mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Pascal Brisset
312 lines
9.2 KiB
C
312 lines
9.2 KiB
C
/*
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* Paparazzi mcu0 $Id$
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*
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* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/* Coronis wavecard serial input and output */
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#ifndef WAVECARD_H
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#define WAVECARD_H
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#include "uart.h"
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#define WcPut1CtlByte(x) uart0_transmit(x)
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#define g_message(_,...) {}
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#define WC_CTL_BYTE_LEN 4
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#define WC_ADDR_LEN 6
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extern uint8_t wc_msg_received;
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extern uint8_t wc_length;
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extern uint8_t wc_payload[]; /** Only for debuging purporse */
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void wc_parse_payload(void);
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void wc_reset( void );
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void wc_end_reset( void );
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void wc_configure( void );
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void wc_debug( void );
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#define WC_SYNC 0xff
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#define WC_STX 0x02
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#define WC_ETX 0x03
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#define WC_ACK 0x06
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#define WC_NAK 0x15
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#define WC_ERROR 0x00
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#define WC_REQ_WRITE_RADIO_PARAM 0x40
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#define WC_RES_WRITE_RADIO_PARAM 0x41
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#define WC_REQ_READ_RADIO_PARAM 0x50
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#define WC_RES_READ_RADIO_PARAM 0x51
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#define WC_REQ_SELECT_CHANNEL 0x60
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#define WC_RES_SELECT_CHANNEL 0x61
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#define WC_REQ_READ_CHANNEL 0x62
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#define WC_RES_READ_CHANNEL 0x63
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#define WC_REQ_SELECT_PHYCONFIG 0x64
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#define WC_RES_SELECT_PHYCONFIG 0x65
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#define WC_REQ_READ_PHYCONFIG 0x66
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#define WC_RES_READ_PHYCONFIG 0x67
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#define WC_REQ_READ_REMOTE_RSSI 0x68
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#define WC_RES_READ_REMOTE_RSSI 0x69
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#define WC_REQ_READ_LOCAL_RSSI 0x6A
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#define WC_RES_READ_LOCAL_RSSI 0x6B
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#define WC_REQ_FIRMWARE_VERSION 0xA0
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#define WC_RES_FIRMWARE_VERSION 0xA1
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#define WC_MODE_TEST 0xB0
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#define WC_REQ_SEND_FRAME 0x20
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#define WC_RES_SEND_FRAME 0x21
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#define WC_REQ_SEND_MESSAGE 0x22
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#define WC_REQ_SEND_POLLING 0x26
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#define WC_REQ_SEND_BROADCAST 0x28
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#define WC_RECEIVED_FRAME 0x30
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#define WC_RECEPTION_ERROR 0x31
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#define WC_RECEIVED_FRAME_POLLING 0x32
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#define WC_RECEIVED_FRAME_BROADCAST 0x34
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#define WC_RECEIVED_MULTIFRAME 0x36
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#define WC_REQ_SEND_SERVICE 0x80
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#define WC_RES_SEND_SERVICE 0x81
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#define WC_SERVICE_RESPONSE 0x82
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#define WC_RADIO_PARAM_AWAKENING_PERIOD 0x00
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#define WC_RADIO_PARAM_WAKE_UP_TYPE 0x01
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#define WC_RADIO_PARAM_WAKE_UP_LENGTH 0x02
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#define WC_RADIO_PARAM_RADIO_ACKNOLEDGE 0x04
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#define WC_RADIO_PARAM_RADIO_ADDRESS 0x05
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#define WC_RADIO_PARAM_RELAY_ROUTE 0x07
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#define WC_RADIO_PARAM_POLLING_ROUTE 0x08
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#define WC_RADIO_PARAM_GROUP_NUMBER 0x09
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#define WC_RADIO_PARAM_POLLING_TIME 0x0A
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#define WC_RADIO_PARAM_RADIO_USER_TIMEOUT 0x0C
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#define WC_RADIO_PARAM_RECEPT_ERROR_STATUS 0x0E
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#define WC_RADIO_PARAM_SWITCH_MODE_STATUS 0x10
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#define update_crc(_byte) { \
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uint8_t i; \
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crc ^= _byte; \
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for(i = 0; i < 8; i++) { \
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uint8_t carry = crc & 0x1; \
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crc /= 2; \
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if (carry) \
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crc ^= poly; \
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} \
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}
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#define WcPut1PayloadByte(_byte) { \
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WcPut1CtlByte(_byte); \
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update_crc(_byte);\
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}
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#define WcStart() { \
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WcPut1CtlByte(WC_SYNC); \
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WcPut1CtlByte(WC_STX); \
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crc = 0; \
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}
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#define WcEnd() { \
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WcPut1CtlByte(crc&0xff); \
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WcPut1CtlByte(crc>>8); \
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WcPut1CtlByte(WC_ETX); \
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}
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#define WcSendAck() { \
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g_message("sending ACK"); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN); \
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WcPut1PayloadByte(WC_ACK); \
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WcEnd() \
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}
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#define WcSendFirmwareReq() { \
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g_message("sending REQ_FIRMWARE_VERSION"); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN); \
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WcPut1PayloadByte(WC_REQ_FIRMWARE_VERSION); \
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WcEnd() \
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}
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#define WcSendReadRadioParamReq(no_param) { \
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g_message("sending REQ_READ_RADIO_PARAM %d", no_param); \
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WcStart(); \
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WcPut1PayloadByte( WC_CTL_BYTE_LEN + 1); \
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WcPut1PayloadByte(WC_REQ_READ_RADIO_PARAM); \
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WcPut1PayloadByte(no_param); \
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WcEnd() \
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}
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#define WcSendWriteRadioParamReq(no_param, value) { \
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g_message("sending REQ_WRITE_RADIO_PARAM %d %d", no_param, value); \
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WcStart(); \
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WcPut1PayloadByte( WC_CTL_BYTE_LEN + 2); \
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WcPut1PayloadByte(WC_REQ_WRITE_RADIO_PARAM); \
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WcPut1PayloadByte(no_param); \
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WcPut1PayloadByte(value); \
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WcEnd() \
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}
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#define WcSendReqSendService(addr, type) \
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{ \
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uint8_t i; \
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g_message("sending REQ_SEND_SERVICE %02x %02x %02x %02x %02x %02x", addr[0], addr[1], addr[2] , addr[3], addr[4], addr[5]); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN + 1); \
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WcPut1PayloadByte(WC_REQ_SEND_SERVICE); \
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WcPut1PayloadByte(addr[0]);\
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WcPut1PayloadByte(addr[1]);\
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WcPut1PayloadByte(addr[2]);\
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WcPut1PayloadByte(addr[3]);\
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WcPut1PayloadByte(addr[4]);\
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WcPut1PayloadByte(addr[5]);\
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WcPut1PayloadByte(type); \
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WcEnd() \
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}
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#define WcSendMsg(addr, len, msg) \
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{ \
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uint8_t i; \
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GString* str = g_string_new( "sending REQ_SEND_MESSAGE " ); \
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wc_glib_append_addr(str, addr); \
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g_string_append_printf(str, "%*s ", len, msg); \
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g_message(str->str); \
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g_string_free(str, TRUE); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN + len ); \
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WcPut1PayloadByte(WC_REQ_SEND_MESSAGE); \
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WcPut1PayloadByte(addr[0]); \
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WcPut1PayloadByte(addr[1]); \
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WcPut1PayloadByte(addr[2]); \
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WcPut1PayloadByte(addr[3]); \
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WcPut1PayloadByte(addr[4]); \
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WcPut1PayloadByte(addr[5]); \
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WcPut1PayloadByte(msg[0]); \
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WcPut1PayloadByte(msg[1]); \
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WcPut1PayloadByte(msg[2]); \
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WcPut1PayloadByte(msg[3]); \
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WcPut1PayloadByte(msg[4]); \
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WcPut1PayloadByte(msg[5]); \
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WcPut1PayloadByte(msg[6]); \
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WcPut1PayloadByte(msg[7]); \
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WcPut1PayloadByte(msg[8]); \
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WcPut1PayloadByte(msg[9]); \
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WcPut1PayloadByte(msg[10]); \
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WcPut1PayloadByte(msg[11]); \
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WcPut1PayloadByte(msg[12]); \
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WcEnd() \
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} \
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#define WcSendReqReadRemoteRssi(addr) \
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{ \
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GString* str = g_string_new( "sending REQ_READ_REMOTE_RSSI " ); \
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wc_glib_append_addr(str, addr); \
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g_message(str->str); \
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g_string_free(str, TRUE); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN ); \
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WcPut1PayloadByte(WC_REQ_READ_REMOTE_RSSI); \
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WcPut1PayloadByte(addr[0]); \
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WcPut1PayloadByte(addr[1]); \
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WcPut1PayloadByte(addr[2]); \
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WcPut1PayloadByte(addr[3]); \
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WcPut1PayloadByte(addr[4]); \
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WcPut1PayloadByte(addr[5]); \
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WcEnd() \
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} \
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#define WcSendReqReadLocalRssi(addr) \
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{ \
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GString* str = g_string_new( "sending REQ_READ_LOCAL_RSSI " ); \
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wc_glib_append_addr(str, addr); \
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g_message(str->str); \
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g_string_free(str, TRUE); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN ); \
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WcPut1PayloadByte(WC_REQ_READ_LOCAL_RSSI); \
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WcPut1PayloadByte(addr[0]); \
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WcPut1PayloadByte(addr[1]); \
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WcPut1PayloadByte(addr[2]); \
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WcPut1PayloadByte(addr[3]); \
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WcPut1PayloadByte(addr[4]); \
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WcPut1PayloadByte(addr[5]); \
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WcEnd() \
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} \
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#define WcSendReqReadPhyconfig() \
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{ \
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g_message("sending REQ_READ_PHYCONFIG "); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN ); \
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WcPut1PayloadByte(WC_REQ_READ_PHYCONFIG); \
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WcEnd() \
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} \
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#define WcSendReqSelectPhyconfig(cfg) \
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{ \
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g_message("sending REQ_SELECT_PHYCONFIG "); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + 2); \
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WcPut1PayloadByte(WC_REQ_SELECT_PHYCONFIG); \
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WcPut1PayloadByte(cfg>>8); \
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WcPut1PayloadByte(cfg&0xff); \
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WcEnd() \
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} \
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#define WcSendReqReadChannel() \
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{ \
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g_message("sending REQ_READ_CHANNEL "); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN ); \
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WcPut1PayloadByte(WC_REQ_READ_CHANNEL); \
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WcEnd() \
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} \
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#define WcSendReqSelectChannel(channel) \
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{ \
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g_message("sending REQ_SELECT_CHANNEL "); \
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WcStart(); \
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WcPut1PayloadByte(WC_CTL_BYTE_LEN + 1); \
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WcPut1PayloadByte(WC_REQ_SELECT_CHANNEL); \
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WcPut1PayloadByte(channel); \
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WcEnd() \
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} \
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void parse_wc( uint8_t c );
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#define __WavecardLink(dev, _x) dev##_x
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#define _WavecardLink(dev, _x) __WavecardLink(dev, _x)
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#define WavecardLink(_x) _WavecardLink(WAVECARD_UART, _x)
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#define WavecardBuffer() WavecardLink(ChAvailable())
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#define ReadWavecardBuffer() { while (WavecardLink(ChAvailable())&&!wc_msg_received) parse_wc(WavecardLink(Getch())); }
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#endif /* WAVECARD_H */
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