From fed48732828c85ae56106cd72c5aeaaad47c552f Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 11 Jun 2017 22:31:17 -0700 Subject: altos: Update sensor data atomically Read data into a temp variable, block interrupts, then update the published value. The bug is easy to see with the HMC5883 which has to byte-swap the output of the chip, and hence can occasionally get caught with the wrong byte order data. Signed-off-by: Keith Packard --- src/drivers/ao_hmc5883.c | 12 +++++++----- src/drivers/ao_mpu6000.c | 39 +++++++++++++++++++-------------------- src/drivers/ao_ms5607.c | 4 +++- 3 files changed, 29 insertions(+), 26 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index f668fb66..9f1131d6 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -126,13 +126,15 @@ struct ao_hmc5883_sample ao_hmc5883_current; static void ao_hmc5883(void) { + struct ao_hmc5883_sample sample; ao_hmc5883_setup(); for (;;) { - ao_hmc5883_sample(&ao_hmc5883_current); - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_HMC5883); - AO_DATA_WAIT(); - ); + ao_hmc5883_sample(&sample); + ao_arch_block_interrupts(); + ao_hmc5883_current = sample; + AO_DATA_PRESENT(AO_DATA_HMC5883); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 650407ad..81d3c16c 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -192,7 +192,7 @@ _ao_mpu6000_setup(void) _ao_mpu6000_wait_alive(); /* Reset the whole chip */ - + _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1, (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)); @@ -292,7 +292,7 @@ _ao_mpu6000_setup(void) ao_delay(AO_MS_TO_TICKS(200)); _ao_mpu6000_sample(&normal_mode); - + errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x); errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y); errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z); @@ -315,7 +315,7 @@ _ao_mpu6000_setup(void) /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */ _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 1000 / 200 - 1); - + ao_delay(AO_MS_TO_TICKS(100)); ao_mpu6000_configured = 1; } @@ -325,6 +325,7 @@ struct ao_mpu6000_sample ao_mpu6000_current; static void ao_mpu6000(void) { + struct ao_mpu6000_sample sample; /* ao_mpu6000_init already grabbed the SPI bus and mutex */ _ao_mpu6000_setup(); #if AO_MPU6000_SPI @@ -335,14 +336,15 @@ ao_mpu6000(void) #if AO_MPU6000_SPI ao_mpu6000_spi_get(); #endif - _ao_mpu6000_sample(&ao_mpu6000_current); + _ao_mpu6000_sample(&sample); #if AO_MPU6000_SPI ao_mpu6000_spi_put(); -#endif - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_MPU6000); - AO_DATA_WAIT(); - ); +#endif + ao_arch_block_interrupts(); + ao_mpu6000_current = sample; + AO_DATA_PRESENT(AO_DATA_MPU6000); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } @@ -351,16 +353,13 @@ static struct ao_task ao_mpu6000_task; static void ao_mpu6000_show(void) { - struct ao_data sample; - - ao_data_get(&sample); printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", - sample.mpu6000.accel_x, - sample.mpu6000.accel_y, - sample.mpu6000.accel_z, - sample.mpu6000.gyro_x, - sample.mpu6000.gyro_y, - sample.mpu6000.gyro_z); + ao_mpu6000_current.accel_x, + ao_mpu6000_current.accel_y, + ao_mpu6000_current.accel_z, + ao_mpu6000_current.gyro_x, + ao_mpu6000_current.gyro_y, + ao_mpu6000_current.gyro_z); } static const struct ao_cmds ao_mpu6000_cmds[] = { @@ -374,7 +373,7 @@ ao_mpu6000_init(void) ao_mpu6000_configured = 0; ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); - + #if AO_MPU6000_SPI ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN)); @@ -386,7 +385,7 @@ ao_mpu6000_init(void) ao_cur_task = &ao_mpu6000_task; ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz); ao_cur_task = NULL; -#endif +#endif ao_cmd_register(&ao_mpu6000_cmds[0]); } diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 0afdf012..914e0c1b 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -201,11 +201,13 @@ __xdata struct ao_ms5607_sample ao_ms5607_current; static void ao_ms5607(void) { + struct ao_ms5607_sample sample; ao_ms5607_setup(); for (;;) { - ao_ms5607_sample(&ao_ms5607_current); + ao_ms5607_sample(&sample); ao_arch_block_interrupts(); + ao_ms5607_current = sample; AO_DATA_PRESENT(AO_DATA_MS5607); AO_DATA_WAIT(); ao_arch_release_interrupts(); -- cgit v1.2.3 From 2a05849c3bf8c1617409237be48802dd6fc6255b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 11 Jun 2017 22:34:11 -0700 Subject: altos: HMC5883 output order is X Z Y Re-label everything to have the correct names. This doesn't actually change the code at all, so the eeprom and telemetry is all compatible. Matching changes on the host side will be required to actually process the data correctly, of course. Signed-off-by: Keith Packard --- src/drivers/ao_hmc5883.c | 6 ++---- src/drivers/ao_hmc5883.h | 2 +- src/kernel/ao_log.h | 4 ++-- src/kernel/ao_log_mega.c | 2 +- src/kernel/ao_telemetry.c | 2 +- src/kernel/ao_telemetry.h | 4 ++-- 6 files changed, 9 insertions(+), 11 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index 9f1131d6..c33aa536 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -143,10 +143,8 @@ static struct ao_task ao_hmc5883_task; static void ao_hmc5883_show(void) { - struct ao_data sample; - ao_data_get(&sample); - printf ("X: %d Y: %d Z: %d missed irq: %lu\n", - sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq); + printf ("X: %d Z: %d Y: %d missed irq: %lu\n", + ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq); } static const struct ao_cmds ao_hmc5883_cmds[] = { diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h index 78637b02..b90733df 100644 --- a/src/drivers/ao_hmc5883.h +++ b/src/drivers/ao_hmc5883.h @@ -77,7 +77,7 @@ #define HMC5883_ID_C 12 struct ao_hmc5883_sample { - int16_t x, y, z; + int16_t x, z, y; }; extern struct ao_hmc5883_sample ao_hmc5883_current; diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index 5c568c99..241ba7d7 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -252,8 +252,8 @@ struct ao_log_mega { int16_t gyro_y; /* 20 */ int16_t gyro_z; /* 22 */ int16_t mag_x; /* 24 */ - int16_t mag_y; /* 26 */ - int16_t mag_z; /* 28 */ + int16_t mag_z; /* 26 */ + int16_t mag_y; /* 28 */ int16_t accel; /* 30 */ } sensor; /* 32 */ /* AO_LOG_TEMP_VOLT */ diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c index a0212198..b86abe7a 100644 --- a/src/kernel/ao_log_mega.c +++ b/src/kernel/ao_log_mega.c @@ -135,8 +135,8 @@ ao_log(void) #endif #if HAS_HMC5883 log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x; - log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y; log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z; + log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y; #endif log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]); ao_log_mega(&log); diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index a4c73a86..2ae1e41b 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -160,8 +160,8 @@ ao_send_mega_sensor(void) #if HAS_HMC5883 telemetry.mega_sensor.mag_x = packet->hmc5883.x; - telemetry.mega_sensor.mag_y = packet->hmc5883.y; telemetry.mega_sensor.mag_z = packet->hmc5883.z; + telemetry.mega_sensor.mag_y = packet->hmc5883.y; #endif ao_telemetry_send(); diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h index 45aaeb07..23e3ed7d 100644 --- a/src/kernel/ao_telemetry.h +++ b/src/kernel/ao_telemetry.h @@ -198,8 +198,8 @@ struct ao_telemetry_mega_sensor { int16_t gyro_z; /* 24 */ int16_t mag_x; /* 26 */ - int16_t mag_y; /* 28 */ - int16_t mag_z; /* 30 */ + int16_t mag_z; /* 28 */ + int16_t mag_y; /* 30 */ /* 32 */ }; -- cgit v1.2.3 From cd8b22bef0a88ed6881036b4c6718a4e33c55d41 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 13 Jun 2017 10:34:03 -0700 Subject: altos: Add timeout to RN4678 status message code If we see the start of an RN4678 status message, but then output pauses, assume that this isn't the start of a status message and flush the pending data. Signed-off-by: Keith Packard --- src/drivers/ao_rn4678.c | 178 +++++++++++++++++++++++++----------------------- src/drivers/ao_rn4678.h | 7 +- 2 files changed, 99 insertions(+), 86 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c index 4e3d12cb..ba25e70d 100644 --- a/src/drivers/ao_rn4678.c +++ b/src/drivers/ao_rn4678.c @@ -39,7 +39,7 @@ static void ao_rn_log_char(char c, char dir) { if (dir != ao_rn_dir) { - putchar(dir); + putchar(dir); putchar('\n'); ao_rn_dir = dir; } switch (c) { @@ -106,78 +106,74 @@ static const char *status_strings[] = { #define NUM_STATUS_STRING (sizeof status_strings/sizeof status_strings[0]) +static char ao_rn_buffer[64]; +static int ao_rn_buf_cnt, ao_rn_buf_ptr; +static int ao_rn_draining; +static AO_TICK_TYPE ao_rn_buf_time; + +/* Well, this is annoying. The status strings from the RN4678 can't be + * disabled due to a firmware bug. So, this code finds those in the + * input and strips them out. + */ int _ao_wrap_rn_pollchar(void) { - static char buffer[64]; - static int buf_cnt, buf_ptr; - static int draining; int c = AO_READ_AGAIN; unsigned i; int done = 0; - while (!done && !draining) { + while (!done && !ao_rn_draining) { c = _ao_serial_rn_pollchar(); - if (c == AO_READ_AGAIN) + if (c == AO_READ_AGAIN) { + if (ao_rn_buf_cnt && (ao_time() - ao_rn_buf_time) > AO_MS_TO_TICKS(1000)) { + ao_rn_draining = 1; + continue; + } return AO_READ_AGAIN; + } - if (buf_cnt) { + if (ao_rn_buf_cnt) { /* buffering chars */ if (c == STATUS_CHAR) { /* End of status string, drop it and carry on */ - buffer[buf_cnt] = '\0'; - ao_rn_dbg("discard %s\n", buffer); - buf_cnt = 0; - } else if (buf_cnt == sizeof(buffer)) { + ao_rn_buffer[ao_rn_buf_cnt] = '\0'; +// ao_rn_dbg("discard %s\n", ao_rn_buffer); + ao_rn_buf_cnt = 0; + } else if (ao_rn_buf_cnt == sizeof(ao_rn_buffer)) { /* If we filled the buffer, just give up */ - draining = 1; + ao_rn_draining = 1; } else { - buffer[buf_cnt++] = c; + ao_rn_buffer[ao_rn_buf_cnt++] = c; for (i = 0; i < NUM_STATUS_STRING; i++) { int cmp = strlen(status_strings[i]); - if (cmp >= buf_cnt) - cmp = buf_cnt-1; - if (memcmp(buffer+1, status_strings[i], cmp) == 0) + if (cmp >= ao_rn_buf_cnt) + cmp = ao_rn_buf_cnt-1; + if (memcmp(ao_rn_buffer+1, status_strings[i], cmp) == 0) break; } if (i == NUM_STATUS_STRING) - draining = 1; + ao_rn_draining = 1; } } else if (c == STATUS_CHAR) { - buffer[0] = c; - buf_cnt = 1; - buf_ptr = 0; + ao_rn_buffer[0] = c; + ao_rn_buf_cnt = 1; + ao_rn_buf_ptr = 0; + ao_rn_buf_time = ao_time(); } else done = 1; } - if (draining) { - c = buffer[buf_ptr++] & 0xff; - if (buf_ptr == buf_cnt) { - buf_ptr = buf_cnt = 0; - draining = 0; + if (ao_rn_draining) { + c = ao_rn_buffer[ao_rn_buf_ptr++] & 0xff; + if (ao_rn_buf_ptr == ao_rn_buf_cnt) { + ao_rn_buf_ptr = ao_rn_buf_cnt = 0; + ao_rn_draining = 0; } } -#if AO_RN_DEBUG - ao_arch_release_interrupts(); - ao_usb_putchar(c); ao_usb_flush(); - ao_arch_block_interrupts(); -#endif return c; } -#if AO_RN_DEBUG -static void -ao_wrap_rn_putchar(char c) -{ - ao_usb_putchar(c); ao_usb_flush(); - ao_serial_rn_putchar(c); -} -#else -#define ao_wrap_rn_putchar ao_serial_rn_putchar -#endif - static void ao_rn_puts(char *s) { @@ -192,7 +188,7 @@ ao_rn_drain(void) { int timeout = 0; - ao_rn_dbg("drain...\n"); +// ao_rn_dbg("drain...\n"); ao_serial_rn_drain(); while (!timeout) { ao_arch_block_interrupts(); @@ -204,13 +200,13 @@ ao_rn_drain(void) } ao_arch_release_interrupts(); } - ao_rn_dbg("drain done\n"); +// ao_rn_dbg("drain done\n"); } static void ao_rn_send_cmd(char *cmd, char *param) { - ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : ""); +// ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : ""); ao_rn_drain(); ao_rn_puts(cmd); if (param) @@ -244,20 +240,20 @@ ao_rn_wait_for(int timeout, char *match) AO_TICK_TYPE giveup_time = ao_time() + timeout; int c; - ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match); +// ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match); memset(reply, ' ', sizeof(reply)); while (memcmp(reply, match, match_len) != 0) { c = ao_rn_wait_char(giveup_time); if (c == AO_READ_AGAIN) { - ao_rn_dbg("\twait for timeout\n"); +// ao_rn_dbg("\twait for timeout\n"); return AO_RN_TIMEOUT; } reply[match_len] = (char) c; memmove(reply, reply+1, match_len); reply[match_len] = '\0'; - ao_rn_dbg("\tmatch now \"%s\"\n", reply); +// ao_rn_dbg("\tmatch now \"%s\"\n", reply); } - ao_rn_dbg("\twait for ok\n"); +// ao_rn_dbg("\twait for ok\n"); return AO_RN_OK; } @@ -266,20 +262,20 @@ ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len) { char *l = line; - ao_rn_dbg("wait line\n"); +// ao_rn_dbg("wait line\n"); for (;;) { int c = ao_rn_wait_char(giveup_time); /* timeout */ if (c == AO_READ_AGAIN) { - ao_rn_dbg("\twait line timeout\n"); +// ao_rn_dbg("\twait line timeout\n"); return AO_RN_TIMEOUT; } /* done */ if (c == '\r') { *l = '\0'; - ao_rn_dbg("\twait line \"%s\"\n", line); +// ao_rn_dbg("\twait line \"%s\"\n", line); return AO_RN_OK; } @@ -302,7 +298,7 @@ ao_rn_wait_status(void) AO_TICK_TYPE giveup_time = ao_time() + AO_RN_CMD_TIMEOUT; int status; - ao_rn_dbg("wait status\n"); +// ao_rn_dbg("wait status\n"); status = ao_rn_wait_line(giveup_time, message, sizeof (message)); if (status == AO_RN_OK) if (strncmp(message, "AOK", 3) != 0) @@ -317,7 +313,7 @@ ao_rn_set_name(void) char *s = sn + 8; int n; - ao_rn_dbg("set name...\n"); +// ao_rn_dbg("set name...\n"); *--s = '\0'; n = ao_serial_number; do { @@ -330,7 +326,7 @@ ao_rn_set_name(void) static int ao_rn_get_name(char *name, int len) { - ao_rn_dbg("get name...\n"); +// ao_rn_dbg("get name...\n"); ao_rn_send_cmd(AO_RN_GET_NAME_CMD, NULL); return ao_rn_wait_line(ao_time() + AO_RN_CMD_TIMEOUT, name, len); } @@ -404,12 +400,18 @@ ao_rn(void) continue; } - ao_rn_puts("$$$"); - /* After it reboots, it can take a moment before it responds * to commands */ - (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + + if (status == AO_RN_TIMEOUT) { + ao_rn_puts("$$$"); + (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + } + + ao_rn_send_cmd(AO_RN_VERSION_CMD, NULL); + (void) ao_rn_wait_status(); /* Check to see if the name is already set and assume * that the device is ready to go @@ -417,7 +419,9 @@ ao_rn(void) status = ao_rn_get_name(name, sizeof (name)); if (status != AO_RN_OK) { ao_rn_dbg("get name failed\n"); - continue; + status = ao_rn_get_name(name, sizeof (name)); + if (status != AO_RN_OK) + continue; } if (strncmp(name, "TeleBT-", 7) == 0) { @@ -433,6 +437,12 @@ ao_rn(void) continue; } + ao_rn_send_cmd(AO_RN_SET_STATUS_STRING, AO_RN_STATUS_STRING_ENABLE); + if (ao_rn_wait_status() != AO_RN_OK) { + ao_rn_dbg("set status string\n"); + continue; + } + /* Select 'fast' mode to ignore command sequence (more or less) */ ao_rn_send_cmd(AO_RN_SET_FAST_MODE, NULL); if (ao_rn_wait_status() != AO_RN_OK) { @@ -465,17 +475,27 @@ ao_rn(void) ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN); -#if 1 +#if AO_RN_DEBUG + + /* + * Separate debug code when things aren't working. Just dump + * inbound bluetooth characters to stdout + */ + for (;;) { + int c; + + ao_arch_block_interrupts(); + while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN) + ao_sleep(&ao_serial_rn_rx_fifo); + ao_arch_release_interrupts(); + } +#else ao_rn_stdio = ao_add_stdio(_ao_wrap_rn_pollchar, - ao_wrap_rn_putchar, + ao_serial_rn_putchar, NULL); ao_rn_echo(0); - ao_rn_check_link(); - - ao_rn_dbg("RN running\n"); - /* * Now just hang around and flash the blue LED when we've got * a connection @@ -487,27 +507,11 @@ ao_rn(void) ao_arch_release_interrupts(); while (ao_rn_connected) { ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20)); + if (ao_rn_buf_cnt != 0) + ao_wakeup(&ao_stdin_ready); ao_delay(AO_SEC_TO_TICKS(3)); } } -#else - - /* - * Separate debug code when things aren't working. Just dump - * inbound bluetooth characters to stdout - */ - for (;;) { - int c; - - while (rn_cmd_running) - ao_delay(AO_MS_TO_TICKS(1000)); - - ao_arch_block_interrupts(); - while ((c = _ao_wrap_rn_pollchar()) == AO_READ_AGAIN) - ao_sleep(&ao_serial_rn_rx_fifo); - ao_arch_release_interrupts(); - putchar(c); flush(); - } #endif } @@ -539,15 +543,21 @@ ao_rn_factory(void) /* Right after power on, poke P3_1 five times to force a * factory reset */ - for (i = 0; i < 10; i++) { + for (i = 0; i < 20; i++) { v = 1-v; - ao_delay(AO_MS_TO_TICKS(100)); + ao_delay(AO_MS_TO_TICKS(50)); ao_gpio_set(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v); ao_led_toggle(AO_BT_LED); } /* And let P3_1 float again */ ao_enable_input(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, AO_EXTI_MODE_PULL_NONE); + + printf("Reboot BT\n"); flush(); + ao_delay(AO_MS_TO_TICKS(100)); + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0); + ao_delay(AO_MS_TO_TICKS(100)); + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1); } static const struct ao_cmds rn_cmds[] = { diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h index d6fea23a..a4dcea38 100644 --- a/src/drivers/ao_rn4678.h +++ b/src/drivers/ao_rn4678.h @@ -56,7 +56,7 @@ */ -#define AO_RN_REBOOT_MSG "%REBOOT%" +#define AO_RN_REBOOT_MSG "REBOOT" #define AO_RN_CMD_TIMEOUT AO_MS_TO_TICKS(200) @@ -67,11 +67,14 @@ #define AO_RN_SET_NAME_CMD "SN," #define AO_RN_GET_NAME_CMD "GN" -#define AO_RN_SET_STATUS_STRING "SO," +#define AO_RN_SET_STATUS_STRING "so," #define AO_RN_STATUS_STRING_DISABLE " " +#define AO_RN_STATUS_STRING_ENABLE "%,%" #define AO_RN_REBOOT_CMD "R,1" +#define AO_RN_VERSION_CMD "V" + #define AO_RN_TIMEOUT -1 #define AO_RN_ERROR 0 #define AO_RN_OK 1 -- cgit v1.2.3 From ea7e236e75452e27f3af6730a0542850851eb23d Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 20 Jun 2017 11:19:40 -0700 Subject: altos/rn4678: Add BLE support This just means ignoring the BLE connect status message. Signed-off-by: Keith Packard --- src/drivers/ao_rn4678.c | 15 +++++++++++++++ 1 file changed, 15 insertions(+) (limited to 'src/drivers') diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c index ba25e70d..98dc35b5 100644 --- a/src/drivers/ao_rn4678.c +++ b/src/drivers/ao_rn4678.c @@ -100,6 +100,7 @@ static const char *status_strings[] = { "RFCOMM_CLOSE", "RFCOMM_OPEN", "CONNECT", + "LCONNECT", "DISCONN", "BONDED", }; @@ -560,8 +561,22 @@ ao_rn_factory(void) ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1); } +#if AO_RN_DEBUG +static void +ao_rn_send(void) +{ + int c; + + while ((c = getchar()) != '~') + ao_rn_putchar(c); +} +#endif + static const struct ao_cmds rn_cmds[] = { { ao_rn_factory, "F\0Factory reset rn4678" }, +#if AO_RN_DEBUG + { ao_rn_send, "B\0Send data to rn4678. End with ~" }, +#endif { 0 }, }; -- cgit v1.2.3