WIP: telemetrie
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include/telemetrie.h
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118
include/telemetrie.h
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#ifndef TELEMETRIE_H_
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#define TELEMETRIE_H_
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/*
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* 0: this is a request (host -> board)
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* 1: this is a reply (board -> host)
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*/
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#define TDC_DIR 0x80
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#define TDC_REPLY TDC_DIR
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/*
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* TDC_DIR = 0: destination address
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* TDC_DIR = 1: source address
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*/
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#define TDC_ADDRMASK 0x70
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#define TDC_ADDR0 0x00 // host (dynamic!, sends to interface of last hello)
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#define TDC_ADDR1 0x10 // flightcontrol
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#define TDC_ADDR2 0x20 // missioncontrol
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#define TDC_ADDR3 0x30 // videocontrol
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#define TDC_ADDR4 0x40
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#define TDC_ADDR5 0x50
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#define TDC_ADDR6 0x60
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#define TDC_ADDR7 0x70
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#define TDC_OPCODEMASK 0x0F
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#define TDC_HELLO 0x00 // sets the path/interface to the host, reply is a info string
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#define TDC_GETVARS 0x01 // request variable names, many replies
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#define TDC_GETVALUE 0x02 // get one value, one reply
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#define TDC_SETVALUE 0x03 // set one value, no reply
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#define TDC_REQVALUES 0x04 // registers a periodic update, timed replies
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#define TDC_TERMINAL 0x05 // stdout data
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#define TDC_USERDATA 0x0F // user-defined data e.g. between boards
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struct tdc_pkt_header {
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uint8_t cmd; // TDC_*
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uint8_t size; // bytes after size
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} __attribute__ ((packed));
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struct tdc_hello_reply {
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uint8_t cmd;
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uint8_t size;
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char name[32]; // name of device, version string
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} __attribute__ ((packed));
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struct tdc_getvars_reply {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint32_t flags; // variable parameters (type, size, ro/rw)
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uint8_t name[0]; // variable name, excluding '\0'
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} __attribute__ ((packed));
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struct tdc_getvalue_request {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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} __attribute__ ((packed));
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struct tdc_getvalue_reply {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint8_t data[0]; // variable data 1-8 bytes
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} __attribute__ ((packed));
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struct tdc_setvalue_request {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint8_t data[0]; // variable data 1-8 bytes
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} __attribute__ ((packed));
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struct tdc_reqvalues_request {
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uint8_t cmd;
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uint8_t size;
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uint16_t interval; // interval in ms
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uint32_t varmap[8]; // bitmap of variables (32 * 8 = 256)
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} __attribute__ ((packed));
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struct tdc_reqvalues_reply {
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uint8_t cmd;
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uint8_t size;
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uint32_t timestamp; // internal jiffie count
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uint8_t cnt; // number of variables
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} __attribute__ ((packed));
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struct tdc_value {
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const void *ptr;
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const uint8_t *name;
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uint32_t flags;
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};
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#define TDC_SIZEMASK 0x0F
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#define TDC_UNSIGNED 0x00
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#define TDC_SIGNED 0x10
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#define TDC_FP 0x20
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#define TDC_VALUE(var, desc, type, flags) \
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type * tdc_check_##var(void) { return (&var); } \
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static struct tdc_value __attribute__((used, section(".tdc_value"))) \
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tdc_value_##var = { &var, desc, sizeof(type) | flags }; \
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tdc_value_##var = tdc_value_##var;
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#define TDC_UINT8(var, desc) TDC_VALUE(var, desc, uint8_t, TDC_UNSIGNED)
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#define TDC_UINT16(var, desc) TDC_VALUE(var, desc, uint16_t, TDC_UNSIGNED)
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#define TDC_UINT32(var, desc) TDC_VALUE(var, desc, uint32_t, TDC_UNSIGNED)
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#define TDC_UINT64(var, desc) TDC_VALUE(var, desc, uint64_t, TDC_UNSIGNED)
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#define TDC_INT8(var, desc) TDC_VALUE(var, desc, int8_t, TDC_SIGNED)
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#define TDC_INT16(var, desc) TDC_VALUE(var, desc, int16_t, TDC_SIGNED)
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#define TDC_INT32(var, desc) TDC_VALUE(var, desc, int32_t, TDC_SIGNED)
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#define TDC_INT64(var, desc) TDC_VALUE(var, desc, int64_t, TDC_SIGNED)
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#define TDC_FLOAT(var, desc) TDC_VALUE(var, desc, float, TDC_FP)
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#define TDC_DOUBLE(var, desc) TDC_VALUE(var, desc, double, TDC_FP)
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#endif /*TELEMETRIE_H_*/
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@ -19,6 +19,11 @@ SECTIONS
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*(.pio_isr)
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_pio_isr_table_end = .;
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. = ALIGN(4);
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_tdc_value_table = .;
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*(.tdc_value)
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_tdc_value_table_end = .;
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. = ALIGN(4);
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*(.rodata)
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*(.rodata.*)
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200
src/telemetrie.c
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200
src/telemetrie.c
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/***************************************************************************
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* Copyright (C) 02/2008 by Olaf Rempel *
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* razzor@kopf-tisch.de *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; version 2 of the License *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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#include <stdio.h>
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#include <stdint.h>
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#include <string.h>
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#include "board.h" // ARRAY_SIZE()
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#include "telemetrie.h"
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/* extern symbols, defined in ldscript */
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extern struct tdc_value _tdc_value_table;
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extern struct tdc_value _tdc_value_table_end;
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typedef uint32_t (txfunc_t)(const uint8_t *data, uint32_t size);
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/* just eat the packet */
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static uint32_t txdummy(const uint8_t *data, uint32_t size)
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{
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return -1;
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}
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/* table of txfuncs for routing/forwarding */
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static txfunc_t *transmit_table[8] = {
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&txdummy, &txdummy, &txdummy, &txdummy,
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&txdummy, &txdummy, &txdummy, &txdummy,
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};
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static const struct tdc_hello_reply hello_reply = {
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.cmd = TDC_REPLY | TDC_ADDR1 | TDC_HELLO,
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.size = sizeof(struct tdc_hello_reply),
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.name = "sam7fc-v0.01",
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};
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void tdc_register_txfunc(uint32_t addr, txfunc_t *txfunc)
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{
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if (addr <= ARRAY_SIZE(transmit_table))
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transmit_table[addr] = txfunc;
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}
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int32_t tdc_transmit(uint32_t addr, const uint8_t *data, uint32_t size)
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{
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if (addr <= ARRAY_SIZE(transmit_table))
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return transmit_table[addr](data, size);
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return -1;
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}
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static void * alloc(uint32_t size)
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{
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return NULL;
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}
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static void free(void *p)
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{
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}
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/*
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void *blub = NULL;
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func(&blub);
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*/
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int32_t tdc_get_vars(void **privdata)
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{
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struct tdc_value **value = (struct tdc_value **)privdata;
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if (*value == NULL)
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*value = &_tdc_value_table;
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uint32_t id = (*value - &_tdc_value_table) / sizeof(struct tdc_value);
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while (*value < &_tdc_value_table_end) {
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uint32_t datalen = strlen((*value)->name);
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struct tdc_getvars_reply *reply = alloc(sizeof(struct tdc_getvars_reply) + datalen);
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reply->cmd = TDC_REPLY | TDC_ADDR1 | TDC_GETVARS;
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reply->size = sizeof(struct tdc_getvars_reply) + datalen;
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reply->id = id;
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reply->flags = (*value)->flags;
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memcpy(reply->name, (*value)->name, datalen);
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int32_t ret = transmit_table[TDC_ADDR0]((const uint8_t *)reply, reply->size);
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free(reply);
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if (ret != reply->size)
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return -1;
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id++;
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(*value)++;
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}
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/* TODO: all done */
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(*value) = NULL;
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return 0;
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}
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#if 0
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static int32_t tdc_get_values(uint8_t *buf, uint32_t size, void **key)
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{
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if (*key == NULL)
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*key = &_tdc_value_table;
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uint32_t id = (*key - &_tdc_value_table) / sizeof(struct tdc_value);
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uint32_t pos = 0;
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while (*key < &_tdc_value_table_end) {
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struct tdc_value *tmp = (struct tdc_value *)*key;
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uint32_t datalen = (tmp->flags & TDC_SIZEMASK);
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/* fits in buffer? */
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if ((size - pos) < (2 + 1 + datalen))
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return (pos > 0) ? pos : -1;
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buf[pos++] = TDC_VALUEOP;
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buf[pos++] = 1 + datalen;
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buf[pos++] = id++;
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memcpy(buf + pos, tmp->ptr, datalen);
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pos += datalen;
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*key += sizeof(struct tdc_value);
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}
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return pos;
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}
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#endif
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/*
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* parses tdc data
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*/
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int32_t tdc_parse_pkt(txfunc_t *txfunc, const uint8_t *data, uint32_t size)
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{
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struct tdc_pkt_header *head = (struct tdc_pkt_header *)data;
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if (size < sizeof(struct tdc_pkt_header))
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return -1;
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/* if it's a hello-request, remember the txfunc as path to the host */
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if ((head->cmd & (TDC_OPCODEMASK & TDC_DIR)) == TDC_HELLO)
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transmit_table[TDC_ADDR0] = txfunc;
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/* all replys go to the HOST */
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if (head->cmd & TDC_REPLY) {
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return transmit_table[TDC_ADDR0](data, head->size);
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}
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/* forward this packet? */
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if ((head->cmd & TDC_ADDRMASK) != TDC_ADDR1) {
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uint32_t addr = (head->cmd & TDC_ADDRMASK) >> 4;
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return transmit_table[addr](data, head->size);
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}
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/* parse the packet */
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switch (head->cmd & TDC_OPCODEMASK) {
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/* HELLO from HOST */
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case TDC_HELLO:
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transmit_table[TDC_ADDR0]((const uint8_t *)&hello_reply, sizeof(hello_reply));
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break;
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case TDC_GETVARS:
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// TODO: exec func
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break;
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case TDC_GETVALUE:
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// TODO: exec func
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break;
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case TDC_SETVALUE:
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// TODO: exec func
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break;
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case TDC_REQVALUES:
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// TODO: exec func
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break;
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case TDC_TERMINAL:
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// TODO: not possible?
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break;
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case TDC_USERDATA:
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// TODO: currently not used
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break;
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};
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return head->size;
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}
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