From 5d4fd43bbccd3b1da97d3139b95eab9173777bef Mon Sep 17 00:00:00 2001 From: Jakob Odersky Date: Tue, 26 Feb 2013 16:38:19 +0100 Subject: remove old c/c++ implementations --- arduino/ace_cpp_old/Framer.cpp | 101 ---------- arduino/ace_cpp_old/Framer.h | 51 ----- arduino/ace_cpp_old/Makefile | 7 - arduino/ace_cpp_old/SafeSerial.cpp | 59 ------ arduino/ace_cpp_old/SafeSerial.h | 23 --- arduino/ace_cpp_old/ace.ino | 13 -- arduino/ace_cpp_old/arduino.mk | 379 ------------------------------------- arduino/ace_old/Makefile | 7 - arduino/ace_old/ace.ino | 117 ------------ arduino/ace_old/arduino.mk | 379 ------------------------------------- arduino/ace_old/debug.h | 9 - arduino/ace_old/link.c | 103 ---------- arduino/ace_old/link.h | 24 --- arduino/ace_old/physical.c | 61 ------ arduino/ace_old/physical.h | 19 -- arduino/ace_old/transport.c | 166 ---------------- arduino/ace_old/transport.h | 32 ---- 17 files changed, 1550 deletions(-) delete mode 100644 arduino/ace_cpp_old/Framer.cpp delete mode 100644 arduino/ace_cpp_old/Framer.h delete mode 100644 arduino/ace_cpp_old/Makefile delete mode 100644 arduino/ace_cpp_old/SafeSerial.cpp delete mode 100644 arduino/ace_cpp_old/SafeSerial.h delete mode 100644 arduino/ace_cpp_old/ace.ino delete mode 100644 arduino/ace_cpp_old/arduino.mk delete mode 100644 arduino/ace_old/Makefile delete mode 100644 arduino/ace_old/ace.ino delete mode 100644 arduino/ace_old/arduino.mk delete mode 100644 arduino/ace_old/debug.h delete mode 100644 arduino/ace_old/link.c delete mode 100644 arduino/ace_old/link.h delete mode 100644 arduino/ace_old/physical.c delete mode 100644 arduino/ace_old/physical.h delete mode 100644 arduino/ace_old/transport.c delete mode 100644 arduino/ace_old/transport.h diff --git a/arduino/ace_cpp_old/Framer.cpp b/arduino/ace_cpp_old/Framer.cpp deleted file mode 100644 index 03335af..0000000 --- a/arduino/ace_cpp_old/Framer.cpp +++ /dev/null @@ -1,101 +0,0 @@ -#include "Framer.h" - -Framer::Framer(): - state(WAITING), - position(-1), - checksum(0) { -} - -void Framer::reset() { - position = -1; - checksum = 0x00; -} - -void Framer::accept(uint8_t byte) { - - //if a new byte would cause an overflow, restart frame - //note that this should not happen if both communicating parties have defined the same maximum frame length - if (position >= MAX_FRAME_SIZE) { - reset(); - return; - } - - if (position != -1) { // i.e. a previous byte exists - frameBuffer[position] = staged; - checksum = checksum ^ staged; - } - - position += 1; - staged = byte; - -} - -void Framer::put(uint8_t byte) { - - switch(state) { - case ESCAPING: - accept(byte); - state = RECEIVING; - break; - - case WAITING: - if (byte == START) { - reset(); - state = RECEIVING; - } - break; - - case RECEIVING: - switch(byte) { - case ESCAPE: - state = ESCAPING; - break; - case START: - reset(); - break; - case STOP: - state = WAITING; - if (staged == checksum) { //at this point, staged byte is the checksum sent in the frame (last byte of frame) - onFrame(position, frameBuffer); - } - break; - - default: - accept(byte); - break; - } - } -} - - - -void Framer::send(uint16_t length, const uint8_t * const data) { - uint8_t checksum = 0x00; - uint8_t byte; - - onSendByte(START); - for (int i = 0; i < length; ++i) { - byte = data[i]; - if (isCommandByte(byte)) - onSendByte(ESCAPE); - checksum = checksum ^ byte; - isCommandByte(byte); - } - if (isCommandByte(checksum)) { - onSendByte(ESCAPE); - } - onSendByte(checksum); - onSendByte(STOP); -}; - - - //~ 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(); diff --git a/arduino/ace_cpp_old/Framer.h b/arduino/ace_cpp_old/Framer.h deleted file mode 100644 index f06bebb..0000000 --- a/arduino/ace_cpp_old/Framer.h +++ /dev/null @@ -1,51 +0,0 @@ -#ifndef FRAMER_H -#define FRAMER_H - -#include - -#define MAX_PACKET_SIZE 64 -#define MAX_FRAME_SIZE MAX_PACKET_SIZE + 3 - -class Framer { -private: - - enum LinkState { - WAITING, - RECEIVING, - ESCAPING - }; - - static const uint8_t ESCAPE = 0x02; - static const uint8_t START = 0x03; - static const uint8_t STOP = 0x10; - - LinkState state; //current state - uint8_t frameBuffer[MAX_FRAME_SIZE]; //data of current frame - uint8_t staged; //previous byte read, not defined when position == -1 - - int16_t position; //position of next byte to be read into frame buffer, can also be -1 if no byte has yet been staged - uint8_t checksum; - - - inline void reset(); //reset current frame - inline void accept(uint8_t byte); //reads a data byte (not a command byte) and takes an appropraiet action by modifying internal state - inline static bool isCommandByte(uint8_t byte) {return (byte == START || byte == STOP || byte == ESCAPE);} - - -protected: - - Framer(); - void put(uint8_t byte); - void send(uint16_t length, const uint8_t * const data); - - /* Called when a byte is to be sent. - * @param byte the byte to be sent */ - virtual void onSendByte(uint8_t byte) = 0; - - /* Called when a valid frame is received. */ - virtual void onFrame(uint16_t length, uint8_t *data) = 0; - -}; - - -#endif /* FRAMER_H */ diff --git a/arduino/ace_cpp_old/Makefile b/arduino/ace_cpp_old/Makefile deleted file mode 100644 index 5ed9f66..0000000 --- a/arduino/ace_cpp_old/Makefile +++ /dev/null @@ -1,7 +0,0 @@ -#SOURCES := main.cc other.cc -#LIBRARIES := EEPROM - -ARDUINODIR=$(ARDUINO_HOME) -BOARD=mega2560 -export LIBRARIES=LiquidCrystal -include arduino.mk diff --git a/arduino/ace_cpp_old/SafeSerial.cpp b/arduino/ace_cpp_old/SafeSerial.cpp deleted file mode 100644 index bab930e..0000000 --- a/arduino/ace_cpp_old/SafeSerial.cpp +++ /dev/null @@ -1,59 +0,0 @@ -#include "SafeSerial.h" - -#include - -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}; - -SafeSerial::begin(uint32_t baud) { - //enable double speed transmission - *ucsrXa |= (1 << u2xX); - - uint16_t baudSetting = (F_CPU / 4 / baud - 1) / 2; - // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) - *ubrrXh = baudSetting >> 8; - *ubrrXl = baudSetting; - - // defaults to 8-bit, no parity, 1 stop bit - *ucsrXb |= (1 << *exenX) | (1 << *txenX) | (1 << *rxcieX); - *ucsrXb &= ~(1 << *udrieX) | (1 << *txenX) | (1 << *rxcieX); -} - - -//receive -ISR(USART0_RX_vect) { - uint8_t c = UDR0; - serial.put(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 SafeSerial::send(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_cpp_old/SafeSerial.h b/arduino/ace_cpp_old/SafeSerial.h deleted file mode 100644 index 12dba3e..0000000 --- a/arduino/ace_cpp_old/SafeSerial.h +++ /dev/null @@ -1,23 +0,0 @@ -#ifndef SAFESERIAL_H -#define SAFESERIAL_H - -#include -#include "Framer.h" - -//#define MAX_PACKET_SIZE 64 -//#define MAX_FRAME_SIZE MAX_PACKET_SIZE + 3 - -#define SERIAL_BUFFER_SIZE 64 - -class SafeSerial: public Framer { -private: - void sendByte(uint8_t byte); - - -protected: - /* virtual */ void onSendByte(uint8_t byte) {}; - /* virtual */ void onFrame(uint16_t length, uint8_t *data) {}; - -}; - -#endif /* SAFESERIAL_H */ diff --git a/arduino/ace_cpp_old/ace.ino b/arduino/ace_cpp_old/ace.ino deleted file mode 100644 index 2ca0347..0000000 --- a/arduino/ace_cpp_old/ace.ino +++ /dev/null @@ -1,13 +0,0 @@ -#include "Arduino.h" - -#include "SafeSerial.h" - -volatile SafeSerial s; - -void setup() { - -} - -void loop() { - s; -} diff --git a/arduino/ace_cpp_old/arduino.mk b/arduino/ace_cpp_old/arduino.mk deleted file mode 100644 index 9fce9c7..0000000 --- a/arduino/ace_cpp_old/arduino.mk +++ /dev/null @@ -1,379 +0,0 @@ -#_______________________________________________________________________________ -# -# edam's Arduino makefile -#_______________________________________________________________________________ -# version 0.4 -# -# Copyright (C) 2011, 2012 Tim Marston . -# -# 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. -# -# 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 $@ $< diff --git a/arduino/ace_old/Makefile b/arduino/ace_old/Makefile deleted file mode 100644 index 5ed9f66..0000000 --- a/arduino/ace_old/Makefile +++ /dev/null @@ -1,7 +0,0 @@ -#SOURCES := main.cc other.cc -#LIBRARIES := EEPROM - -ARDUINODIR=$(ARDUINO_HOME) -BOARD=mega2560 -export LIBRARIES=LiquidCrystal -include arduino.mk diff --git a/arduino/ace_old/ace.ino b/arduino/ace_old/ace.ino deleted file mode 100644 index 33984dc..0000000 --- a/arduino/ace_old/ace.ino +++ /dev/null @@ -1,117 +0,0 @@ -#include "link.h" -#include "physical.h" -#include "transport.h" - - -// include the library code: -#include - -// 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 deleted file mode 100644 index 9fce9c7..0000000 --- a/arduino/ace_old/arduino.mk +++ /dev/null @@ -1,379 +0,0 @@ -#_______________________________________________________________________________ -# -# edam's Arduino makefile -#_______________________________________________________________________________ -# version 0.4 -# -# Copyright (C) 2011, 2012 Tim Marston . -# -# 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. -# -# 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 deleted file mode 100644 index d10d85b..0000000 --- a/arduino/ace_old/debug.h +++ /dev/null @@ -1,9 +0,0 @@ -#ifndef MY_DEBUG_H -#define MY_DEBUG_H - -// include the library code: -#include -#include - - -#endif diff --git a/arduino/ace_old/link.c b/arduino/ace_old/link.c deleted file mode 100644 index 408e14e..0000000 --- a/arduino/ace_old/link.c +++ /dev/null @@ -1,103 +0,0 @@ -#include "link.h" -#include "physical.h" - -#include -#include -#include - -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 deleted file mode 100644 index 797145e..0000000 --- a/arduino/ace_old/link.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef LINK_H -#define LINK_H - -#include - -#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 deleted file mode 100644 index 17e15d7..0000000 --- a/arduino/ace_old/physical.c +++ /dev/null @@ -1,61 +0,0 @@ -#include "physical.h" -#include "link.h" - -#include - -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 deleted file mode 100644 index 74272ff..0000000 --- a/arduino/ace_old/physical.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef PHYSICAL_H -#define PHYSICAL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#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 deleted file mode 100644 index 986165e..0000000 --- a/arduino/ace_old/transport.c +++ /dev/null @@ -1,166 +0,0 @@ -#include "transport.h" -#include "link.h" - -#include -#include -#include - -//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 deleted file mode 100644 index 233d19c..0000000 --- a/arduino/ace_old/transport.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef TRANSPORT_H -#define TRANSPORT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -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 */ -- cgit v1.2.3