new atmostripe protocol

2 files changed, 52 insertions, 2 deletions

diff --git a/actuators/motor-controller.vala b/actuators/motor-controller.vala
index b638e06..9fe0040 100644
--- a/actuators/motor-controller.vala
+++ b/actuators/motor-controller.vala
@@ -20,4 +20,6 @@ public interface MotorController : Device {
 	public abstract void init(KeyFile cfg) throws Error;
 	public abstract bool set_single(uint8 m, uint8 v);
 	public abstract bool set_all(uint8 v);
+	public abstract bool disable();
+	public abstract bool enable();
 }
diff --git a/actuators/motor/atmostripe.vala b/actuators/motor/atmostripe.vala
index 7cc9146..b20cc44 100644
--- a/actuators/motor/atmostripe.vala
+++ b/actuators/motor/atmostripe.vala
@@ -25,11 +25,59 @@ public class AtmostripeMotorController : SerialDevice, MotorController {
 	public void init(KeyFile cfg) throws Error {
 		var device = cfg.get_string("AtmostripeMotorController", "device");
 		setup(device, 9600, 8, 1);
+		nop();
+		nop();
+		nop();
+	}
+
+	public bool disable() {
+		uint8[4] buf = new uint8[4];
+		buf[0] = 0xDE;
+		buf[1] = 0xAD;
+		buf[2] = 0xBA;
+		buf[3] = 0xBE;
+
+		write(buf, 4);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool enable() {
+		uint8[4] buf = new uint8[4];
+		buf[0] = 0xCA;
+		buf[1] = 0xFE;
+		buf[2] = 0xBA;
+		buf[3] = 0xBE;
+
+		write(buf, 4);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool nop() {
+		uint8[1] buf = new uint8[1];
+		buf[0] = 0x00;
+
+		write(buf, 1);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
 	}
 
 	public bool set_single(uint8 engine, uint8 speed) {
 		uint8[2] buf = new uint8[2];
-		buf[0] = engine;
+		buf[0] = engine+1;
 		buf[1] = speed;
 
 		if(engine > 5)
@@ -46,7 +94,7 @@ public class AtmostripeMotorController : SerialDevice, MotorController {
 
 	public bool set_all(uint8 speed) {
 		uint8[2] buf = new uint8[2];
-		buf[0] = 6;
+		buf[0] = 0xff;
 		buf[1] = speed;
 
 		write(buf, 2);