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121 lines
2.5 KiB
C
121 lines
2.5 KiB
C
/*
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* cmd.c
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*
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* Created on: 3 oct. 2022
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* Author: dimercur
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*/
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#include "commands.h"
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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/* Definition des commandes */
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CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
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CMD_Generic* decodedCmd;
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char cmd_type = cmd[0];
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int val;
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uint32_t startTime, endTime;
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volatile uint32_t duration;
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startTime = SysTick->VAL;
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switch (cmd_type)
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{
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case CMD_MOVE:
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decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
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decodedCmd->type = cmd[0];
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{
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char rawCmd[length+1];
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memcpy((void*)rawCmd, (void*)cmd, length);
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rawCmd[length] = (char)0; /* 0 ending string */
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sscanf (&rawCmd[1], "%d", &val);
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((CMD_Move*)decodedCmd)->distance= (int16_t) val;
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}
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break;
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case CMD_TURN:
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decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
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decodedCmd->type = cmd[0];
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{
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char rawCmd[length+1];
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memcpy((void*)rawCmd, (void*)cmd, length);
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rawCmd[length] = (char)0; /* 0 ending string */
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sscanf (&rawCmd[1], "%d", &val);
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((CMD_Turn*)decodedCmd)->turns = (int16_t) val;
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((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4;
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}
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break;
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case CMD_PING:
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case CMD_RESET:
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case CMD_START_WITHOUT_WATCHDOG:
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case CMD_START_WITH_WATCHDOG:
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case CMD_RESET_WATCHDOG:
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case CMD_GET_BATTERY:
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case CMD_GET_BUSY_STATE:
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case CMD_GET_VERSION:
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case CMD_TEST:
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case CMD_DEBUG:
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case CMD_POWER_OFF:
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decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
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decodedCmd->type = cmd[0];
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break;
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default:
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decodedCmd = CMD_DECODE_UNKNOWN;
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}
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endTime=SysTick->VAL;
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if (endTime>startTime)
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duration = (uint32_t)(SysTick->LOAD+1)-endTime+startTime;
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else
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duration = startTime-endTime;
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return decodedCmd;
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}
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void cmdSendAnswer(uint16_t address, uint8_t ans) {
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ANS_Generic answer;
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answer.ans = ans;
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XBEE_SendData(address, (char*)&answer, sizeof (answer));
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}
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void cmdSendBatteryLevel(uint16_t address, char level) {
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ANS_Battery answer;
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char localLevel=level;
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if (localLevel<0) localLevel=0;
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else if (localLevel>2) localLevel=2;
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answer.ans = ANS_OK;
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answer.bat_level = localLevel;
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XBEE_SendData(address, (char*)&answer, sizeof (answer));
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}
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void cmdSendVersion(uint16_t address) {
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ANS_Version answer;
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answer.ans = ANS_OK;
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strcpy (answer.version, SYSTEM_VERSION_STR);
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XBEE_SendData(address, (char*)&answer, sizeof (answer));
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}
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void cmdSendBusyState(uint16_t address, uint8_t state) {
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ANS_Busy_State answer;
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answer.ans = ANS_OK;
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answer.state = state;
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if (answer.state >1) answer.state=0;
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XBEE_SendData(address, (char*)&answer, sizeof (answer));
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}
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