633 lines
21 KiB
C
633 lines
21 KiB
C
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/******************** (C) COPYRIGHT 2020 GEEKIMU *******************************
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* File Name : gpio.c
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* Current Version : V2.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com & JustFeng.
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* Date of Issued : 2017.1.11 zhanli : Create
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* Comments : USB feature reports
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********************************************************************************/
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#include "feature_config.h"
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#include <stdlib.h>
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#include <string.h>
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#include "platform_config.h"
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#include "usb_core.h"
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#include "usb_init.h"
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#include "calibrate.h"
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//#include "eeprom.h"
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#include "gpio.h"
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#include "sys.h"
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#include "stmflash.h"
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enum {
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FEATURE_CONFIG = 2,
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FEATURE_CALIBRATE = 3,
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FEATURE_RANGE = 4,
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FEATURE_REGISTER = 5,
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FEATURE_DFU = 6,
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FEATURE_GPIO = 7,
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FEATURE_KEEP_ALIVE = 8,
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FEATURE_DISPLAY_INFO = 9,
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FEATURE_SERIAL = 10,
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FEATURE_OFFSET = 11
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};
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// Report ID and Command ID
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#define FEATURE_HEADER_SIZE 3
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#define FEATURE_CONFIG_SIZE (FEATURE_HEADER_SIZE+4)
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#define FEATURE_CALIBRATE_SIZE (FEATURE_HEADER_SIZE+CALIBRATION_SIZE)
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#define FEATURE_RANGE_SIZE (FEATURE_HEADER_SIZE+5)
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#define FEATURE_REGISTER_SIZE (FEATURE_HEADER_SIZE+3)
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#define FEATURE_DFU_SIZE (FEATURE_HEADER_SIZE+1)
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#define FEATURE_GPIO_SIZE (FEATURE_HEADER_SIZE+2)
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#define FEATURE_KEEP_ALIVE_SIZE (FEATURE_HEADER_SIZE+2)
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#define FEATURE_DISPLAY_INFO_SIZE (FEATURE_HEADER_SIZE+53)
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#define FEATURE_SERIAL_SIZE (FEATURE_HEADER_SIZE+12)
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#define FEATURE_OFFSET_SIZE (FEATURE_HEADER_SIZE+49)
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#define FLASH_DFU_FLASH 0X0800FF48 //ģ<><C4A3>EEPROM<4F><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DFU<46><55>ַ
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#define FEATURE_OFFSET_SET_GYRO 1
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#define FEATURE_OFFSET_SET_ACC 2
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#define FEATURE_OFFSET_SET_MAG 3
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#define FEATURE_OFFSET_SET_LED 4
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#define FEATURE_OFFSET_GET_GYRO 0x11
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#define FEATURE_OFFSET_GET_ACC 0x12
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#define FEATURE_OFFSET_GET_MAG 0x13
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feature_config_s global_config = {0};
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bool global_config_set = 0;
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feature_calibrate_s global_calibrate = {0};
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bool global_calibrate_set = 0;
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feature_range_s global_range = {0};
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bool global_range_set = 0;
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feature_register_s global_reg = {0};
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bool global_reg_set = 0;
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feature_dfu_s global_dfu = {0};
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bool global_dfu_set = 0;
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feature_gpio_s global_gpio = {0};
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feature_keep_alive_s global_keep_alive = {0};
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bool global_keep_alive_set = 0;
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feature_display_info_s global_display_info = {0};
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feature_serial_s global_serial = {0};
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bool global_offset_set = 0;
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feature_offset_s global_offset = {0};
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//enum LED_COLOR global_LED_color;
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// Most recent command ID globally
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static uint16_t feature_config_command_id = 0;
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u8 DM_USB_Command = 0;
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bool got_command = 0;
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// For the largest buffer we need
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uint8_t feature_get_buf[FEATURE_CALIBRATE_SIZE];
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uint8_t feature_set_buf[FEATURE_CALIBRATE_SIZE];
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/******************************************************
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*<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> feature_config_pack_config
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*<EFBFBD><EFBFBD> <EFBFBD>ܣ<EFBFBD>
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*<EFBFBD><EFBFBD>ʱ<EFBFBD>䣺 2015-5-14
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*<EFBFBD><EFBFBD> <EFBFBD>룺 <EFBFBD><EFBFBD>
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*******************************************************/
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static void feature_config_pack_config(void)
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{
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feature_get_buf[0] = FEATURE_CONFIG;
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*(uint16_t *)(feature_get_buf+1) = global_config.command_id;
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feature_get_buf[3] = global_config.use_raw | /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD>Բ<EFBFBD>ʹ<EFBFBD><CAB9> config.use_raw*/
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(global_config.calibrate << 1) |
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(global_config.use_calibration << 2) |
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(global_config.autocalibration << 3) |
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(global_config.motion_keep_alive << 4) |
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(global_config.command_keep_alive << 5) |
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(global_config.use_ovr_coordinates << 6);
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feature_get_buf[4] = global_config.interval;
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// For now, just hard code to 1000 Hz. This is for forwards compatibility
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// with future trackers with different sample rates.
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*(uint16_t *)(feature_get_buf+5) = global_config.sample_rate = 1000;
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}
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/******************************************************
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*<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> feature_config_pack_range
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*<EFBFBD><EFBFBD> <EFBFBD>ܣ<EFBFBD> Oculus SDK<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݷ<EFBFBD>Χ
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ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>USB<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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<EFBFBD><EFBFBD><EFBFBD>б<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*<EFBFBD><EFBFBD>ʱ<EFBFBD>䣺 2015-5-11
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*******************************************************/
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static void feature_config_pack_range(void)
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{
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feature_get_buf[0] = FEATURE_RANGE; /*report ID = 4 */
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*(uint16_t *)(feature_get_buf+1) = global_range.command_id;
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feature_get_buf[3] = 2; /* Ĭ<>ϼ<EFBFBD><CFBC>ٶȼƵķ<C6B5>ΧΪ+<2B><>2G<32><47><EFBFBD>ο<EFBFBD><CEBF>ֲ<EFBFBD> */
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*(uint16_t *)(feature_get_buf+4) = 2000; /* <20><><EFBFBD><EFBFBD><EFBFBD>ǵķ<C7B5>Χ<EFBFBD><CEA7>+-2000deg/s<><73><EFBFBD>ο<EFBFBD><CEBF>ֲ<EFBFBD> */
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*(uint16_t *)(feature_get_buf+6) = 1300; /* <20>شżƵķ<C6B5>ΧΪ+-1300<30><30><EFBFBD>ο<EFBFBD><CEBF>ֲ<EFBFBD> */
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}
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/*******************************************************
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**<EFBFBD>ṩ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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********************************************************/
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static void feature_config_pack_register(void)
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{
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feature_get_buf[0] = FEATURE_REGISTER;
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*(uint16_t *)(feature_get_buf+1) = global_reg.command_id;
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feature_get_buf[3] = global_reg.device;
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feature_get_buf[4] = global_reg.reg;
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feature_get_buf[5] = global_reg.payload;
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}
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/******************************************************
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*<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> *feature_config_getreport
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*<EFBFBD><EFBFBD> <EFBFBD>ܣ<EFBFBD> Oculus SDK <EFBFBD>ᷢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﷵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD>
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Oculus SDK
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*<EFBFBD><EFBFBD>ʱ<EFBFBD>䣺 2015-3-29
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*<EFBFBD><EFBFBD> <EFBFBD>룺 <EFBFBD><EFBFBD>
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*******************************************************/
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uint8_t *feature_config_getreport(uint16_t length)
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{
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// <20><><EFBFBD>ݱ<EFBFBD><DDB1><EFBFBD>IDѡ<44><D1A1>
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switch (pInformation->USBwValue0)
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{
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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case FEATURE_CONFIG:
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// On the first callback, we supply the length
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_CONFIG_SIZE;
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} else {
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// On the second we return the filled buffer
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feature_config_pack_config();
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return feature_get_buf;
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}
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break;
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// У<D0A3><D7BC><EFBFBD><EFBFBD>
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case FEATURE_CALIBRATE:
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// if (!length) {
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// pInformation->Ctrl_Info.Usb_wLength = FEATURE_CALIBRATE_SIZE;
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// }
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// else {
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// feature_get_buf[0] = FEATURE_CALIBRATE;
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// *(uint16_t *)(feature_get_buf+1) = global_calibrate.command_id;
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// /*<2A><>ȡУ<D0A3><D7BC>Ϣ*/
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// calibrate_get(feature_get_buf+3);
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// // Calibrate is above 64 bytes, so we get called again with offset
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// return feature_get_buf + pInformation->Ctrl_Info.Usb_wOffset;
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// }
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// break;
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// <20><>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD>
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case FEATURE_RANGE:
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if (!length)
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{
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_RANGE_SIZE;
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}
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else
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{
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feature_config_pack_range(); /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD>*/
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return feature_get_buf;
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}
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break;
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/********************************************************
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FEATURE_REGISTER <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļĴ<EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>,
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Laputa ʹ<EFBFBD>õ<EFBFBD><EFBFBD><EFBFBD>MPU9150<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><EFBFBD>
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********************************************************/
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case FEATURE_REGISTER:
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_REGISTER_SIZE;
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} else {
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feature_config_pack_register(); /*<2A><><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>Ϣ*/
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return feature_get_buf;
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}
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break;
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case FEATURE_DFU:
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_DFU_SIZE;
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} else {
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feature_get_buf[0] = FEATURE_DFU;
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*(uint16_t *)(feature_get_buf+1) = global_dfu.command_id;
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feature_get_buf[3] = global_dfu.use_dfu;
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return feature_get_buf;
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}
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break;
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case FEATURE_GPIO:
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if (!length)
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{
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_GPIO_SIZE;
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} else
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{
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feature_get_buf[0] = FEATURE_GPIO;
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*(uint16_t *)(feature_get_buf+1) = global_gpio.command_id;
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feature_get_buf[3] = global_gpio.direction;
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//feature_get_buf[4] = global_gpio.value = gpio_get_value();
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return feature_get_buf;
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}
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break;
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case FEATURE_KEEP_ALIVE:
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if (!length)
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{
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_KEEP_ALIVE_SIZE;
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} else
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{
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feature_get_buf[0] = FEATURE_KEEP_ALIVE;
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*(uint16_t *)(feature_get_buf+1) = global_keep_alive.command_id;
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*(uint16_t *)(feature_get_buf+3) = global_keep_alive.keep_alive;
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return feature_get_buf;
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}
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break;
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/*<2A><>ȡ<EFBFBD><C8A1>ʾ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>Ϣ*/
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case FEATURE_DISPLAY_INFO:
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_DISPLAY_INFO_SIZE;
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} else {
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feature_get_buf[0] = FEATURE_DISPLAY_INFO;
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*(uint16_t *)(feature_get_buf+1) = global_display_info.command_id;
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// fill the actual parameters
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return feature_get_buf;
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}
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break;
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/*<2A><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD><D0BA><EFBFBD>Ϣ*/
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case FEATURE_SERIAL: /*Oculus Utility<74><79><EFBFBD><EFBFBD>Sensor Serial<61><6C>Ϣ*/
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_SERIAL_SIZE;
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} else {
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feature_get_buf[0] = FEATURE_SERIAL;
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*(uint16_t *)(feature_get_buf+1) = global_serial.command_id;
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//Get_SerialNum((char *)(feature_get_buf+3), 0); /*<2A><>ȡSensor Serial*/
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GetChipId((uint8_t *)(feature_get_buf+3));
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return feature_get_buf;
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}
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break;
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case FEATURE_OFFSET: //OFFSET
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if (!length) {
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pInformation->Ctrl_Info.Usb_wLength = FEATURE_OFFSET_SIZE;
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} else {
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feature_get_buf[0] = FEATURE_OFFSET;
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*(uint16_t *)(feature_get_buf+1) = global_offset.command_id;
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//global_offset.dev=*(uint8_t*)(feature_get_buf+3);
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feature_get_buf[3] = global_offset.dev;
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switch (global_offset.dev)
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{
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case FEATURE_OFFSET_GET_GYRO:
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Get_Gyro_Offset((float*)(feature_get_buf+4));
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break;
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case FEATURE_OFFSET_GET_ACC:
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Get_Acc_Offset((float*)(feature_get_buf+4));
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break;
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case FEATURE_OFFSET_GET_MAG:
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Get_Mag_Offset((float*)(feature_get_buf+4));
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
return feature_get_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
return NULL;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint8_t *feature_config_setreport(uint16_t length)
|
|||
|
|
{
|
|||
|
|
// Switch based on ReportID
|
|||
|
|
switch (pInformation->USBwValue0)
|
|||
|
|
{
|
|||
|
|
case FEATURE_CONFIG:
|
|||
|
|
// On the first callback, we supply the length
|
|||
|
|
if (!length)
|
|||
|
|
{
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_CONFIG_SIZE;
|
|||
|
|
} else
|
|||
|
|
{
|
|||
|
|
// On the second, we return the buffer to fill
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_CALIBRATE:
|
|||
|
|
if (!length)
|
|||
|
|
{
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_CALIBRATE_SIZE;
|
|||
|
|
} else {
|
|||
|
|
// Calibrate is above 64 bytes, so we get called again with offset
|
|||
|
|
return feature_set_buf + pInformation->Ctrl_Info.Usb_wOffset;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_RANGE:
|
|||
|
|
if (!length)
|
|||
|
|
{
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_RANGE_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_REGISTER:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_REGISTER_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_DFU:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_DFU_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_GPIO:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_GPIO_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_KEEP_ALIVE:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_KEEP_ALIVE_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_DISPLAY_INFO:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_DISPLAY_INFO_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_SERIAL:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_SERIAL_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
case FEATURE_OFFSET:
|
|||
|
|
if (!length) {
|
|||
|
|
pInformation->Ctrl_Info.Usb_wLength = FEATURE_OFFSET_SIZE;
|
|||
|
|
} else {
|
|||
|
|
return feature_set_buf;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return NULL;
|
|||
|
|
}
|
|||
|
|
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ijЩ<C4B3><D0A9><EFBFBD><EFBFBD>*/
|
|||
|
|
void feature_config_parse_report(void)
|
|||
|
|
{
|
|||
|
|
// Get the latest set command ID regardless of report type
|
|||
|
|
unsigned short int DFU_State = 0x1111;
|
|||
|
|
unsigned short int DFU_State_Read = 0xffff;
|
|||
|
|
feature_config_command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
got_command = 1;
|
|||
|
|
|
|||
|
|
switch (feature_set_buf[0])
|
|||
|
|
{
|
|||
|
|
case FEATURE_CONFIG:
|
|||
|
|
global_config.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_config.use_raw = feature_set_buf[3] & 1;
|
|||
|
|
global_config.calibrate = feature_set_buf[3] & (1 << 1);
|
|||
|
|
global_config.use_calibration = feature_set_buf[3] & (1 << 2);
|
|||
|
|
global_config.autocalibration = feature_set_buf[3] & (1 << 3);
|
|||
|
|
global_config.motion_keep_alive = feature_set_buf[3] & (1 << 4);
|
|||
|
|
global_config.command_keep_alive = feature_set_buf[3] & (1 << 5);
|
|||
|
|
global_config.use_ovr_coordinates = feature_set_buf[3] & (1 << 6);
|
|||
|
|
global_config.interval = feature_set_buf[4];
|
|||
|
|
|
|||
|
|
/* <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǿ<EFBFBD><C7BF>Ϊ1000Hz Sample rate is forced to 1000 for now */
|
|||
|
|
global_config.sample_rate = 1000; // *(uint16_t *)(feature_set_buf+5);
|
|||
|
|
global_config_set = 1;
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_CALIBRATE:
|
|||
|
|
// update the last command in on any feature report
|
|||
|
|
global_calibrate.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
// pass the payload of calibration data
|
|||
|
|
memcpy(global_calibrate.payload, feature_set_buf+FEATURE_HEADER_SIZE, CALIBRATION_SIZE);
|
|||
|
|
global_calibrate_set = 1;
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_RANGE: /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ*/
|
|||
|
|
global_range.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_range.accel_range = 4;
|
|||
|
|
global_range.gyro_range = 500;
|
|||
|
|
global_range.mag_range = 1300;
|
|||
|
|
global_range_set = 1;
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_REGISTER: /*ֱ<><D6B1><EFBFBD><EFBFBD><DEB8><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ĿǰLaputa <20><>֧<EFBFBD><D6A7>*/
|
|||
|
|
global_reg.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_reg.device = feature_set_buf[3];
|
|||
|
|
global_reg.reg = feature_set_buf[4];
|
|||
|
|
global_reg.payload = feature_set_buf[5];
|
|||
|
|
global_reg_set = 1;
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_DFU: /*<2A><><EFBFBD><EFBFBD>Oculus <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
|
|||
|
|
global_dfu.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_dfu.use_dfu = (feature_set_buf[3] == 1);
|
|||
|
|
global_dfu_set = 1;
|
|||
|
|
break;
|
|||
|
|
/*<2A><><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><D8B7><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>GPIO<49><4F><EFBFBD>ԣ<EFBFBD><D4A3>Ժ<EFBFBD>Laputa <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
|
|||
|
|
<EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD>*/
|
|||
|
|
case FEATURE_GPIO:
|
|||
|
|
global_gpio.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_gpio.direction = feature_set_buf[3];
|
|||
|
|
//gpio_set_direction(global_gpio.direction); /*<2A><><EFBFBD><EFBFBD><EFBFBD>˺<EFBFBD>GPIO<49><4F><EFBFBD>صĹ<D8B5><C4B9>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>Oculus<75><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>*/
|
|||
|
|
// gpio_set_value(feature_set_buf[4]);
|
|||
|
|
break;
|
|||
|
|
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>Э<EFBFBD><D0AD><EFBFBD>е<EFBFBD>KeepAlive<76><65><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>ǵ<EFBFBD><C7B5>Լ<EFBFBD><D4BC><EFBFBD>ͨ<EFBFBD>Ų<EFBFBD><C5B2><EFBFBD>
|
|||
|
|
case FEATURE_KEEP_ALIVE:
|
|||
|
|
DM_USB_Command = feature_set_buf[4];
|
|||
|
|
if(DM_USB_Command == 0x26)
|
|||
|
|
{
|
|||
|
|
TIM_ITConfig(TIM3,TIM_IT_Update,DISABLE);
|
|||
|
|
Compute_Gyro_Offset();
|
|||
|
|
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);
|
|||
|
|
}
|
|||
|
|
if(DM_USB_Command == 0x25)
|
|||
|
|
{
|
|||
|
|
/*<2A><>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>ַд<D6B7><D0B4><EFBFBD><EFBFBD>־λ,<2C><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>DFUģ?
|
|||
|
|
*<EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD>DFU<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַд<EFBFBD><EFBFBD>0x1111<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DFU<EFBFBD>ı<EFBFBD>־λ<EFBFBD><EFBFBD>
|
|||
|
|
*<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DFU<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0x1111,<EFBFBD><EFBFBD>ͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DFUģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD>⣬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD>ں<EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0x1111<EFBFBD><EFBFBD>
|
|||
|
|
<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ñ<EFBFBD>־λ
|
|||
|
|
*/
|
|||
|
|
STMFLASH_Write(FLASH_DFU_FLASH,&DFU_State,1); //2<><32><EFBFBD>ֽ<EFBFBD> = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
STMFLASH_Read(FLASH_DFU_FLASH,&DFU_State_Read,1); //2<><32><EFBFBD>ֽ<EFBFBD> = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
if(DFU_State_Read == 0x1111)NVIC_SystemReset();
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_DISPLAY_INFO:
|
|||
|
|
global_display_info.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
/*<2A><><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>Ϣ<EFBFBD>浽EEROM<4F>У<EFBFBD>ĿǰLaputa <20><>֧<EFBFBD>ָù<D6B8><C3B9><EFBFBD>*/
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_SERIAL:
|
|||
|
|
global_serial.command_id = *(uint16_t *)(feature_set_buf+1);
|
|||
|
|
Set_Stored_Serial((char *)feature_set_buf+3); /*<2A><>SerialNum <20>浽EEROM<4F>У<EFBFBD>Ŀǰ<C4BF>Dz<EFBFBD>֧<EFBFBD>ֵ<EFBFBD>*/
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
case FEATURE_OFFSET:
|
|||
|
|
global_offset.command_id=*(uint16_t *)(feature_set_buf+1);
|
|||
|
|
global_offset.dev=*(uint8_t *)(feature_set_buf+3);
|
|||
|
|
|
|||
|
|
switch(global_offset.dev)
|
|||
|
|
{
|
|||
|
|
case FEATURE_OFFSET_SET_GYRO:
|
|||
|
|
Save_Gyro_Offset((float*)(feature_set_buf+4));
|
|||
|
|
//Load_Gyro_Offset();
|
|||
|
|
break;
|
|||
|
|
case FEATURE_OFFSET_SET_ACC:
|
|||
|
|
//Save_Acc_Offset((float*)(feature_set_buf+4));
|
|||
|
|
//Load_Acc_Offset();
|
|||
|
|
break;
|
|||
|
|
case FEATURE_OFFSET_SET_MAG:
|
|||
|
|
Save_Mag_Offset((float*)(feature_set_buf+4));
|
|||
|
|
Load_Mag_Offset();
|
|||
|
|
break;
|
|||
|
|
case FEATURE_OFFSET_SET_LED:
|
|||
|
|
//global_LED_color=(enum LED_COLOR)feature_set_buf[4];
|
|||
|
|
break;
|
|||
|
|
//case FEATURE_OFFSET_GET_GYRO :
|
|||
|
|
//case FEATURE_OFFSET_GET_ACC :
|
|||
|
|
//case FEATURE_OFFSET_GET_MAG :
|
|||
|
|
//global_offset.dev=global_offset.dev&0x0F;
|
|||
|
|
//break;
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_config_got_command(bool peek)
|
|||
|
|
{
|
|||
|
|
bool ret = got_command;
|
|||
|
|
|
|||
|
|
if (!peek)
|
|||
|
|
got_command = 0;
|
|||
|
|
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint16_t feature_config_latest_command_id(void)
|
|||
|
|
{
|
|||
|
|
return feature_config_command_id;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void feature_config_set(feature_config_p config)
|
|||
|
|
{
|
|||
|
|
memcpy(&global_config, config, sizeof(feature_config_s));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void feature_keep_alive_set(feature_keep_alive_p keep_alive)
|
|||
|
|
{
|
|||
|
|
memcpy(&global_keep_alive, keep_alive, sizeof(feature_keep_alive_s));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_config_get(feature_config_p config)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
// Only mark as changed if we got a new packet and the contents differ from the last
|
|||
|
|
if (global_config_set && memcmp(config, &global_config, sizeof(feature_config_s))) {
|
|||
|
|
global_config_set = 0;
|
|||
|
|
memcpy(config, &global_config, sizeof(feature_config_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_calibrate_get(feature_calibrate_p calibrate)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
if (global_calibrate_set && memcmp(calibrate, &global_calibrate, sizeof(feature_calibrate_s))) {
|
|||
|
|
global_calibrate_set = 0;
|
|||
|
|
memcpy(calibrate, &global_calibrate, sizeof(feature_calibrate_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_range_get(feature_range_p range)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
if (global_range_set && memcmp(range, &global_range, sizeof(feature_range_s))) {
|
|||
|
|
global_range_set = 0;
|
|||
|
|
memcpy(range, &global_range, sizeof(feature_range_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_register_get(feature_register_p reg)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
// A register could be set twice intentionally here, so don't condition on
|
|||
|
|
// the contents differing
|
|||
|
|
if (global_reg_set) {
|
|||
|
|
global_reg_set = 0;
|
|||
|
|
memcpy(reg, &global_reg, sizeof(feature_register_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_dfu_get(feature_dfu_p dfu)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
if (global_dfu_set && memcmp(dfu, &global_dfu, sizeof(feature_dfu_s)))
|
|||
|
|
{
|
|||
|
|
global_dfu_set = 0;
|
|||
|
|
memcpy(dfu, &global_dfu, sizeof(feature_dfu_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool feature_keep_alive_get(feature_keep_alive_p keep_alive)
|
|||
|
|
{
|
|||
|
|
// TODO: protect this
|
|||
|
|
// This report is lightweight, so just let it through if it is the same
|
|||
|
|
if (global_keep_alive_set)
|
|||
|
|
{
|
|||
|
|
global_keep_alive_set = 0;
|
|||
|
|
memcpy(keep_alive, &global_keep_alive, sizeof(feature_keep_alive_s));
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
void GetChipId(uint8_t *temp)
|
|||
|
|
{
|
|||
|
|
u32 temp0,temp1,temp2;
|
|||
|
|
temp0=*(__IO u32*)(0x1FFFF7E8);
|
|||
|
|
temp1=*(__IO u32*)(0x1FFFF7EC);
|
|||
|
|
temp2=*(__IO u32*)(0x1FFFF7F0);
|
|||
|
|
temp[0] = (u8)(temp0 & 0x000000FF);
|
|||
|
|
temp[1] = (u8)((temp0 & 0x0000FF00)>>8);
|
|||
|
|
temp[2] = (u8)((temp0 & 0x00FF0000)>>16);
|
|||
|
|
temp[3] = (u8)((temp0 & 0xFF000000)>>24);
|
|||
|
|
temp[4] = (u8)(temp1 & 0x000000FF);
|
|||
|
|
temp[5] = (u8)((temp1 & 0x0000FF00)>>8);
|
|||
|
|
temp[6] = (u8)((temp1 & 0x00FF0000)>>16);
|
|||
|
|
temp[7] = (u8)((temp1 & 0xFF000000)>>24);
|
|||
|
|
temp[8] = (u8)(temp2 & 0x000000FF);
|
|||
|
|
temp[9] = (u8)((temp2 & 0x0000FF00)>>8);
|
|||
|
|
temp[10] = (u8)((temp2 & 0x00FF0000)>>16);
|
|||
|
|
temp[11] = (u8)((temp2 & 0xFF000000)>>24);
|
|||
|
|
}
|