tdc stuff again
This commit is contained in:
parent
9b703ef0a9
commit
bd2c9b8f68
@ -14,17 +14,18 @@ struct fifo {
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char buf[0];
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};
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uint32_t fifo_put(struct fifo *fifo, const char *buf, uint32_t len);
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uint32_t fifo_put(struct fifo *fifo, char *buf, uint32_t len);
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uint32_t fifo_get(struct fifo *fifo, char *buf, uint32_t len);
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uint32_t fifo_peek(struct fifo *fifo, char *buf, uint32_t len);
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uint32_t fifo_remove(struct fifo *fifo, uint32_t len);
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uint32_t fifo_rxpdc(struct fifo *fifo, AT91S_PDC *pdc, uint16_t maxsize);
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uint32_t fifo_txpdc(struct fifo *fifo, AT91S_PDC *pdc, uint16_t maxsize);
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uint32_t fifo_putbyte(struct fifo *fifo, char c);
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uint32_t fifo_getbyte(struct fifo *fifo, char *p);
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char * fifo_peek(struct fifo *fifo, uint32_t len);
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struct fifo * fifo_alloc(uint32_t size);
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#endif /*FIFO_H_*/
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@ -86,6 +86,24 @@ struct tdc_reqvalues_reply {
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} __attribute__ ((packed));
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struct comm_device {
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struct fifo *rxfifo;
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struct fifo *txfifo;
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};
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void tdc_register_device(uint32_t addr, struct comm_device *device);
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int32_t tdc_transmit(uint32_t addr, struct tdc_pkt_header *head);
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void tdc_receive(struct comm_device *device);
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struct tdc_value {
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void *data;
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const char *name;
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@ -114,5 +132,4 @@ struct tdc_value {
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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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@ -76,14 +76,14 @@ void at91_dbgu_putc(char c)
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void at91_dbgu_puts(const char *p)
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{
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fifo_put(txfifo, p, strlen(p));
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fifo_put(txfifo, (char *)p, strlen(p));
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// *AT91C_DBGU_IER = AT91C_US_TXEMPTY;
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*AT91C_DBGU_IER = AT91C_US_TXBUFE;
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}
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int at91_dbgu_write(void *base, const char *buf, size_t len)
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{
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int retval = fifo_put(txfifo, buf, len);
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int retval = fifo_put(txfifo, (char *)buf, len);
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// *AT91C_DBGU_IER = AT91C_US_TXEMPTY;
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*AT91C_DBGU_IER = AT91C_US_TXBUFE;
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return retval;
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30
src/fifo.c
30
src/fifo.c
@ -43,12 +43,11 @@ static uint32_t fifo_used(struct fifo *fifo)
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* append data to fifo
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* returns number of bytes copied
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*/
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uint32_t fifo_put(struct fifo *fifo, const char *buf, uint32_t len)
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uint32_t fifo_put(struct fifo *fifo, char *buf, uint32_t len)
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{
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uint32_t left = fifo->size - fifo_used(fifo);
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// TODO: check semantic
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if (len > left)
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len = left;
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return 0;
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uint32_t count = len;
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while (count--)
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@ -75,16 +74,31 @@ uint32_t fifo_get(struct fifo *fifo, char *buf, uint32_t len)
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}
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/*
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* returns a pointer to the data in the fifo
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* (without changing internal state)
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* get data from fifo, without changing the internal state
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*/
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char * fifo_peek(struct fifo *fifo, uint32_t len)
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uint32_t fifo_peek(struct fifo *fifo, char *buf, uint32_t len)
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{
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uint32_t used = fifo_used(fifo);
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if (len > used)
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return NULL;
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len = used;
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return fifo->buf + (fifo->out & FIFO_MASK(fifo));
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uint32_t count = len;
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uint32_t out = fifo->out;
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while (count--)
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*buf++ = fifo->buf[out++ & FIFO_MASK(fifo)];
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return len;
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}
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/* removes data without reading it (eg. after a peek) */
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uint32_t fifo_remove(struct fifo *fifo, uint32_t len)
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{
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uint32_t used = fifo_used(fifo);
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if (len > used)
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len = used;
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fifo->out += len;
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return len;
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}
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/*
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249
src/telemetrie.c
249
src/telemetrie.c
@ -20,62 +20,40 @@
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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 "at91_pitc.h"
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#include "telemetrie.h"
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#include "memalloc.h"
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#include "fifo.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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/* max. 8x 32 = 256 variables */
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static uint32_t tdc_varmap[8];
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static struct comm_device *routing_table[8];
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/*
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* transmit function
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* returns:
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* -1 : could not sent data (e.g. fifo full)
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* >= 0 : bytes sent
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* -1: on routing error
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* 0: no space left in txfifo (caller should retry)
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* >0: success
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*/
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typedef uint32_t (txfunc_t)(struct tdc_pkt_header *head);
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/* just eat the packet */
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static uint32_t txdummy(struct tdc_pkt_header *head)
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{
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return head->size;
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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, struct tdc_pkt_header *head)
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{
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if (addr <= ARRAY_SIZE(transmit_table))
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return transmit_table[addr](head);
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if (addr >= ARRAY_SIZE(routing_table) || !routing_table[addr])
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return -1;
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return -1;
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return fifo_put(routing_table[addr]->txfifo, (char *)head, head->size);
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}
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/*
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* send all variable names & flags
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* returns:
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* 0 - success (*id = 0)
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* -1 - not all data was sent, restart request later (*id has restart-point)
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*/
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int32_t tdc_get_vars(uint32_t *id)
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static int32_t tdc_get_vars(void)
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{
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struct tdc_value *value = &_tdc_value_table + *id;
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/* restart point */
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static uint32_t id;
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struct tdc_value *value = &_tdc_value_table + id;
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while (value < &_tdc_value_table_end) {
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uint32_t datalen = strlen(value->name);
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@ -83,27 +61,32 @@ int32_t tdc_get_vars(uint32_t *id)
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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->id = id;
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reply->flags = value->flags;
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memcpy(reply->name, value->name, datalen);
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uint32_t txerror = (tdc_transmit(TDC_ADDR0, ((struct tdc_pkt_header *)reply)) != reply->size);
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uint32_t ret = tdc_transmit(TDC_ADDR0, ((struct tdc_pkt_header *)reply));
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free(reply);
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/* transmit fifo is full, remember position (*id) and restart */
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if (txerror)
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return -1;
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/* push routing error(-1) and retry(0) */
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if (ret <= 0)
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return ret;
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(*id)++;
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id++;
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value++;
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}
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*id = 0;
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return 0;
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/* dump complete, reset restart point */
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id = 0;
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return 1;
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}
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int32_t tdc_get_value(uint32_t id)
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static int32_t tdc_get_value(uint32_t id)
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{
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struct tdc_value *value = &_tdc_value_table + id;
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if (value >= &_tdc_value_table_end)
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return -1;
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uint32_t datalen = value->flags & TDC_SIZEMASK;
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struct tdc_getvalue_reply *reply = alloc(sizeof(struct tdc_getvalue_reply) + datalen);
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@ -112,96 +95,160 @@ int32_t tdc_get_value(uint32_t id)
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reply->id = id;
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memcpy(reply->data, value->data, datalen);
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int32_t txerror = (tdc_transmit(TDC_ADDR0, ((struct tdc_pkt_header *)reply)) != reply->size);
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int32_t ret = tdc_transmit(TDC_ADDR0, ((struct tdc_pkt_header *)reply));
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free(reply);
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return (txerror) ? -1 : 0;
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return ret;
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}
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void tdc_set_value(uint32_t id, uint8_t *data)
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static int32_t tdc_set_value(uint32_t id, uint8_t *data)
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{
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struct tdc_value *value = &_tdc_value_table + id;
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if (value >= &_tdc_value_table_end)
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return -1;
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uint32_t datalen = value->flags & TDC_SIZEMASK;
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// TODO: atomic?
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memcpy(value->data, data, datalen);
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return 1;
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}
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/*
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* parses tdc data
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* returns:
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* -1 : data too short / error
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* >= 0 : data read, come back if there is more
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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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static uint32_t tdc_timer_cb(struct pitc_timer *timer)
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{
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// TODO: use a fifo, with a peek function?
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uint32_t i, j;
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for (i = 0; i < ARRAY_SIZE(tdc_varmap); i++) {
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uint32_t tmp = tdc_varmap[i];
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struct tdc_pkt_header *head = (struct tdc_pkt_header *)data;
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for (j = 0; j < 32; j++) {
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if (!tmp)
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break;
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if (size < sizeof(struct tdc_pkt_header))
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return -1;
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if (tmp & 0x01) {
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if (tdc_get_value(i * 32 + j) <= 0)
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return PITC_REMOVE_TIMER;
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}
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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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tdc_register_txfunc(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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// TODO: wrong returncode
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return tdc_transmit(TDC_ADDR0, head);
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tmp >>= 1;
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}
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}
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return PITC_RESTART_TIMER;
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}
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static struct pitc_timer tdc_timer = {
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.func = tdc_timer_cb,
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};
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static int32_t tdc_setup_timer(uint32_t interval, uint32_t *varmap)
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{
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memcpy(tdc_varmap, varmap, sizeof(tdc_varmap));
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if (interval > 0) {
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tdc_timer.interval = interval;
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// TODO: timer already running
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pitc_schedule_timer(&tdc_timer);
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} else {
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// TODO: timer stop
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}
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return 1;
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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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/*
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* returns:
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* -1: on routing error
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* 0: no space left in txfifo (caller should retry)
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* >0: success
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*/
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static int32_t tdc_parse_packet(struct tdc_pkt_header *head)
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{
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/* all replys go to the HOST */
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if (head->cmd & TDC_REPLY)
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return tdc_transmit(TDC_ADDR0, head);
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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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// TODO: wrong returncode
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return tdc_transmit(addr, head);
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}
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int32_t ret = -1;
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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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tdc_transmit(TDC_ADDR0, (struct tdc_pkt_header *)&hello_reply);
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/* answer the hello */
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ret = tdc_transmit(TDC_ADDR0, (struct tdc_pkt_header *)&hello_reply);
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break;
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case TDC_GETVARS: {
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static uint32_t i;
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/* tx-fifo is full, complete request later */
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if (tdc_get_vars(&i) == -1)
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return 0;
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} break;
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case TDC_GETVARS:
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ret = tdc_get_vars();
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break;
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case TDC_GETVALUE: {
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struct tdc_getvalue_request *pkt = (struct tdc_getvalue_request *)data;
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/* tx-fifo is full, retry request later */
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if (tdc_get_value(pkt->id) == -1)
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return 0;
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struct tdc_getvalue_request *pkt = (struct tdc_getvalue_request *)head;
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ret = tdc_get_value(pkt->id);
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} break;
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case TDC_SETVALUE: {
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struct tdc_setvalue_request *pkt = (struct tdc_setvalue_request *)data;
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tdc_set_value(pkt->id, pkt->data);
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struct tdc_setvalue_request *pkt = (struct tdc_setvalue_request *)head;
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ret = tdc_set_value(pkt->id, pkt->data);
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} break;
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case TDC_REQVALUES: {
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struct tdc_reqvalues_request *pkt = (struct tdc_reqvalues_request *)data;
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struct tdc_reqvalues_request *pkt = (struct tdc_reqvalues_request *)head;
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ret = tdc_setup_timer(pkt->interval, pkt->varmap);
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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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* on succes(>0) return size of request,
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* and push retry(0) and routing error(-1) up
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*/
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return (ret > 0) ? head->size : ret;
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}
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void tdc_register_device(uint32_t addr, struct comm_device *device)
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{
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if (addr < ARRAY_SIZE(routing_table))
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routing_table[addr] = device;
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}
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void tdc_receive(struct comm_device *device)
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{
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while (1) {
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/* peek the header */
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struct tdc_pkt_header tmp_head;
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uint32_t len = fifo_peek(device->rxfifo, (char *)&tmp_head, sizeof(tmp_head));
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if (len != sizeof(tmp_head))
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return;
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/* peek the whole packet */
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struct tdc_pkt_header *head = alloc(tmp_head.size);
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len = fifo_peek(device->rxfifo, (char *)head, tmp_head.size);
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if (len != tmp_head.size)
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return;
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/* if it's a hello-request, remember the device as path to the host */
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if ((head->cmd & (TDC_OPCODEMASK & TDC_DIR)) == TDC_HELLO)
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tdc_register_device(TDC_ADDR0, device);
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/* parse packet, remove data if no restart is needed */
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int32_t ret = tdc_parse_packet(head);
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free(head);
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/* some tx-fifo was full(0), return to caller and let it retry */
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if (!ret)
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return;
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/* success(>0) or routing error(-1) -> remove the packet */
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fifo_remove(device->rxfifo, tmp_head.size);
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}
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}
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