updates.

[goodfet] / firmware / lib / command.c

diff --git a/firmware/lib/command.c b/firmware/lib/command.c
index c9c1b1c..8b83d47 100644 (file)
--- a/firmware/lib/command.c
+++ b/firmware/lib/command.c
@@ -1,16 +1,184 @@
-//! 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>
 
-//!Transmit data.
-void txdata(unsigned char app,
+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 char len){
-  unsigned int i=0;
+           unsigned long len){
   serial_tx(app);
   serial_tx(verb);
-  serial_tx(len);
+  //serial_tx(len); //old protocol
+  txword(len);
+}
+
+//! Transmit data.
+void txdata(unsigned char app,
+           unsigned char verb,
+           unsigned long len){
+  unsigned int i=0;
+  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
+}