255 lines
6.8 KiB
C
255 lines
6.8 KiB
C
/***************************************************************************
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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 "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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* 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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int32_t tdc_transmit(uint32_t addr, struct tdc_pkt_header *head)
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{
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if (addr >= ARRAY_SIZE(routing_table) || !routing_table[addr])
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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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static int32_t tdc_get_vars(void)
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{
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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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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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uint32_t ret = tdc_transmit(TDC_ADDR0, ((struct tdc_pkt_header *)reply));
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free(reply);
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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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value++;
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}
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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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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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reply->cmd = TDC_REPLY | TDC_ADDR1 | TDC_GETVALUE;
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reply->size = sizeof(struct tdc_getvars_reply) + datalen;
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reply->id = id;
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memcpy(reply->data, value->data, datalen);
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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 ret;
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}
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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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static uint32_t tdc_timer_cb(struct pitc_timer *timer)
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{
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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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for (j = 0; j < 32; j++) {
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if (!tmp)
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break;
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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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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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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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case TDC_HELLO:
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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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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 *)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 *)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 *)head;
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ret = tdc_setup_timer(pkt->interval, pkt->varmap);
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} break;
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};
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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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