From 93a02c8db294b813edd87b3fb1df9cf0f217e80b Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 2 Apr 2020 18:32:37 +0200 Subject: [PATCH] Inertial commit --- .gitignore | 105 ++++++ .gitmodules | 3 + LICENSE | 619 ++++++++++++++++++++++++++++++++++++ arduino_core | 1 + helper/DleEncoder.cpp | 95 ++++++ helper/DleEncoder.h | 26 ++ helper/HasReturnvaluesIF.h | 25 ++ helper/LICENSE | 202 ++++++++++++ helper/NOTICE | 24 ++ helper/RingBufferBase.h | 97 ++++++ helper/SimpleRingBuffer.cpp | 68 ++++ helper/SimpleRingBuffer.h | 21 ++ helper/crc_ccitt.cpp | 140 ++++++++ helper/crc_ccitt.h | 9 + main.cpp | 153 +++++++++ makefile | 5 + 16 files changed, 1593 insertions(+) create mode 100644 .gitignore create mode 100644 .gitmodules create mode 100644 LICENSE create mode 160000 arduino_core create mode 100644 helper/DleEncoder.cpp create mode 100644 helper/DleEncoder.h create mode 100644 helper/HasReturnvaluesIF.h create mode 100644 helper/LICENSE create mode 100644 helper/NOTICE create mode 100644 helper/RingBufferBase.h create mode 100644 helper/SimpleRingBuffer.cpp create mode 100644 helper/SimpleRingBuffer.h create mode 100644 helper/crc_ccitt.cpp create mode 100644 helper/crc_ccitt.h create mode 100644 main.cpp create mode 100644 makefile diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..096a754 --- /dev/null +++ b/.gitignore @@ -0,0 +1,105 @@ +# ---> KDE +.directory + +# ---> C++ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# ---> avr-gcc + +*.hex +*.elf +*.eep + +*.lss +*.lst +*.map +*.sym + +# ---> Eclipse + +.metadata +bin/ +tmp/ +*.tmp +*.bak +*.swp +*~.nib +local.properties +.settings/ +.loadpath +.recommenders + +# Eclipse Core +.project + +# External tool builders +.externalToolBuilders/ + +# Locally stored "Eclipse launch configurations" +*.launch + +# PyDev specific (Python IDE for Eclipse) +*.pydevproject + +# CDT-specific (C/C++ Development Tooling) +.cproject + +# JDT-specific (Eclipse Java Development Tools) +.classpath + +# Java annotation processor (APT) +.factorypath + +# PDT-specific (PHP Development Tools) +.buildpath + +# sbteclipse plugin +.target + +# Tern plugin +.tern-project + +# TeXlipse plugin +.texlipse + +# STS (Spring Tool Suite) +.springBeans + +# Code Recommenders +.recommenders/ + +# Scala IDE specific (Scala & Java development for Eclipse) +.cache-main +.scala_dependencies +.worksheet diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..ece4eaa --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "arduino_core"] + path = arduino_core + url = https://egit.irs.uni-stuttgart.de/mohr/arduino_core.git diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..aae2f33 --- /dev/null +++ b/LICENSE @@ -0,0 +1,619 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. \ No newline at end of file diff --git a/arduino_core b/arduino_core new file mode 160000 index 0000000..2e1a217 --- /dev/null +++ b/arduino_core @@ -0,0 +1 @@ +Subproject commit 2e1a21773763b2e17b24825f6f7f1e4015e0e9d8 diff --git a/helper/DleEncoder.cpp b/helper/DleEncoder.cpp new file mode 100644 index 0000000..0dde81a --- /dev/null +++ b/helper/DleEncoder.cpp @@ -0,0 +1,95 @@ +#include "DleEncoder.h" + +DleEncoder::DleEncoder() { +} + +DleEncoder::~DleEncoder() { +} + +ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen) { + size_t encodedIndex = 0, decodedIndex = 0; + uint8_t nextByte; + if (*sourceStream != STX) { + return RETURN_FAILED; + } + ++encodedIndex; + while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) + && (sourceStream[encodedIndex] != ETX) + && (sourceStream[encodedIndex] != STX)) { + if (sourceStream[encodedIndex] == DLE) { + nextByte = sourceStream[encodedIndex + 1]; + if (nextByte == 0x10) { + destStream[decodedIndex] = nextByte; + } else { + if ((nextByte == 0x42) || (nextByte == 0x43) + || (nextByte == 0x4D)) { + destStream[decodedIndex] = nextByte - 0x40; + } else { + return RETURN_FAILED; + } + } + ++encodedIndex; + } else { + destStream[decodedIndex] = sourceStream[encodedIndex]; + } + ++encodedIndex; + ++decodedIndex; + } + if (sourceStream[encodedIndex] != ETX) { + return RETURN_FAILED; + } else { + *readLen = ++encodedIndex; + *decodedLen = decodedIndex; + return RETURN_OK; + } +} + +ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, + size_t sourceLen, uint8_t* destStream, size_t maxDestLen, + size_t* encodedLen, bool addStxEtx) { + if (maxDestLen < 2) { + return RETURN_FAILED; + } + uint32_t encodedIndex = 0, sourceIndex = 0; + uint8_t nextByte; + if (addStxEtx) { + destStream[0] = STX; + ++encodedIndex; + } + while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) { + nextByte = sourceStream[sourceIndex]; + if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) { + if (encodedIndex + 1 >= maxDestLen) { + return RETURN_FAILED; + } else { + destStream[encodedIndex] = DLE; + ++encodedIndex; + destStream[encodedIndex] = nextByte + 0x40; + } + } else if (nextByte == DLE) { + if (encodedIndex + 1 >= maxDestLen) { + return RETURN_FAILED; + } else { + destStream[encodedIndex] = DLE; + ++encodedIndex; + destStream[encodedIndex] = DLE; + } + } else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) { + if (addStxEtx) { + destStream[encodedIndex] = ETX; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } else { + return RETURN_FAILED; + } +} diff --git a/helper/DleEncoder.h b/helper/DleEncoder.h new file mode 100644 index 0000000..60babb1 --- /dev/null +++ b/helper/DleEncoder.h @@ -0,0 +1,26 @@ +#ifndef DLEENCODER_H_ +#define DLEENCODER_H_ + +#include "HasReturnvaluesIF.h" +#include + +class DleEncoder: public HasReturnvaluesIF { +private: + DleEncoder(); + virtual ~DleEncoder(); + +public: + static const uint8_t STX = 0x02; + static const uint8_t ETX = 0x03; + static const uint8_t DLE = 0x10; + + static ReturnValue_t decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen); + + static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); +}; + +#endif /* DLEENCODER_H_ */ diff --git a/helper/HasReturnvaluesIF.h b/helper/HasReturnvaluesIF.h new file mode 100644 index 0000000..75da1b1 --- /dev/null +++ b/helper/HasReturnvaluesIF.h @@ -0,0 +1,25 @@ +#ifndef HASRETURNVALUESIF_H_ +#define HASRETURNVALUESIF_H_ + +#include + +#define MAKE_RETURN_CODE( number ) ((INTERFACE_ID << 8) + (number)) +typedef uint16_t ReturnValue_t; + + + + + + +class HasReturnvaluesIF { +public: + static const ReturnValue_t RETURN_OK = 0; + static const ReturnValue_t RETURN_FAILED = 1; + virtual ~HasReturnvaluesIF() { + } + +}; + + + +#endif /* HASRETURNVALUESIF_H_ */ diff --git a/helper/LICENSE b/helper/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/helper/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/helper/NOTICE b/helper/NOTICE new file mode 100644 index 0000000..6432cbb --- /dev/null +++ b/helper/NOTICE @@ -0,0 +1,24 @@ +The classes in this folder are taken from the Flight Software Framework, hosted at +https://egit.irs.uni-stuttgart.de/fsfw/fsfw. Original NOTICE file below: + +Flight Software Framework + +The initial version of the Flight Software Framework was developed during +the Flying Laptop Project by the Universität Stuttgart in coorporation +with Airbus Defence and Space GmbH. + +Copyrights in the Flight Software Framework are retained by their contributors. +No copyright assignment is required to contribute to the Flight Software Framework. + +Some files include explicit copyright notices and/or license notices. +For full authorship information, see the version control history. + +Except as otherwise noted (below and/or in individual files), the +Flight Software Framework is licensed under the Apache License, Version 2.0. + +The Flight Software Framework includes modules written by third parties. +The following third party modules are included, and carry +their own copyright notices and license terms: + +under contrib/: + * sgp4: sgp4 code developed by david vallado under public domain, see https://www.celestrak.com/publications/AIAA/2006-6753/ diff --git a/helper/RingBufferBase.h b/helper/RingBufferBase.h new file mode 100644 index 0000000..fddd9a5 --- /dev/null +++ b/helper/RingBufferBase.h @@ -0,0 +1,97 @@ +#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ +#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ + +#include "HasReturnvaluesIF.h" +#include + +template +class RingBufferBase { +public: + RingBufferBase(size_t startAddress, size_t size, bool overwriteOld) : + start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) { + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = startAddress; + } + } + ReturnValue_t readData(size_t amount, uint8_t n = 0) { + if (availableReadData(n) >= amount) { + incrementRead(amount, n); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + ReturnValue_t writeData(size_t amount) { + if (availableWriteSpace() >= amount || overwriteOld) { + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + size_t availableReadData(uint8_t n = 0) const { + return ((write + size) - read[n]) % size; + } + size_t availableWriteSpace(uint8_t n = 0) const { + //One less to avoid ambiguous full/empty problem. + return (((read[n] + size) - write - 1) % size); + } + bool isFull(uint8_t n = 0) { + return (availableWriteSpace(n) == 0); + } + bool isEmpty(uint8_t n = 0) { + return (availableReadData(n) == 0); + } + virtual ~RingBufferBase() { + + } + size_t getRead(uint8_t n = 0) const { + return read[n]; + } + void setRead(size_t read, uint8_t n = 0) { + if (read >= start && read < (start+size)) { + this->read[n] = read; + } + } + size_t getWrite() const { + return write; + } + void setWrite(size_t write) { + this->write = write; + } + void clear() { + write = start; + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = start; + } + } + size_t writeTillWrap() { + return (start + size) - write; + } + size_t readTillWrap(uint8_t n = 0) { + return (start + size) - read[n]; + } + size_t getStart() const { + return start; + } + bool overwritesOld() const { + return overwriteOld; + } + size_t maxSize() const { + return size - 1; + } +protected: + const size_t start; + size_t write; + size_t read[N_READ_PTRS]; + const size_t size; + const bool overwriteOld; + void incrementWrite(size_t amount) { + write = ((write + amount - start) % size) + start; + } + void incrementRead(size_t amount, uint8_t n = 0) { + read[n] = ((read[n] + amount - start) % size) + start; + } +}; + +#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */ diff --git a/helper/SimpleRingBuffer.cpp b/helper/SimpleRingBuffer.cpp new file mode 100644 index 0000000..3c0004d --- /dev/null +++ b/helper/SimpleRingBuffer.cpp @@ -0,0 +1,68 @@ +#include "SimpleRingBuffer.h" +#include + +SimpleRingBuffer::SimpleRingBuffer(size_t size, bool overwriteOld) : + RingBufferBase<>(0, size, overwriteOld), buffer(NULL) { + buffer = new uint8_t[size]; +} + +SimpleRingBuffer::~SimpleRingBuffer() { + delete[] buffer; +} + +ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, + size_t amount) { + if (availableWriteSpace() >= amount || overwriteOld) { + size_t amountTillWrap = writeTillWrap(); + if (amountTillWrap >= amount) { + memcpy(&buffer[write], data, amount); + } else { + memcpy(&buffer[write], data, amountTillWrap); + memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); + } + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, + bool readRemaining, size_t* trueAmount) { + size_t availableData = availableReadData(READ_PTR); + size_t amountTillWrap = readTillWrap(READ_PTR); + if (availableData < amount) { + if (readRemaining) { + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != NULL) { + *trueAmount = amount; + } + if (amountTillWrap >= amount) { + memcpy(data, &buffer[read[READ_PTR]], amount); + } else { + memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); + memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t SimpleRingBuffer::deleteData(size_t amount, + bool deleteRemaining, size_t* trueAmount) { + size_t availableData = availableReadData(READ_PTR); + if (availableData < amount) { + if (deleteRemaining) { + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != NULL) { + *trueAmount = amount; + } + incrementRead(amount, READ_PTR); + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/helper/SimpleRingBuffer.h b/helper/SimpleRingBuffer.h new file mode 100644 index 0000000..cea26b4 --- /dev/null +++ b/helper/SimpleRingBuffer.h @@ -0,0 +1,21 @@ +#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ +#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ + +#include "RingBufferBase.h" +#include + +class SimpleRingBuffer: public RingBufferBase<> { +public: + SimpleRingBuffer(size_t size, bool overwriteOld); + virtual ~SimpleRingBuffer(); + ReturnValue_t writeData(const uint8_t* data, size_t amount); + ReturnValue_t readData(uint8_t* data, size_t amount, bool readRemaining = false, size_t* trueAmount = NULL); + ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false, size_t* trueAmount = NULL); +private: +// static const uint8_t TEMP_READ_PTR = 1; + static const uint8_t READ_PTR = 0; + uint8_t* buffer; +}; + +#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */ + diff --git a/helper/crc_ccitt.cpp b/helper/crc_ccitt.cpp new file mode 100644 index 0000000..3694cb4 --- /dev/null +++ b/helper/crc_ccitt.cpp @@ -0,0 +1,140 @@ +#include "crc_ccitt.h" +#include + +static const uint16_t crc_table[256] = { + 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, + 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, + 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, + 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, + 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, + 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, + 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, + 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, + 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, + 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, + 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, + 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, + 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, + 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, + 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, + 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, + 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, + 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, + 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, + 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, + 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, + 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, + 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, + 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, + 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, + 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, + 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, + 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, + 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, + 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, + 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 +}; + + +// CRC implementation +uint16_t Calculate_CRC(uint8_t const input[], uint32_t length) +{ + uint16_t crc = 0xFFFF; + uint8_t *data = (uint8_t *)input; + unsigned int tbl_idx; + + while (length--) { + tbl_idx = ((crc >> 8) ^ *data) & 0xff; + crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xffff; + + data++; + } + return crc & 0xffff; + + //The part below is not used! +// bool temr[16]; +// bool xor_out[16]; +// bool r[16]; +// bool d[8]; +// uint16_t crc_value = 0; +// +// +// for (int i=0; i<16 ;i++) { +// temr[i] = false; +// xor_out[i] = false; +// } +// +// +// for (int i=0; i<16 ;i++) +// r[i] = true; // initialize with 0xFFFF +// +// +// +// for (int j=0; j + +uint16_t Calculate_CRC(uint8_t const input[], uint32_t length); + + +#endif /* CRC_H_ */ diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..323654b --- /dev/null +++ b/main.cpp @@ -0,0 +1,153 @@ +#include + +#include "helper/SimpleRingBuffer.h" +#include "helper/DleEncoder.h" +#include "helper/crc_ccitt.h" + +//SPI is formally a library, so it is not part of the objects compiled +//from the core and we need to include it explicitly +#include "arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.h" + +//Define which port to use for the SPI Chip Select +#define CS_PORT PORTC +#define CS_DDR DDRC + +#define RING_BUFFER_SIZE 100 +#define MAX_PACKET_LENGTH 20 + +static const uint8_t COMMAND_TRANSFER_SPI = 1; + +SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true); + +uint8_t rawData[2 * RING_BUFFER_SIZE]; +size_t rawDataSize = 0; + +/** + * Encode and send the data, last two bytes of data are assumed to be for the checksum + * and will be overwritten with it + */ +void sendData(uint8_t *data, size_t len) { + uint16_t crc = Calculate_CRC(data,len-2); + data[len-2] = crc >> 8; + data[len-1] = crc; + //we're being conservative here + //TODO move this to global so other protocols can use it too + uint8_t buffer[2*len +2]; + buffer[0] = DleEncoder::STX; + size_t writtenLen; + ReturnValue_t result = DleEncoder::encode(data,len,buffer,sizeof(buffer),&writtenLen, true); + if (result != HasReturnvaluesIF::RETURN_OK){ + return; + } + Serial.write(buffer, writtenLen); +} + +void transferSPI(uint8_t address, uint8_t *data, size_t datalen) { + SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE0)); + CS_PORT = ~address; + SPI.transfer(data,datalen); + delay(100); + CS_PORT = 0xff; + SPI.endTransaction(); + +} + +void handlePacket(uint8_t *packet, size_t packetLen) { + //Paket layout is: + // 8 bit command | 8 bit address | 16bit length | byte data | 16 bit crc + + uint16_t crc = Calculate_CRC(packet, packetLen); + + if (crc != 0) { + //Serial.println("invalid Checksum"); + return; + } + + + uint16_t payloadLen = (packet[2] << 8) | packet[3]; + + if (payloadLen + 6 != packetLen) { + //Serial.println("invalid len"); + return; + } + + uint8_t command = packet[0]; + uint8_t address = packet[1]; + + switch (command) { + case COMMAND_TRANSFER_SPI: + transferSPI(address, packet + 4, payloadLen); + //echo the data back, no need to change the header fields, they are the same + //checksum will be written by sendData() + sendData(packet,packetLen); + break; + default: + //Serial.println("invalid command"); + break; + } + +} + +void handleNewData() { + ringBuffer.readData(rawData, sizeof(rawData), true, &rawDataSize); + + if (rawDataSize == 0) { + return; + } + + //look for STX + size_t firstSTXinRawData = 0; + while ((firstSTXinRawData < rawDataSize) + && (rawData[firstSTXinRawData] != DleEncoder::STX)) { + firstSTXinRawData++; + } + + if (rawData[firstSTXinRawData] != DleEncoder::STX) { + //there is no STX in our data, throw it away... + Serial.println(firstSTXinRawData); + ringBuffer.deleteData(rawDataSize); + return; + } + + uint8_t packet[MAX_PACKET_LENGTH]; + size_t packetLen; + + size_t readSize; + + ReturnValue_t result = DleEncoder::decode(rawData + firstSTXinRawData, + rawDataSize - firstSTXinRawData, &readSize, packet, sizeof(packet), + &packetLen); + + size_t toDelete = firstSTXinRawData; + if (result == HasReturnvaluesIF::RETURN_OK) { + handlePacket(packet, packetLen); + + //after handling the packet, we can delete it from the raw stream, it has been copied to packet + toDelete += readSize; + } + + //remove Data which was processed + ringBuffer.deleteData(toDelete); + +} + +//TODO check if this is thread safe by arduino +void serialEvent() { + while (Serial.available()) { + uint8_t byte = Serial.read(); + ringBuffer.writeData(&byte, 1); + } +} + +void setup() { + CS_DDR = 0xff; + CS_PORT = 0xff; + Serial.begin(9600); + SPI.begin(); + pinMode(LED_BUILTIN, OUTPUT); +} + +void loop() { + handleNewData(); + delay(100); +} diff --git a/makefile b/makefile new file mode 100644 index 0000000..ca05fff --- /dev/null +++ b/makefile @@ -0,0 +1,5 @@ +TARGET = ArduinoIO +SRC = # the C source files +PSRC = main.cpp $(wildcard helper/*.cpp) arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.cpp # the C++ source files +ARDLIBS = # extra Arduino libraries +include arduino_core/arduino-base.mk # this line includes the Makefile.base