n = 0;
    serial_recv_working = 0;
    serial_recv_full = 0;
}

/* Envoie un code rezet. */
void
serial_send_rezet (void)
{
    serial_send_char ('!');
    serial_send_char ('z');
    serial_send_char (CRLF);
}

/* Envoie un code d'erreur. */
void
serial_send_error (char c)
{
    serial_send_char ('!');
    serial_send_char ('E');
    serial_send_char (c);
    serial_send_char (CRLF);
}

/* Acquitte la trame en la renvoyant � l'expediteur. */
void
serial_send_ok (void)
{
    int i;
    for (i = 0; i < serial_recv_buf_n; i++)
	serial_send_char (serial_recv_buf[i]);
    serial_send_char (CRLF);
}

/* Envoie un rapport d'un moteur. */
void
serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm)
{
    serial_unreliable_send_char ('!');
    serial_unreliable_send_char ('M');
    serial_unreliable_send_char (side);
    serial_unreliable_send_int (vacc);
    serial_unreliable_send_char (',');
    serial_unreliable_send_long (e);
    serial_unreliable_send_char (',');
    serial_unreliable_send_long (pwm);
    serial_unreliable_send_char (CRLF);
}

/* Envois les compteurs moteurs. */
void
serial_send_motor_cpt (signed long &g, signed long &d)
{
    serial_unreliable_send_char ('!');
    serial_unreliable_send_char ('C');
    serial_unreliable_send_long (g);
    serial_unreliable_send_char (',');
    serial_unreliable_send_long (d);
    serial_unreliable_send_char (CRLF);
}

/* Envoie un signal de fin de ttl. */
void
serial_send_motor_ttl (void)
{
    serial_send_char ('!');
    serial_send_char ('T');
    serial_send_char (CRLF);
}

/* Envoie un caract�re. */
void
serial_send_char (char c)
{
    /* Bloque jusqu'� fin d'emmission. */
    while (serial_send_full)
	;
    /* Ajoute le caract�re. */
    serial_send_buf[serial_send_buf_n++] = c;
    /* Si fin de ligne, on envois. */
    if (c == CRLF)
      {
	serial_send_full = 1;
	serial_send_buf_n = 0;
	c = serial_send_buf[serial_send_buf_n++];
	putc (c);
	enable_interrupts (INT_TBE);
      }
}

/* Envoie un caract�re non-fiable. */
void
serial_unreliable_send_char (char c)
{
    /* Drop si une transmission est en cours ou si une transmission fiable est
     * entam�e. */
    if (serial_send_buf_n || serial_unreliable_send_full) return;
    /* Ajoute le caract�re. */
    serial_unreliable_send_buf[serial_unreliable_send_buf_n++] = c;
    /* Si fin de buffer, on envois. */
    if (c == EOB)
      {
	serial_unreliable_send_full = 1;
	serial_unreliable_send_buf_n = 0;
	c = serial_unreliable_send_buf[serial_unreliable_send_buf_n++];
	putc (c);
	enable_interrupts (INT_TBE);
      }
}

/* Envoie un long. */
void
serial_send_long (unsigned long &value)
{
    serial_send_char (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
    serial_send_char (HEXDIGIT (make8 (value, 1) & 0xf));
    serial_send_char (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
    serial_send_char (HEXDIGIT (make8 (value, 0) & 0xf));
}

/* Envoie un long non-fiable. */
void
serial_unreliable_send_long (unsigned long &value)
{
    serial_unreliable_send_char (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
    serial_unreliable_send_char (HEXDIGIT (make8 (value, 1) & 0xf));
    serial_unreliable_send_char (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
    serial_unreliable_send_char (HEXDIGIT (make8 (value, 0) & 0xf));
}

/* Envoie un int. */
void
serial_send_int (unsigned int &value)
{
    serial_send_char (HEXDIGIT ((value >> 4) & 0xf));
    serial_send_char (HEXDIGIT (value & 0xf));
}

/* Envoie un int non-fiable. */
void
serial_unreliable_send_int (unsigned int &value)
{
    serial_unreliable_send_char (HEXDIGIT ((value >> 4) & 0xf));
    serial_unreliable_send_char (HEXDIGIT (value & 0xf));
}

/* Termine le bloc non-fiable. */
void
serial_unreliable_send_eob (void)
{
    serial_unreliable_send_char (EOB);
}