-
Notifications
You must be signed in to change notification settings - Fork 85
/
antplus.cpp
1233 lines (1099 loc) · 35 KB
/
antplus.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/* USB EHCI Host for Teensy 3.6
* Copyright 2017 Michael McElligott
* Copyright 2017 Paul Stoffregen (paul@pjrc.com)
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
// https://forum.pjrc.com/threads/43110
// https://github.com/PaulStoffregen/antplus
#include <Arduino.h>
#include "USBHost_t36.h" // Read this header first for key info
#include "antplusdefs.h" // Ant internal defines, not for Arduino sketches
#define ANTPLUS_VID 0x0FCF
#define ANTPLUS_2_PID 0x1008
#define ANTPLUS_M_PID 0x1009
#define print USBHost::print_
#define println USBHost::println_
#define ENABLE_SERIALPRINTF 1
#if ENABLE_SERIALPRINTF
#undef printf
#define printf(...) Serial.printf(__VA_ARGS__); Serial.write("\r\n")
#else
#undef printf
#define printf(...)
#endif
void AntPlus::init()
{
contribute_Pipes(mypipes, sizeof(mypipes)/sizeof(Pipe_t));
contribute_Transfers(mytransfers, sizeof(mytransfers)/sizeof(Transfer_t));
contribute_String_Buffers(mystring_bufs, sizeof(mystring_bufs)/sizeof(strbuf_t));
driver_ready_for_device(this);
user_onStatusChange = NULL;
user_onDeviceID = NULL;
user_onHeartRateMonitor = NULL;
user_onSpeedCadence = NULL;
user_onSpeed = NULL;
user_onCadence = NULL;
wheelCircumference = WHEEL_CIRCUMFERENCE;
}
bool AntPlus::claim(Device_t *dev, int type, const uint8_t *descriptors, uint32_t len)
{
if (type != 1) return false;
println("AntPlus claim this=", (uint32_t)this, HEX);
if (dev->idVendor != ANTPLUS_VID) return false;
if (dev->idProduct != ANTPLUS_2_PID && dev->idProduct != ANTPLUS_M_PID) return false;
println("found AntPlus, pid=", dev->idProduct, HEX);
rxpipe = txpipe = NULL;
const uint8_t *p = descriptors;
const uint8_t *end = p + len;
int descriptorLength = p[0];
int descriptorType = p[1];
if (descriptorLength < 9 || descriptorType != 4) return false;
p += descriptorLength;
while (p < end) {
descriptorLength = p[0];
if (p + descriptorLength > end) return false; // reject if beyond end of data
descriptorType = p[1];
if (descriptorType == 5) { // 5 = endpoint
uint8_t epAddr = p[2];
uint8_t epType = p[3] & 0x03;
uint16_t epSize = p[4] | (p[5] << 8);
if (epType == 2 && (epAddr & 0xF0) == 0x00) { // Bulk OUT
txpipe = new_Pipe(dev, 2, epAddr, 0, epSize);
} else if (epType == 2 && (epAddr & 0xF0) == 0x80) { // Bulk IN
rxpipe = new_Pipe(dev, 2, epAddr & 0x0F, 1, epSize);
}
}
p += descriptorLength;
}
if (rxpipe && txpipe) {
rxpipe->callback_function = rx_callback;
txpipe->callback_function = tx_callback;
txhead = 0;
txtail = 0;
//rxhead = 0;
//rxtail = 0;
memset(txbuffer, 0, sizeof(txbuffer));
first_update = true;
txready = true;
updatetimer.start(500000);
queue_Data_Transfer(rxpipe, rxpacket, 64, this);
rxlen = 0;
do_polling = false;
return true;
}
return false;
}
void AntPlus::disconnect()
{
updatetimer.stop();
//txtimer.stop();
}
void AntPlus::rx_callback(const Transfer_t *transfer)
{
if (!transfer->driver) return;
((AntPlus *)(transfer->driver))->rx_data(transfer);
}
void AntPlus::tx_callback(const Transfer_t *transfer)
{
if (!transfer->driver) return;
((AntPlus *)(transfer->driver))->tx_data(transfer);
}
void AntPlus::rx_data(const Transfer_t *transfer)
{
uint32_t len = transfer->length - ((transfer->qtd.token >> 16) & 0x7FFF);
//println("ant rx, len=", len);
//print_hexbytes(transfer->buffer, len);
if (len < 1 || len > 64) {
queue_Data_Transfer(rxpipe, rxpacket, 64, this);
rxlen = 0;
} else {
rxlen = len; // signal arrival of data to Task()
// TODO: should someday use EventResponder to call from yield()
}
}
void AntPlus::tx_data(const Transfer_t *transfer)
{
uint8_t *p = (uint8_t *)transfer->buffer;
//print("tx_data, len=", *(p-1));
//print(", tail=", (p-1) - txbuffer);
//println(", tail=", txtail);
uint32_t tail = txtail;
uint8_t size = *(p-1);
tail += size + 1;
if (tail >= sizeof(txbuffer)) tail -= sizeof(txbuffer);
txtail = tail;
//println("new tail=", tail);
txready = true;
transmit();
//txtimer.start(8000);
// adjust tail...
// start timer if more data to send
}
size_t AntPlus::write(const void *data, const size_t size)
{
//print("write ", size);
//print(" bytes: ");
//print_hexbytes(data, size);
if (size > 64) return 0;
uint32_t head = txhead;
if (++head >= sizeof(txbuffer)) head = 0;
uint32_t remain = sizeof(txbuffer) - head;
if (remain < size + 1) {
// not enough space at end of buffer
txbuffer[head] = 0xFF;
head = 0;
}
uint32_t avail;
uint8_t attempts = 100;
do {
uint32_t tail = txtail;
if (head > tail) {
avail = sizeof(txbuffer) - head + tail;
} else {
avail = tail - head;
}
attempts--;
} while ((avail < size + 1) && attempts > 0 ); // wait for space in buffer
txbuffer[head] = size;
memcpy(txbuffer + head + 1, data, size);
txhead = head + size;
//print("head=", txhead);
//println(", tail=", txtail);
//print_hexbytes(txbuffer, 60);
NVIC_DISABLE_IRQ(IRQ_USBHS);
transmit();
NVIC_ENABLE_IRQ(IRQ_USBHS);
return size;
}
void AntPlus::transmit()
{
if (!txready) return;
uint32_t head = txhead;
uint32_t tail = txtail;
if (head == tail) {
//println("no data to transmit");
return; // no data to transit
}
if (++tail >= sizeof(txbuffer)) tail = 0;
uint32_t size = txbuffer[tail];
//print("tail=", tail);
//println(", tx size=", size);
if (size == 0xFF) {
txtail = 0;
tail = 0;
size = txbuffer[0];
//println("tx size=", size);
}
//txtail = tail + size;
queue_Data_Transfer(txpipe, txbuffer + tail + 1, size, this);
//txtimer.start(8000);
txready = false;
}
void AntPlus::timer_event(USBDriverTimer *whichTimer)
{
if (whichTimer == &updatetimer) {
updatetimer.start(250000);
if (first_update) {
ResetSystem();
first_update = false;
} else {
do_polling = true;
}
//println("ant update timer");
}
/* else if (whichTimer == &txtimer) {
println("ant tx timer");
//txtimer.stop(); // TODO: why is this needed?
txready = true;
transmit();
} */
}
void AntPlus::Task()
{
uint32_t len = rxlen;
if (len) {
handleMessages(rxpacket, len);
NVIC_DISABLE_IRQ(IRQ_USBHS);
queue_Data_Transfer(rxpipe, rxpacket, 64, this);
rxlen = 0;
NVIC_ENABLE_IRQ(IRQ_USBHS);
}
if (do_polling) {
do_polling = false;
for (int i = 0; i < PROFILE_TOTAL; i++) {
TDCONFIG *cfg = &ant.dcfg[i];
if (!(cfg->flags.profileValid)) continue;
//printf("#### %i %i: %i %i %i ####", i, cfg->channel,
// cfg->flags.channelStatus, cfg->flags.keyAccepted,
// cfg->flags.chanIdOnce);
if (cfg->flags.channelStatus) {
RequestMessage(cfg->channel, MESG_CHANNEL_STATUS_ID);
} else {
AssignChannel(cfg->channel, cfg->channelType, cfg->networkNumber);
RequestMessage(cfg->channel, MESG_CHANNEL_STATUS_ID);
if (!cfg->flags.keyAccepted && !cfg->flags.chanIdOnce) {
SetNetworkKey(cfg->networkNumber, getAntKey(ant.key));
}
}
}
}
}
enum _akeys {
KEY_ANTSPORT,
KEY_SUUNTO,
KEY_GARMIN,
KEY_ANTPLUS,
KEY_TOTAL,
KEY_DEFAULT = KEY_ANTSPORT
};
static const uint8_t antkeys[KEY_TOTAL][8] = {
{0xB9,0xA5,0x21,0xFB,0xBD,0x72,0xC3,0x45}, // Ant+ sport key KEY_ANTSPORT
{0xB9,0xAD,0x32,0x28,0x75,0x7E,0xC7,0x4D}, // Suunto KEY_SUUNTO
{0xA8,0xA4,0x23,0xB9,0xF5,0x5E,0x63,0xC1}, // Garmin KEY_GARMIN
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00} // Ant+ key KEY_ANTPLUS (add your key here)
//{0xFD,0x38,0xBE,0xA6,0x40,0x5D,0x26,0x99}
};
uint8_t AntPlus::calcMsgChecksum(const uint8_t *buffer, const uint8_t len)
{
uint8_t checksum = 0x00;
for (uint8_t i = 0; i < len; i++)
checksum ^= buffer[i];
return checksum;
}
uint8_t * AntPlus::findStreamSync(uint8_t *stream, const size_t rlen, int *pos)
{
// find and sync with input stream
*pos = 0;
while (*pos < (int)rlen /*&& *pos < INPUTBUFFERSIZE-3*/){
if (stream[*pos] == MESG_TX_SYNC)
return stream + *pos;
(*pos)++;
}
return NULL;
}
int AntPlus::msgCheckIntegrity(uint8_t *stream, const int len)
{
// min message length is 5
if (len < 5) return 0;
int crc = stream[STREAM_SYNC];
crc ^= stream[STREAM_LENGTH];
crc ^= stream[STREAM_MESSAGE];
int mlen = 0;
do{
crc ^= stream[STREAM_DATA+mlen];
} while (++mlen < stream[STREAM_LENGTH]);
//printf("crc == 0x%X: msg crc = 0x%X\n", crc, stream[stream[STREAM_LENGTH] + 3]);
return (crc == stream[stream[STREAM_LENGTH] + 3]);
}
int AntPlus::msgGetLength (uint8_t *stream)
{
// eg; {A4 1 6F 20 EA} = {SYNC DATALEN MSGID DATA CRC}
return stream[STREAM_LENGTH] + 4;
}
int AntPlus::handleMessages(uint8_t *buffer, int tBytes)
{
int syncOffset = 0;
//uint8_t buffer[ANTPLUS_MAXPACKETSIZE];
uint8_t *stream = buffer;
//int tBytes = antplus_read(ant, buffer, ant->ioVar.readBufferSize);
//if (tBytes <= 0) return tBytes;
//int tBytes = ANTPLUS_MAXPACKETSIZE;
while (tBytes > 0){
stream = findStreamSync(stream, tBytes, &syncOffset);
if (stream == NULL){
//printf("stream sync not found {size:%i}\n", tBytes);
return 0;
}
tBytes -= syncOffset;
if (!msgCheckIntegrity(stream, tBytes)){
//printf("stream integrity failed {size:%i}\n", tBytes);
return 0;
}
//we have a valid message
//if (dispatchMessage(stream, tBytes) == -1){
//printf("quiting..\n");
//return 0;
//}
message_event(stream[STREAM_CHANNEL], stream[STREAM_MESSAGE],
&stream[STREAM_DATA], (size_t)stream[STREAM_LENGTH]);
int len = msgGetLength(stream);
stream += len;
tBytes -= len;
}
return 1;
}
void AntPlus::sendMessageChannelStatus(TDCONFIG *cfg, const uint32_t channelStatus)
{
cfg->flags.channelStatus = channelStatus;
if (cfg->flags.channelStatus != cfg->flags.channelStatusOld) {
if (user_onStatusChange) {
(*user_onStatusChange)(cfg->channel, cfg->flags.channelStatus);
}
cfg->flags.channelStatusOld = cfg->flags.channelStatus;
}
}
void AntPlus::message_channel(const int chan, const int eventId,
const uint8_t *payload, const size_t dataLength)
{
//printf(" $ chan event: chan:%i, msgId:0x%.2X, payload:%p, dataLen:%i, uPtr:%p", chan, eventId, payload, (int)dataLength, uPtr);
//dump_hexbytes(payload, dataLength);
TDCONFIG *cfg = &(ant.dcfg[chan]);
switch (eventId){
case EVENT_RX_SEARCH_TIMEOUT:
printf(" $ event RX search timeout");
break;
case EVENT_RX_FAIL:
//printf(" $ event RX fail");
break;
case EVENT_TX:
//printf(" $ event TX");
break;
case EVENT_RX_BROADCAST:
//printf(" $ event RX broadcast ");
if (!cfg->flags.chanIdOnce) {
cfg->flags.chanIdOnce = 1;
RequestMessage(cfg->channel, MESG_CHANNEL_ID_ID);
}
//dump_hexbytes(payload, dataLength);
dispatchPayload(cfg, payload, dataLength);
break;
}
}
void AntPlus::message_response(const int chan, const int msgId,
const uint8_t *payload, const size_t dataLength)
{
//printf(" # response event: msgId:0x%.2X, payload:%p, dataLen:%i, uPtr:%p", msgId, payload, dataLength, uPtr);
TDCONFIG *cfg = (TDCONFIG*)&(ant.dcfg[chan]);
switch (msgId){
case MESG_EVENT_ID:
//printf(" * event");
message_channel(chan, payload[STREAM_EVENT_EVENTID], payload, dataLength);
break;
case MESG_NETWORK_KEY_ID:
printf("[%i] * network key accepted", chan);
cfg->flags.keyAccepted = 1;
if (cfg->transType == ANT_TRANSMISSION_MASTER)
AssignChannel(cfg->channel, PARAMETER_TX_NOT_RX, cfg->networkNumber);
else
AssignChannel(cfg->channel, cfg->channelType, cfg->networkNumber);
break;
case MESG_ASSIGN_CHANNEL_ID:
printf("[%i] * channel assign accepted", chan);
SetChannelPeriod(cfg->channel, cfg->channelPeriod);
break;
case MESG_CHANNEL_MESG_PERIOD_ID:
printf("[%i] * channel mesg period accepted", chan);
SetChannelSearchTimeout(cfg->channel, cfg->searchTimeout);
break;
case MESG_CHANNEL_SEARCH_TIMEOUT_ID:
printf("[%i] * search timeout period accepted", chan);
SetChannelRFFreq(cfg->channel, cfg->RFFreq);
break;
case MESG_CHANNEL_RADIO_FREQ_ID:
printf("[%i] * radio freq accepted", chan);
SetSearchWaveform(cfg->channel, cfg->searchWaveform);
break;
case MESG_SEARCH_WAVEFORM_ID:
printf("[%i] * search waveform accepted", chan);
SetChannelId(cfg->channel, cfg->deviceNumber, cfg->deviceType, cfg->transType);
break;
case MESG_CHANNEL_ID_ID:
printf("[%i] * set channel id accepted", chan);
OpenChannel(cfg->channel);
break;
case MESG_OPEN_CHANNEL_ID:
printf("[%i] * open channel accepted", chan);
//cfg->flags.channelStatus = 1;
RequestMessage(cfg->channel, MESG_CHANNEL_STATUS_ID);
RequestMessage(cfg->channel, MESG_CAPABILITIES_ID);
RequestMessage(cfg->channel, MESG_VERSION_ID);
break;
case MESG_UNASSIGN_CHANNEL_ID:
printf("[%i] * channel Unassigned", chan);
break;
case MESG_CLOSE_CHANNEL_ID:
printf("[%i] * channel CLOSED", chan);
cfg->flags.keyAccepted = 0;
sendMessageChannelStatus(cfg, ANT_CHANNEL_STATUS_UNASSIGNED);
break;
case CHANNEL_IN_WRONG_STATE:
printf("[%i] * channel in wrong state", chan);
break;
case CHANNEL_NOT_OPENED:
printf("[%i] * channel not opened", chan);
break;
case CHANNEL_ID_NOT_SET: //??
printf("[%i] * channel ID not set", chan);
break;
case CLOSE_ALL_CHANNELS: // Start RX Scan mode
printf("[%i] * close all channels", chan);
break;
case TRANSFER_IN_PROGRESS: // TO ack message ID
printf("[%i] * tranfer in progress", chan);
break;
case TRANSFER_SEQUENCE_NUMBER_ERROR:
printf("[%i] * transfer sequence number error", chan);
break;
case TRANSFER_IN_ERROR:
printf("[%i] * transfer in error", chan);
break;
case INVALID_MESSAGE:
printf("[%i] * invalid message", chan);
break;
case INVALID_NETWORK_NUMBER:
printf("[%i] * invalid network number", chan);
break;
case INVALID_LIST_ID:
printf("[%i] * invalid list ID", chan);
break;
case INVALID_SCAN_TX_CHANNEL:
printf("[%i] * invalid Scanning transmit channel", chan);
break;
case INVALID_PARAMETER_PROVIDED:
printf("[%i] * invalid parameter provided", chan);
break;
case EVENT_QUE_OVERFLOW:
printf("[%i] * queue overflow", chan);
break;
default:
printf("[i] #### unhandled response id %i", chan, msgId);
;
};
}
void AntPlus::message_event(const int channel, const int msgId,
const uint8_t *payload, const size_t dataLength)
{
//printf(" @ msg event cb: Chan:%i, Id:0x%.2X, payload:%p, len:%i, ptr:%p", channel, msgId, payload, (int)dataLength, uPtr);
//dump_hexbytes(payload, dataLength);
uint8_t chan = 0;
if (channel >= 0 && channel < PROFILE_TOTAL) chan = channel;
switch(msgId) {
case MESG_BROADCAST_DATA_ID:
//printf(" @ broadcast data \n");
//dumpPayload(payload, dataLength);
message_channel(chan, EVENT_RX_BROADCAST, payload, dataLength);
break;
case MESG_STARTUP_MESG_ID:
// reason == ANT_STARTUP_RESET_xxxx
//printf(" @ start up mesg reason: 0x%X", payload[STREAM_STARTUP_REASON]);
//TDCONFIG *cfg = &(ant.dcfg[0]);
//SetNetworkKey(cfg->networkNumber, getAntKey(cfg->keyIdx));
SetNetworkKey(ant.dcfg[0].networkNumber, getAntKey(ant.key));
break;
case MESG_RESPONSE_EVENT_ID:
message_response(payload[STREAM_EVENT_CHANNEL_ID],
payload[STREAM_EVENT_RESPONSE_ID], payload, dataLength);
break;
case MESG_CHANNEL_STATUS_ID:
//printf(" @ channel status for channel %i is %i",
// payload[STREAM_CHANNEL_ID], payload[STREAM_CHANNEL_STATUS]);
//TDCONFIG *cfg = (TDCONFIG*)&ant->dcfg[payload[STREAM_CHANNEL_ID]];
sendMessageChannelStatus(&(ant.dcfg[payload[STREAM_CHANNEL_ID]]),
payload[STREAM_CHANNELSTATUS_STATUS] & ANT_CHANNEL_STATUS_MASK);
//if (cfg->flags.channelStatus != STATUS_TRACKING_CHANNEL)
// printf("channel %i status: %s", payload[STREAM_CHANNEL_ID],
// channelStatusStr[cfg->flags.channelStatus]);
break;
case MESG_CAPABILITIES_ID:
printf(" @ capabilities:");
printf(" Max ANT Channels: %i",payload[STREAM_CAP_MAXCHANNELS]);
printf(" Max ANT Networks: %i",payload[STREAM_CAP_MAXNETWORKS]);
printf(" Std. option: 0x%X",payload[STREAM_CAP_STDOPTIONS]);
printf(" Advanced: 0x%X",payload[STREAM_CAP_ADVANCED]);
printf(" Advanced2: 0x%X",payload[STREAM_CAP_ADVANCED2]);
break;
case MESG_CHANNEL_ID_ID:
//TDCONFIG *cfg = (TDCONFIG*)&ant->dcfg[chan];
//ant.dcfg[chan].dev.deviceId = payload[STREAM_CHANNELID_DEVNO_LO] | (payload[STREAM_CHANNELID_DEVNO_HI] << 8);
//ant.dcfg[chan].dev.deviceType = payload[STREAM_CHANNELID_DEVTYPE];
//ant.dcfg[chan].dev.transType = payload[STREAM_CHANNELID_TRANTYPE];
//printf(" @ CHANNEL ID: channel %i, deviceId:%i, deviceType:%i, transType:%i)", chan, cfg->dev.deviceId, cfg->dev.deviceType, cfg->dev.transType);
if (user_onDeviceID) {
int devid = payload[STREAM_CHANNELID_DEVNO_LO];
devid |= payload[STREAM_CHANNELID_DEVNO_HI] << 8;
int devtype = payload[STREAM_CHANNELID_DEVTYPE];
int transtype = payload[STREAM_CHANNELID_TRANTYPE];
(*user_onDeviceID)(chan, devid, devtype, transtype);
}
#if 0
if (cfg->dev.scidDeviceType != cfg->deviceType){
printf(" @ CHANNEL ID: this is not the device we're looking for");
printf(" @ CHANNEL ID: expecting 0x%X but found 0x%X", cfg->deviceType, cfg->dev.scidDeviceType);
//CloseChannel(cfg->channel);
return;
}
#endif
break;
case MESG_VERSION_ID:
printf(" @ version: '%s'", (char*)&payload[STREAM_VERSION_STRING]);
break;
};
}
int AntPlus::ResetSystem()
{
//println("libantplus_ResetSystem");
uint8_t msg[5];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 1; // length
msg[2] = MESG_SYSTEM_RESET_ID; // msg id
msg[3] = 0; // nop
msg[4] = calcMsgChecksum(msg, 4);
return write(msg, 5);
}
int AntPlus::RequestMessage(const int channel, const int message)
{
//println("libantplus_RequestMessage");
uint8_t msg[6];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 2; // length
msg[2] = MESG_REQUEST_ID; // msg id
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)message;
msg[5] = calcMsgChecksum(msg, 5);
return write(msg, 6);
}
int AntPlus::SetNetworkKey(const int netNumber, const uint8_t *key)
{
uint8_t msg[13];
msg[0] = MESG_TX_SYNC;
msg[1] = 9;
msg[2] = MESG_NETWORK_KEY_ID;
msg[3] = (uint8_t)netNumber;
msg[4] = key[0];
msg[5] = key[1];
msg[6] = key[2];
msg[7] = key[3];
msg[8] = key[4];
msg[9] = key[5];
msg[10] = key[6];
msg[11] = key[7];
msg[12] = calcMsgChecksum(msg, 12); // xor checksum
return write(msg, 13);
}
int AntPlus::SetChannelSearchTimeout(const int channel, const int searchTimeout)
{
uint8_t msg[6];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 2; // length
msg[2] = MESG_CHANNEL_SEARCH_TIMEOUT_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)searchTimeout;
msg[5] = calcMsgChecksum(msg, 5);
return write(msg, 6);
}
int AntPlus::SetChannelPeriod(const int channel, const int period)
{
uint8_t msg[7];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 3; // length
msg[2] = MESG_CHANNEL_MESG_PERIOD_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)(period & 0xFF);
msg[5] = (uint8_t)(period >> 8);
msg[6] = calcMsgChecksum(msg, 6);
return write(msg, 7);
}
int AntPlus::SetChannelRFFreq(const int channel, const int freq)
{
uint8_t msg[6];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 2; // length
msg[2] = MESG_CHANNEL_RADIO_FREQ_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)freq;
msg[5] = calcMsgChecksum(msg, 5);
return write(msg, 6);
}
int AntPlus::SetSearchWaveform(const int channel, const int wave)
{
uint8_t msg[7];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 3; // length
msg[2] = MESG_SEARCH_WAVEFORM_ID; // msg id
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)wave & 0xFF;
msg[5] = (uint8_t)wave >> 8;
msg[6] = calcMsgChecksum(msg, 6);
return write(msg, 7);
}
int AntPlus::OpenChannel(const int channel)
{
uint8_t msg[5];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 1; // length
msg[2] = MESG_OPEN_CHANNEL_ID; // msg id
msg[3] = (uint8_t)channel;
msg[4] = calcMsgChecksum(msg, 4);
return write(msg, 5);
}
int AntPlus::CloseChannel(const int channel)
{
uint8_t msg[5];
msg[0] = MESG_TX_SYNC; // sync
msg[1] = 1; // length
msg[2] = MESG_CLOSE_CHANNEL_ID; // msg id
msg[3] = (uint8_t)channel;
msg[4] = calcMsgChecksum(msg, 4);
return write(msg, 5);
}
int AntPlus::AssignChannel(const int channel, const int channelType, const int network)
{
uint8_t msg[7];
msg[0] = MESG_TX_SYNC;
msg[1] = 3;
msg[2] = MESG_ASSIGN_CHANNEL_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)channelType;
msg[5] = (uint8_t)network;
msg[6] = calcMsgChecksum(msg, 6);
return write(msg, 7);
}
int AntPlus::SetChannelId(const int channel, const int deviceNum, const int deviceType, const int transmissionType)
{
uint8_t msg[9];
msg[0] = MESG_TX_SYNC;
msg[1] = 5;
msg[2] = MESG_CHANNEL_ID_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)(deviceNum & 0xFF);
msg[5] = (uint8_t)(deviceNum >> 8);
msg[6] = (uint8_t)deviceType;
msg[7] = (uint8_t)transmissionType;
msg[8] = calcMsgChecksum(msg, 8);
return write(msg, 9);
}
int AntPlus::SendBurstTransferPacket(const int channelSeq, const uint8_t *data)
{
uint8_t msg[13];
msg[0] = MESG_TX_SYNC;
msg[1] = 9;
msg[2] = MESG_BURST_DATA_ID;
msg[3] = (uint8_t)channelSeq;
msg[4] = data[0];
msg[5] = data[1];
msg[6] = data[2];
msg[7] = data[3];
msg[8] = data[4];
msg[9] = data[5];
msg[10] = data[6];
msg[11] = data[7];
msg[12] = calcMsgChecksum(msg, 12); // xor checksum
return write(msg, 13);
}
int AntPlus::SendBurstTransfer(const int channel, const uint8_t *data, const int nunPackets)
{
int ret = 0;
int seq = 0;
for (int i = 0; i < nunPackets; i++) {
if (i == nunPackets-1) seq |= 0x04;
ret = SendBurstTransferPacket((seq<<5) | (channel&0x1F), data+(i<<3));
seq = (seq+1)&0x03;
}
return ret;
}
int AntPlus::SendBroadcastData(const int channel, const uint8_t *data)
{
uint8_t msg[13];
msg[0] = MESG_TX_SYNC;
msg[1] = 9;
msg[2] = MESG_BROADCAST_DATA_ID;
msg[3] = (uint8_t)channel;
msg[4] = data[0];
msg[5] = data[1];
msg[6] = data[2];
msg[7] = data[3];
msg[8] = data[4];
msg[9] = data[5];
msg[10] = data[6];
msg[11] = data[7];
msg[12] = calcMsgChecksum(msg, 12);
return write(msg, 13);
}
int AntPlus::SendAcknowledgedData(const int channel, const uint8_t *data)
{
uint8_t msg[13];
msg[0] = MESG_TX_SYNC;
msg[1] = 9;
msg[2] = MESG_ACKNOWLEDGED_DATA_ID;
msg[3] = (uint8_t)channel;
msg[4] = data[0];
msg[5] = data[1];
msg[6] = data[2];
msg[7] = data[3];
msg[8] = data[4];
msg[9] = data[5];
msg[10] = data[6];
msg[11] = data[7];
msg[12] = calcMsgChecksum(msg, 12);
return write(msg, 13);
}
int AntPlus::SendExtAcknowledgedData(const int channel, const int devNum, const int devType, const int TranType, const uint8_t *data)
{
uint8_t msg[17];
msg[0] = MESG_TX_SYNC;
msg[1] = 13;
msg[2] = MESG_EXT_ACKNOWLEDGED_DATA_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)(devNum & 0xFF);
msg[5] = (uint8_t)(devNum >> 8);
msg[6] = (uint8_t)devType;
msg[7] = (uint8_t)TranType;
msg[8] = data[0];
msg[9] = data[1];
msg[10] = data[2];
msg[11] = data[3];
msg[12] = data[4];
msg[13] = data[5];
msg[14] = data[6];
msg[15] = data[7];
msg[16] = calcMsgChecksum(msg, 16);
return write(msg, 17);
}
int AntPlus::SendExtBroadcastData(const int channel, const int devNum, const int devType, const int TranType, const uint8_t *data)
{
uint8_t msg[17];
msg[0] = MESG_TX_SYNC;
msg[1] = 13;
msg[2] = MESG_EXT_BROADCAST_DATA_ID;
msg[3] = (uint8_t)channel;
msg[4] = (uint8_t)(devNum & 0xFF);
msg[5] = (uint8_t)(devNum >> 8);
msg[6] = (uint8_t)devType;
msg[7] = (uint8_t)TranType;
msg[8] = data[0];
msg[9] = data[1];
msg[10] = data[2];
msg[11] = data[3];
msg[12] = data[4];
msg[13] = data[5];
msg[14] = data[6];
msg[15] = data[7];
msg[16] = calcMsgChecksum(msg, 16);
return write(msg, 17);
}
int AntPlus::SendExtBurstTransferPacket(const int chanSeq, const int devNum, const int devType,
const int TranType, const uint8_t *data)
{
uint8_t msg[17];
msg[0] = MESG_TX_SYNC;
msg[1] = 13;
msg[2] = MESG_EXT_BROADCAST_DATA_ID;
msg[3] = (uint8_t)chanSeq;
msg[4] = (uint8_t)(devNum & 0xFF);
msg[5] = (uint8_t)(devNum >> 8);
msg[6] = (uint8_t)devType;
msg[7] = (uint8_t)TranType;
msg[8] = data[0];
msg[9] = data[1];
msg[10] = data[2];
msg[11] = data[3];
msg[12] = data[4];
msg[13] = data[5];
msg[14] = data[6];
msg[15] = data[7];
msg[16] = calcMsgChecksum(msg, 16);
return write(msg, 17);
}
int AntPlus::SendExtBurstTransfer(const int channel, const int devNum, const int devType,
const int tranType, const uint8_t *data, const int nunPackets)
{
int ret = 0;
int seq = 0;
for (int i = 0; i < nunPackets; i++){
if (i == nunPackets-1) seq |= 0x04;
ret = SendExtBurstTransferPacket((seq<<5) | (channel&0x1F),
devNum, devType, tranType, data+(i<<3));
seq = (seq+1)&0x03;
}
return ret;
}
void AntPlus::profileSetup_HRM(TDCONFIG *cfg, const uint32_t deviceId)
{
cfg->deviceNumber = deviceId; // 0
cfg->deviceType = ANT_DEVICE_HRM;
cfg->transType = ANT_TRANSMISSION_SLAVE;
cfg->channelType = ANT_CHANNEL_TYPE_SLAVE;
cfg->networkNumber = 0;
cfg->channel = PROFILE_HRM;
cfg->channelPeriod = ANT_PERIOD_HRM;
cfg->RFFreq = ANT_FREQUENCY_SPORT;
cfg->searchTimeout = 255;
cfg->searchWaveform = 0x53;//316;//0x53;
//cfg->keyIdx = KEY_ANTSPORT;
cfg->flags.chanIdOnce = 0;
cfg->flags.channelStatus = ANT_CHANNEL_STATUS_UNASSIGNED;
cfg->flags.channelStatusOld = 0xFF;
cfg->flags.keyAccepted = 0;
cfg->flags.profileValid = 1;
}
void AntPlus::profileSetup_SPDCAD(TDCONFIG *cfg, const uint32_t deviceId)
{
cfg->deviceNumber = deviceId; // 0
cfg->deviceType = ANT_DEVICE_SPDCAD;
cfg->transType = ANT_TRANSMISSION_SLAVE; // 5
cfg->channelType = ANT_CHANNEL_TYPE_SLAVE;
cfg->networkNumber = 0;
cfg->channel = PROFILE_SPDCAD;
cfg->channelPeriod = ANT_PERIOD_SPDCAD;
cfg->RFFreq = ANT_FREQUENCY_SPORT;
cfg->searchTimeout = 255;
cfg->searchWaveform = 0x53;
//cfg->keyIdx = KEY_ANTSPORT;
cfg->flags.chanIdOnce = 0;
cfg->flags.channelStatus = ANT_CHANNEL_STATUS_UNASSIGNED;
cfg->flags.channelStatusOld = 0xFF;
cfg->flags.keyAccepted = 0;
cfg->flags.profileValid = 1;
}
void AntPlus::profileSetup_POWER(TDCONFIG *cfg, const uint32_t deviceId)
{
cfg->deviceNumber = deviceId; // 0
cfg->deviceType = ANT_DEVICE_POWER;
cfg->transType = ANT_TRANSMISSION_SLAVE; // 5
cfg->channelType = ANT_CHANNEL_TYPE_SLAVE;
cfg->networkNumber = 0;
cfg->channel = PROFILE_POWER;
cfg->channelPeriod = ANT_PERIOD_POWER;
cfg->RFFreq = ANT_FREQUENCY_SPORT;
cfg->searchTimeout = 255;
cfg->searchWaveform = 0x53;
//cfg->keyIdx = KEY_ANTSPORT;
cfg->flags.chanIdOnce = 0;
cfg->flags.channelStatus = ANT_CHANNEL_STATUS_UNASSIGNED;
cfg->flags.channelStatusOld = 0xFF;
cfg->flags.keyAccepted = 0;
cfg->flags.profileValid = 1;
}
void AntPlus::profileSetup_STRIDE(TDCONFIG *cfg, const uint32_t deviceId)
{
cfg->deviceNumber = deviceId; // 0
cfg->deviceType = ANT_DEVICE_STRIDE;
cfg->transType = ANT_TRANSMISSION_SLAVE; // 5