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00023
00024 #define COMMSCORE_C
00025 #include "inc/freeEMS.h"
00026 #include "inc/flashWrite.h"
00027 #include "inc/interrupts.h"
00028 #include "inc/utils.h"
00029 #include "inc/tableLookup.h"
00030 #include "inc/blockDetailsLookup.h"
00031 #include "inc/commsCore.h"
00032 #include <string.h>
00033
00034
00035
00036 void sendErrorInternal(unsigned short) FPAGE_FE;
00037 void sendDebugInternal(unsigned char*) FPAGE_FE;
00038
00039
00040
00041 void populateBasicDatalog(){
00042
00043 unsigned char* position = TXBufferCurrentPositionHandler;
00044
00045
00046 memcpy(TXBufferCurrentPositionHandler, CoreVars, sizeof(CoreVar));
00047 TXBufferCurrentPositionHandler += sizeof(CoreVar);
00048
00049 memcpy(TXBufferCurrentPositionHandler, DerivedVars, sizeof(DerivedVar));
00050 TXBufferCurrentPositionHandler += sizeof(DerivedVar);
00051
00052 memcpy(TXBufferCurrentPositionHandler, ADCArrays, sizeof(ADCArray));
00053 TXBufferCurrentPositionHandler += sizeof(ADCArray);
00054
00055
00056 TXBufferCurrentPositionHandler = position + configuredBasicDatalogLength;
00057 }
00058
00059
00060
00061
00062
00063
00064
00065
00066
00067
00068
00069
00070
00071
00072
00073
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00093
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00095
00096
00097
00098
00099
00100
00101
00102
00103
00104
00105
00106
00107
00108
00109
00111
00112
00113
00114
00115
00116
00117
00118
00119
00120
00121
00122 void checksumAndSend(){
00123
00124 unsigned short TXPacketLengthToSend = (unsigned short)TXBufferCurrentPositionHandler - (unsigned short)&TXBuffer;
00125
00126
00127 *TXBufferCurrentPositionHandler = checksum((unsigned char*)&TXBuffer, TXPacketLengthToSend);
00128 TXPacketLengthToSend++;
00129
00130
00131
00132
00133 if(TXBufferInUseFlags & COM_SET_SCI0_INTERFACE_ID){
00134
00135 TXPacketLengthToSendSCI0 = TXPacketLengthToSend;
00136 TXPacketLengthToSendCAN0 = TXPacketLengthToSend;
00137
00138
00139
00140
00141
00142
00143
00144 SCI0DRL = START_BYTE;
00145 while(!(SCI0SR1 & 0x80)){}
00146 SCI0DRL = START_BYTE;
00147
00148
00149
00150
00151
00152 SCI0CR2 |= SCICR2_TX_ISR_ENABLE;
00153 }
00154
00155 if(TXBufferInUseFlags & COM_SET_CAN0_INTERFACE_ID){
00156
00157 TXBufferInUseFlags &= COM_CLEAR_CAN0_INTERFACE_ID;
00158 }
00159
00160 if(TXBufferInUseFlags & COM_SET_SPARE2_INTERFACE_ID){
00161
00162 TXBufferInUseFlags &= COM_CLEAR_SPARE2_INTERFACE_ID;
00163 }
00164
00165 if(TXBufferInUseFlags & COM_SET_SPARE3_INTERFACE_ID){
00166
00167 TXBufferInUseFlags &= COM_CLEAR_SPARE3_INTERFACE_ID;
00168 }
00169
00170 if(TXBufferInUseFlags & COM_SET_SPARE4_INTERFACE_ID){
00171
00172 TXBufferInUseFlags &= COM_CLEAR_SPARE4_INTERFACE_ID;
00173 }
00174
00175 if(TXBufferInUseFlags & COM_SET_SPARE5_INTERFACE_ID){
00176
00177 TXBufferInUseFlags &= COM_CLEAR_SPARE5_INTERFACE_ID;
00178 }
00179
00180 if(TXBufferInUseFlags & COM_SET_SPARE6_INTERFACE_ID){
00181
00182 TXBufferInUseFlags &= COM_CLEAR_SPARE6_INTERFACE_ID;
00183 }
00184
00185 if(TXBufferInUseFlags & COM_SET_SPARE7_INTERFACE_ID){
00186
00187 TXBufferInUseFlags &= COM_CLEAR_SPARE7_INTERFACE_ID;
00188 }
00189 }
00190
00191
00192
00193
00194
00195
00196 void decodePacketAndRespond(){
00197
00198 RXBufferCurrentPosition = (unsigned char*)&RXBuffer;
00199 TXBufferCurrentPositionHandler = (unsigned char*)&TXBuffer;
00200
00201
00202 TXBufferCurrentPositionSCI0 = (unsigned char*)&TXBuffer;
00203 TXBufferCurrentPositionCAN0 = (unsigned char*)&TXBuffer;
00204
00205
00206 RXCalculatedPayloadLength = RXPacketLengthReceived;
00207
00208
00209 RXHeaderFlags = *RXBufferCurrentPosition;
00210 RXBufferCurrentPosition++;
00211 RXCalculatedPayloadLength--;
00212
00213
00214 TXBufferInUseFlags |= COM_SET_SCI0_INTERFACE_ID;
00215
00216
00217
00218 unsigned char* TXHeaderFlags = TXBufferCurrentPositionHandler;
00219 *TXHeaderFlags = 0;
00220 TXBufferCurrentPositionHandler++;
00221
00222
00223 RXHeaderPayloadID = *((unsigned short*)RXBufferCurrentPosition);
00224 *((unsigned short*)TXBufferCurrentPositionHandler) = RXHeaderPayloadID + 1;
00225 RXBufferCurrentPosition += 2;
00226 TXBufferCurrentPositionHandler += 2;
00227 RXCalculatedPayloadLength -= 2;
00228
00229
00230 if(RXHeaderFlags & HEADER_HAS_ACK){
00231 *TXBufferCurrentPositionHandler = *RXBufferCurrentPosition;
00232 *TXHeaderFlags |= HEADER_HAS_ACK;
00233 RXBufferCurrentPosition++;
00234 TXBufferCurrentPositionHandler++;
00235 RXCalculatedPayloadLength--;
00236 }
00237
00238
00239 if(RXHeaderFlags & HEADER_HAS_ADDRS){
00240
00241 if(*RXBufferCurrentPosition != fixedConfigs2.networkAddress){
00242
00243 resetReceiveState(CLEAR_ALL_SOURCE_ID_FLAGS);
00244 TXBufferInUseFlags = 0;
00245 return;
00246 }
00247 RXBufferCurrentPosition++;
00248
00249
00250 RXHeaderSourceAddress = *RXBufferCurrentPosition;
00251 RXBufferCurrentPosition++;
00252 if(RXHeaderSourceAddress == 0){
00253 sendErrorInternal(sourceAddressIsBroadcast);
00254 resetReceiveState(CLEAR_ALL_SOURCE_ID_FLAGS);
00255 return;
00256 }
00257 if(RXHeaderSourceAddress == fixedConfigs2.networkAddress){
00258 sendErrorInternal(sourceAddressIsDuplicate);
00259 resetReceiveState(CLEAR_ALL_SOURCE_ID_FLAGS);
00260 return;
00261 }
00262
00263
00264 *TXHeaderFlags |= HEADER_HAS_ADDRS;
00265
00266 *TXBufferCurrentPositionHandler = RXHeaderSourceAddress;
00267 TXBufferCurrentPositionHandler++;
00268
00269 *TXBufferCurrentPositionHandler = fixedConfigs2.networkAddress;
00270 TXBufferCurrentPositionHandler++;
00271
00272 RXCalculatedPayloadLength -= 2;
00273 }
00274
00275
00276 RXCalculatedPayloadLength--;
00277
00278
00279 if(RXHeaderFlags & HEADER_HAS_LENGTH){
00280 RXHeaderPayloadLength = *((unsigned short*)RXBufferCurrentPosition);
00281 RXBufferCurrentPosition += 2;
00282 RXCalculatedPayloadLength -= 2;
00283
00284 if(RXHeaderPayloadLength != RXCalculatedPayloadLength){
00285 sendErrorInternal(payloadLengthHeaderMismatch);
00286 resetReceiveState(CLEAR_ALL_SOURCE_ID_FLAGS);
00287 return;
00288 }
00289 }
00290
00291
00292
00293
00294
00295
00296 if (RXHeaderFlags & HEADER_IS_PROTO){
00297
00298 *TXHeaderFlags |= HEADER_IS_PROTO;
00299
00300 switch (RXHeaderPayloadID){
00301 case requestInterfaceVersion:
00302 if(RXCalculatedPayloadLength != 0){
00303 sendErrorInternal(payloadLengthTypeMismatch);
00304 break;
00305 }
00306
00307
00308 *((unsigned short*)TXBufferCurrentPositionHandler) = sizeof(interfaceVersionAndType);
00309 *TXHeaderFlags |= HEADER_HAS_LENGTH;
00310 TXBufferCurrentPositionHandler += 2;
00311
00312 memcpy((void*)TXBufferCurrentPositionHandler, (void*)&interfaceVersionAndType, sizeof(interfaceVersionAndType));
00313 TXBufferCurrentPositionHandler += sizeof(interfaceVersionAndType);
00314 checksumAndSend();
00315 break;
00316 case requestFirmwareVersion:
00317 if(RXCalculatedPayloadLength != 0){
00318 sendErrorInternal(payloadLengthTypeMismatch);
00319 break;
00320 }
00321
00322 *((unsigned short*)TXBufferCurrentPositionHandler) = sizeof(firmwareVersion);
00323 *TXHeaderFlags |= HEADER_HAS_LENGTH;
00324 TXBufferCurrentPositionHandler += 2;
00325
00326 memcpy((void*)TXBufferCurrentPositionHandler, (void*)&firmwareVersion, sizeof(firmwareVersion));
00327 TXBufferCurrentPositionHandler += sizeof(firmwareVersion);
00328 checksumAndSend();
00329 break;
00330 case requestMaxPacketSize:
00331 if(RXCalculatedPayloadLength != 0){
00332 sendErrorInternal(payloadLengthTypeMismatch);
00333 break;
00334 }
00335
00336 *((unsigned short*)TXBufferCurrentPositionHandler) = RX_BUFFER_SIZE;
00337 TXBufferCurrentPositionHandler += 2;
00338 checksumAndSend();
00339 break;
00340 case requestEchoPacketReturn:
00341
00342 *((unsigned short*)TXBufferCurrentPositionHandler) = RXPacketLengthReceived;
00343 *TXHeaderFlags |= HEADER_HAS_LENGTH;
00344 TXBufferCurrentPositionHandler += 2;
00345
00346 memcpy((void*)TXBufferCurrentPositionHandler, (void*)&RXBuffer, RXPacketLengthReceived);
00347
00348
00349 TXBufferCurrentPositionHandler += RXPacketLengthReceived;
00350 checksumAndSend();
00351 break;
00352 case requestSoftSystemReset:
00353 {
00354
00355 if(asyncDatalogType){
00356 asyncDatalogType = asyncDatalogOff;
00357 }else{
00358 asyncDatalogType = asyncDatalogBasic;
00359 }
00360 sendAckIfRequired();
00361 break;
00362
00363
00364
00365
00366
00367
00368
00369
00370
00371
00372
00373
00374
00375
00376
00377
00378
00379
00380
00381 }
00382 case requestHardSystemReset:
00383 if(RXCalculatedPayloadLength != 0){
00384 sendErrorInternal(payloadLengthTypeMismatch);
00385 break;
00386 }
00387
00388
00389 COPCTL = 0x01;
00390 ARMCOP = 0xFF;
00391
00392
00393 default:
00394 if((RXHeaderPayloadID % 2) == 1){
00395 sendErrorInternal(invalidProtocolPayloadID);
00396 }else{
00397 sendErrorInternal(unrecognisedProtocolPayloadID);
00398 }
00399 }
00400 }else{
00401 switch (RXHeaderPayloadID) {
00402 case replaceBlockInRAM:
00403 {
00404
00405 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00406 RXBufferCurrentPosition += 2;
00407
00408
00409 blockDetails details;
00410 lookupBlockDetails(locationID, &details);
00411
00412
00413 if((RXCalculatedPayloadLength - 2) != details.size){
00414 sendErrorInternal(payloadLengthTypeMismatch);
00415 break;
00416 }
00417
00418 if((details.RAMPage == 0) || (details.RAMAddress == 0)){
00419 sendErrorInternal(invalidMemoryActionForID);
00420 break;
00421 }
00422
00423 unsigned short errorID = 0;
00424 if(locationID < 16){
00425 mainTable aTable;
00426 errorID = validateMainTable(&aTable);
00427 }else if(locationID > 399){
00428 twoDTableUS aTable;
00429 errorID = validateTwoDTable(&aTable);
00430 }
00431
00432 if(errorID != 0){
00433 sendErrorInternal(errorID);
00434 break;
00435 }
00436
00437
00438 unsigned char oldRamPage = RPAGE;
00439
00440 RPAGE = details.RAMPage;
00441
00442 memcpy(details.RAMAddress, RXBufferCurrentPosition, details.size);
00443
00444 RPAGE = oldRamPage;
00445
00446 sendAckIfRequired();
00447 break;
00448 }
00449 case replaceBlockInFlash:
00450 {
00451
00452 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00453 RXBufferCurrentPosition += 2;
00454
00455
00456 blockDetails details;
00457 lookupBlockDetails(locationID, &details);
00458
00459
00460 if((RXCalculatedPayloadLength - 2) != details.size){
00461 sendErrorInternal(payloadLengthTypeMismatch);
00462 break;
00463 }
00464
00465 if((details.FlashPage == 0) || (details.FlashAddress == 0)){
00466 sendErrorInternal(invalidMemoryActionForID);
00467 break;
00468 }
00469
00470 if(locationID < 16){
00471 unsigned short errorID = validateMainTable((mainTable*)RXBufferCurrentPosition);
00472 if(errorID != 0){
00473 sendErrorInternal(errorID);
00474 break;
00475 }
00476 }
00477
00478
00479 unsigned short errorID = writeBlock(details.FlashPage, (unsigned short*)details.FlashAddress, RPAGE, (unsigned short*)RXBufferCurrentPosition, details.size);
00480
00481
00482 if(errorID != 0){
00483 sendErrorInternal(errorID);
00484 break;
00485 }
00486
00487
00488 if((details.RAMPage != 0) && (details.RAMAddress != 0)){
00489
00490 unsigned char oldRamPage = RPAGE;
00491
00492 RPAGE = details.RAMPage;
00493
00494 memcpy(details.RAMAddress, RXBufferCurrentPosition, details.size);
00495
00496 RPAGE = oldRamPage;
00497 }
00498
00499 sendAckIfRequired();
00500
00501 break;
00502 }
00503 case retrieveBlockFromRAM:
00504 {
00505 if(RXCalculatedPayloadLength != 2){
00506 sendErrorInternal(payloadLengthTypeMismatch);
00507 break;
00508 }
00509
00510
00511 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00512
00513 *(unsigned short*)TXBufferCurrentPositionHandler = locationID;
00514 TXBufferCurrentPositionHandler += 2;
00515
00516
00517 if(locationID < 16){
00518
00519 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_RPM_LENGTH;
00520 TXBufferCurrentPositionHandler += 2;
00521
00522 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_LOAD_LENGTH;
00523 TXBufferCurrentPositionHandler += 2;
00524
00525 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_MAIN_LENGTH;
00526 TXBufferCurrentPositionHandler += 2;
00527 }
00528
00529
00530 blockDetails details;
00531 lookupBlockDetails(locationID, &details);
00532
00533 if((details.RAMPage == 0) || (details.RAMAddress == 0)){
00534 sendErrorInternal(invalidMemoryActionForID);
00535 break;
00536 }
00537
00538
00539 unsigned char oldRamPage = RPAGE;
00540 RPAGE = details.RAMPage;
00541
00542
00543 memcpy(TXBufferCurrentPositionHandler, details.RAMAddress, details.size);
00544 TXBufferCurrentPositionHandler += details.size;
00545
00546
00547 RPAGE = oldRamPage;
00548
00549 checksumAndSend();
00550 break;
00551 }
00552 case retrieveBlockFromFlash:
00553 {
00554 if(RXCalculatedPayloadLength != 2){
00555 sendErrorInternal(payloadLengthTypeMismatch);
00556 break;
00557 }
00558
00559
00560 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00561
00562 *(unsigned short*)TXBufferCurrentPositionHandler = locationID;
00563 TXBufferCurrentPositionHandler += 2;
00564
00565
00566 if(locationID < 16){
00567
00568 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_RPM_LENGTH;
00569 TXBufferCurrentPositionHandler += 2;
00570
00571 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_LOAD_LENGTH;
00572 TXBufferCurrentPositionHandler += 2;
00573
00574 *(unsigned short*)TXBufferCurrentPositionHandler = MAINTABLE_MAX_MAIN_LENGTH;
00575 TXBufferCurrentPositionHandler += 2;
00576 }
00577
00578
00579 blockDetails details;
00580 lookupBlockDetails(locationID, &details);
00581
00582 if((details.FlashPage == 0) || (details.FlashAddress == 0)){
00583 sendErrorInternal(invalidMemoryActionForID);
00584 break;
00585 }
00586
00587
00588 unsigned char oldFlashPage = PPAGE;
00589 PPAGE = details.FlashPage;
00590
00591
00592 memcpy(TXBufferCurrentPositionHandler, details.FlashAddress, details.size);
00593 TXBufferCurrentPositionHandler += details.size;
00594
00595
00596 PPAGE = oldFlashPage;
00597
00598 checksumAndSend();
00599 break;
00600 }
00601 case burnBlockFromRamToFlash:
00602 {
00603 if(RXCalculatedPayloadLength != 2){
00604 sendErrorInternal(payloadLengthTypeMismatch);
00605 break;
00606 }
00607
00608
00609 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00610
00611
00612 blockDetails details;
00613 lookupBlockDetails(locationID, &details);
00614
00615
00616 if((details.RAMPage == 0) || (details.RAMAddress == 0) || (details.FlashPage == 0) || (details.FlashAddress == 0)){
00617 sendErrorInternal(invalidMemoryActionForID);
00618 break;
00619 }
00620
00621 if(details.size < 1024){
00622 sendErrorInternal(0x0999);
00623
00624
00625
00626
00627
00628
00629
00630
00631
00632
00633
00634 }
00635
00636 unsigned short errorID = writeBlock(details.RAMPage, (unsigned short*)details.RAMAddress, details.FlashPage, (unsigned short*)details.FlashAddress, details.size);
00637
00638 if(errorID != 0){
00639 sendErrorInternal(errorID);
00640 break;
00641 }
00642
00643 sendDebugInternal("Copied RAM to Flash!");
00644 break;
00645 }
00646 case eraseAllBlocksFromFlash:
00647 {
00648 if(RXCalculatedPayloadLength != 0){
00649 sendErrorInternal(payloadLengthTypeMismatch);
00650 break;
00651 }
00652
00653
00654 unsigned char page = 0xE0;
00655 unsigned short start = 0x8000;
00656 unsigned short end = 0xC000;
00657 unsigned short inc = 0x0400;
00658 for(;page < 0xF8;page++){
00659 unsigned short addr;
00660 for(addr = start;addr < end; addr += inc){
00661 eraseSector(page, (unsigned short*)addr);
00662 }
00663 }
00664 sendDebugInternal("Erased three 128k Flash blocks!");
00665 break;
00666 }
00667 case burnAllBlocksOfFlash:
00668 {
00669 if(RXCalculatedPayloadLength != 0){
00670 sendErrorInternal(payloadLengthTypeMismatch);
00671 break;
00672 }
00673
00674
00675 unsigned char page = 0xE0;
00676 unsigned short start = 0x8000;
00677 unsigned short end = 0xC000;
00678 unsigned short inc = 0x0400;
00679 for(;page < 0xF8;page++){
00680 unsigned short addr;
00681 for(addr = start;addr < end; addr += inc){
00682 writeSector(RPAGE, (unsigned short*)0xc000, page, (unsigned short*)addr);
00683 }
00684 }
00685 sendDebugInternal("Overwrote three 128k Flash blocks!");
00686 break;
00687 }
00688 case adjustMainTableCell:
00689 {
00690 if(RXCalculatedPayloadLength != 8){
00691 sendErrorInternal(payloadLengthTypeMismatch);
00692 break;
00693 }
00694
00695
00696 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00697 RXBufferCurrentPosition += 2;
00698
00699
00700 if(15 < locationID){
00701 sendErrorInternal(invalidIDForMainTableAction);
00702 break;
00703 }
00704
00705
00706 unsigned short RPMIndex = *((unsigned short*)RXBufferCurrentPosition);
00707 RXBufferCurrentPosition += 2;
00708 unsigned short LoadIndex = *((unsigned short*)RXBufferCurrentPosition);
00709 RXBufferCurrentPosition += 2;
00710 unsigned short cellValue = *((unsigned short*)RXBufferCurrentPosition);
00711
00712
00713 blockDetails details;
00714 lookupBlockDetails(locationID, &details);
00715
00716
00717 unsigned short errorID = setPagedMainTableCellValue(details.RAMPage, details.RAMAddress, RPMIndex, LoadIndex, cellValue);
00718 if(errorID != 0){
00719 sendErrorInternal(errorID);
00720 }else{
00721 sendAckIfRequired();
00722 }
00723 break;
00724 }
00725 case adjustMainTableRPMAxis:
00726 {
00727 if(RXCalculatedPayloadLength != 6){
00728 sendErrorInternal(payloadLengthTypeMismatch);
00729 break;
00730 }
00731
00732
00733 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00734 RXBufferCurrentPosition -= 2;
00735
00736
00737 if(15 < locationID){
00738 sendErrorInternal(invalidIDForMainTableAction);
00739 break;
00740 }
00741
00742
00743 unsigned short RPMIndex = *((unsigned short*)RXBufferCurrentPosition);
00744 RXBufferCurrentPosition -= 2;
00745 unsigned short RPMValue = *((unsigned short*)RXBufferCurrentPosition);
00746
00747
00748 blockDetails details;
00749 lookupBlockDetails(locationID, &details);
00750
00751
00752 unsigned short errorID = setPagedMainTableRPMValue(details.RAMPage, details.RAMAddress, RPMIndex, RPMValue);
00753 if(errorID != 0){
00754 sendErrorInternal(errorID);
00755 }else{
00756 sendAckIfRequired();
00757 }
00758 break;
00759 }
00760 case adjustMainTableLoadAxis:
00761 {
00762 if(RXCalculatedPayloadLength != 6){
00763 sendErrorInternal(payloadLengthTypeMismatch);
00764 break;
00765 }
00766
00767
00768 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00769 RXBufferCurrentPosition -= 2;
00770
00771
00772 if(15 < locationID){
00773 sendErrorInternal(invalidIDForMainTableAction);
00774 break;
00775 }
00776
00777
00778 unsigned short LoadIndex = *((unsigned short*)RXBufferCurrentPosition);
00779 RXBufferCurrentPosition -= 2;
00780 unsigned short LoadValue = *((unsigned short*)RXBufferCurrentPosition);
00781
00782
00783 blockDetails details;
00784 lookupBlockDetails(locationID, &details);
00785
00786
00787 unsigned short errorID = setPagedMainTableLoadValue(details.RAMPage, details.RAMAddress, LoadIndex, LoadValue);
00788 if(errorID != 0){
00789 sendErrorInternal(errorID);
00790 }else{
00791 sendAckIfRequired();
00792 }
00793 break;
00794 }
00795 case adjust2dTableAxis:
00796 {
00797 if(RXCalculatedPayloadLength != 6){
00798 sendErrorInternal(payloadLengthTypeMismatch);
00799 break;
00800 }
00801
00802
00803 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00804 RXBufferCurrentPosition -= 2;
00805
00806
00807 if((locationID > 899) || (locationID < 400)){
00808 sendErrorInternal(invalidIDForTwoDTableAction);
00809 break;
00810 }
00811
00812
00813 unsigned short axisIndex = *((unsigned short*)RXBufferCurrentPosition);
00814 RXBufferCurrentPosition -= 2;
00815 unsigned short axisValue = *((unsigned short*)RXBufferCurrentPosition);
00816
00817
00818 blockDetails details;
00819 lookupBlockDetails(locationID, &details);
00820
00821
00822 unsigned short errorID = setPagedTwoDTableAxisValue(details.RAMPage, details.RAMAddress, axisIndex, axisValue);
00823 if(errorID != 0){
00824 sendErrorInternal(errorID);
00825 }else{
00826 sendAckIfRequired();
00827 }
00828 break;
00829 }
00830 case adjust2dTableCell:
00831 {
00832 if(RXCalculatedPayloadLength != 6){
00833 sendErrorInternal(payloadLengthTypeMismatch);
00834 break;
00835 }
00836
00837
00838 unsigned short locationID = *((unsigned short*)RXBufferCurrentPosition);
00839 RXBufferCurrentPosition -= 2;
00840
00841
00842 if((locationID > 899) || (locationID < 400)){
00843 sendErrorInternal(invalidIDForTwoDTableAction);
00844 break;
00845 }
00846
00847
00848 unsigned short cellIndex = *((unsigned short*)RXBufferCurrentPosition);
00849 RXBufferCurrentPosition -= 2;
00850 unsigned short cellValue = *((unsigned short*)RXBufferCurrentPosition);
00851
00852
00853 blockDetails details;
00854 lookupBlockDetails(locationID, &details);
00855
00856
00857 unsigned short errorID = setPagedTwoDTableCellValue(details.RAMPage, details.RAMAddress, cellIndex, cellValue);
00858 if(errorID != 0){
00859 sendErrorInternal(errorID);
00860 }else{
00861 sendAckIfRequired();
00862 }
00863 break;
00864 }
00865 case requestBasicDatalog:
00866 {
00867 if((RXCalculatedPayloadLength > 2) || (RXCalculatedPayloadLength == 1)){
00868 sendErrorInternal(payloadLengthTypeMismatch);
00869 break;
00870 }else if(RXCalculatedPayloadLength == 2){
00871 unsigned short newConfiguredLength = *((unsigned short*)RXBufferCurrentPosition);
00872 if(newConfiguredLength > maxBasicDatalogLength){
00873 sendErrorInternal(datalogLengthExceedsMax);
00874 break;
00875 }else{
00876 configuredBasicDatalogLength = newConfiguredLength;
00877 }
00878 }
00879
00880
00881 *TXHeaderFlags |= HEADER_HAS_LENGTH;
00882 *(unsigned short*)TXBufferCurrentPositionHandler = configuredBasicDatalogLength;
00883
00884
00885 populateBasicDatalog();
00886 checksumAndSend();
00887 break;
00888 }
00889 case requestConfigurableDatalog:
00890 {
00891
00892 sendErrorInternal(unimplementedFunction);
00893 break;
00894 }
00895 case forwardPacketOverCAN:
00896 {
00897
00898 sendErrorInternal(unimplementedFunction);
00899 break;
00900 }
00901 case forwardPacketOverOtherUART:
00902 {
00903
00904 sendErrorInternal(unimplementedFunction);
00905 break;
00906 }
00907 case setAsyncDatalogType:
00908 {
00909 if(RXCalculatedPayloadLength != 1){
00910 sendErrorInternal(payloadLengthTypeMismatch);
00911 break;
00912 }
00913
00914 unsigned char newDatalogType = *((unsigned char*)RXBufferCurrentPosition);
00915 if(newDatalogType > 0x03){
00916 sendErrorInternal(noSuchAsyncDatalogType);
00917 break;
00918 }else{
00919 asyncDatalogType = newDatalogType;
00920 }
00921
00922 sendAckIfRequired();
00923 break;
00924 }
00925 default:
00926 if((RXHeaderPayloadID % 2) == 1){
00927 sendErrorInternal(invalidFirmwarePayloadID);
00928 }else{
00929 sendErrorInternal(unrecognisedFirmwarePayloadID);
00930 }
00931 }
00932 }
00933
00934 resetReceiveState(CLEAR_ALL_SOURCE_ID_FLAGS);
00935 PORTK |= BIT0;
00936 }
00937
00938
00939
00940
00941
00942
00943 void sendErrorIfClear(unsigned short errorID){
00944 if(!TXBufferInUseFlags){
00945 TXBufferInUseFlags = ONES;
00946 sendErrorInternal(errorID);
00947 }else{
00948 Counters.commsErrorMessagesNotSent++;
00949 }
00950 }
00951
00952
00953
00954 void sendErrorBusyWait(unsigned short errorID){
00955 while(TXBufferInUseFlags){}
00956 TXBufferInUseFlags = ONES;
00957 sendErrorInternal(errorID);
00958 }
00959
00960
00961
00962 void sendErrorInternal(unsigned short errorCode){
00963
00964
00965
00966
00967
00968
00969
00970
00971
00972
00973
00974
00975
00976
00977
00978
00979
00980
00981
00982
00983
00984 TXBufferCurrentPositionHandler = (unsigned char*)&TXBuffer;
00985
00986
00987
00988 *TXBufferCurrentPositionHandler = 0x01;
00989 TXBufferCurrentPositionHandler++;
00990
00991 *((unsigned short*)TXBufferCurrentPositionHandler) = asyncErrorCodePacket;
00992 TXBufferCurrentPositionHandler += 2;
00993
00994 *((unsigned short*)TXBufferCurrentPositionHandler) = errorCode;
00995 TXBufferCurrentPositionHandler += 2;
00996 checksumAndSend();
00997
00998 }
00999
01000
01001
01002 void sendDebugIfClear(unsigned char* message){
01003 if(!TXBufferInUseFlags){
01004 TXBufferInUseFlags = ONES;
01005 sendDebugInternal(message);
01006 }else{
01007 Counters.commsDebugMessagesNotSent++;
01008 }
01009 }
01010
01011
01012
01013 void sendDebugBusyWait(unsigned char* message){
01014 while(TXBufferInUseFlags){}
01015 TXBufferInUseFlags = ONES;
01016 sendDebugInternal(message);
01017 }
01018
01019
01020
01021 void sendDebugInternal(unsigned char* message){
01022
01023
01024
01025
01026
01027
01028
01029
01030
01031
01032
01033
01034
01035
01036
01037
01038
01039
01040
01041
01042
01043
01044
01045
01046
01047
01048 TXBufferCurrentPositionHandler = (unsigned char*)&TXBuffer;
01049
01050
01051 *TXBufferCurrentPositionHandler = 0x11;
01052 TXBufferCurrentPositionHandler++;
01053
01054
01055 *((unsigned short*)TXBufferCurrentPositionHandler) = asyncDebugInfoPacket;
01056 TXBufferCurrentPositionHandler += 2;
01057
01058
01059 unsigned short* TXLength = (unsigned short*)TXBufferCurrentPositionHandler;
01060 TXBufferCurrentPositionHandler += 2;
01061
01062
01063 unsigned short messageLength = stringCopy(TXBufferCurrentPositionHandler, message);
01064 *TXLength = messageLength;
01065 TXBufferCurrentPositionHandler += messageLength;
01066
01067 checksumAndSend();
01068
01069 }
01070
01071
01072
01073
01074
01075
01076
01077
01078
01079
01080
01081
01082
01083
01084
01085
01086
01087
01088
01089
01090
01091
01092
01093
01094
01095
01096
01097
01098
01099
01100
01101
01102
01103
01104
01105
01106
01107
01108
01109
01110
01111
01112
01113
01114
01115
01116
01117
01118
01119
01120
01121
01122
01123
01124
01125
01126
01127
01128
01129
01130
01131
01132
01133
01134 void sendAckIfRequired(){
01135 TXBufferInUseFlags = 0;
01136
01137 }