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* device: set player number * CSP protocol update * CSP fixes * Assorted CSP fixes
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,142 @@ | ||
| package csp | ||
|
|
||
| import ( | ||
| "errors" | ||
| "fmt" | ||
| "machine" | ||
| "time" | ||
| ) | ||
|
|
||
| const DEBUG = false | ||
|
|
||
| var ErrNoData = errors.New("No data available") | ||
| var ErrWrongChecksum = errors.New("Wrong checksum") | ||
| var ErrWrite = errors.New("Write failed") | ||
| var ErrWriteLength = errors.New("Write failed to send all bytes") | ||
|
|
||
| // States | ||
| const ( | ||
| STATE_IDLE byte = iota | ||
| STATE_HEADER | ||
| STATE_LENGTH | ||
| STATE_COMMAND | ||
| STATE_PAYLOAD | ||
| STATE_CHECKSUM | ||
| ) | ||
|
|
||
| type Adapter struct { | ||
| uart *machine.UART | ||
|
|
||
| state byte | ||
| Message Message | ||
| } | ||
|
|
||
| func NewAdapter(uart *machine.UART) *Adapter { | ||
| return &Adapter{ | ||
| uart: uart, | ||
| } | ||
| } | ||
|
|
||
| // Send a message. | ||
| func (a *Adapter) Send(m *Message) error { | ||
| bytes := m.Bytes() | ||
| if DEBUG { | ||
| fmt.Printf("%s SEND ", time.Now().Format("15:04:05.000")) | ||
| for _, b := range bytes { | ||
| fmt.Printf(" %02X", b) | ||
| } | ||
| fmt.Println() | ||
| } | ||
| n, err := a.uart.Write(bytes) | ||
| if err != nil { | ||
| return ErrWrite | ||
| } | ||
| if n != len(bytes) { | ||
| return ErrWriteLength | ||
| } | ||
| return nil | ||
| } | ||
|
|
||
| // Receive a message; returns nil if no message is available (yet). | ||
| func (a *Adapter) Receive() (*Message, error) { | ||
| for { | ||
| b, err := a.uart.ReadByte() | ||
| if err != nil { | ||
| return nil, ErrNoData | ||
| } | ||
| switch a.state { | ||
| case STATE_IDLE: | ||
| if b == '$' { | ||
| if DEBUG { | ||
| fmt.Printf("%s IDLE %02X\n", time.Now().Format("15:04:05.000"), b) | ||
| } | ||
| a.Message.Header[0] = b | ||
| a.state = STATE_HEADER | ||
| } | ||
| case STATE_HEADER: | ||
| if b == 'C' { | ||
| if DEBUG { | ||
| fmt.Printf("%s HEADER %02X\n", time.Now().Format("15:04:05.000"), b) | ||
| } | ||
| a.Message.Header[1] = b | ||
| a.state = STATE_LENGTH | ||
| } else { | ||
| a.state = STATE_IDLE | ||
| } | ||
| case STATE_LENGTH: | ||
| if DEBUG { | ||
| fmt.Printf("%s LENGTH %02X\n", time.Now().Format("15:04:05.000"), b) | ||
| } | ||
| if b > MAX_PAYLOAD { | ||
| a.state = STATE_IDLE | ||
| continue | ||
| } | ||
| a.Message.Length = b | ||
| a.Message.Payload = []byte{} | ||
| a.Message.Checksum = b | ||
| a.state = STATE_COMMAND | ||
| case STATE_COMMAND: | ||
| if DEBUG { | ||
| fmt.Printf("%s COMMAND %02X\n", time.Now().Format("15:04:05.000"), b) | ||
| } | ||
| a.Message.Command = b | ||
| a.Message.Checksum ^= b | ||
| a.state = STATE_PAYLOAD | ||
| case STATE_PAYLOAD: | ||
| a.Message.Payload = append(a.Message.Payload, b) | ||
| a.Message.Checksum ^= b | ||
| if len(a.Message.Payload) == int(a.Message.Length) { | ||
| a.state = STATE_CHECKSUM | ||
| } | ||
| case STATE_CHECKSUM: | ||
| if DEBUG { | ||
| fmt.Printf("%s PAYLOAD ", time.Now().Format("15:04:05.000")) | ||
| for _, bb := range a.Message.Bytes() { | ||
| fmt.Printf(" %02X", bb) | ||
| } | ||
| fmt.Println() | ||
| fmt.Printf("%s CHECKSUM expected %02X ?= %02X actual\n", time.Now().Format("15:04:05.000"), a.Message.Checksum, b) | ||
| } | ||
| m := a.Message | ||
| a.Message = Message{} | ||
| a.state = STATE_IDLE | ||
| if m.Checksum == b { | ||
| return &m, nil | ||
| } else { | ||
| return nil, ErrWrongChecksum | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| // Reset the state machine and clear the message buffer. | ||
| func (a *Adapter) Reset() { | ||
| a.state = STATE_IDLE | ||
| a.Message = Message{} | ||
| for { | ||
| _, err := a.uart.ReadByte() | ||
| if err != nil { | ||
| return | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| package csp | ||
|
|
||
| const MAX_PAYLOAD = 1 + 1 + 110 // CFG SET requests: ID, Offset, Data | ||
|
|
||
| // Commands | ||
| const ( | ||
| COMMAND_BEACON byte = 0x71 // ID[1], Name[10], Description[20] | ||
|
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| COMMAND_CFG_GET_REQ byte = 0x72 // ID[1], Offset[1], Length[1] | ||
| COMMAND_CFG_GET_RSP byte = 0x73 // ID[1], Offset[1], Data[<=110] | ||
| COMMAND_CFG_SET_REQ byte = 0x74 // ID[1], Offset[1], Data[<=110] <-- data length = message payload length - 2 | ||
| COMMAND_CFG_SET_RSP byte = 0x75 // ID[1], Offset[1], Data[<=110] <-- ID[1] can be new if team or player changed | ||
|
|
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| COMMAND_HIT byte = 0x82 // ID[1], Lives[1] | ||
| COMMAND_CLAIM byte = 0x84 // ID[1], Power[1] | ||
| ) | ||
|
|
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| type Message struct { | ||
| Header [2]byte // '$' + 'C' | ||
| Length byte // Length of the payload | ||
| Command byte // 0x82 = Claim, 0x83 = Hit, etc | ||
| Payload []byte // Data | ||
| Checksum byte // XOR of all bytes from length to the end of payload | ||
| } | ||
|
|
||
| func NewMessage(command byte, data []byte) *Message { | ||
| checksum := byte(len(data)) ^ command | ||
| for _, b := range data { | ||
| checksum ^= b | ||
| } | ||
| return &Message{ | ||
| Header: [2]byte{'$', 'C'}, | ||
| Length: byte(len(data)), | ||
| Command: command, | ||
| Payload: data, | ||
| Checksum: checksum, | ||
| } | ||
| } | ||
|
|
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| func (m *Message) Bytes() []byte { | ||
| b := make([]byte, 4+len(m.Payload)+1) | ||
| b[0] = m.Header[0] | ||
| b[1] = m.Header[1] | ||
| b[2] = m.Length | ||
| b[3] = m.Command | ||
| copy(b[4:], m.Payload) | ||
| b[len(b)-1] = m.Checksum | ||
| return b | ||
| } |
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