src/ulcdd/uoled.c

   1 #include <sercom.h>
   2
   3 #include <oledlib.h>
   4 #include <string.h>
   5 #include <fcntl.h>
   6 #include <signal.h>
   7 #include <unistd.h>
   8 #include <stdlib.h>
   9 #include <stdio.h>
  10 #include <robottype.h>
  11 #include <robottype_eb2008.h>
  12 #include "uoled.h"
  13 #include "uoled_config.h"
  14
  15 #ifdef CONFIG_DEBUG_UOLED
  16 #define DEBUG
  17 #endif
  18
  19 static struct sercom_data sercom;
  20
  21 struct sercom_data* uoled_init(void(*sighandler)(int))
  22 {
  23         strcpy((char *)&sercom.devname, CONFIG_UOLED_TTY);
  24         sercom.baudrate = 2400;
  25         sercom.parity = SERCOM_PARNONE;
  26         sercom.databits = 8;
  27         sercom.stopbits = 1;
  28         sercom.mode = 0;
  29         sercom.sighandler = sighandler;
  30         sercom_open(&sercom);
  31         return &sercom;
  32 }
  33
  34 int uoled_write_cmd(uint8_t *buff, int size)
  35 {
  36         int ret;
  37
  38 #ifdef DEBUG
  39         int i;
  40         printf("sending command: ");
  41         for(i=0; i<size; i++)
  42                 printf("%d ",buff[i]);
  43         printf("\n");
  44 #endif
  45
  46         ret = write(sercom.fd, buff, size);
  47         if(ret != size) {
  48                 printf("uoled: WRITE FAILED!!!!!!!!!!!!!!!\n");
  49                 return -1;
  50         }
  51
  52         return 0;
  53 }
  54
  55 int uoled_switch_mode_rep(uint8_t mode, uint8_t status)
  56 {
  57         uint8_t ret;
  58         uint8_t msg[SWITCH_MODE_MSG_SIZE];
  59
  60         oled_switch_mode(msg, SWITCH_MODE_MSG_SIZE, mode, status);
  61
  62         ret = uoled_write_cmd(msg, SWITCH_MODE_MSG_SIZE);
  63         if(ret)
  64                 return -1;
  65
  66         return 0;
  67
  68 }
  69
  70 int uoled_set_balls(uint8_t *balls)
  71 {
  72         uint8_t ret;
  73         uint8_t msg[BALLS_MSG_SIZE];
  74
  75         oled_set_balls(msg, BALLS_MSG_SIZE, balls);
  76
  77         ret = uoled_write_cmd(msg, BALLS_MSG_SIZE);
  78         if(ret)
  79                 return -1;
  80
  81         return 0;
  82
  83 }
  84
  85 int uoled_send_voltage(struct pwr_voltage_type *volt)
  86 {
  87         int ret;
  88         uint8_t msg[VOLTAGE_MSG_SIZE];
  89
  90         oled_send_voltage(msg, VOLTAGE_MSG_SIZE, volt);
  91
  92         ret = uoled_write_cmd(msg, VOLTAGE_MSG_SIZE);
  93         if(ret)
  94                 return -1;
  95
  96         return 0;
  97 }
  98
  99 int uoled_set_color(uint8_t color)
 100 {
 101         int ret;
 102         uint8_t msg[COLOR_MSG_SIZE];
 103
 104         oled_set_color(msg, COLOR_MSG_SIZE, color);
 105
 106         ret = uoled_write_cmd(msg, COLOR_MSG_SIZE);
 107         if(ret)
 108                 return -1;
 109
 110         return 0;
 111 }
 112
 113 int uoled_send_position(struct est_pos_type *pos)
 114 {
 115         int ret;
 116         uint8_t msg[POSITION_MSG_SIZE];
 117
 118         oled_send_position(msg, POSITION_MSG_SIZE, pos);
 119
 120         ret = uoled_write_cmd(msg, POSITION_MSG_SIZE);
 121         if(ret)
 122                 return -1;
 123
 124         return 0;
 125 }
 126
 127
 128 int uoled_send_hw_status(uint8_t *status)
 129 {
 130         int ret;
 131         uint8_t msg[HW_STATUS_MSG_SIZE];
 132
 133         oled_send_hw_status(msg, HW_STATUS_MSG_SIZE, status);
 134
 135         ret = uoled_write_cmd(msg, HW_STATUS_MSG_SIZE);
 136         if(ret)
 137                 return -1;
 138
 139         return 0;
 140 }
 141 int uoled_send_state(const char *name, int len)
 142 {
 143         int ret;
 144         uint8_t msg[len+2];
 145
 146         oled_send_fsm_state(msg, len+3, name, len);
 147
 148         ret = uoled_write_cmd(msg, len+3);
 149
 150         if(ret)
 151                 return -1;
 152
 153         return 0;
 154 }
 155