diff options
| -rw-r--r-- | protocol.md | 4 | ||||
| -rw-r--r-- | robot/sercomm.c | 19 | ||||
| -rw-r--r-- | robot/setup.c | 3 | ||||
| -rw-r--r-- | shared/protocol.h | 2 |
4 files changed, 24 insertions, 4 deletions
diff --git a/protocol.md b/protocol.md index 7c7c843..bc6a8c0 100644 --- a/protocol.md +++ b/protocol.md @@ -39,7 +39,7 @@ readability. |`0x08`|[DIRC](#dirc)|yes|`r <-- c`|<u>dir</u>ect <u>c</u>ontrol |`0x0a`|[CORD](#cord)|no|`r <=> c`|<u>co</u>o<u>rd</u>inate |`0x0c`|[BOMD](#bomd)|no|`r <=> c`|<u>b</u>ack<u>o</u>rder <u>m</u>o<u>d</u>ify -|`0x0e`|[SRES](#sres)|no|`r <-- c`|<u>s</u>oft <u>res</u>et +|`0x0e`|[SRES](#sres)|yes|`r <-- c`|<u>s</u>oft <u>res</u>et |`0x10`|[MCFG](#mcfg)|no|`r <-- c`|<u>m</u>ap <u>c</u>on<u>f</u>i<u>g</u> |`0x12`|[SENS](#sens)|yes|`r <-> c`|<u>sens</u>or data |`0x14`|[INFO](#info)|yes|`r <-> c`|<u>info</u> @@ -223,7 +223,7 @@ _status_ is one of: _type_ is one of: - 0: reinitialize all global state -- 1: reset emergency mode +- 1: go to previous mode ### MCFG diff --git a/robot/sercomm.c b/robot/sercomm.c index 608cb04..07c4bd8 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -117,7 +117,24 @@ void w2_cmd_cord_rx(w2_s_bin *data) { return; } void w2_cmd_bomd_rx(w2_s_bin *data) { return; } -void w2_cmd_sres_rx(w2_s_bin *data) { return; } +void w2_cmd_sres_rx(w2_s_bin *data) { + w2_s_cmd_sres_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes)); + memcpy(message, data->data, data->bytes); + + switch (message->type) { + case W2_CMD_SRES_RX_TYPE_REINITGS: { + // TODO: soft-reset + break; + } + case W2_CMD_SRES_RX_TYPE_PREVMODE: { + w2_modes_call(W2_M_PREV); + break; + } + default: { + w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY); + } + } +} void w2_cmd_mcfg_rx(w2_s_bin *data) { return; } diff --git a/robot/setup.c b/robot/setup.c index 2c426a3..95b201e 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -28,7 +28,8 @@ void w2_setup_main() { time_reset(); // set default mode - w2_modes_swap(W2_M_HALT); + w2_modes_swap(W2_M_MAZE); + w2_modes_call(W2_M_HALT); // indicate startup done play("L50 c>c"); diff --git a/shared/protocol.h b/shared/protocol.h index 2e1e4ea..93e53f4 100644 --- a/shared/protocol.h +++ b/shared/protocol.h @@ -114,6 +114,8 @@ typedef struct { uint8_t status; } w2_s_cmd_bomd_tx; +#define W2_CMD_SRES_RX_TYPE_REINITGS 0 +#define W2_CMD_SRES_RX_TYPE_PREVMODE 1 typedef struct { uint8_t opcode; uint8_t type; |