From 8c063d60a5248f48f4244f077eb3a7f84de912a5 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Mon, 12 Mar 2018 12:37:38 -0400
Subject: [PATCH] update with packet handling architecture
---
.../.vs/atsams70-usbcdc/v14/.atsuo | Bin 17920 -> 47104 bytes
.../mkrouter-v04/.vs/mkrouter-v04/v14/.atsuo | Bin 85504 -> 85504 bytes
.../mkrouter-v04/mkrouter-v04/Debug/Makefile | 7 +++
.../mkrouter-v04/Debug/makedep.mk | 2 +
.../mkrouter-v04/mkrouter-v04.cproj | 6 +++
.../mkrouter-v04/src/apahandler.c | 28 ++++++++++++
.../mkrouter-v04/src/apahandler.h | 16 +++++++
.../mkrouter-v04/mkrouter-v04/src/apaport.c | 42 +++++++-----------
.../mkrouter-v04/mkrouter-v04/src/apaport.h | 1 +
.../mkrouter-v04/mkrouter-v04/src/hardware.h | 14 +++---
embedded/mkrouter-v04/mkrouter-v04/src/main.c | 34 +++++++++-----
11 files changed, 107 insertions(+), 43 deletions(-)
create mode 100644 embedded/mkrouter-v04/mkrouter-v04/src/apahandler.c
create mode 100644 embedded/mkrouter-v04/mkrouter-v04/src/apahandler.h
diff --git a/embedded/atsams70-usbcdc/.vs/atsams70-usbcdc/v14/.atsuo b/embedded/atsams70-usbcdc/.vs/atsams70-usbcdc/v14/.atsuo
index b99671cfee44497af4e62ee3fe3c86b8fb4d9cdb..5ab1c8ce251f875c4591d926849a248579d4afb2 100644
GIT binary patch
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delta 864
zcmZqpz|_#gIKe=c0R{vZ7}yvX7#JBC82<hL{~sjGIN6a!cw@pFMn>kz3uP2|A5NSR
zv+Xh?A4raOaut*3<ipH{jK-6{GWm0eGcYiSF)%PpPEZq>oWP#K0aC>c6L`QR!e+$4
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z5|bY=iLe@g0(0_Dd9TTbgX||aDL8R}!V(k~Fl}sl3=9lm43mE;cyWNj6BLeMxrD%E
zPDW4=fMNhF0*W0K1_p*WrpdpAy(S-FHeghqTq+Vg*~7zPlBhE$BPd~j0uih_!FRzV
zQH9A09?FxQMQtZHc(`zgGB7ZJ;t(wVKvZFprwhoG$t9i_CcAjpOm2{IVF9JI$zbPu
zWw3xE4y-sqHiZKe%b*wq3q0^vm=xr~0SbFi41>iIf*ymTs3bUm1C$ixKp_E&zXwbr
zlN+K~7&#{YboGKLaXZh+2ucp1BnHv!t}r>m-vtz_i$d7>e4$B>5tP*BCQnS1V`gLk
z(~PW>ucbU?1hXesr>)!Uklw%~6$VX$Amt2<j0_WwEx-9{N3H_{<K%=|16Gi)nI|_2
V8%~<lGPy<AX7d3p2gXHnqyT8V`iB4j
diff --git a/embedded/mkrouter-v04/.vs/mkrouter-v04/v14/.atsuo b/embedded/mkrouter-v04/.vs/mkrouter-v04/v14/.atsuo
index a8662d2983c89c479af448fae747adfa9a1b875b..64e30274b17acc61f6deec3d279cf22bcc97bfd5 100644
GIT binary patch
delta 172
zcmZpe!`d*1b%Md<58j*-0t^gn3=9m63=9na{{R2a0A-7A43uVKE8zGeCbVmE5!=Pd
z&dhIl|NsC0e*psngBSw?gWSYG;mH9kEF6FT|Nk$}z`(FMhDC>wk#}<^>w3=37ThP8
zHVIX*GG3cpDPBGKi?GgS1&IgDj2kvHO8sY?%sAI*`Z^9q_Q{rV?<Z$y=}j!)m>j3N
ZXpsWXA{nMl8W~K@83x-k3>as~0sv}>ICKC2
delta 270
zcmZpe!`d*1b%KE+69W_oFfgz%FfcGOFfjc4|NlQol$n8nL1<&3G!yfOIWm*;*;*O>
zHh*QZX5?MKz`*eL|NsA@3=9l%69a`O2e7bkh%+!S{Qv*||K=DL9mdHWoE4kcEI0)~
zW(6=XFa$C%Fa$9$Fl_eVH{h6DA?!W*u(%<sKLZ29z0E(x*;y9pFimEhYczcw2P6At
zOBHv<$qgC`lP`EEOfHUhSfs!+NxMQggJIA6iUl`b8#cGBeXKw6kmXN?iGh-vmuSQ=
zPE3r@oB?&fOa=yqSquyevl$o|<}ffY%w=F;m<RP1$brHe1M3+lH~MEZXBceHFkqY^
F3jk#~S?vG-
diff --git a/embedded/mkrouter-v04/mkrouter-v04/Debug/Makefile b/embedded/mkrouter-v04/mkrouter-v04/Debug/Makefile
index 93993eb..4540728 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/Debug/Makefile
+++ b/embedded/mkrouter-v04/mkrouter-v04/Debug/Makefile
@@ -78,6 +78,7 @@ SUBDIRS := \
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
+../src/apahandler.c \
../src/apaport.c \
../src/pin.c \
../src/ringbuffer.c \
@@ -101,6 +102,7 @@ ASM_SRCS +=
OBJS += \
+src/apahandler.o \
src/apaport.o \
src/pin.o \
src/ringbuffer.o \
@@ -117,6 +119,7 @@ src/ASF/sam/utils/syscalls/gcc/syscalls.o \
src/main.o
OBJS_AS_ARGS += \
+src/apahandler.o \
src/apaport.o \
src/pin.o \
src/ringbuffer.o \
@@ -133,6 +136,7 @@ src/ASF/sam/utils/syscalls/gcc/syscalls.o \
src/main.o
C_DEPS += \
+src/apahandler.d \
src/apaport.d \
src/pin.d \
src/ringbuffer.d \
@@ -149,6 +153,7 @@ src/ASF/sam/utils/syscalls/gcc/syscalls.d \
src/main.d
C_DEPS_AS_ARGS += \
+src/apahandler.d \
src/apaport.d \
src/pin.d \
src/ringbuffer.d \
@@ -205,6 +210,8 @@ LINKER_SCRIPT_DEP+= \
+
+
diff --git a/embedded/mkrouter-v04/mkrouter-v04/Debug/makedep.mk b/embedded/mkrouter-v04/mkrouter-v04/Debug/makedep.mk
index 6c73410..fc88d27 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/Debug/makedep.mk
+++ b/embedded/mkrouter-v04/mkrouter-v04/Debug/makedep.mk
@@ -2,6 +2,8 @@
# Automatically-generated file. Do not edit or delete the file
################################################################################
+src\apahandler.c
+
src\apaport.c
src\pin.c
diff --git a/embedded/mkrouter-v04/mkrouter-v04/mkrouter-v04.cproj b/embedded/mkrouter-v04/mkrouter-v04/mkrouter-v04.cproj
index 2224fe6..3ec3f73 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/mkrouter-v04.cproj
+++ b/embedded/mkrouter-v04/mkrouter-v04/mkrouter-v04.cproj
@@ -475,6 +475,12 @@
<Folder Include="src\config\" />
</ItemGroup>
<ItemGroup>
+ <Compile Include="src\apahandler.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="src\apahandler.h">
+ <SubType>compile</SubType>
+ </Compile>
<Compile Include="src\apaport.c">
<SubType>compile</SubType>
</Compile>
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.c b/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.c
new file mode 100644
index 0000000..f89cb7a
--- /dev/null
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.c
@@ -0,0 +1,28 @@
+/*
+ * apahandler.c
+ *
+ * Created: 3/12/2018 11:55:30 AM
+ * Author: Jake
+ */
+
+#include "hardware.h"
+#include "apahandler.h"
+
+void apa_handle_packet(uint8_t *packet, uint8_t length){
+ // dirty debug reply
+ uart_sendchars_buffered(&up0, packet, length);
+ // through packet
+ for(int i = 0; i < length; i ++){
+ if(packet[i] == APA_END_ADDR_DELIMITER){
+ // data begins
+ // check we have data after addr delimiter
+ if(i + 1 < length){
+ int thelight = packet[i+1] % 10;
+ pin_toggle(lights[thelight]);
+ break;
+ } else {
+ break;
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.h b/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.h
new file mode 100644
index 0000000..12673cb
--- /dev/null
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/apahandler.h
@@ -0,0 +1,16 @@
+/*
+ * apahandler.h
+ *
+ * Created: 3/12/2018 11:55:40 AM
+ * Author: Jake
+ */
+
+
+#ifndef APAHANDLER_H_
+#define APAHANDLER_H_
+
+#include <asf.h>
+
+void apa_handle_packet(uint8_t *packet, uint8_t length);
+
+#endif /* APAHANDLER_H_ */
\ No newline at end of file
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/apaport.c b/embedded/mkrouter-v04/mkrouter-v04/src/apaport.c
index f0b81a0..4748bf3 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/src/apaport.c
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/apaport.c
@@ -31,40 +31,36 @@ void apaport_reset(apaport_t *apap){
void apaport_scan(apaport_t *apap, uint32_t maxpackets){
// scan through for completely received packets
while(apap->packets_ready <= maxpackets){
+ // check that we have bytes to read out of the buffer
if(rb_empty(apap->uart->rbrx)){
pin_set(apap->stlr);
break;
}
- // pull bytes out of buffer and segment into packets
- pin_clear(apap->stlg);
- delay_ms(1);
- pin_set(apap->stlg);
- delay_ms(1);
-
+ // pull bytes out of buffer into the packet structure
apap->packets[apap->packet_num][apap->packet_position] = rb_get(apap->uart->rbrx);
apap->packet_position ++;
-
+ // now segment, point to them
if(apap->packet_position >= apap->packets[apap->packet_num][0]){
// length is 1st byte, like array[n] not array[n-1]
// now volley for next pass
+ // packet_num is index of head of packet buffer (just an array)
apap->packet_num = (apap->packet_num + 1) % APAPORT_NUM_STATIC_PACKETS; // inc. and loop
+ // packets_ready is the number of ready-state packets in that buffer (array)
apap->packets_ready ++;
+ // the position, in bytes, where we are currently operating.
+ // at this point, we have come to the end, so we're resetting counter for the next
apap->packet_position = 0;
}
- } // end 1st scan for packets, now we know we have apaport->packet_num packets completely received
-
- // handle packets
+ }
+ // end 1st scan for packets, now we know we have apaport->packet_num packets completely received
+ // now we handle those packets
while(apap->packets_ready > 0){
+ // the particular packet index
uint32_t p = (apap->packet_num + APAPORT_NUM_STATIC_PACKETS - apap->packets_ready) % APAPORT_NUM_STATIC_PACKETS;
- // handle these!
- delay_ms(50);
- pin_clear(apap->stlg);
- delay_ms(50);
- pin_set(apap->stlg);
// now to handle
+ // [p][0] is length of packet
if(apap->packets[p][1] == APA_ADDR_POINTER){
- // packet is ours! mark and somehow get to level up?
- // application_apa_handler_t takes it?
+ apa_handle_packet(apap->packets[p], apap->packets[p][0]);
} else if(apap->packets[p][1] == APA_ADDR_FLOOD){
// loop through bytes to find pointer and increment
apapacket_increment_pointer(apap->packets[p], apap->portnum);
@@ -91,14 +87,13 @@ void apaport_scan(apaport_t *apap, uint32_t maxpackets){
// double / triple check pointer to pointer
uart_sendchars_buffered(apap->uarts[port], apap->packets[p], apap->packets[p][0]);
}
- // debug reply
- uart_sendchars_buffered(apap->uart, apap->packets[p], apap->packets[p][0]);
+ // debug reply (at the moment, reply is handled in apa_handle_packet
+ // uart_sendchars_buffered(apap->uart, apap->packets[p], apap->packets[p][0]);
apap->packets_ready --;
}
}
void apapacket_increment_pointer(uint8_t *packet, uint8_t portnum){
- // implement after debug
for(int i = 2; i < packet[0]; i ++){
// loop through bytes to find pointer and increment
if(packet[i] == APA_ADDR_POINTER){
@@ -107,18 +102,13 @@ void apapacket_increment_pointer(uint8_t *packet, uint8_t portnum){
break; // we can finish scan now, not looping senselessly through rest of packet
}
}
- /*
- if(apap->packets[p][i] == APA_ADDR_POINTER){
- apap->packets[p][i-1] = APA_ADDR_POINTER; // increment pointer forwards
- apap->packets[p][i] = apap->portnum; // port received on is this one
- }
- */
}
// UNIT TESTS:
/*
flood packets
multiple receptions? handle in app?
+ packets no end addr bar delimiter, packets no pointer, general white noise
packets varying length
packets wrong length ? very hard to catch w/o hella state ... timeout?
packets no end addr delimiter?
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/apaport.h b/embedded/mkrouter-v04/mkrouter-v04/src/apaport.h
index 57216e4..912629e 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/src/apaport.h
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/apaport.h
@@ -10,6 +10,7 @@
#define APAPORT_H_
#include <asf.h>
+#include "apahandler.h"
#include "uartport.h"
#include "pin.h"
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/hardware.h b/embedded/mkrouter-v04/mkrouter-v04/src/hardware.h
index 6cbd4c8..e0cc586 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/src/hardware.h
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/hardware.h
@@ -32,7 +32,10 @@ pin_t np4stlr;
pin_t np4stlg;
pin_t np4stlb;
-pin_t *lights[] = {&np0stlr, &np0stlb, &np1stlr, &np1stlb, &np2stlr, &np2stlb, &np3stlr, &np3stlb, &np4stlr, &np4stlb};
+// array of ptrs to lights
+// init in main.c
+#define NUM_LIGHTS 12
+pin_t *lights[NUM_LIGHTS];
// ringbuffers
ringbuffer_t up0rbrx;
@@ -53,11 +56,12 @@ uartport_t up2;
uartport_t up3;
uartport_t up4;
-// array of ptrs to uarts
-uartport_t *ups[] = {&up0, &up1, &up2, &up3, &up4};
-
-// apaports
+// array of ptrs to uartports
+// inits in main.c
+#define NUM_UPS 5
+uartport_t *ups[NUM_UPS];
+// apaports
apaport_t apap0;
diff --git a/embedded/mkrouter-v04/mkrouter-v04/src/main.c b/embedded/mkrouter-v04/mkrouter-v04/src/main.c
index 7cfc83b..324a341 100644
--- a/embedded/mkrouter-v04/mkrouter-v04/src/main.c
+++ b/embedded/mkrouter-v04/mkrouter-v04/src/main.c
@@ -123,6 +123,27 @@ void initports(void){
uart_init(&up4, 81, UART_IS_PERIPHERAL_C);
}
+void listsetup(void){
+ // array of ptrs to lights
+ lights[0] = &np0stlr;
+ lights[1] = &np0stlb;
+ lights[2] = &np1stlr;
+ lights[3] = &np1stlb;
+ lights[4] = &np2stlr;
+ lights[5] = &np2stlb;
+ lights[6] = &np3stlr;
+ lights[7] = &np3stlb;
+ lights[8] = &np4stlr;
+ lights[9] = &np4stlb;
+
+ // array of ptrs to uarts
+ ups[0] = &up0;
+ ups[1] = &up1;
+ ups[2] = &up2;
+ ups[3] = &up3;
+ ups[4] = &up4;
+}
+
int main (void){
sysclk_init();
board_init();
@@ -130,26 +151,15 @@ int main (void){
setupinterrupts();
lightsetup();
initports();
+ listsetup();
apaport_build(&apap0, 0, &up0, ups, 5, &np0stlr, &np0stlg, &np0stlb);
- // does it use numports, or global?
-
apaport_reset(&apap0);
while(1){
- //lightstoggle();
apaport_scan(&apap0, 2);
pin_toggle(&np4stlg);
- /*
- uint8_t hello[] = {'h', 'e', 'l', 'l', 'o'};
- for(int i = 0; i < 5; i ++){
- if(!rb_empty(ups[i]->rbrx)){
- uart_sendchars_buffered(ups[i], hello, 5);
- uart_sendchar_buffered(ups[i], rb_get(ups[i]->rbrx));
- }
- }
- */
delay_ms(75);
}
}
--
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