Implemented PACKET_RX,PACKET_TX and Heartbeat of GobotRPC_CtrlInterface
This commit is contained in:
AlexanderHD27
@@ -58,7 +58,7 @@ target_link_libraries(i2c-hub-firmware
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GobotRPC
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pico_stdlib
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)
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# Add the standard include files to the build
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target_include_directories(i2c-hub-firmware PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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@@ -1,6 +1,6 @@
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|
||||
@@ -1,14 +1,8 @@
|
||||
add_library(GobotRPC STATIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/../rx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../init.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../protocol.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../error_msg.cpp
|
||||
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ctrl_interface_base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ctrl_interface_registers.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ctrl_interface_rx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ctrl_interface_tx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ctrl_interface_hardware_rp2040.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/hardware_rp2040_uart.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/hardware_base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
|
||||
)
|
||||
|
||||
target_include_directories(GobotRPC PUBLIC
|
||||
|
||||
37
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
37
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
@@ -0,0 +1,37 @@
|
||||
#define POLY 0x8408
|
||||
/*
|
||||
// 16 12 5
|
||||
// this is the CCITT CRC 16 polynomial X + X + X + 1.
|
||||
// This works out to be 0x1021, but the way the algorithm works
|
||||
// lets us use 0x8408 (the reverse of the bit pattern). The high
|
||||
// bit is always assumed to be set, thus we only use 16 bits to
|
||||
// represent the 17 bit value.
|
||||
*/
|
||||
|
||||
unsigned short crc16(char *data_p, unsigned short length)
|
||||
{
|
||||
unsigned char i;
|
||||
unsigned int data;
|
||||
unsigned int crc = 0xffff;
|
||||
|
||||
if (length == 0)
|
||||
return (~crc);
|
||||
|
||||
do
|
||||
{
|
||||
for (i=0, data=(unsigned int)0xff & *data_p++;
|
||||
i < 8;
|
||||
i++, data >>= 1)
|
||||
{
|
||||
if ((crc & 0x0001) ^ (data & 0x0001))
|
||||
crc = (crc >> 1) ^ POLY;
|
||||
else crc >>= 1;
|
||||
}
|
||||
} while (--length);
|
||||
|
||||
crc = ~crc;
|
||||
data = crc;
|
||||
crc = (crc << 8) | (data >> 8 & 0xff);
|
||||
|
||||
return (crc);
|
||||
}
|
||||
@@ -0,0 +1,59 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
|
||||
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware) {
|
||||
this->hardware = hardware;
|
||||
this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
|
||||
|
||||
xTaskCreate(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, &this->heartBeatTaskHandle);
|
||||
}
|
||||
|
||||
// Rx Side
|
||||
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
|
||||
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||
gobotRPC->onRxData(data, len);
|
||||
}
|
||||
|
||||
void GobotRPC_CI::onRxData(char *data, size_t len) {
|
||||
GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
|
||||
switch (cmd) {
|
||||
case TX_CI_PACKET:
|
||||
if(this->cb_TxPacket != NULL) {
|
||||
this->cb_TxPacket(this->cb_TxPacket_args, data+1, len-1);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
|
||||
this->cb_TxPacket = cb;
|
||||
this->cb_TxPacket_args = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CI::send_RxPacket(char *data, size_t len) {
|
||||
data[0] = RX_CI_PACKET;
|
||||
|
||||
this->hardware->send(data, len+1);
|
||||
}
|
||||
|
||||
// Heartbeat Task
|
||||
|
||||
void GobotRPC_CI_heartBeatTaskFn(void *args) {
|
||||
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||
gobotRPC->heartBeartTaskFn();
|
||||
}
|
||||
|
||||
void GobotRPC_CI::heartBeartTaskFn() {
|
||||
char heartBeatPacket[] = {0xff};
|
||||
while(1) {
|
||||
this->hardware->send(heartBeatPacket, 1);
|
||||
vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
@@ -1,40 +0,0 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdarg.h>
|
||||
|
||||
GobotRPC_CtrlInterface::GobotRPC_CtrlInterface(I_GobotRPC_CtrlInterface_HardwareHandler *ctrlInterface) {
|
||||
this->handler = ctrlInterface;
|
||||
handler->registerCallback(externalCallback_RX, this);
|
||||
handler->registerHeartBeatCallback(externalCallback_HeartBeat, this);
|
||||
|
||||
packetCallback = nullptr;
|
||||
performScanCallback = nullptr;
|
||||
getInfoCallback = nullptr;
|
||||
reqSlotUpdateCallback = nullptr;
|
||||
|
||||
packetCallbackArgs = nullptr;
|
||||
performScanCallbackArgs = nullptr;
|
||||
getInfoCallbackArgs = nullptr;
|
||||
reqSlotUpdateCallbackArgs = nullptr;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::printf(const char *fmt, ...) {
|
||||
char buffer[256];
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
|
||||
vsnprintf(buffer, 256, fmt, args);
|
||||
handler->send(buffer, strlen(buffer));
|
||||
}
|
||||
|
||||
// Sending HeartBeat
|
||||
void GobotRPC_CtrlInterface::onHeartBeat() {
|
||||
char buffer = GOBOTRPC_CTRL_CMD_HEART_BEAT;
|
||||
handler->send(&buffer, 1);
|
||||
}
|
||||
|
||||
void externalCallback_HeartBeat(void * args) {
|
||||
GobotRPC_CtrlInterface *ctrlInterface = (GobotRPC_CtrlInterface *)args;
|
||||
ctrlInterface->onHeartBeat();
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
|
||||
#ifdef GOBOTRPC_PLATFORM_RP2040
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/uart.h"
|
||||
#include "hardware/irq.h"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "semphr.h"
|
||||
#include "task.h"
|
||||
|
||||
#define STOP_BITS 1
|
||||
#define PARITY UART_PARITY_ODD
|
||||
|
||||
GobotRPC_CtrlInterface_HardwareHandler_RP2040 * g_uart_hardware_handler;
|
||||
|
||||
GobotRPC_CtrlInterface_HardwareHandler_RP2040::GobotRPC_CtrlInterface_HardwareHandler_RP2040(
|
||||
uart_inst_t * uart_instance, uint baudrate, uint heartBeatDelay,
|
||||
uint tx_pin, uint rx_pin) {
|
||||
|
||||
callback_rx = nullptr;
|
||||
callback_args = nullptr;
|
||||
callback_heart_beat = nullptr;
|
||||
callback_heart_beat_args = nullptr;
|
||||
|
||||
this->heartBeatDelay = heartBeatDelay;
|
||||
|
||||
this->rxSemphrHandle = xSemaphoreCreateCounting(16, 0);
|
||||
g_uart_hardware_handler = this;
|
||||
xTaskCreate(vTaskRxHandler, "gobotrpc_ctrl_interface_uart_rx", 1024, this, 3, &this->rxTaskHandle);
|
||||
xTaskCreate(vTaskHeartBeat, "gobotrpc_ctrl_interface_heart_beat", 1024, this, 2, &this->heartBeatTaskHandle);
|
||||
|
||||
gpio_set_function(tx_pin, UART_FUNCSEL_NUM(uart_instance, tx_pin));
|
||||
gpio_set_function(rx_pin, UART_FUNCSEL_NUM(uart_instance, rx_pin));
|
||||
|
||||
uart_init(uart_instance, baudrate);
|
||||
this->uart_instance = uart_instance;
|
||||
|
||||
uart_set_format(uart_instance, 8, STOP_BITS, PARITY);
|
||||
|
||||
this->UART_IRQ = uart_instance == uart0 ? UART0_IRQ : UART1_IRQ;
|
||||
irq_set_exclusive_handler(UART_IRQ, isrUartRX);
|
||||
irq_set_enabled(UART_IRQ, true);
|
||||
|
||||
uart_set_irq_enables(uart_instance, true, false);
|
||||
uart_set_fifo_enabled(uart_instance, true);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::send(char * data, size_t length) {
|
||||
uart_write_blocking(uart_instance, (const uint8_t *)data, length);
|
||||
uart_tx_wait_blocking(uart_instance);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::registerCallback(GobotRPC_CtrlInterface_Callback_RX callback, void * args) {
|
||||
this->callback_rx = callback;
|
||||
this->callback_args = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::rxTaskHandler() {
|
||||
char inputBuffer[128];
|
||||
size_t length = 0;
|
||||
|
||||
while (true) {
|
||||
xSemaphoreTake(rxSemphrHandle, portMAX_DELAY);
|
||||
|
||||
for(length = 0; length<128 && uart_is_readable(uart_instance); length++) {
|
||||
inputBuffer[length] = uart_getc(uart_instance);
|
||||
}
|
||||
|
||||
if (length > 0 && this->callback_rx != nullptr) {
|
||||
this->callback_rx(this->callback_args, inputBuffer, length);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::heartBeatTaskHandler() {
|
||||
while (true) {
|
||||
if (this->callback_heart_beat != nullptr) {
|
||||
this->callback_heart_beat(this->callback_heart_beat_args);
|
||||
}
|
||||
|
||||
vTaskDelay(this->heartBeatDelay / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::registerHeartBeatCallback(GobotRPC_CtrlInterface_Callback_HeartBeat callback, void * args) {
|
||||
this->callback_heart_beat = callback;
|
||||
this->callback_heart_beat_args = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface_HardwareHandler_RP2040::scheduleRXHandler(BaseType_t * higher_priority_task_woken) {
|
||||
irq_clear(this->UART_IRQ);
|
||||
if (this->callback_rx != nullptr) {
|
||||
xSemaphoreGiveFromISR(rxSemphrHandle, higher_priority_task_woken);
|
||||
}
|
||||
}
|
||||
|
||||
void vTaskRxHandler(void * pvParameters) {
|
||||
g_uart_hardware_handler->rxTaskHandler();
|
||||
}
|
||||
|
||||
void vTaskHeartBeat(void * pvParameters) {
|
||||
g_uart_hardware_handler->heartBeatTaskHandler();
|
||||
}
|
||||
|
||||
void isrUartRX() {
|
||||
static BaseType_t higher_priority_task_woken = pdFALSE;
|
||||
g_uart_hardware_handler->scheduleRXHandler(&higher_priority_task_woken);
|
||||
portYIELD_FROM_ISR(higher_priority_task_woken);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
@@ -1,22 +0,0 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
#include <string.h>
|
||||
|
||||
void GobotRPC_CtrlInterface::registerCallback_Packet(GobotRPC_CtrlInterface_Callback_Packet callback, void *args) {
|
||||
packetCallback = callback;
|
||||
packetCallbackArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::registerCallback_PerformScan(GobotRPC_CtrlInterface_Callback_PerformScan callback, void *args) {
|
||||
performScanCallback = callback;
|
||||
performScanCallbackArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::registerCallback_ReqSlotUpdate(GobotRPC_CtrlInterface_Callback_ReqSlotUpdate callback, void *args) {
|
||||
reqSlotUpdateCallback = callback;
|
||||
reqSlotUpdateCallbackArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::registerCallback_GetInfo(GobotRPC_CtrlInterface_Callback_GetInfo callback, void *args) {
|
||||
getInfoCallback = callback;
|
||||
getInfoCallbackArgs = args;
|
||||
}
|
||||
@@ -1,73 +0,0 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "gobotrpc.hpp"
|
||||
#include <string.h>
|
||||
|
||||
void externalCallback_RX(void * args, char * data, size_t length) {
|
||||
GobotRPC_CtrlInterface *interface = (GobotRPC_CtrlInterface *)args;
|
||||
interface->onRX(data, length);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::onRX(char * data, size_t length) {
|
||||
uint8_t cmd = data[0];
|
||||
switch (cmd) {
|
||||
case GOBOTRPC_CTRL_CMD_PACKET:
|
||||
onRX_Packet(data, length);
|
||||
break;
|
||||
|
||||
case GOBOTRPC_CTRL_CMD_PERFORM_SCAN:
|
||||
onRX_PerformScan(data, length);
|
||||
break;
|
||||
|
||||
case GOBOTRPC_CTRL_CMD_REQ_SLOT_UPDATE:
|
||||
onRX_ReqSlotUpdate(data, length);
|
||||
break;
|
||||
|
||||
case GOBOTRPC_CTRL_CMD_INFO:
|
||||
onRX_GetInfo(data, length);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::onRX_Packet(char *data, size_t length) {
|
||||
if(length < 7)
|
||||
return;
|
||||
|
||||
|
||||
if (packetCallback != nullptr) {
|
||||
RPCPackage package;
|
||||
package.length = data[1];
|
||||
package.type = RPCType(data[2] & 0b11);
|
||||
package.rpcNum = RPCNumber(data[2] >> 4);
|
||||
memcpy(&package.addr, &data[3], 4);
|
||||
memcpy(package.buffer, &data[7], package.length);
|
||||
|
||||
packetCallback(packetCallbackArgs, package);
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::onRX_PerformScan(char *data, size_t length) {
|
||||
if(length < 2)
|
||||
return;
|
||||
|
||||
if (performScanCallback != nullptr)
|
||||
performScanCallback(performScanCallbackArgs, data[1] == 1);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::onRX_ReqSlotUpdate(char *data, size_t length) {
|
||||
if (length < 2)
|
||||
return;
|
||||
|
||||
if (reqSlotUpdateCallback != nullptr)
|
||||
reqSlotUpdateCallback(reqSlotUpdateCallbackArgs, data[1] == 1);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::onRX_GetInfo(char *data, size_t length) {
|
||||
if (length < 1)
|
||||
return;
|
||||
|
||||
if (getInfoCallback != nullptr)
|
||||
getInfoCallback(getInfoCallbackArgs);
|
||||
}
|
||||
@@ -1,49 +0,0 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
#include <string.h>
|
||||
|
||||
// This function should be called when a package is sent
|
||||
void GobotRPC_CtrlInterface::pushPacket(RPCPackage package) {
|
||||
char buffer[MAX_PAGE_SIZES + 7];
|
||||
|
||||
buffer[0] = GOBOTRPC_CTRL_CMD_PACKET;
|
||||
buffer[1] = package.length - 7;
|
||||
buffer[2] = package.type | (package.rpcNum << 4);
|
||||
memcpy(&buffer[3], &package.addr, 4);
|
||||
memcpy(&buffer[7], package.buffer, package.length);
|
||||
|
||||
handler->send(buffer, package.length + 2);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::pushScanResulst(uint32_t addr, bool running) {
|
||||
char buffer[7];
|
||||
|
||||
buffer[0] = GOBOTRPC_CTRL_CMD_SCAN_RESULT;
|
||||
buffer[1] = running ? 1 : 0;
|
||||
memcpy(&buffer[2], &addr, 4);
|
||||
buffer[6] = 0; // This is where the type would go
|
||||
|
||||
handler->send(buffer, 7);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::pushPackageSlotUpdate(bool complete, bool inUse, uint32_t slot, uint32_t addr, uint32_t timestamp, uint32_t bits) {
|
||||
char buffer[16];
|
||||
|
||||
buffer[0] = GOBOTRPC_CTRL_CMD_SLOT_UPDATE;
|
||||
buffer[1] = complete ? 1 : 0;
|
||||
buffer[2] = inUse ? 1 : 0;
|
||||
buffer[3] = slot;
|
||||
memcpy(&buffer[4], &addr, 4);
|
||||
memcpy(&buffer[8], ×tamp, 4);
|
||||
memcpy(&buffer[12], &bits, 4);
|
||||
|
||||
handler->send(buffer, 14);
|
||||
}
|
||||
|
||||
void GobotRPC_CtrlInterface::pushInfo(uint8_t slotNumbers) {
|
||||
char buffer[2];
|
||||
|
||||
buffer[0] = GOBOTRPC_CTRL_CMD_INFO;
|
||||
buffer[1] = slotNumbers;
|
||||
|
||||
handler->send(buffer, 2);
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
|
||||
@@ -0,0 +1,107 @@
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/uart.h"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
#include <string.h>
|
||||
|
||||
// Initialize stuff
|
||||
GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate) {
|
||||
g_GobotRPC_CI_Hardware_RP2040_UART = this;
|
||||
|
||||
emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||
filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||
|
||||
for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
|
||||
inputBuffers_t * p = &inputBufferPool[i];
|
||||
memset(p->data, 0xff, 256);
|
||||
p->len = 0;
|
||||
xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
|
||||
}
|
||||
|
||||
txMutex = xSemaphoreCreateMutex();
|
||||
|
||||
this->uart = uart;
|
||||
uart_init(this->uart, baudrate);
|
||||
|
||||
gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
|
||||
gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
|
||||
|
||||
uart_set_hw_flow(uart, false, false);
|
||||
uart_set_format(uart, 8, 1, UART_PARITY_NONE);
|
||||
uart_set_baudrate(uart, baudrate);
|
||||
uart_set_fifo_enabled(uart, true);
|
||||
|
||||
int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
|
||||
|
||||
irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
|
||||
irq_set_enabled(UART_IRQ, true);
|
||||
|
||||
uart_set_irq_enables(uart, true, false);
|
||||
|
||||
|
||||
xTaskCreate(GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn, "UART RX Task", 2048, this, 4, &this->rxTaskHandle);
|
||||
}
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
|
||||
this->cb_rxData = cb;
|
||||
this->cb_rxData_args = args;
|
||||
}
|
||||
|
||||
|
||||
// Sending data
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
|
||||
xSemaphoreTake(txMutex, portMAX_DELAY);
|
||||
uart_write_blocking(this->uart, (uint8_t *)(data), len);
|
||||
xSemaphoreGive(txMutex);
|
||||
}
|
||||
|
||||
// Rx ISR
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_isr() {
|
||||
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
uart->rxISR();
|
||||
};
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::rxISR() {
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
|
||||
inputBuffers_t * inputBuffer;
|
||||
|
||||
xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||
|
||||
int i;
|
||||
for(i = 0; uart_is_readable(this->uart) && i < 256; i++) {
|
||||
volatile uint8_t c = uart_getc(this->uart);
|
||||
inputBuffer->data[i] = c;
|
||||
}
|
||||
inputBuffer->len = i;
|
||||
|
||||
xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
// Rx Task
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn(void *args) {
|
||||
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
|
||||
uart->rxTask();
|
||||
};
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::rxTask() {
|
||||
inputBuffers_t * inputBuffer;
|
||||
|
||||
while (1) {
|
||||
xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||
|
||||
if(inputBuffer->len > 0) {
|
||||
cb_rxData(cb_rxData_args, inputBuffer->data, inputBuffer->len);
|
||||
}
|
||||
|
||||
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||
}
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
#include "gobotrpc.hpp"
|
||||
#include <stdio.h>
|
||||
|
||||
const char * TEST_MSG_RPC_RESULT_GOOD = "Good";
|
||||
const char * TEST_MSG_RPC_RESULT_PACKAGE_READY = "Package Ready";
|
||||
const char * TEST_MSG_RPC_RESULT_ERROR_INVALID_FRAMESUBMITIONRESULT = "Invalid FrameSubmitionResult";
|
||||
const char * TEST_MSG_RPC_RESULT_ERROR_INVALID_RPC_TYPE = "Invalid RPC Type (0b10)";
|
||||
const char * TEST_MSG_RPC_RESULT_ERROR_INVALID_RPC_NUMBER = "Invalid RPC Number";
|
||||
const char * TEST_MSG_RPC_RESULT_ERROR_NO_EMPTY_OR_FITTING_SLOT = "No empty or fitting slot for submitted frame";
|
||||
|
||||
char * mapFrameSubmitionResult2String(FrameSubmitionResult res) {
|
||||
|
||||
switch (res) {
|
||||
case PENDING: return (char *)(TEST_MSG_RPC_RESULT_GOOD);
|
||||
case COMPLEATE: return (char *) TEST_MSG_RPC_RESULT_PACKAGE_READY;
|
||||
|
||||
case ERROR_INVALID_RPC_TYPE: return (char *) TEST_MSG_RPC_RESULT_ERROR_INVALID_RPC_TYPE;
|
||||
case ERROR_INVALID_RPC_NUMBER: return (char *) TEST_MSG_RPC_RESULT_ERROR_INVALID_RPC_NUMBER;
|
||||
case ERROR_NO_EMPTY_OR_FITTING_SLOT: return (char *) TEST_MSG_RPC_RESULT_ERROR_INVALID_FRAMESUBMITIONRESULT;
|
||||
}
|
||||
return (char *) TEST_MSG_RPC_RESULT_ERROR_INVALID_FRAMESUBMITIONRESULT;
|
||||
}
|
||||
|
||||
void GobotRPCParser::print_out_slots() {
|
||||
for(int i = 0; i < NUM_SLOTS; i++) {
|
||||
printf("[%d] %d%d (%x-%d) %d T%08x S=%02d ", i,
|
||||
buffer[i].is_complete, buffer[i].is_in_use, buffer[i].sender_address,
|
||||
buffer[i].rpcNum, buffer[i].type, buffer[i].timestamp, buffer[i].length
|
||||
);
|
||||
|
||||
for(int j = 0; j < MAX_PAGE_SIZES; j++) {
|
||||
printf("%02x", buffer[i].buffer[j]);
|
||||
}
|
||||
|
||||
printf(" ");
|
||||
|
||||
for(int j = 0; j < 32; j++) {
|
||||
printf("%d", (buffer[i].used_bit_masked >> (31-j)) & 1);
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
#pragma once
|
||||
unsigned short crc16(char *data_p, unsigned short length);
|
||||
@@ -1,63 +1,34 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
#include "gobotrpc_datatypes.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
#include <strings.h>
|
||||
|
||||
struct HubInfo {
|
||||
uint8_t slotNumbers;
|
||||
enum GobotRPC_CI_CMD {
|
||||
TX_CI_PACKET = 0x01,
|
||||
RX_CI_PACKET = 0x02,
|
||||
PERFORM_SCAN_CI_PACKET = 0x03,
|
||||
SCAN_RESULT_CI_PACKET = 0x04,
|
||||
};
|
||||
|
||||
typedef void (*GobotRPC_CtrlInterface_Callback_Packet)(void * args, RPCPackage package);
|
||||
typedef void (*GobotRPC_CtrlInterface_Callback_PerformScan)(void * args, bool enable);
|
||||
typedef void (*GobotRPC_CtrlInterface_Callback_ReqSlotUpdate)(void * args, bool enable);
|
||||
typedef HubInfo (*GobotRPC_CtrlInterface_Callback_GetInfo)(void * args);
|
||||
typedef void (*callback_TxPacket)(void * args, char *data, size_t len);
|
||||
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
|
||||
void GobotRPC_CI_heartBeatTaskFn(void *args);
|
||||
|
||||
void externalCallback_RX(void * args, char * data, size_t length);
|
||||
void externalCallback_HeartBeat(void * args);
|
||||
|
||||
class GobotRPC_CtrlInterface {
|
||||
class GobotRPC_CI {
|
||||
private:
|
||||
GobotRPC_CtrlInterface_Callback_Packet packetCallback;
|
||||
GobotRPC_CtrlInterface_Callback_PerformScan performScanCallback;
|
||||
GobotRPC_CtrlInterface_Callback_ReqSlotUpdate reqSlotUpdateCallback;
|
||||
GobotRPC_CtrlInterface_Callback_GetInfo getInfoCallback;
|
||||
void * packetCallbackArgs;
|
||||
void * performScanCallbackArgs;
|
||||
void * reqSlotUpdateCallbackArgs;
|
||||
void * getInfoCallbackArgs;
|
||||
I_GobotRPC_CI_Hardware *hardware;
|
||||
|
||||
I_GobotRPC_CtrlInterface_HardwareHandler * handler;
|
||||
protected:
|
||||
void onRX_Packet(char * data, size_t length);
|
||||
void onRX_PerformScan(char * data, size_t length);
|
||||
void onRX_ReqSlotUpdate(char * data, size_t length);
|
||||
void onRX_GetInfo(char * data, size_t length);
|
||||
callback_TxPacket cb_TxPacket;
|
||||
void * cb_TxPacket_args;
|
||||
|
||||
TaskHandle_t heartBeatTaskHandle;
|
||||
|
||||
public:
|
||||
GobotRPC_CtrlInterface(I_GobotRPC_CtrlInterface_HardwareHandler * handler);
|
||||
void printf(const char *fmt, ...);
|
||||
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware);
|
||||
|
||||
void onRX(char * data, size_t length);
|
||||
void onHeartBeat();
|
||||
void registerCB_TxPacket(callback_TxPacket cb, void *args);
|
||||
void send_RxPacket(char *data, size_t len);
|
||||
|
||||
void pushPacket(RPCPackage package);
|
||||
void pushScanResulst(uint32_t addr, bool running);
|
||||
void pushPackageSlotUpdate(bool complete, bool inUse, uint32_t slot, uint32_t addr, uint32_t timestamp, uint32_t bits);
|
||||
void pushInfo(uint8_t slotNumbers);
|
||||
void onRxData(char *data, size_t len);
|
||||
|
||||
void registerCallback_Packet(GobotRPC_CtrlInterface_Callback_Packet callback, void * args);
|
||||
void registerCallback_PerformScan(GobotRPC_CtrlInterface_Callback_PerformScan callback, void * args);
|
||||
void registerCallback_ReqSlotUpdate(GobotRPC_CtrlInterface_Callback_ReqSlotUpdate callback, void * args);
|
||||
void registerCallback_GetInfo(GobotRPC_CtrlInterface_Callback_GetInfo callback, void * args);
|
||||
};
|
||||
|
||||
|
||||
enum UART_CTRL_Command_ID {
|
||||
GOBOTRPC_CTRL_CMD_PACKET = 0x81, // Host <-> Hub
|
||||
GOBOTRPC_CTRL_CMD_PERFORM_SCAN = 0x82, // Host -> Hub
|
||||
GOBOTRPC_CTRL_CMD_SCAN_RESULT = 0x83, // Hub -> Host
|
||||
GOBOTRPC_CTRL_CMD_SLOT_UPDATE = 0x84, // Hub -> Host
|
||||
GOBOTRPC_CTRL_CMD_REQ_SLOT_UPDATE = 0x85, // Host -> Hub
|
||||
GOBOTRPC_CTRL_CMD_HEART_BEAT = 0xfe, // Host <- Hub
|
||||
GOBOTRPC_CTRL_CMD_INFO = 0xff, // Host -> Hub, Hub -> Host
|
||||
void heartBeartTaskFn();
|
||||
};
|
||||
@@ -1,58 +1,56 @@
|
||||
#pragma once
|
||||
#include <string.h>
|
||||
#include <strings.h>
|
||||
|
||||
typedef void (*GobotRPC_CtrlInterface_Callback_RX)(void * args, char * data, size_t length);
|
||||
typedef void (*GobotRPC_CtrlInterface_Callback_HeartBeat)(void * args);
|
||||
|
||||
|
||||
class I_GobotRPC_CtrlInterface_HardwareHandler {
|
||||
public:
|
||||
virtual void send(char * data, size_t length) = 0;
|
||||
virtual void registerCallback(GobotRPC_CtrlInterface_Callback_RX, void * args) = 0;
|
||||
virtual void registerHeartBeatCallback(GobotRPC_CtrlInterface_Callback_HeartBeat, void * args) = 0;
|
||||
};
|
||||
|
||||
|
||||
#define GOBOTRPC_PLATFORM_RP2040
|
||||
#ifdef GOBOTRPC_PLATFORM_RP2040
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
#include "hardware/uart.h"
|
||||
#include "queue.h"
|
||||
|
||||
class GobotRPC_CtrlInterface_HardwareHandler_RP2040 : public I_GobotRPC_CtrlInterface_HardwareHandler {
|
||||
private:
|
||||
uart_inst_t * uart_instance;
|
||||
int UART_IRQ;
|
||||
|
||||
GobotRPC_CtrlInterface_Callback_RX callback_rx;
|
||||
void * callback_args;
|
||||
|
||||
GobotRPC_CtrlInterface_Callback_HeartBeat callback_heart_beat;
|
||||
void * callback_heart_beat_args;
|
||||
|
||||
xSemaphoreHandle rxSemphrHandle;
|
||||
TaskHandle_t rxTaskHandle;
|
||||
TaskHandle_t heartBeatTaskHandle;
|
||||
|
||||
uint heartBeatDelay;
|
||||
typedef void (*callback_rxData)(void * args, char *data, size_t len);
|
||||
|
||||
class I_GobotRPC_CI_Hardware {
|
||||
public:
|
||||
GobotRPC_CtrlInterface_HardwareHandler_RP2040(uart_inst_t * uart_instance, uint baudrate, uint heartBeatDelay, uint tx_pin, uint rx_pin);
|
||||
void send(char * data, size_t length) override;
|
||||
void registerCallback(GobotRPC_CtrlInterface_Callback_RX, void * args) override;
|
||||
void registerHeartBeatCallback(GobotRPC_CtrlInterface_Callback_HeartBeat, void * args);
|
||||
|
||||
void rxTaskHandler();
|
||||
void heartBeatTaskHandler();
|
||||
void scheduleRXHandler(BaseType_t * higher_priority_task_woken);
|
||||
virtual void send(char *data, size_t len) = 0;
|
||||
virtual void registerCB_RxData(callback_rxData cb, void *args) = 0;
|
||||
};
|
||||
|
||||
extern GobotRPC_CtrlInterface_HardwareHandler_RP2040 * g_uart_hardware_handler;
|
||||
|
||||
void isrUartRX();
|
||||
#include "hardware/uart.h"
|
||||
|
||||
void vTaskRxHandler(void * pvParameters);
|
||||
void vTaskHeartBeat(void * pvParameters);
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_isr();
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn(void *args);
|
||||
|
||||
#define NUM_INPUT_BUFFERS 16
|
||||
|
||||
struct inputBuffers_t {
|
||||
char data[256];
|
||||
size_t len;
|
||||
};
|
||||
|
||||
class GobotRPC_CI_Hardware_RP2040_UART : public I_GobotRPC_CI_Hardware {
|
||||
private:
|
||||
uart_inst_t *uart;
|
||||
|
||||
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
|
||||
|
||||
TaskHandle_t rxTaskHandle;
|
||||
SemaphoreHandle_t txMutex;
|
||||
|
||||
QueueHandle_t emptyInputBuffersQueue;
|
||||
QueueHandle_t filledInputBuffersQueue;
|
||||
|
||||
callback_rxData cb_rxData;
|
||||
void * cb_rxData_args;
|
||||
|
||||
public:
|
||||
GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate);
|
||||
void send(char *data, size_t len) override;
|
||||
void registerCB_RxData(callback_rxData cb, void *args);
|
||||
|
||||
void rxISR();
|
||||
void rxTask();
|
||||
};
|
||||
|
||||
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
|
||||
#endif
|
||||
@@ -1,36 +0,0 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
#include <strings.h>
|
||||
|
||||
#include "gobotrpc_datatypes.hpp"
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
|
||||
class GobotRPC_CtrlInterface;
|
||||
class GobotRPCParser {
|
||||
private:
|
||||
RPC_RX_PackageSlot buffer[NUM_SLOTS];
|
||||
uint32_t masked [NUM_SLOTS];
|
||||
uint32_t address_mask;
|
||||
|
||||
size_t finishedScanIndex;
|
||||
|
||||
GobotRPC_CtrlInterface * ctrlInterface;
|
||||
|
||||
void find_fitting_slot(RPCHeader header, uint32_t addr, int * fitting_slot, int * empty_slot);
|
||||
static void insertFrameInPackageSlot(RPC_RX_PackageSlot * package, char * data, size_t segment, size_t length);
|
||||
void freePackageSlot(size_t index);
|
||||
|
||||
public:
|
||||
GobotRPCParser(GobotRPC_CtrlInterface * ctrlInterface);
|
||||
|
||||
void print_out_slots();
|
||||
enum FrameSubmitionResult submit_frame(char * data, size_t length, uint32_t addr, uint32_t timestamp);
|
||||
|
||||
int getFinishedIndexPackages();
|
||||
void retrivePackage(RPCPackage * dest, int index);
|
||||
};
|
||||
|
||||
char * mapFrameSubmitionResult2String(FrameSubmitionResult res);
|
||||
|
||||
FrameSubmitionResult getPackageStatus(RPC_RX_PackageSlot * package);
|
||||
@@ -1,35 +0,0 @@
|
||||
#pragma once
|
||||
#include "protocol.hpp"
|
||||
|
||||
#define MAX_PAGE_SIZES 4*7
|
||||
#define NUM_SLOTS 8
|
||||
|
||||
enum FrameSubmitionResult {
|
||||
PENDING,
|
||||
COMPLEATE,
|
||||
ERROR_INVALID_RPC_TYPE,
|
||||
ERROR_INVALID_RPC_NUMBER,
|
||||
ERROR_NO_EMPTY_OR_FITTING_SLOT,
|
||||
};
|
||||
|
||||
struct RPC_RX_PackageSlot {
|
||||
char buffer[MAX_PAGE_SIZES];
|
||||
|
||||
bool is_complete;
|
||||
bool is_in_use;
|
||||
|
||||
uint32_t sender_address;
|
||||
enum RPCNumber rpcNum;
|
||||
enum RPCType type;
|
||||
uint32_t used_bit_masked;
|
||||
uint32_t timestamp;
|
||||
size_t length;
|
||||
};
|
||||
|
||||
struct RPCPackage {
|
||||
char buffer[MAX_PAGE_SIZES];
|
||||
size_t length;
|
||||
uint32_t addr;
|
||||
RPCNumber rpcNum;
|
||||
RPCType type;
|
||||
};
|
||||
@@ -0,0 +1,6 @@
|
||||
#pragma once
|
||||
|
||||
#define GOBOTRPC_CI_UART_RX 0
|
||||
#define GOBOTRPC_CI_UART_TX 1
|
||||
|
||||
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
|
||||
@@ -1,32 +0,0 @@
|
||||
#pragma once
|
||||
#include <map>
|
||||
#include <stdint.h>
|
||||
|
||||
enum RPCNumber {
|
||||
Get_Info = 0x0,
|
||||
Home = 0x01,
|
||||
Move_Step = 0x2,
|
||||
Move_XY = 0x3,
|
||||
Set_Padding = 0x4,
|
||||
Release_Motors = 0x5,
|
||||
Drop_Stone = 0x6,
|
||||
Get_Stone_Status = 0x7,
|
||||
Move_Z_Axis = 0x8,
|
||||
Set_Vacum = 0x9,
|
||||
Invalid = 0xf
|
||||
};
|
||||
|
||||
const uint32_t RPC_NUMBER_MAX = 0x9;
|
||||
|
||||
enum RPCType {
|
||||
REQUEST = 0b00,
|
||||
RESPONSE_RPC = 0b01,
|
||||
INVALID = 0b10,
|
||||
ERROR = 0b11
|
||||
};
|
||||
|
||||
struct RPCHeader {
|
||||
RPCNumber rpcNum : 4;
|
||||
RPCType type : 2;
|
||||
unsigned char segment: 2;
|
||||
};
|
||||
@@ -1,22 +0,0 @@
|
||||
#include "gobotrpc.hpp"
|
||||
#include <string.h>
|
||||
|
||||
GobotRPCParser::GobotRPCParser(GobotRPC_CtrlInterface * ctrlInterface) {
|
||||
this->ctrlInterface = ctrlInterface;
|
||||
|
||||
for(int i = 0; i < NUM_SLOTS; i++) {
|
||||
buffer[i].timestamp = 0;
|
||||
buffer[i].is_complete = false;
|
||||
buffer[i].is_in_use = false;
|
||||
buffer[i].used_bit_masked = 0;
|
||||
buffer[i].sender_address = 0;
|
||||
buffer[i].rpcNum = Invalid;
|
||||
buffer[i].type = INVALID;
|
||||
buffer[i].length = 0;
|
||||
|
||||
memset(buffer[i].buffer, 0, MAX_PAGE_SIZES);
|
||||
}
|
||||
|
||||
finishedScanIndex = 0;
|
||||
address_mask = 0xFFFFFFFF;
|
||||
}
|
||||
@@ -1,64 +0,0 @@
|
||||
#include "protocol.hpp"
|
||||
#include "gobotrpc.hpp"
|
||||
#include <stdint.h>
|
||||
|
||||
uint32_t getRpcRequestCompleteMask(RPCNumber rpcNum) {
|
||||
switch (rpcNum) {
|
||||
case Get_Info: return 0b00000000000000000000000000000000;
|
||||
case Home: return 0b00000000000000000000000000000011;
|
||||
case Move_Step: return 0b00000000000000000000000000111111;
|
||||
case Move_XY: return 0b00000000000000000000000000111111;
|
||||
case Set_Padding: return 0b00000000000000001101111110111111;
|
||||
case Release_Motors: return 0b00000000000000000000000001111111;
|
||||
case Drop_Stone: return 0b00000000000000000000000000000000;
|
||||
case Get_Stone_Status: return 0b00000000000000000000000000000000;
|
||||
case Move_Z_Axis: return 0b00000000000000000000000000000001;
|
||||
case Set_Vacum: return 0b00000000000000000000000000000001;
|
||||
default: return 0b00000000000000000000000000000000;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t getRpcResponseCompleteMask(RPCNumber rpcNum) {
|
||||
switch (rpcNum) {
|
||||
case Get_Info: return 0b00001111111111111111111111111111;
|
||||
case Home: return 0b00000000000000000000000000111111;
|
||||
case Move_Step: return 0b00000000000000000000000000000000;
|
||||
case Move_XY: return 0b00000000000000000000000000000000;
|
||||
case Set_Padding: return 0b00000000000000000000000000000000;
|
||||
case Release_Motors: return 0b00000000000000000000000000000000;
|
||||
case Drop_Stone: return 0b00000000000000000000000000000000;
|
||||
case Get_Stone_Status: return 0b00000000000000000000000000000000;
|
||||
case Move_Z_Axis: return 0b00000000000000000000000000000000;
|
||||
case Set_Vacum: return 0b00000000000000000000000000000000;
|
||||
default: return 0b00000000000000000000000000000000;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t ERROR_MASK = 0b00000000000000000000000000000000;
|
||||
|
||||
FrameSubmitionResult getPackageStatus(RPC_RX_PackageSlot * package) {
|
||||
|
||||
uint32_t mask;
|
||||
|
||||
switch (package->type) {
|
||||
case REQUEST:
|
||||
mask = getRpcRequestCompleteMask(package->rpcNum);
|
||||
break;
|
||||
case RESPONSE_RPC:
|
||||
mask = getRpcResponseCompleteMask(package->rpcNum);
|
||||
break;
|
||||
case ERROR:
|
||||
mask = ERROR_MASK;
|
||||
break;
|
||||
default:
|
||||
return ERROR_INVALID_RPC_TYPE;
|
||||
};
|
||||
|
||||
uint32_t masked_bits = package->used_bit_masked & mask;
|
||||
|
||||
if(masked_bits == mask) {
|
||||
return COMPLEATE;
|
||||
}
|
||||
|
||||
return PENDING;
|
||||
}
|
||||
@@ -1,134 +0,0 @@
|
||||
#include "gobotrpc.hpp"
|
||||
#include "protocol.hpp"
|
||||
#include <string.h>
|
||||
|
||||
RPCHeader parseRPCHeader(char data)
|
||||
{
|
||||
RPCHeader header;
|
||||
header.rpcNum = (RPCNumber)(data & 0b00001111);
|
||||
header.type = (RPCType)((data & 0b00110000) >> 4);
|
||||
header.segment = (data & 0b11000000) >> 6;
|
||||
|
||||
return header;
|
||||
}
|
||||
|
||||
FrameSubmitionResult GobotRPCParser::submit_frame(char *data, size_t length, uint32_t addr, uint32_t timestamp)
|
||||
{
|
||||
RPCHeader header = parseRPCHeader(data[0]);
|
||||
|
||||
if (header.type == INVALID) {
|
||||
return ERROR_INVALID_RPC_TYPE;
|
||||
}
|
||||
|
||||
if (header.rpcNum > RPC_NUMBER_MAX) {
|
||||
return ERROR_INVALID_RPC_NUMBER;
|
||||
}
|
||||
|
||||
int fitting_slot;
|
||||
int empty_slot;
|
||||
find_fitting_slot(header, addr, &fitting_slot, &empty_slot);
|
||||
|
||||
int slotNum;
|
||||
|
||||
// Check if packageSlot is complete
|
||||
|
||||
if (fitting_slot != -1) {
|
||||
slotNum = fitting_slot;
|
||||
}
|
||||
else if (empty_slot != -1) {
|
||||
slotNum = empty_slot;
|
||||
|
||||
this->buffer[slotNum].is_in_use = true;
|
||||
this->buffer[slotNum].is_complete = false;
|
||||
this->buffer[slotNum].sender_address = addr;
|
||||
this->buffer[slotNum].rpcNum = header.rpcNum;
|
||||
this->buffer[slotNum].type = header.type;
|
||||
}
|
||||
else {
|
||||
return ERROR_NO_EMPTY_OR_FITTING_SLOT;
|
||||
}
|
||||
|
||||
insertFrameInPackageSlot(&this->buffer[slotNum], data, header.segment, length);
|
||||
this->buffer[slotNum].timestamp = timestamp;
|
||||
this->buffer[slotNum].length = MAX(this->buffer[slotNum].length, header.segment*7 + (length - 1));
|
||||
volatile FrameSubmitionResult res = getPackageStatus(&(this->buffer[slotNum]));
|
||||
|
||||
// Push the update to the control interface
|
||||
ctrlInterface->pushPackageSlotUpdate(res == COMPLEATE, this->buffer[slotNum].is_in_use, slotNum, addr, timestamp, this->buffer[slotNum].used_bit_masked);
|
||||
|
||||
y if (res == COMPLEATE) {
|
||||
this->buffer[slotNum].is_complete = true;
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
void GobotRPCParser::insertFrameInPackageSlot(RPC_RX_PackageSlot *packageSlot, char *data, size_t segment, size_t length)
|
||||
{
|
||||
size_t offset = segment * 7;
|
||||
|
||||
for (int i = 0; i < length - 1; i++) {
|
||||
packageSlot->buffer[offset + i] = data[i + 1];
|
||||
packageSlot->used_bit_masked |= 1 << (offset + i);
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPCParser::find_fitting_slot(RPCHeader header, uint32_t addr, int *fitting_slot, int *empty_slot)
|
||||
{
|
||||
uint32_t masked_addr = addr & this->address_mask;
|
||||
|
||||
*fitting_slot = -1;
|
||||
*empty_slot = -1;
|
||||
|
||||
for (int i = 0; i < NUM_SLOTS; i++) {
|
||||
if (this->buffer[i].is_complete) {
|
||||
continue;
|
||||
}
|
||||
|
||||
uint32_t masked_slot_addr = this->buffer[i].sender_address & this->address_mask;
|
||||
|
||||
if (masked_slot_addr == masked_addr && header.rpcNum == this->buffer[i].rpcNum) {
|
||||
*fitting_slot = i;
|
||||
return;
|
||||
}
|
||||
|
||||
if (*empty_slot == -1 && !buffer[i].is_in_use) {
|
||||
*empty_slot = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int GobotRPCParser::getFinishedIndexPackages() {
|
||||
|
||||
for (int i = 0; i < NUM_SLOTS; i++) {
|
||||
size_t index = (i + this->finishedScanIndex) % NUM_SLOTS;
|
||||
if (this->buffer[i].is_complete) {
|
||||
this->finishedScanIndex = (index + 1) % NUM_SLOTS;
|
||||
return index;
|
||||
}
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
void GobotRPCParser::retrivePackage(RPCPackage *dest, int index) {
|
||||
memcpy(dest->buffer, buffer[index].buffer, MAX_PAGE_SIZES);
|
||||
dest->addr = buffer[index].sender_address;
|
||||
dest->rpcNum = buffer[index].rpcNum;
|
||||
dest->type = buffer[index].type;
|
||||
dest->length = buffer[index].length;
|
||||
|
||||
this->ctrlInterface->pushPacket(*dest);
|
||||
freePackageSlot(index);
|
||||
}
|
||||
|
||||
void GobotRPCParser::freePackageSlot(size_t index) {
|
||||
this->buffer[index].timestamp = 0;
|
||||
this->buffer[index].is_complete = false;
|
||||
this->buffer[index].is_in_use = false;
|
||||
this->buffer[index].used_bit_masked = 0;
|
||||
this->buffer[index].sender_address = 0;
|
||||
this->buffer[index].rpcNum = Invalid;
|
||||
this->buffer[index].type = INVALID;
|
||||
this->buffer[index].length = 0;
|
||||
}
|
||||
@@ -1,65 +1,49 @@
|
||||
#include <stdio.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#include "crc16.hpp"
|
||||
|
||||
#define LED_PIN 25
|
||||
|
||||
|
||||
#include "gobotrpc/include/gobotrpc.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
|
||||
void vTaskMain(void * args) {
|
||||
GobotRPC_CtrlInterface_HardwareHandler_RP2040 uartHandler(uart0, 9600, 1500, 0, 1);
|
||||
GobotRPC_CtrlInterface ctrlInterface(&uartHandler);
|
||||
GobotRPCParser rpcRXParser(&ctrlInterface);
|
||||
|
||||
ctrlInterface.printf("Hello World!\n");
|
||||
|
||||
char data0[] = "\x04\x01\x02\x03\x04\x05\x06";
|
||||
char data1[] = "\x44\x11\x12\x13\x14\x15\x16";
|
||||
char data3[] = "\x11\xaa\xbb\xcc\xdd\xee\xff";
|
||||
char data2[] = "\x84\xaa\xbb";
|
||||
|
||||
rpcRXParser.submit_frame(data2, 3, 0x42, xTaskGetTickCount());
|
||||
rpcRXParser.submit_frame(data3, 7, 0x43, xTaskGetTickCount());
|
||||
rpcRXParser.submit_frame(data1, 7, 0x42, xTaskGetTickCount());
|
||||
|
||||
|
||||
ctrlInterface.printf("This is Random Text\n");
|
||||
|
||||
vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
|
||||
rpcRXParser.submit_frame(data3, 7, 0x43, xTaskGetTickCount());
|
||||
rpcRXParser.submit_frame(data0, 7, 0x42, xTaskGetTickCount());
|
||||
|
||||
size_t index = rpcRXParser.getFinishedIndexPackages();
|
||||
|
||||
RPCPackage package;
|
||||
rpcRXParser.retrivePackage(&package, index);
|
||||
|
||||
while (true) {
|
||||
gpio_put(LED_PIN, false);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
gpio_put(LED_PIN, true);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
void vTaskMain(void * pvParameters) {
|
||||
while(1) {
|
||||
gpio_put(LED_PIN, 1);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
gpio_put(LED_PIN, 0);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void onTxPacket(void * args, char *data, size_t len) {
|
||||
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
|
||||
|
||||
char buffer[] = {0x00, 0x74, 0x04, 0x00, 0x00};
|
||||
unsigned short crc = crc16(buffer + 1, 2);
|
||||
|
||||
buffer[4] = crc & 0xff;
|
||||
buffer[3] = (crc >> 8) & 0xff;
|
||||
|
||||
gobotRPC_ci->send_RxPacket(buffer, 4);
|
||||
}
|
||||
|
||||
int main() {
|
||||
stdio_init_all();
|
||||
printf("============================================\n");
|
||||
printf(" Gobot RPC Hub \n");
|
||||
printf("============================================\n");
|
||||
|
||||
gpio_init(LED_PIN);
|
||||
gpio_set_dir(LED_PIN, true);
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200);
|
||||
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware);
|
||||
|
||||
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
|
||||
|
||||
TaskHandle_t taskHandle;
|
||||
xTaskCreate(vTaskMain, "Main Task", 2048, NULL, 1, &taskHandle);
|
||||
xTaskCreate(vTaskMain, "Main Task", 2048, &gobotRPC_ci, 1, &taskHandle);
|
||||
vTaskStartScheduler();
|
||||
|
||||
while(1) {}
|
||||
|
||||
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i2c-hub/uart-adapter/src/gobotrpc/__init__.py
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i2c-hub/uart-adapter/src/gobotrpc/__init__.py
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i2c-hub/uart-adapter/src/gobotrpc/mapping.py
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i2c-hub/uart-adapter/src/gobotrpc/mapping.py
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i2c-hub/uart-adapter/src/gobotrpc/packages.py
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i2c-hub/uart-adapter/src/gobotrpc/packages.py
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i2c-hub/uart-adapter/src/gobotrpc/rpc_packages.py
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i2c-hub/uart-adapter/src/gobotrpc/rpc_packages.py
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i2c-hub/uart-adapter/src/gobotrpc/util.py
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i2c-hub/uart-adapter/src/gobotrpc/util.py
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i2c-hub/uart-adapter/src/main.py
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i2c-hub/uart-adapter/src/main.py
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i2c-hub/uart-adapter/src/uart_interface/__init__.py
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i2c-hub/uart-adapter/src/uart_interface/__init__.py
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i2c-hub/uart-adapter/src/uart_interface/ci_packages.py
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i2c-hub/uart-adapter/src/uart_interface/ci_packages.py
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i2c-hub/uart-adapter/src/uart_interface/pares_packages.py
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i2c-hub/uart-adapter/src/uart_interface/pares_packages.py
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i2c-hub/uart-adapter/src/uart_interface/serial.py
(Stored with Git LFS)
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i2c-hub/uart-adapter/src/uart_interface/serial.py
(Stored with Git LFS)
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Reference in New Issue
Block a user