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29 * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
32 * \brief pocketBus protocol Command layer implementation.
34 * This module implements command layer over pocketBus
36 * Payload packets received by pocketBus are first checked for
38 * If a packet is addressed to us we look for a suitable
39 * callback function to call.
41 * The received payload format is as follows:
43 * +----------------------------------------+
45 * +----------------------------------------+
50 * The CMD ID used is the same supplied by the master when
51 * the command was sent.
53 * \version $Id: pocketcmd.c 16587 2007-10-02 14:31:02Z batt $
55 * \author Francesco Sacchi <batt@develer.com>
58 #include "pocketcmd.h"
59 #include "pocketbus.h"
61 #include <cfg/macros.h>
62 #include <cfg/debug.h>
63 #include <cfg/module.h>
65 #include <drv/timer.h>
67 #include <mware/byteorder.h>
72 * pocketBus Command poll function.
73 * Call it to read and process pocketBus commands.
75 void pocketcmd_poll(struct PocketCmdCtx *ctx)
79 /* Try to read a packet from pocketBus */
80 while (pocketbus_recv(ctx->bus_ctx, &msg))
83 if (msg.addr == ctx->addr ||
84 msg.addr == POCKETBUS_BROADCAST_ADDR)
86 const PocketCmdHdr *hdr = (const PocketCmdHdr *)msg.payload;
87 pocketcmd_t cmd = be16_to_cpu(hdr->cmd);
89 /* We're no longer waiting for a reply (in case we were) */
90 if (cmd == ctx->waiting)
91 ctx->waiting = PKTCMD_NULL;
93 /* Check for command callback */
94 pocketcmd_hook_t callback = ctx->search(cmd);
96 /* Call it if exists */
101 cmd_msg.cmd_ctx = ctx;
103 cmd_msg.len = msg.len - sizeof(PocketCmdHdr);
104 cmd_msg.buf = msg.payload + sizeof(PocketCmdHdr);
113 * Send command \a cmd to/from slave adding \a len arguments in \a buf.
114 * Address used is contained in \a ctx->addr .
115 * If we are master and the message has a reply, you must set \a wait_reply to true.
116 * \return true if all is ok, false if we are already waiting a replay from another slave.
118 bool pocketcmd_send(struct PocketCmdCtx *ctx, pocketcmd_t cmd, const void *buf, size_t len, bool wait_reply)
120 /* Check if we are waiting a reply from someone */
121 if (ctx->waiting != PKTCMD_NULL)
123 /* Check is reply timeout is elapsed */
124 if (timer_clock() - ctx->reply_timer < ms_to_ticks(PKTCMD_REPLY_TIMEOUT))
126 TRACEMSG("Pkt discard! waiting cmd[%04X]\n", ctx->waiting);
131 TRACEMSG("Timeout waiting cmd[%04X]\n", ctx->waiting);
132 ctx->waiting = PKTCMD_NULL;
137 cmd = cpu_to_be16(cmd);
140 pocketbus_begin(ctx->bus_ctx, ctx->addr);
141 pocketbus_write(ctx->bus_ctx, &cmd, sizeof(cmd));
142 pocketbus_write(ctx->bus_ctx, buf, len);
143 pocketbus_end(ctx->bus_ctx);
148 ctx->reply_timer = timer_clock();
154 * Init pocketBus command layer.
155 * \a ctx is pocketBus command layer context.
156 * \a bus_ctx is pocketBus context.
157 * \a addr is slave address (see pocketcmd_setAddr for details.)
158 * \a search is the lookup function used to search command ID callbacks.
160 void pocketcmd_init(struct PocketCmdCtx *ctx, struct PocketBusCtx *bus_ctx, pocketbus_addr_t addr, pocketcmd_lookup_t search)
167 memset(ctx, 0, sizeof(*ctx));
168 ctx->bus_ctx = bus_ctx;
169 ctx->search = search;
170 pocketcmd_setAddr(ctx, addr);
174 * Helper function used to reply to master with an ACK.
176 void pocketcmd_replyAck(struct PocketCmdMsg *msg)
178 uint8_t ack[] = { POCKETBUS_ACK };
180 pocketcmd_slaveReply(msg->cmd_ctx, msg->cmd, ack, sizeof(ack));
184 * Helper function used to reply to master with a NAK.
186 void pocketcmd_replyNak(struct PocketCmdMsg *msg)
188 uint8_t nak[] = { POCKETBUS_NAK };
190 pocketcmd_slaveReply(msg->cmd_ctx, msg->cmd, nak, sizeof(nak));