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dgt3000.c
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/* functions to communicate to a DGT3000 using I2C
* version 0.7
*
* Copyright (C) 2015 DGT
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/mman.h>
#include <string.h>
#include <pthread.h>
#include <sched.h>
#include "dgt3000.h"
int ww;
void *wl(void *x) {
int e;
int i=0;
while (1)
if (ww) {
e=dgt3000Configure();
if (e<0)
printf("%d: Configure failed!\n",i);
e=dgt3000Display("Goeindag",0,0,0);
if (e<0)
printf("%d: Display failed!\n",i);
e=dgt3000SetNRun(1,0,10,0,2,0,10,0);
if (e<0)
printf("%d: SetNRun failed!\n",i);
i++;
#ifdef debug
bug.sendTotal++;
#endif
} else {
usleep(10000);
}
return 0;
}
int main (int argc, char *argv[]) {
//int e;
//char message[255];
//char t[6]
char but,tim;
// get direct acces to the perhicels
if (dgt3000Init()) return -1;
// configure dgt3000 for mode 25
dgt3000Configure();
// 7 arguments -> setnrun
if (argc==8) {
unsigned char leftrun, rightrun=0;
if (argv[1][0]=='l')
leftrun=1;
else if (argv[1][0]=='L')
leftrun=2;
else if (argv[1][0]=='r')
rightrun=1;
else if (argv[1][0]=='R')
rightrun=2;
dgt3000SetNRun(leftrun,
atoi(argv[2]),
atoi(argv[3]),
atoi(argv[4]),
rightrun,
atoi(argv[5]),
atoi(argv[6]),
atoi(argv[7]) );
} else if (argc>1) {
unsigned char beep=0, ldots=0, rdots=0;
if (argc>2)
beep=atoi(argv[2]);
if (argc>4) {
ldots=atoi(argv[3]);
rdots=atoi(argv[4]);
}
// try three times to end and set de display
dgt3000Display(argv[1],beep,ldots,rdots);
} else {
printf("%.3f ",(float)*timer/1000000);
printf("started\n");
ww=1;
// pthread_t w;
// pthread_create(&w, NULL, wl, NULL);
dgt3000Off(1);
but=tim=0;
while(1) {
// printf("rxMaxBuf=%d ",bug.rxMaxBuf);
// dgt3000GetTime(t);
// printf("time=%d:%02d.%02d %d:%02d.%02d\n",t[0],t[1],t[2],t[3],t[4],t[5]);
if (dgt3000GetButton(&but,&tim)) {
printf("%.3f ",(float)*timer/1000000);
printf("button=%02x, time=%d\n",but,tim);
if (but&0x40) {
if (ww)
ww=0;
else
ww=1;
}
if (but==0x20) {
break;
}
// dgt3000EndDisplay();
}
usleep(10000);
}
dgt3000Configure();
dgt3000Display("Booting",0,0,0);
}
dgt3000Stop();
#ifdef debug
printf("%.3f ",(float)*timer/1000000);
printf("After %d messages:\n",bug.sendTotal);
printf("Send failed: display=%d, endDisplay=%d, changeState=%d, setCC=%d, setNRun=%d\n",
bug.displaySF, bug.endDisplaySF, bug.changeStateSF, bug.setCCSF, bug.setNRunSF);
printf("Ack failed : display=%d, endDisplay=%d, changeState=%d, setCC=%d, setNRun=%d\n",
bug.displayAF, bug.endDisplayAF, bug.changeStateAF, bug.setCCAF, bug.setNRunAF);
printf("Recieve Errors: timeout=%d, wrongAdr=%d, bufferFull=%d, sizeMismatch=%d, CRCFault=%d\n",
bug.rxTimeout, bug.rxWrongAdr, bug.rxBufferFull, bug.rxSizeMismatch, bug.rxCRCFault);
printf("Max recieve buffer size=%d\n",bug.rxMaxBuf);
#endif
// succes?
return 0;
}
// Get direct access to BCM2708/9
int dgt3000Init() {
int memfd, base;
void *gpio_map, *timer_map, *i2c_slave_map, *i2c_master_map;
struct sched_param params;
memset(&dgtRx,0,sizeof(dgtReceive_t));
#ifdef debug
memset(&bug,0,sizeof(debug_t));
#endif
if (checkPiModel()==1)
base=0x20000000;
else
base=0x3f000000;
memfd = open("/dev/mem",O_RDWR|O_SYNC);
if(memfd < 0) {
#ifdef debug
printf("/dev/mem open error, run as root\n");
#endif
return -1;
}
gpio_map = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, memfd, GPIO_BASE+base);
timer_map = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, memfd, TIMER_BASE+base);
i2c_slave_map = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, memfd, I2C_SLAVE_BASE+base);
i2c_master_map = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, memfd, I2C_MASTER_BASE+base);
close(memfd);
if( gpio_map == MAP_FAILED || timer_map == MAP_FAILED || i2c_slave_map == MAP_FAILED || i2c_master_map == MAP_FAILED) {
#ifdef debug
printf("Map failed\n");
#endif
return -1;
}
// GPIO pointers
gpio = (volatile unsigned *)gpio_map;
gpioset = gpio + 7; // set bit register offset 28
gpioclr = gpio + 10; // clr bit register
gpioin = gpio + 13; // read all bits register
// timer pointer
timer = (long long int *)((char *)timer_map + 4);
// i2c slave pointers
i2cSlave = (volatile unsigned *)i2c_slave_map;
i2cSlaveRSR = i2cSlave + 1;
i2cSlaveSLV = i2cSlave + 2;
i2cSlaveCR = i2cSlave + 3;
i2cSlaveFR = i2cSlave + 4;
// i2c master pointers
i2cMaster = (volatile unsigned *)i2c_master_map;
i2cMasterS = i2cMaster + 1;
i2cMasterDLEN = i2cMaster + 2;
i2cMasterA = i2cMaster + 3;
i2cMasterFIFO = i2cMaster + 4;
i2cMasterDiv = i2cMaster + 5;
// check wiring
// configured as an output? probably in use for something else
if ((*gpio & 0x1c0) == 0x40) {
#ifdef debug
printf("Error, GPIO02 configured as output, in use? We asume not a DGTPI\n");
#endif
return -2;
}
if ((*gpio & 0xe00) == 0x200) {
#ifdef debug
printf("Error, GPIO03 configured as output, in use? We asume not a DGTPI\n");
#endif
return -2;
}
if ((*(gpio+1) & 0x07000000) == 0x01000000) {
#ifdef debug
printf("Error, GPIO18 configured as output, in use? We asume not a DGTPI\n");
#endif
return -2;
}
if ((*(gpio+1) & 0x38000000) == 0x08000000) {
#ifdef debug
printf("Error, GPIO19 configured as output, in use? We asume not a DGTPI\n");
#endif
return -2;
}
// pinmode GPIO2,GPIO3=input
*gpio &= 0xfffff03f;
// pinmode GPIO18,GPIO19=input
*(gpio+1) &= 0xc0ffffff;
usleep(1);
// all pins hi through pullup?
if ((*gpioin & 0xc000c)!=0xc000c) {
#ifdef debug
printf("Error, pin(s) low, shortcircuit, or no connection?\n");
#endif
return -2;
}
// check SDA connection
// gpio18 low
*gpioclr = 1<<18;
// gpio18 output
*(gpio+1) |= 0x01000000;
usleep(1);
// check gpio 18 and 2
if ((*gpioin & 0x40004)!=0) {
#ifdef debug
printf("Error, SDA not connected\n");
#endif
// gpio18 back to input
*(gpio+1) &= 0xf8ffffff;
return -2;
}
if ((*gpioin & 0x80008)!=0x80008) {
#ifdef debug
printf("Error, SDA connected to SCL\n");
#endif
// gpio18 back to input
*(gpio+1) &= 0xf8ffffff;
return -2;
}
// gpio18 back to input
*(gpio+1) &= 0xf8ffffff;
// check SCL connection
// gpio19 low
*gpioclr = 1<<19;
// gpio18 output
*(gpio+1) |= 0x08000000;
usleep(1);
// check gpio 19 and 3
if ((*gpioin & 0x80008)!=0) {
#ifdef debug
printf("Error, SCL not connected\n");
#endif
// gpio19 back to input
*(gpio+1) &= 0xc7ffffff;
return -2;
}
// gpio19 back to input
*(gpio+1) &= 0xc7ffffff;
i2cReset();
// set to I2CMaster destination adress
*i2cMasterA=8;
dgtRx.on=1;
pthread_create(&receiveThread, NULL, dgt3000Receive, NULL);
// give thread max priority
params.sched_priority = sched_get_priority_max(SCHED_FIFO);
pthread_setschedparam(receiveThread, SCHED_FIFO, ¶ms);
return 0;
}
// configure dgt3000 to on, central controll and mode 25
int dgt3000Configure() {
int e;
int wakeCount = 0;
int setCCCount = 0;
int resetCount = 0;
// get the clock into the right state
while (1) {
// set to mode 25 and run
e=dgt3000Mode25();
if (e==-1) {
// no postive ack, not in cc
// set central controll
while (1) {
// try 3 times
setCCCount++;
// setCC>3?
if (setCCCount>3) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending setCentralControll failed three times\n\n");
ERROR_PIN_LO;
#endif
return -3;
}
if (dgt3000SetCC()==0) break;
}
} else if (e==-2) {
// timeout, line stay low -> reset i2c
resetCount++;
if (resetCount>1) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("I2C error, remove jack plug\n\n");
ERROR_PIN_LO;
#endif
return -2;
}
i2cReset();
continue;
} else if (e==-3) {
// message not acked, probably collision
continue;
} else if (e==-7) {
// message not acked, probably clock off -> wake
// wake#++
wakeCount++;
// wake#>3? -> error
if (wakeCount>3) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending wake command failed three times\n");
ERROR_PIN_LO;
#endif
return -3;
}
dgt3000Wake();
continue;
} else {
// succes!
usleep(5000);
break;
}
}
return 0;
}
// send a wake command to the dgt3000
int dgt3000Wake() {
int e;
long long int t;
// send wake
*i2cMasterA=40;
e=i2cSend(ping,0x00);
*i2cMasterA=8;
// succes? -> error. Wake messages should never get an Ack
if (e==0) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending wake command failed, received Ack, this should never hapen\n");
ERROR_PIN_LO;
#endif
return -3;
}
// Get Hello message (in max 10ms, usualy 5ms)
t=*timer+10000;
while (*timer<t) {
if (dgtRx.hello==1)
return 0;
usleep(100);
}
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending wake command failed, no hello\n");
ERROR_PIN_LO;
#endif
return -1;
}
// send set central controll command to dgt3000
int dgt3000SetCC() {
int e;
// send setCC, error? retry
e=i2cSend(centralControll,0x10);
// send succedfull?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.setCCSF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetCentralControll command failed, sending failed\n");
ERROR_PIN_LO;
#endif
return e;
}
// listen to our own adress and get Reply
e=dgt3000GetAck(0x10,0x0f,10000);
// ack received?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.setCCAF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetCentralControll command failed, no ack\n");
ERROR_PIN_LO;
#endif
return e;
}
// is positive ack?
if ((dgtRx.ack[1]&8) == 8)
return 0;
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetCentralControll command failed, negative ack, clock running\n");
ERROR_PIN_LO;
#endif
// nack clock running
return -1;
}
// send set mode 25 to dgt3000
int dgt3000Mode25() {
int e;
mode25[4]=57;
crc_calc(mode25);
// send mode 25 message
e=i2cSend(mode25, 0x10);
// send succesful?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.changeStateSF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending mode25 command failed, sending failed\n");
ERROR_PIN_LO;
#endif
return e;
}
// listen to our own adress an get Reply
e=dgt3000GetAck(0x10,0x0b,10000);
// ack received?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.changeStateAF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending mode25 command failed, no ack\n");
ERROR_PIN_LO;
#endif
return e;
}
if (dgtRx.ack[1]==8) return 0;
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending mode25 command failed, negative ack, not in Central Controll\n");
ERROR_PIN_LO;
#endif
// negetive ack not in CC
return -1;
}
// send end display to dgt3000 to clear te display
int dgt3000EndDisplay() {
int e;
// send end Display
e=i2cSend(endDisplay,0x10);
// send succesful?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.endDisplaySF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending end display command failed, sending failed\n");
ERROR_PIN_LO;
#endif
return e;
}
// get fast Reply = already empty
e=dgt3000GetAck(0x10,0x07,1200);
// display already empty
if (e==0) {
if ((dgtRx.ack[1]&0x07) == 0x05) {
return 0;
} else {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending end display command failed, negative specific ack:%02x\n",dgtRx.ack[1]);
ERROR_PIN_LO;
#endif
return -1;
}
}
//get slow broadcast Reply = display changed
e=dgt3000GetAck(0x00,0x07,10000);
// ack received?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.endDisplayAF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending end display command failed, no ack\n");
ERROR_PIN_LO;
#endif
return e;
}
// display emptied
if ((dgtRx.ack[1]&0x07) == 0x00)
return 0;
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending end display command failed, negative broadcast ack:%02x\n",dgtRx.ack[1]);
ERROR_PIN_LO;
#endif
return -1;
}
// send display command to dgt3000
int dgt3000SetDisplay(char dm[]) {
int e;
// send the message
e=i2cSend(dm,0x00);
// send succesful?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.displaySF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending display command failed, sending failed\n");
ERROR_PIN_LO;
#endif
return e;
}
// get (broadcast) reply
e=dgt3000GetAck(0x00,0x06,10000);
// no reply
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.displayAF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending display command failed, no ack\n");
ERROR_PIN_LO;
#endif
return e;
}
// nack, already displaying message
if ((dgtRx.ack[1]&0xf3)==0x23) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending display command failed, display already busy\n");
ERROR_PIN_LO;
#endif
return -1;
}
return 0;
}
// try three times to end and set de display
int dgt3000Display(char text[], char beep, char ld, char rd) {
int i,e;
int sendCount = 0;
for (i=0;i<11;i++) {
if(text[i]==0) break;
setDisplay[i+4]=text[i];
}
for (;i<11;i++) {
setDisplay[i+4]=' ';
}
setDisplay[16]=beep;
setDisplay[18]=ld;
setDisplay[19]=rd;
crc_calc(setDisplay);
while (1) {
sendCount++;
if (sendCount>3) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending clear display failed three times on error%d\n\n",e);
ERROR_PIN_LO;
#endif
return e;
}
e=dgt3000EndDisplay();
// succes?
if (e==0)
break;
}
sendCount=0;
while (1) {
sendCount++;
if (sendCount>3) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending display command failed three times on error%d\n\n",e);
ERROR_PIN_LO;
#endif
return e;
}
// succes?
e=dgt3000SetDisplay(setDisplay);
if (e==0)
break;
}
return 0;
}
// send set and run command to dgt3000
int dgt3000SetNRun(char lr, char lh, char lm, char ls,
char rr, char rh, char rm, char rs) {
int e;
int sendCount = 0;
setnrun[4]=lh;
setnrun[5]=((lm/10)<<4) | (lm%10);
setnrun[6]=((ls/10)<<4) | (ls%10);
setnrun[7]=rh;
setnrun[8]=((rm/10)<<4) | (rm%10);
setnrun[9]=((rs/10)<<4) | (rs%10);
setnrun[10]=lr | (rr<<2);
crc_calc(setnrun);
while (1) {
sendCount++;
if (sendCount>3) {
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetNRun failed three times on error%d\n\n",e);
ERROR_PIN_LO;
#endif
return e;
}
e=i2cSend(setnrun,0x10);
// send succesful?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.setNRunSF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetNRun command failed, sending failed\n");
ERROR_PIN_LO;
#endif
continue;
}
// listen to our own adress an get Reply
e=dgt3000GetAck(0x10,0x0a,10000);
// ack received?
if (e<0) {
#ifdef debug
ERROR_PIN_HI;
bug.setNRunAF++;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetNRun command failed, no ack\n");
ERROR_PIN_LO;
#endif
continue;
}
// Positive Ack?
if (dgtRx.ack[1]==8)
return 0;
#ifdef debug
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("sending SetNRun command failed, not in mode 25\n");
ERROR_PIN_LO;
#endif
dgt3000Configure();
}
}
int dgt3000Run(char lr, char rr) {
return dgt3000SetNRun(lr,
dgtRx.time[0],
((dgtRx.time[1]&0xf0)>>4)*10 + (dgtRx.time[1]&0x0f),
((dgtRx.time[2]&0xf0)>>4)*10 + (dgtRx.time[2]&0x0f),
rr,
dgtRx.time[3],
((dgtRx.time[4]&0xf0)>>4)*10 + (dgtRx.time[4]&0x0f),
((dgtRx.time[5]&0xf0)>>4)*10 + (dgtRx.time[5]&0x0f));
}
// check for messages from dgt3000
void *dgt3000Receive(void *a) {
char rm[RECEIVE_BUFFER_LENGTH];
int e;
#ifdef debug2
int i;
#endif
#ifdef debug
RECEIVE_THREAD_RUNNING_PIN_HI;
#endif
while (dgtRx.on) {
if ( (*i2cSlaveFR&0x20) != 0 || (*i2cSlaveFR&2) == 0 ) {
pthread_mutex_lock(&receiveMutex);
e=i2cReceive(rm);
#ifdef debug2
if (e>0) {
printf("<- ");
// printf("maxs=%d ",maxs);
// printf("length=%d ",e);
for (i=0;i<e;i++)
printf("%02x ", rm[i]);
} else if (e<0) {
printf("<- ");
for (i=0;i<16;i++)
printf("%02x ", rm[i]);
}
#endif
if (e>0) {
switch (rm[3]) {
case 1: // ack
dgtRx.ack[0]=rm[4];
dgtRx.ack[1]=rm[5];
pthread_cond_signal(&receiveCond);
#ifdef debug2
printf("= Ack %s\n",packetDescriptor[rm[4]-1]);
#endif
break;
case 2: // hello
dgtRx.hello=1;
#ifdef debug2
printf("= Hello\n");
#endif
break;
case 4: // time
dgtRx.time[0]=rm[5]&0x0f;
dgtRx.time[1]=rm[6];
dgtRx.time[2]=rm[7];
dgtRx.time[3]=rm[11]&0x0f;
dgtRx.time[4]=rm[12];
dgtRx.time[5]=rm[13];
// store (initial) lever state
if ((rm[19]&1) == 1)
dgtRx.lastButtonState |= 0x40;
else
dgtRx.lastButtonState &= 0xbf;
#ifdef debug2
printf("= Time: %02x:%02x.%02x %02x:%02x.%02x\n",rm[5]&0xf,rm[6],rm[7],rm[11]&0xf,rm[12],rm[13]);
#endif
if (rm[20]==1) ; // no update
break;
case 5: // button
// new button pressed
if (rm[4]&0x1f)
dgtRx.buttonState |= rm[4]&0x1f;
dgtRx.lastButtonState = rm[4];
// turned off/on
if((rm[4]&0x20) != (rm[5]&0x20)) {
// buffer full?
if ((dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE == dgtRx.buttonStart) {
#ifdef debug
printf("%.3f ",(float)*timer/1000000);
printf("Button buffer full, on/off ignored\n");
#endif
} else {
dgtRx.buttonPres[dgtRx.buttonEnd]=0x20 | ((rm[5]&0x20)<<2);
dgtRx.buttonTime[dgtRx.buttonEnd]=0;
dgtRx.buttonEnd=(dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE;
}
}
// lever change?
if((rm[4]&0x40) != (rm[5]&0x40)) {
// buffer full?
if ((dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE == dgtRx.buttonStart) {
#ifdef debug
printf("%.3f ",(float)*timer/1000000);
printf("Button buffer full, lever change ignored\n");
#endif
} else {
dgtRx.buttonPres[dgtRx.buttonEnd]=0x40 | ((rm[4]&0x40)<<1);
dgtRx.buttonTime[dgtRx.buttonEnd]=0;
dgtRx.buttonEnd=(dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE;
}
}
// buttons released
if((rm[4]&0x1f) == 0 && dgtRx.buttonState != 0) {
// buffer full?
if ((dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE == dgtRx.buttonStart) {
#ifdef debug
printf("%.3f ",(float)*timer/1000000);
printf("Button buffer full, buttons ignored\n");
#endif
} else {
dgtRx.buttonPres[dgtRx.buttonEnd]=dgtRx.buttonState;
dgtRx.buttonTime[dgtRx.buttonEnd]=rm[8];
dgtRx.buttonEnd=(dgtRx.buttonEnd+1)%DGTRX_BUTTON_BUFFER_SIZE;
}
dgtRx.buttonState=0;
}
#ifdef debug2
printf("= Button: 0x%02x>0x%02x\n",rm[5]&0x7f,rm[4]&0x7f);
#endif
break;
#ifdef debug
default:
ERROR_PIN_HI;
printf("%.3f ",(float)*timer/1000000);
printf("Receive Error: Unknown message from clock\n");
ERROR_PIN_LO;
#endif
}
} else if (e<0) {
#ifdef debug2
printf(" = Error: %d\n",e);
#endif
}
pthread_mutex_unlock(&receiveMutex);
} else {
#ifdef debug
RECEIVE_THREAD_RUNNING_PIN_LO;
#endif
usleep(400);
#ifdef debug
RECEIVE_THREAD_RUNNING_PIN_HI;
#endif
}
}
#ifdef debug
RECEIVE_THREAD_RUNNING_PIN_LO;
#endif
return 0;
}
// wait for an Ack message
int dgt3000GetAck(char adr, char cmd, long long int timeOut) {
struct timespec receiveTimeOut;
pthread_mutex_lock(&receiveMutex);
// listen to given adress
// while ((*i2cSlaveFR&0x20) != 0 );
*i2cSlaveSLV=adr;
// check until timeout
timeOut+=*timer;
receiveTimeOut.tv_sec=timeOut/1000000;
receiveTimeOut.tv_nsec=timeOut%1000000;
while (*timer<timeOut) {
if (dgtRx.ack[0]==cmd) {
pthread_mutex_unlock(&receiveMutex);
return 0;
}
pthread_cond_timedwait(&receiveCond, &receiveMutex, &receiveTimeOut);
}
// listen for broadcast again
*i2cSlaveSLV=0x00;
pthread_mutex_unlock(&receiveMutex);
if (dgtRx.ack[0]==cmd)
return 0;
else
return -3;
}
// return last received time
void dgt3000GetTime(char time[]) {
time[0]=dgtRx.time[0];
time[1]=((dgtRx.time[1]&0xf0)>>4)*10 + (dgtRx.time[1]&0x0f);
time[2]=((dgtRx.time[2]&0xf0)>>4)*10 + (dgtRx.time[2]&0x0f);
time[3]=dgtRx.time[3];
time[4]=((dgtRx.time[4]&0xf0)>>4)*10 + (dgtRx.time[4]&0x0f);
time[5]=((dgtRx.time[5]&0xf0)>>4)*10 + (dgtRx.time[5]&0x0f);
}
// return buttons pressed
int dgt3000GetButton(char *buttons, char *time) {
//button availible?
if(dgtRx.buttonStart != dgtRx.buttonEnd) {
*buttons=dgtRx.buttonPres[dgtRx.buttonStart];
*time=dgtRx.buttonTime[dgtRx.buttonStart];
dgtRx.buttonStart=(dgtRx.buttonStart+1)%DGTRX_BUTTON_BUFFER_SIZE;
return 1;
} else {
return 0;
}
}
// return current button state
int dgt3000GetButtonState() {
return dgtRx.lastButtonState;
}