-//! Different command handling functions.
+/*! \file command.c
+ \author Travis Goodspeed
+ \brief These functions manage command interpretation and timing.
+*/
-unsigned char cmddata[256];
+#include "command.h"
+#include "platform.h"
+#include <string.h>
+
+unsigned char cmddata[CMDDATALEN];
+unsigned char silent=0;
+
+//! Transmit a string.
+void txstring(unsigned char app,
+ unsigned char verb,
+ const char *str){
+ unsigned long len=strlen(str);
+ txhead(app,verb,len);
+ while(len--)
+ serial_tx(*(str++));
+}
+
+/*! \brief Transmit a debug string.
+
+ Transmits a debugging string that is to be printed
+ out of line by the client. This is just for record-keeping;
+ it is not considered a proper reply to a query.
+ */
+void debugstr(const char *str){
+ txstring(0xFF,0xFF,str);
+}
+
+//! brief Debug a hex word string.
+void debughex(u16 v) {
+ debugbytes((void *)&v, 2);
+}
+
+//! brief Debug a hex word string.
+void debughex32(u32 v) {
+ debugbytes((void *)&v, 4);
+}
+
+/*! \brief Transmit debug bytes.
+
+ Transmits bytes for debugging.
+*/
+void debugbytes(const char *bytes, unsigned int len){
+ u16 i;
+ txhead(0xFF,0xFE,len);
+ for(i=0;i<len;i++)
+ serial_tx(bytes[i]);
+}
+
+
+//! Transmit a header.
+void txhead(unsigned char app,
+ unsigned char verb,
+ unsigned long len){
+ serial_tx(app);
+ serial_tx(verb);
+ //serial_tx(len); //old protocol
+ txword(len);
+}
//! Transmit data.
void txdata(unsigned char app,
unsigned char verb,
- unsigned char len){
+ unsigned long len){
unsigned int i=0;
- serial_tx(app);
- serial_tx(verb);
- serial_tx(len);
+ if(silent)
+ return;
+ txhead(app,verb,len);
for(i=0;i<len;i++){
serial_tx(cmddata[i]);
}
}
+//! Receive a long.
+unsigned long rxlong(){
+ unsigned long toret=0;
+ toret=serial_rx();
+ toret|=(((long)serial_rx())<<8);
+ toret|=(((long)serial_rx())<<16);
+ toret|=(((long)serial_rx())<<24);
+ return toret;
+}
+//! Receive a word.
+unsigned int rxword(){
+ unsigned long toret=0;
+ toret=serial_rx();
+ toret|=(((long)serial_rx())<<8);
+ return toret;
+}
+//! Transmit a long.
+void txlong(unsigned long l){
+ serial_tx(l&0xFF);
+ l>>=8;
+ serial_tx(l&0xFF);
+ l>>=8;
+ serial_tx(l&0xFF);
+ l>>=8;
+ serial_tx(l&0xFF);
+ l>>=8;
+}
+//! Transmit a word.
+void txword(unsigned int l){
+ serial_tx(l&0xFF);
+ l>>=8;
+ serial_tx(l&0xFF);
+ l>>=8;
+}
+
+//Be very careful changing delay().
+//It was chosen poorly by trial and error.
//! Delay for a count.
void delay(unsigned int count){
volatile unsigned int i=count;
while(i--) asm("nop");
}
+//! MSDelay
+void msdelay(unsigned int ms){
+ volatile unsigned int i,j;
+ i=100;
+ while(i--){
+ j=ms;
+ while(j--) asm("nop");
+ }
+ //Using TimerA might be cleaner.
+}
+
+
+/* To better satisfy the somewhat odd timing requirements for
+ PIC33F/24H/24F ICSP programming, and for better control of GoodFET
+ timing more generally, here are a few delay routines that use Timer B.
+
+ Note that I wrote these referring only to the MSP430x2xx family
+ manual. Beware on MSP430x1xx chips. Further note that, assuming
+ some minor errors will be made, I try to err on the side of
+ delaying slightly longer than requested. */
+void prep_timer()
+{
+ BCSCTL2 = 0x00; /* In particular, use DCOCLK as SMCLK source with
+ divider 1. Hence, Timer B ticks with system
+ clock at 16 MHz. */
+
+ TBCTL = 0x0204; /* Driven by SMCLK; disable Timer B interrupts;
+ reset timer in case it was previously in use */
+}
+
+//! Delay for specified number of milliseconds (given 16 MHz clock)
+void delay_ms( unsigned int ms )
+{
+ // 16000 ticks = 1 ms
+ TBCTL |= 0x20; // Start timer!
+ while (ms--) {
+ while (TBR < 16000)
+ asm( "nop" );
+ TBCTL = 0x0224;
+ }
+ TBCTL = 0x0204; // Reset Timer B, till next time
+}
+
+//! Delay for specified number of microseconds (given 16 MHz clock)
+void delay_us( unsigned int us )
+{
+ // 16 ticks = 1 us
+ TBCTL |= 0x20; // Start timer!
+ while (us--) {
+ while (TBR < 16)
+ asm( "nop" );
+ TBCTL = 0x0224;
+ }
+ TBCTL = 0x0204; // Reset Timer B, till next time
+}
+
+//! Delay for specified number of clock ticks (16 MHz clock implies 62.5 ns per tick).
+void delay_ticks( unsigned int num_ticks )
+{
+ TBCTL |= 0x20; // Start timer
+ while (TBR < num_ticks)
+ asm( "nop" );
+ TBCTL = 0x0204; // Reset Timer B, till next time
+}