forked from mohr/ArduinoIO
new io bard file
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51554fe4a6
commit
325f7c0bca
165
IOBoard.cpp
Normal file
165
IOBoard.cpp
Normal file
@ -0,0 +1,165 @@
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#include "IOBoard.h"
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#include <SPI.h>
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#include "ArduinoConfig.h"
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#include "helper/SimpleRingBuffer.h"
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#include "helper/DleEncoder.h"
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#include "helper/crc_ccitt.h"
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SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
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uint8_t rawData[2 * RING_BUFFER_SIZE];
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size_t rawDataSize = 0;
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namespace IOBoard {
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void handleNewData() {
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ringBuffer.readData(rawData, sizeof(rawData), true, &rawDataSize);
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if (rawDataSize == 0) {
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return;
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}
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//look for STX
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size_t firstSTXinRawData = 0;
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while ((firstSTXinRawData < rawDataSize)
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&& (rawData[firstSTXinRawData] != DleEncoder::STX)) {
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Serial.println(rawData[firstSTXinRawData]);
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firstSTXinRawData++;
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}
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if (rawData[firstSTXinRawData] != DleEncoder::STX) {
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//there is no STX in our data, throw it away...
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Serial.println("NO STX");
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ringBuffer.deleteData(rawDataSize);
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return;
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}
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uint8_t packet[MAX_PACKET_LENGTH];
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size_t packetLen;
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size_t readSize;
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ReturnValue_t result = DleEncoder::decode(rawData + firstSTXinRawData,
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rawDataSize - firstSTXinRawData, &readSize, packet, sizeof(packet),
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&packetLen);
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size_t toDelete = firstSTXinRawData;
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if (result == HasReturnvaluesIF::RETURN_OK) {
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handlePacket(packet, packetLen);
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// after handling the packet, we can delete it from the raw stream,
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// it has been copied to packet
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toDelete += readSize;
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}
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//remove Data which was processed
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ringBuffer.deleteData(toDelete);
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}
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void handlePacket(uint8_t *packet, size_t packetLen) {
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/* Paket layout is:
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------------------------------
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|byte | field |
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| | |
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|------------------------------|
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|1 | 8 bit command |
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|------------------------------|
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|1 | 8 bit address |
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|------------------------------|
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|2 | 16bit length |
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|------------------------------|
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|length | <length> byte data |
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|------------------------------|
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|2 | 16 bit crc |
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|------------------------------|
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------------------------------
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*/
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uint16_t crc = Calculate_CRC(packet, packetLen);
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if (crc != 0) {
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Serial.println("invalid Checksum");
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return;
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}
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uint16_t payloadLen = (packet[2] << 8) | packet[3];
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if (payloadLen != packetLen - 6) {
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Serial.println("invalid len");
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return;
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}
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uint8_t command = packet[0];
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uint8_t address = packet[1];
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switch (command) {
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case COMMAND_TRANSFER_SPI:
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transferSPI(address, packet + 4, payloadLen);
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//echo the data back, no need to change the header fields, they are the same
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//checksum will be written by sendReply()
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//check reply:
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Serial.println("Data response check: ");
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for(size_t i =0; i< packetLen; i++){
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Serial.print("packet nr ");Serial.print(i);Serial.print(" ");
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Serial.println(packet[i]);
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}
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sendReply(packet, packetLen);
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break;
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default:
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Serial.println("invalid command");
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break;
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}
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}
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void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
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SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE3));
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// The specified address is the bit where the last bit is port 0
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// and the first bit is port 7. It is inverted because the SPI protocol
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// requires the slave select to be driven low.
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CS_PORT = ~address;
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SPI.transfer(data, datalen);
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delay(100);
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// Pull the slave select high again.
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CS_PORT = 0xff;
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SPI.endTransaction();
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}
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/**
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* Encode and send the data, last two bytes of data are assumed to be for the checksum
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* and will be overwritten with it
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*/
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void sendReply(uint8_t *data, size_t len) {
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uint16_t crc = Calculate_CRC(data, len - 2);
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data[len - 2] = crc >> 8;
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data[len - 1] = crc;
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//we're being conservative here
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//TODO move this to global so other protocols can use it too
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uint8_t buffer[2 * len + 2];
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buffer[0] = DleEncoder::STX;
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size_t writtenLen;
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ReturnValue_t result = DleEncoder::encode(data, len, buffer, sizeof(buffer),
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&writtenLen, true);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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Serial.write(buffer, writtenLen);
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}
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//TODO check if this is thread safe by arduino
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void serialEvent() {
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//Serial.println(ringBuffer.availableWriteSpace());
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//uint8_t i = 0;
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while (Serial.available()>0) {
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uint8_t byte = Serial.read();
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ringBuffer.writeData(&byte, 1);
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}
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//Serial.println(ringBuffer.availableWriteSpace());
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}
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}
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17
IOBoard.h
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17
IOBoard.h
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@ -0,0 +1,17 @@
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#ifndef IOBOARD_H_
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#define IOBOARD_H_
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#include <Arduino.h>
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namespace IOBoard {
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void handleNewData();
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void handlePacket(uint8_t *packet, size_t packetLen);
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void transferSPI(uint8_t address, uint8_t *data, size_t datalen);
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void sendReply(uint8_t *data, size_t len);
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}
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#endif /* IOBOARD_H_ */
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160
main.cpp
160
main.cpp
@ -1,9 +1,7 @@
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#include <Arduino.h>
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#include "IOBoard.h"
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#include "ArduinoConfig.h"
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#include "helper/SimpleRingBuffer.h"
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#include "helper/DleEncoder.h"
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#include "helper/crc_ccitt.h"
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#include <avr/io.h>
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@ -11,158 +9,6 @@
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//from the core and we need to include it explicitly
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#include <SPI.h>
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SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
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uint8_t rawData[2 * RING_BUFFER_SIZE];
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size_t rawDataSize = 0;
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/**
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* Encode and send the data, last two bytes of data are assumed to be for the checksum
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* and will be overwritten with it
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*/
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void sendData(uint8_t *data, size_t len) {
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uint16_t crc = Calculate_CRC(data, len - 2);
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data[len - 2] = crc >> 8;
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data[len - 1] = crc;
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//we're being conservative here
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//TODO move this to global so other protocols can use it too
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uint8_t buffer[2 * len + 2];
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buffer[0] = DleEncoder::STX;
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size_t writtenLen;
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ReturnValue_t result = DleEncoder::encode(data, len, buffer, sizeof(buffer),
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&writtenLen, true);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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Serial.write(buffer, writtenLen);
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}
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void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
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SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE3));
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// The specified address is the bit where the last bit is port 0
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// and the first bit is port 7. It is inverted because the SPI protocol
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// requires the slave select to be driven low.
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CS_PORT = ~address;
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SPI.transfer(data, datalen);
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delay(100);
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// Pull the slave select high again.
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CS_PORT = 0xff;
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SPI.endTransaction();
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}
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void handlePacket(uint8_t *packet, size_t packetLen) {
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/* Paket layout is:
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------------------------------
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|byte | field |
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| | |
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|------------------------------|
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|1 | 8 bit command |
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|------------------------------|
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|1 | 8 bit address |
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|------------------------------|
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|2 | 16bit length |
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|------------------------------|
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|length | <length> byte data |
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|------------------------------|
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|2 | 16 bit crc |
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|------------------------------|
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------------------------------
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*/
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uint16_t crc = Calculate_CRC(packet, packetLen);
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if (crc != 0) {
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Serial.println("invalid Checksum");
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return;
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}
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uint16_t payloadLen = (packet[2] << 8) | packet[3];
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if (payloadLen != packetLen - 6) {
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Serial.println("invalid len");
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return;
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}
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uint8_t command = packet[0];
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uint8_t address = packet[1];
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switch (command) {
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case COMMAND_TRANSFER_SPI:
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transferSPI(address, packet + 4, payloadLen);
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//echo the data back, no need to change the header fields, they are the same
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//checksum will be written by sendData()
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//check reply:
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Serial.println("Data response check: ");
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for(size_t i =0; i< packetLen; i++){
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Serial.print("packet nr ");Serial.print(i);Serial.print(" ");
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Serial.println(packet[i]);
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}
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sendData(packet, packetLen);
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break;
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default:
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Serial.println("invalid command");
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break;
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}
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}
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void handleNewData() {
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ringBuffer.readData(rawData, sizeof(rawData), true, &rawDataSize);
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if (rawDataSize == 0) {
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return;
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}
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//look for STX
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size_t firstSTXinRawData = 0;
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while ((firstSTXinRawData < rawDataSize)
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&& (rawData[firstSTXinRawData] != DleEncoder::STX)) {
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Serial.println(rawData[firstSTXinRawData]);
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firstSTXinRawData++;
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}
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if (rawData[firstSTXinRawData] != DleEncoder::STX) {
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//there is no STX in our data, throw it away...
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Serial.println("NO STX");
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ringBuffer.deleteData(rawDataSize);
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return;
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}
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uint8_t packet[MAX_PACKET_LENGTH];
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size_t packetLen;
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size_t readSize;
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ReturnValue_t result = DleEncoder::decode(rawData + firstSTXinRawData,
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rawDataSize - firstSTXinRawData, &readSize, packet, sizeof(packet),
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&packetLen);
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size_t toDelete = firstSTXinRawData;
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if (result == HasReturnvaluesIF::RETURN_OK) {
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handlePacket(packet, packetLen);
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// after handling the packet, we can delete it from the raw stream,
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// it has been copied to packet
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toDelete += readSize;
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}
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//remove Data which was processed
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ringBuffer.deleteData(toDelete);
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}
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//TODO check if this is thread safe by arduino
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void serialEvent() {
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//Serial.println(ringBuffer.availableWriteSpace());
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//uint8_t i = 0;
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while (Serial.available()>0) {
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uint8_t byte = Serial.read();
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ringBuffer.writeData(&byte, 1);
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}
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//Serial.println(ringBuffer.availableWriteSpace());
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}
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void setup() {
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// Set data direction of selected port to output.
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@ -183,6 +29,8 @@ void setup() {
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}
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void loop() {
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handleNewData();
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IOBoard::handleNewData();
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delay(1000);
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}
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