diff options
author | Jakob Odersky <jodersky@gmail.com> | 2013-02-25 19:39:53 +0100 |
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committer | Jakob Odersky <jodersky@gmail.com> | 2013-02-25 19:39:53 +0100 |
commit | e15a7e1267a6f733d734c5d3b59f3acc28bb4b29 (patch) | |
tree | 9d9c513492939c4467c0932a25291a63d787a7ca /arduino/ace_old | |
download | ace-e15a7e1267a6f733d734c5d3b59f3acc28bb4b29.tar.gz ace-e15a7e1267a6f733d734c5d3b59f3acc28bb4b29.tar.bz2 ace-e15a7e1267a6f733d734c5d3b59f3acc28bb4b29.zip |
initial commit
Diffstat (limited to 'arduino/ace_old')
-rw-r--r-- | arduino/ace_old/Makefile | 7 | ||||
-rw-r--r-- | arduino/ace_old/ace.ino | 117 | ||||
-rw-r--r-- | arduino/ace_old/arduino.mk | 379 | ||||
-rw-r--r-- | arduino/ace_old/debug.h | 9 | ||||
-rw-r--r-- | arduino/ace_old/link.c | 103 | ||||
-rw-r--r-- | arduino/ace_old/link.h | 24 | ||||
-rw-r--r-- | arduino/ace_old/physical.c | 61 | ||||
-rw-r--r-- | arduino/ace_old/physical.h | 19 | ||||
-rw-r--r-- | arduino/ace_old/transport.c | 166 | ||||
-rw-r--r-- | arduino/ace_old/transport.h | 32 |
10 files changed, 917 insertions, 0 deletions
diff --git a/arduino/ace_old/Makefile b/arduino/ace_old/Makefile new file mode 100644 index 0000000..5ed9f66 --- /dev/null +++ b/arduino/ace_old/Makefile @@ -0,0 +1,7 @@ +#SOURCES := main.cc other.cc +#LIBRARIES := EEPROM + +ARDUINODIR=$(ARDUINO_HOME) +BOARD=mega2560 +export LIBRARIES=LiquidCrystal +include arduino.mk diff --git a/arduino/ace_old/ace.ino b/arduino/ace_old/ace.ino new file mode 100644 index 0000000..33984dc --- /dev/null +++ b/arduino/ace_old/ace.ino @@ -0,0 +1,117 @@ +#include "link.h" +#include "physical.h" +#include "transport.h" + + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(8, 9, 4, 5, 6, 11); + +int freeRam () { + extern int __heap_start, *__brkval; + int v; + return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval); +} + +#define LED_PIN 13 +uint8_t msg_buffer[] = {97,98,99}; + message msg = {msg_buffer, 3}; + +void setup() { + pinMode(LED_PIN, OUTPUT); + lcd.begin(16, 2); + init_physical_layer(115200); + init_transport_layer(200); + +} + + +void step_circle() { + static volatile uint8_t position = 0; + static const char chars[] = {'|', '/', '-', '\\'}; + position = position + 1; + if (position >= 4) position = 0; + + lcd.setCursor(15, 0); + lcd.print(chars[position]); +} + + +void loop() { + + //lcd.print(freeRam()); + + int x = analogRead (0); + //lcd.setCursor(10,1); + if (x < 100) { + //lcd.print ("Right "); + } + else if (x < 200) { + //lcd.print ("Up "); + } + else if (x < 400){ + //lcd.print ("Down "); + } + else if (x < 600){ +// lcd.print ("Raw "); + to_physical_layer(97); + } + else if (x < 800){ + lcd.setCursor(0,0); + lcd.print ("SENDING..."); + to_transport_layer(&msg); + lcd.print ("DONE"); + } + else { + + } + + delay(100); + + //step_circle(); +} + +/*void from_physical_layer(uint8_t byte) { + if (byte == 'A') digitalWrite(LED_PIN, HIGH); + else digitalWrite(LED_PIN, LOW); +}*/ +/*void from_link_layer(packet* s) { + if (s->data[0] == 'A') digitalWrite(LED_PIN, HIGH); + else digitalWrite(LED_PIN, LOW); + +};*/ + + +static volatile uint32_t errs = 0; +void from_transport_layer(transport_code code, message* s) { + lcd.clear(); + lcd.setCursor(0,0); + if (code == RECEIVED) { + lcd.print("RECEIVED"); + lcd.setCursor(0,1); + for (int i = 0; i < s->length; ++i) lcd.write(s->data[i]); + } + + if (code == SEND_SUCCESS) { + lcd.print("SENT"); + for (int i = 0; i < s->length; ++i) lcd.write(s->data[i]); + } + + if (code >= SEND_ERROR) { + lcd.print("ERROR"); + lcd.setCursor(0,1); + switch(code) { + case NO_ACK: + lcd.print("NO ACK"); + break; + case BAD_ACK: + lcd.print("BAD ACK"); + break; + case BUSY: + lcd.print("BUSY"); + break; + } + } +} //implemented in transport diff --git a/arduino/ace_old/arduino.mk b/arduino/ace_old/arduino.mk new file mode 100644 index 0000000..9fce9c7 --- /dev/null +++ b/arduino/ace_old/arduino.mk @@ -0,0 +1,379 @@ +#_______________________________________________________________________________ +# +# edam's Arduino makefile +#_______________________________________________________________________________ +# version 0.4 +# +# Copyright (C) 2011, 2012 Tim Marston <tim@ed.am>. +# +# 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. +# +#_______________________________________________________________________________ +# +# +# This is a general purpose makefile for use with Arduino hardware and +# software. It works with the arduino-1.0 software release. To download the +# latest version of this makefile, visit the following website, where you can +# also find more information and documentation on it's use. The following text +# can only really be considered a reference to it's use. +# +# http://ed.am/dev/make/arduino-mk +# +# This makefile can be used as a drop-in replacement for the Arduino IDE's +# build system. To use it, save arduino.mk somewhere (I keep mine at +# ~/src/arduino.mk) and create a symlink to it in your project directory named +# "Makefile". For example: +# +# $ ln -s ~/src/arduino.mk Makefile +# +# The Arduino software (version 1.0 or later) is required. If you are using +# Debian (or a derivative), type `apt-get install arduino`. Otherwise, you +# will have to download the Arduino software manually from http://arduino.cc/. +# It is suggested that you install it at ~/opt/arduino if you are unsure. +# +# If you downloaded the Arduino software manually and unpacked it somewhere +# other than ~/opt/arduino, you will need to set up ARDUINODIR to be the path +# where you unpacked it. (If unset, ARDUINODIR defaults to ~/opt/arduino and +# then /usr/share/arduino, in that order.) You might be best to set this in +# your ~/.profile by adding something like this: +# +# export ARDUINODIR=~/somewhere/arduino-1.0 +# +# You will also need to set BOARD to the type of Arduino you're building for. +# Type `make boards` for a list of acceptable values. You could set a default +# in your ~/.profile if you want, but it is suggested that you specify this at +# build time, especially if you work with different types of Arduino. For +# example: +# +# $ export BOARD=uno +# $ make +# +# You may also need to set SERIALDEV if it is not detected correctly. +# +# The presence of a .ino (or .pde) file causes the arduino.mk to automatically +# determine values for SOURCES, TARGET and LIBRARIES. Any .c, .cc and .cpp +# files in the project directory (or any "util" or "utility" subdirectories) +# are automatically included in the build and are scanned for Arduino libraries +# that have been #included. Note, there can only be one .ino (or .pde) file. +# +# Alternatively, if you want to manually specify build variables, create a +# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk. +# (There is no need to define TARGET). Here is an example Makefile: +# +# SOURCES := main.cc other.cc +# LIBRARIES := EEPROM +# include ~/src/arduino.mk +# +# Here is a complete list of configuration parameters: +# +# ARDUINODIR The path where the Arduino software is installed on your system. +# +# ARDUINOCONST The Arduino software version, as an integer, used to define the +# ARDUINO version constant. This defaults to 100 if undefined. +# +# AVRDUDECONF The avrdude.conf to use. If undefined, this defaults to a guess +# based on where the avrdude in use is. If empty, no avrdude.conf +# is passed to avrdude (to the system default is used). +# +# AVRTOOLSPATH A space-separated list of directories to search in order when +# looking for the avr build tools. This defaults to the system PATH +# followed by subdirectories in ARDUINODIR if undefined. +# +# BOARD Specify a target board type. Run `make boards` to see available +# board types. +# +# LIBRARIES A list of Arduino libraries to build and include. This is set +# automatically if a .ino (or .pde) is found. +# +# SERIALDEV The unix device name of the serial device that is the Arduino. +# If unspecified, an attempt is made to determine the name of a +# connected Arduino's serial device. +# +# SOURCES A list of all source files of whatever language. The language +# type is determined by the file extension. This is set +# automatically if a .ino (or .pde) is found. +# +# TARGET The name of the target file. This is set automatically if a +# .ino (or .pde) is found, but it is not necessary to set it +# otherwise. +# +# This makefile also defines the following goals for use on the command line +# when you run make: +# +# all This is the default if no goal is specified. It builds the +# target. +# +# target Builds the target. +# +# upload Uploads the last built target to an attached Arduino. +# +# clean Deletes files created during the build. +# +# boards Display a list of available board names, so that you can set the +# BOARD environment variable appropriately. +# +# monitor Start `screen` on the serial device. This is meant to be an +# equivalent to the Arduino serial monitor. +# +# size Displays size information about the bulit target. +# +# <file> Builds the specified file, either an object file or the target, +# from those that that would be built for the project. +#_______________________________________________________________________________ +# + +# default arduino software directory, check software exists +ifndef ARDUINODIR +ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino)) +endif +ifeq "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)" "" +$(error ARDUINODIR is not set correctly; arduino software not found) +endif + +# default arduino version +ARDUINOCONST ?= 100 + +# default path for avr tools +ifndef AVRTOOLSPATH +AVRTOOLSPATH := $(subst :, , $(PATH)) +AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools +AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools/avr/bin +endif + +# auto mode? +INOFILE := $(wildcard *.ino *.pde) +ifdef INOFILE +ifneq "$(words $(INOFILE))" "1" +$(error There is more than one .pde or .ino file in this directory!) +endif + +# automatically determine sources and targeet +TARGET := $(basename $(INOFILE)) +SOURCES := $(INOFILE) \ + $(wildcard *.c *.cc *.cpp) \ + $(wildcard $(addprefix util/, *.c *.cc *.cpp)) \ + $(wildcard $(addprefix utility/, *.c *.cc *.cpp)) + +# automatically determine included libraries +LIBRARIES := $(filter $(notdir $(wildcard $(ARDUINODIR)/libraries/*)), \ + $(shell sed -ne "s/^ *\# *include *[<\"]\(.*\)\.h[>\"]/\1/p" $(SOURCES))) + +endif + +# no serial device? make a poor attempt to detect an arduino +SERIALDEVGUESS := 0 +ifeq "$(SERIALDEV)" "" +SERIALDEV := $(firstword $(wildcard \ + /dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*)) +SERIALDEVGUESS := 1 +endif + +# software +findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(AVRTOOLSPATH)))) +CC := $(call findsoftware,avr-gcc) +CXX := $(call findsoftware,avr-g++) +LD := $(call findsoftware,avr-ld) +AR := $(call findsoftware,avr-ar) +OBJCOPY := $(call findsoftware,avr-objcopy) +AVRDUDE := $(call findsoftware,avrdude) +AVRSIZE := $(call findsoftware,avr-size) + +# files +TARGET := $(if $(TARGET),$(TARGET),a.out) +OBJECTS := $(addsuffix .o, $(basename $(SOURCES))) +DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES)) +ARDUINOCOREDIR := $(ARDUINODIR)/hardware/arduino/cores/arduino +ARDUINOLIB := .lib/arduino.a +ARDUINOLIBLIBSDIR := $(ARDUINODIR)/libraries +ARDUINOLIBLIBSPATH := $(foreach lib, $(LIBRARIES), \ + $(ARDUINODIR)/libraries/$(lib)/ $(ARDUINODIR)/libraries/$(lib)/utility/ ) +ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(ARDUINOLIBLIBSPATH), \ + $(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, *.c *.cpp)))) +ifeq "$(AVRDUDECONF)" "" +ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude" +AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf +else +AVRDUDECONF := $(wildcard $(AVRDUDE).conf) +endif +endif + +# no board? +ifndef BOARD +ifneq "$(MAKECMDGOALS)" "boards" +ifneq "$(MAKECMDGOALS)" "clean" +$(error BOARD is unset. Type 'make boards' to see possible values) +endif +endif +endif + +# obtain board parameters from the arduino boards.txt file +BOARDS_FILE := $(ARDUINODIR)/hardware/arduino/boards.txt +BOARD_BUILD_MCU := \ + $(shell sed -ne "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_BUILD_FCPU := \ + $(shell sed -ne "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_BUILD_VARIANT := \ + $(shell sed -ne "s/$(BOARD).build.variant=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_UPLOAD_SPEED := \ + $(shell sed -ne "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_UPLOAD_PROTOCOL := \ + $(shell sed -ne "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_USB_VID := \ + $(shell sed -ne "s/$(BOARD).build.vid=\(.*\)/\1/p" $(BOARDS_FILE)) +BOARD_USB_PID := \ + $(shell sed -ne "s/$(BOARD).build.pid=\(.*\)/\1/p" $(BOARDS_FILE)) + +# invalid board? +ifeq "$(BOARD_BUILD_MCU)" "" +ifneq "$(MAKECMDGOALS)" "boards" +ifneq "$(MAKECMDGOALS)" "clean" +$(error BOARD is invalid. Type 'make boards' to see possible values) +endif +endif +endif + +# flags +CPPFLAGS := -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections +CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU) +CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST) +CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID) +CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR) +CPPFLAGS += -I $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/ +CPPFLAGS += $(addprefix -I $(ARDUINODIR)/libraries/, $(LIBRARIES)) +CPPFLAGS += $(patsubst %, -I $(ARDUINODIR)/libraries/%/utility, $(LIBRARIES)) +CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep +CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h +AVRDUDEFLAGS := $(addprefix -C , $(AVRDUDECONF)) -DV +AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV) +AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -b $(BOARD_UPLOAD_SPEED) +LINKFLAGS := -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU) + +# figure out which arg to use with stty (for OS X, GNU and busybox stty) +STTYFARG := $(shell stty --help 2>&1 | \ + grep -q 'illegal option' && echo -f || echo -F) + +# include dependencies +ifneq "$(MAKECMDGOALS)" "clean" +-include $(DEPFILES) +endif + +# default rule +.DEFAULT_GOAL := all + +#_______________________________________________________________________________ +# RULES + +.PHONY: all target upload clean boards monitor size + +all: target + +target: $(TARGET).hex + +upload: target + @echo "\nUploading to board..." + @test -n "$(SERIALDEV)" || { \ + echo "error: SERIALDEV could not be determined automatically." >&2; \ + exit 1; } + @test 0 -eq $(SERIALDEVGUESS) || { \ + echo "*GUESSING* at serial device:" $(SERIALDEV); \ + echo; } + stty $(STTYFARG) $(SERIALDEV) hupcl + $(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i + +clean: + rm -f $(OBJECTS) + rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~ + rm -rf .lib .dep + +boards: + @echo Available values for BOARD: + @sed -nEe '/^#/d; /^[^.]+\.name=/p' $(BOARDS_FILE) | \ + sed -Ee 's/([^.]+)\.name=(.*)/\1 \2/' \ + -e 's/(.{12}) *(.*)/\1 \2/' + +monitor: + @test -n "$(SERIALDEV)" || { \ + echo "error: SERIALDEV could not be determined automatically." >&2; \ + exit 1; } + @test -n `which screen` || { \ + echo "error: can't find GNU screen, you might need to install it." >&2 \ + ecit 1; } + @test 0 -eq $(SERIALDEVGUESS) || { \ + echo "*GUESSING* at serial device:" $(SERIALDEV); \ + echo; } + screen $(SERIALDEV) + +size: $(TARGET).elf + echo && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf + +# building the target + +$(TARGET).hex: $(TARGET).elf + $(OBJCOPY) -O ihex -R .eeprom $< $@ + +.INTERMEDIATE: $(TARGET).elf + +$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS) + $(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@ + +%.o: %.c + mkdir -p .dep/$(dir $<) + $(COMPILE.c) $(CPPDEPFLAGS) -o $@ $< + +%.o: %.cpp + mkdir -p .dep/$(dir $<) + $(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $< + +%.o: %.cc + mkdir -p .dep/$(dir $<) + $(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $< + +%.o: %.C + mkdir -p .dep/$(dir $<) + $(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $< + +%.o: %.ino + mkdir -p .dep/$(dir $<) + $(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $< + +%.o: %.pde + mkdir -p .dep/$(dir $<) + $(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ -x c++ -include $(ARDUINOCOREDIR)/Arduino.h $< + +# building the arduino library + +$(ARDUINOLIB): $(ARDUINOLIBOBJS) + $(AR) rcs $@ $? + +.lib/%.c.o: %.c + mkdir -p $(dir $@) + $(COMPILE.c) -o $@ $< + +.lib/%.cpp.o: %.cpp + mkdir -p $(dir $@) + $(COMPILE.cpp) -o $@ $< + +.lib/%.cc.o: %.cc + mkdir -p $(dir $@) + $(COMPILE.cpp) -o $@ $< + +.lib/%.C.o: %.C + mkdir -p $(dir $@) + $(COMPILE.cpp) -o $@ $< diff --git a/arduino/ace_old/debug.h b/arduino/ace_old/debug.h new file mode 100644 index 0000000..d10d85b --- /dev/null +++ b/arduino/ace_old/debug.h @@ -0,0 +1,9 @@ +#ifndef MY_DEBUG_H +#define MY_DEBUG_H + +// include the library code: +#include <Arduino.h> +#include <LiquidCrystal.h> + + +#endif diff --git a/arduino/ace_old/link.c b/arduino/ace_old/link.c new file mode 100644 index 0000000..408e14e --- /dev/null +++ b/arduino/ace_old/link.c @@ -0,0 +1,103 @@ +#include "link.h" +#include "physical.h" + +#include <stdlib.h> +#include <stdio.h> +#include <stdbool.h> + +typedef enum { + WAITING, + RECEIVING, + ESCAPING +} link_state; + +#define FRAME_ESCAPE 0x02 +#define FRAME_START 0x03 +#define FRAME_END 0x10 + + +void from_physical_layer(uint8_t byte) { + static link_state state = WAITING; + static uint16_t position = 0; //read position + static uint8_t packet_data_buffer[MAX_PACKET_SIZE]; + static packet received = {packet_data_buffer, 0}; + static uint8_t checksum = 0x00; + + static bool previous_exists = false; + static uint8_t previous_byte; + + #define start_receiving() \ + position = 0; \ + previous_exists = false; \ + checksum = 0x00 + + #define accept(byte) \ + if (position >= MAX_PACKET_SIZE) {start_receiving(); return;} \ + if (previous_exists) { \ + packet_data_buffer[position] = previous_byte; \ + position = position + 1; \ + checksum = checksum ^ previous_byte; \ + previous_byte = byte; \ + } else { \ + previous_byte = byte; \ + previous_exists = true; \ + } + + + switch(state) { + case ESCAPING: + accept(byte); + state = RECEIVING; + break; + + case WAITING: + if (byte == FRAME_START) { + start_receiving(); + state = RECEIVING; + } + break; + case RECEIVING: + switch(byte) { + case FRAME_ESCAPE: + state = ESCAPING; + break; + case FRAME_START: + start_receiving(); + break; + case FRAME_END: + state = WAITING; + uint8_t sent_checksum = previous_byte; + if (sent_checksum == checksum) { + received.length = position; + from_link_layer(&received); + } + + break; + default: + accept(byte); + break; + } + } + + #undef accept + #undef start_receiving +} + +void to_link_layer(packet* s) { + uint8_t checksum = 0x00; + uint8_t byte; + int i; + + to_physical_layer(FRAME_START); + for (i = 0; i < (s->length); ++i) { + byte = s->data[i]; + if (byte == FRAME_START || byte == FRAME_END || byte == FRAME_ESCAPE) + to_physical_layer(FRAME_ESCAPE); + checksum = checksum ^ byte; + to_physical_layer(byte); + } + if (checksum == FRAME_START || checksum == FRAME_END || checksum == FRAME_ESCAPE) + to_physical_layer(FRAME_ESCAPE); + to_physical_layer(checksum); + to_physical_layer(FRAME_END); +}; diff --git a/arduino/ace_old/link.h b/arduino/ace_old/link.h new file mode 100644 index 0000000..797145e --- /dev/null +++ b/arduino/ace_old/link.h @@ -0,0 +1,24 @@ +#ifndef LINK_H +#define LINK_H + +#include <inttypes.h> + +#ifdef __cplusplus +extern "C" { +#endif + +#define MAX_PACKET_SIZE 256 + +typedef struct { + uint8_t* data; + uint16_t length; +} packet; + +void to_link_layer(packet* s); //implemented in link +void from_link_layer(packet* r); //should be implemented in transport + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif /* LINK_H */ diff --git a/arduino/ace_old/physical.c b/arduino/ace_old/physical.c new file mode 100644 index 0000000..17e15d7 --- /dev/null +++ b/arduino/ace_old/physical.c @@ -0,0 +1,61 @@ +#include "physical.h" +#include "link.h" + +#include <avr/interrupt.h> + +typedef struct { + uint8_t buffer[SERIAL_BUFFER_SIZE]; + volatile uint16_t head; + volatile uint16_t tail; +} ring_buffer; + +static ring_buffer tx_buffer = {{0}, 0, 0}; + + +void init_physical_layer(uint32_t baud) { + //enable double speed transmission + UCSR0A |= (1 << U2X0); + + uint16_t baud_setting = (F_CPU / 4 / baud - 1) / 2; + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + UBRR0H = baud_setting >> 8; + UBRR0L = baud_setting; + + // defaults to 8-bit, no parity, 1 stop bit + UCSR0B |= (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0); + UCSR0B &= ~(1 << UDRIE0) | (1 << TXEN0) | (1 << RXCIE0); +} + + +//receive +ISR(USART0_RX_vect) { + uint8_t c = UDR0; + from_physical_layer(c); +} + +//data register empty +ISR(USART0_UDRE_vect) { + if (tx_buffer.head == tx_buffer.tail) { + //buffer empty, disable interruot + UCSR0B &= ~(1 << UDRIE0); + } else { + uint8_t c = tx_buffer.buffer[tx_buffer.tail]; + tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE; + UDR0 = c; //write next byte + } +} + +void to_physical_layer(uint8_t byte) { + uint16_t i = (tx_buffer.head + 1) % SERIAL_BUFFER_SIZE; + + // If the output buffer is full, there's nothing for it other than to + // wait for the interrupt handler to empty it a bit +if (i == tx_buffer.tail) return; + //while (i == tx_buffer.tail) {}; + + tx_buffer.buffer[tx_buffer.head] = byte; + tx_buffer.head = i; + + //enable data register empty interrupt + UCSR0B |= (1 << UDRIE0); +}; diff --git a/arduino/ace_old/physical.h b/arduino/ace_old/physical.h new file mode 100644 index 0000000..74272ff --- /dev/null +++ b/arduino/ace_old/physical.h @@ -0,0 +1,19 @@ +#ifndef PHYSICAL_H +#define PHYSICAL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include <inttypes.h> +#define SERIAL_BUFFER_SIZE 64 + +void init_physical_layer(uint32_t baud); +void to_physical_layer(uint8_t s); //implemented in physical +void from_physical_layer(uint8_t r); //should be implemented in link + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif /* PHYSICAL_H */ diff --git a/arduino/ace_old/transport.c b/arduino/ace_old/transport.c new file mode 100644 index 0000000..986165e --- /dev/null +++ b/arduino/ace_old/transport.c @@ -0,0 +1,166 @@ +#include "transport.h" +#include "link.h" + +#include <stdlib.h> +#include <stdbool.h> +#include <avr/interrupt.h> + +//ms +#define EXTRA_TIME 200 +#define MAX_RESENDS 5 +#define MAX_SEQ 255 + +#define next_seq(k) if (k < MAX_SEQ) k = k + 1; else k = 0 + +#define DATA 0x05 +#define ACK 0x06 + + +static void start_sending(message* msg, bool resend); +static void stop_sending(); + + +typedef enum { + RECEIVED_PACKET, + TIMEOUT +} event_kind; + +typedef struct { + event_kind kind; + packet* payload; +} event; + +static void disassemble_packet(packet* p, uint8_t* seq, uint8_t* command, uint8_t** msg, uint16_t* message_length) { + if (seq != NULL) *seq = p->data[0]; + if (command != NULL) *command = p->data[1]; + if (msg != NULL) *msg = &(p->data[2]); + if (message_length != NULL) *message_length = p->length - 2; +} + +static void assemble_packet(packet* p, uint8_t seq, uint8_t command, uint8_t* msg, uint16_t message_length) { + p->data[0] = seq; + p->data[1] = command; + int i; + for (i = 0; i < message_length; ++i) { + p->data[i+2] = msg[i]; + } + p->length = message_length + 2; +} + +static packet* ack(uint8_t seq) { + static uint8_t ack_buffer[] = {0, ACK}; + static packet ack_packet = {ack_buffer, 2}; + ack_buffer[0] = seq; + return &ack_packet; +} + +static volatile bool awaiting_ack = false; +static volatile uint8_t last_sent_seq = 0; +static volatile uint8_t resends = 0; +static volatile uint8_t last_sent_buffer[MAX_PACKET_SIZE]; +static volatile packet last_sent = {last_sent_buffer, 0}; + +static void process_event(event* e) { + static uint8_t last_received_seq = 0; + + switch(e->kind) { + case RECEIVED_PACKET: { + uint8_t seq; + uint8_t cmd; + static message msg; + disassemble_packet(e->payload, &seq, &cmd, &msg.data, &msg.length); + + if (!awaiting_ack) { + if (cmd == DATA) { + if (last_received_seq != seq) { + last_received_seq = seq; + from_transport_layer(RECEIVED, &msg); + } + to_link_layer(ack(seq)); + } + //ignore case in which an ack is received even though none is awaited + + } else { //waiting for an ack + stop_sending(); + disassemble_packet(&last_sent, NULL, NULL, &msg.data, &msg.length); + if (cmd == ACK && seq == last_sent_seq) { + from_transport_layer(SEND_SUCCESS, &msg); + } else { + from_transport_layer(BAD_ACK, &msg); + } + } + } break; + case TIMEOUT: + if (resends > MAX_RESENDS) { + message msg; + disassemble_packet(&last_sent, NULL, NULL, &msg.data, &msg.length); + stop_sending(); + from_transport_layer(NO_ACK, &msg); + } else { + start_sending(NULL, true); + } + break; + } +} + +static void start_sending(message* msg, bool resend) { + if (resend) { + resends = resends + 1; + } else { + next_seq(last_sent_seq); + assemble_packet(&last_sent, last_sent_seq, DATA, msg->data, msg->length); + resends = 0; + TIMSK1 |= (1 << OCIE1A); + } + + awaiting_ack = true; + to_link_layer(&last_sent); +} + +static void stop_sending() { + TIMSK1 &= ~(1 << OCIE1A); + awaiting_ack = false; +} + +static volatile uint32_t ticks; +static volatile uint32_t max_ticks; + +void init_transport_layer(uint32_t timeout_millis) { + cli(); + TCCR1A = 0; // set entire TCCR1A register to 0 + TCCR1B = 0; // same for TCCR1B + // turn on CTC mode: + TCCR1B |= (1 << WGM12); + // set CS31 for 64 prescaler + TCCR1B |= (1 << CS11); + // set compare match register to desired timer count: + OCR1A = F_CPU / 1000 / 64; // should be 250 for F_CPU=16Mhz and f = 1000Hz + sei(); + + //the timer should now interrupt every ms + max_ticks = timeout_millis; +} + +ISR(TIMER1_COMPA_vect) { + static event e = {TIMEOUT, NULL}; + + ticks = ticks + 1; + if (ticks > max_ticks) { + process_event(&e); + ticks = 0; + } +} + +void from_link_layer(packet* r) { + static event e = {RECEIVED_PACKET, NULL}; + e.payload = r; + process_event(&e); +} + +void to_transport_layer(message* s) { + if (!awaiting_ack) + start_sending(s, false); + else + from_transport_layer(BUSY, s); +} + diff --git a/arduino/ace_old/transport.h b/arduino/ace_old/transport.h new file mode 100644 index 0000000..233d19c --- /dev/null +++ b/arduino/ace_old/transport.h @@ -0,0 +1,32 @@ +#ifndef TRANSPORT_H +#define TRANSPORT_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include <inttypes.h> + +typedef struct { + uint8_t* data; + uint16_t length; +} message; + +typedef enum { + RECEIVED = 0, + SEND_SUCCESS = 1, + SEND_ERROR = 2, + NO_ACK = 3, + BAD_ACK = 4, + BUSY = 5 +} transport_code; + +void init_transport_layer(uint32_t timeout_millis); +void to_transport_layer(message* s); //implemented in transport +void from_transport_layer(transport_code code, message* r); //should be implemented in application + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif /* TRANSPORT_H */ |