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Implementation of the 0x20 extended JVS protocol (COMMCHG and COMMSUP)

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This commit is contained in:
Kevin Nakamura 2022-07-23 21:23:16 +09:00 committed by Thomas Daede
parent 1af80bae6a
commit 29450db62e
1 changed files with 22 additions and 5 deletions
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27
firmware/td-io.c
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@ -76,8 +76,10 @@ uint8_t prev_coin_p2 = 0;
#define SR_TEST 30 #define SR_TEST 30
#define SR_TILT 29 #define SR_TILT 29
const uint8_t JVS_COMM_VER = 0x10; const uint8_t JVS_COMM_VER = 0x20;
const char id_str[] = "TD;TD-IO;v1.1;https://github.com/tdaede/td-io"; const char id_str[] = "TD;TD-IO;v1.1;https://github.com/tdaede/td-io";
const char JVS_COMM_SUPPORT = 0x07;
const uint JVS_COMM_SPEEDS[3] = { 115200, 1000000, 3000000 };
const uint8_t input_desc_1coin[] = { const uint8_t input_desc_1coin[] = {
0x01, 2, 12, 0, 0x01, 2, 12, 0,
@ -119,7 +121,6 @@ void jvs_putc(uint8_t c) {
void start_transmit() { void start_transmit() {
gpio_put(PIN_JVS_RE, 1); // disable receive gpio_put(PIN_JVS_RE, 1); // disable receive
busy_wait_us_32(200); // 200us min for exa compat
gpio_put(PIN_JVS_DE, 1); // enable transmitter gpio_put(PIN_JVS_DE, 1); // enable transmitter
} }
@ -150,14 +151,11 @@ void send_message(uint8_t status, uint8_t* m, uint8_t msg_len) {
uint32_t read_switches() { uint32_t read_switches() {
uint32_t r; uint32_t r;
gpio_put(PIN_SR_SH, 1); gpio_put(PIN_SR_SH, 1);
busy_wait_us(1);
for (int i = 0; i < 32; i++) { for (int i = 0; i < 32; i++) {
r >>= 1; r >>= 1;
r |= (gpio_get(PIN_SR_DATA) ? 1 : 0) << 31; r |= (gpio_get(PIN_SR_DATA) ? 1 : 0) << 31;
gpio_put(PIN_SR_CLK, 1); gpio_put(PIN_SR_CLK, 1);
busy_wait_us(1);
gpio_put(PIN_SR_CLK, 0); gpio_put(PIN_SR_CLK, 0);
busy_wait_us(1);
} }
gpio_put(PIN_SR_SH, 0); gpio_put(PIN_SR_SH, 0);
return ~r; return ~r;
@ -308,6 +306,18 @@ int main() {
} else { } else {
printf("We are not currently last in the chain, skipping assignment\n"); printf("We are not currently last in the chain, skipping assignment\n");
} }
} else if ((msg_length - i) >= 2 && message[i] == 0xf2) {
uint8_t method_code = message[i+1];
i += 2;
printf("Comm. method change request: %02x\n", method_code);
if (method_code < (sizeof(JVS_COMM_SPEEDS)/sizeof(JVS_COMM_SPEEDS[0]))) {
uart_init(uart0, JVS_COMM_SPEEDS[method_code]);
}
else {
printf("incompatible JVS Comm. method!\n");
}
continue;
} else if ((msg_length - i) >= 1 && message[i] == 0x10) { } else if ((msg_length - i) >= 1 && message[i] == 0x10) {
i++; i++;
printf("Got ID code request\n"); printf("Got ID code request\n");
@ -491,6 +501,13 @@ int main() {
msg_send[o] = JVS_REPORT_PARAMETER_INVALID; msg_send[o] = JVS_REPORT_PARAMETER_INVALID;
} }
o++; o++;
} else if ((msg_length - i) >= 1 && message[i] == 0xd0) {
i++;
printf("Got comm support request\n");
msg_send[o] = JVS_REPORT_GOOD;
o++;
msg_send[o] = JVS_COMM_SUPPORT;
o++;
} else { } else {
printf("Unsupported message: N: %02x L: %02x M: ", node_num, msg_length); printf("Unsupported message: N: %02x L: %02x M: ", node_num, msg_length);
for (int j = 0; j < msg_length; j++) { for (int j = 0; j < msg_length; j++) {