Timing Problem dummy solution

.gitignore

@@ -103,4 +103,3 @@ local.properties
 .cache-main
 .scala_dependencies
 .worksheet
-/Release/

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "arduino"]
+[submodule "arduino_core"]
 	path = arduino_core
-	url = https://egit.irs.uni-stuttgart.de/eive/arduino_core.git
+	url = https://egit.irs.uni-stuttgart.de/mohr/arduino_core.git

ArduinoConfig.h

@@ -1,37 +0,0 @@
-#ifndef ARDUINOCONFIG_H_
-#define ARDUINOCONFIG_H_
-
-static const uint8_t COMMAND_TRANSFER_SPI = 1;
-
-// Can be set to one for additional programming information from the primary
-// serial port which is usually also used to flash the Arduino
-// Can be disabled if this output interferes with the usual
-// serial communication logic
-#define PROGRAMMING_OUTPUT          1
-
-#define BAUD_RATE               115200
-#define SERIAL_RX_BUFFER_SIZE   256
-#define RING_BUFFER_SIZE        100
-#define MAX_PACKET_LENGTH       100
-#define RING_BUFFER_CHECK_INTVL 1000
-
-// Define which port to use for the SPI Chip Select by using the register
-// definitions. The data direction register is assigned as well.
-// The ports can be looked up on the official Arduino pinout schematics.
-#ifdef ARDUINO_AVR_MEGA2560
-// Defines for the Arduino Mega
-#define CS_PORT PORTK
-#define CS_DDR DDRK
-#elif defined(ARDUINO_AVR_UNO)
-#define CS_PORT PORTD
-#define CS_DDR DDRD
-#elif defined(__SAM3X8E__)
-// Define for the Arduino Due
-#define CS_PORT PORTC
-#define CS_DDR DDRC
-#else
-#define CS_PORT PORTC
-#define CS_DDR DDRC
-#endif
-
-#endif /* ARDUINOCONFIG_H_ */

IOBoard.cpp

@@ -1,172 +0,0 @@
-#include "IOBoard.h"
-#include <SPI.h>
-#include "ArduinoConfig.h"
-#include "helper/SimpleRingBuffer.h"
-#include "helper/DleEncoder.h"
-#include "helper/crc_ccitt.h"
-
-SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
-
-uint8_t rawData[2 * RING_BUFFER_SIZE];
-size_t rawDataSize = 0;
-
-#define PACKET_COMMAND_LENGTH       1
-#define PACKET_ADDRESS_LENGTH       1
-#define PACKET_SIZE_FIELD_LENGTH    2
-
-#define PACKET_HEADER_LENGTH        4
-
-namespace IOBoard {
-
-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)) {
-        Serial.println(rawData[firstSTXinRawData]);
-        firstSTXinRawData++;
-    }
-
-    if (rawData[firstSTXinRawData] != DleEncoder::STX) {
-        //there is no STX in our data, throw it away...
-        Serial.println("NO STX");
-        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);
-
-}
-
-void handlePacket(uint8_t *packet, size_t packetLen) {
-    /* Paket layout is:
-      ------------------------------
-     |byte     |  field             |
-     |         |                    |
-     |------------------------------|
-     |1        | 8 bit command      |
-     |------------------------------|
-     |1        | 8 bit address      |
-     |------------------------------|
-     |2        | 16bit length       |
-     |------------------------------|
-     |length   | <length> byte data |
-     |------------------------------|
-     |2        | 16 bit crc         |
-     |------------------------------|
-      ------------------------------
-    */
-
-    uint16_t crc = Calculate_CRC(packet, packetLen);
-
-    if (crc != 0) {
-        Serial.println("-AI- Invalid packet checksum detected!");
-        return;
-    }
-
-    uint16_t payloadLen = (packet[2] << 8) | packet[3];
-
-    if (payloadLen != packetLen - 6) {
-        Serial.println("-AI- Invalid packet length detected!");
-        return;
-    }
-
-    uint8_t command = packet[0];
-    uint8_t address = packet[1];
-
-    switch (command) {
-    case COMMAND_TRANSFER_SPI:
-        transferSPI(address, packet + PACKET_HEADER_LENGTH, payloadLen);
-        //echo the data back, no need to change the header fields, they are the same
-        //checksum will be written by sendReply()
-        //check reply:
-        Serial.println("Data response check: ");
-        for(size_t i =0; i< packetLen; i++){
-            Serial.print("packet nr ");Serial.print(i);Serial.print(" ");
-            Serial.println(packet[i]);
-        }
-        sendReply(packet, packetLen);
-        break;
-    default:
-        Serial.println("invalid command");
-        break;
-    }
-
-}
-
-void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
-    SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE3));
-    // The specified address is the bit where the last bit is port 0
-    // and the first bit is port 7. It is inverted because the SPI protocol
-    // requires the slave select to be driven low.
-    CS_PORT = ~address;
-    SPI.transfer(data, datalen);
-    delay(100);
-    // Pull the slave select high again.
-    CS_PORT = 0xff;
-    SPI.endTransaction();
-}
-
-/**
- * Encode and send the data, last two bytes of data are assumed to be for the checksum
- * and will be overwritten with it
- */
-void sendReply(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);
-}
-
-
-//TODO check if this is thread safe by arduino
-// I think it is, see HardwareSerial::available()
-void serialEvent() {
-    //Serial.println(ringBuffer.availableWriteSpace());
-    //uint8_t i = 0;
-
-    while (Serial.available()>0) {
-        uint8_t byte = Serial.read();
-        ringBuffer.writeData(&byte, 1);
-    }
-    //Serial.println(ringBuffer.availableWriteSpace());
-}
-}
-
-
-

IOBoard.h

@@ -1,17 +0,0 @@
-#ifndef IOBOARD_H_
-#define IOBOARD_H_
-
-#include <Arduino.h>
-
-namespace IOBoard {
-
-void handleNewData();
-void handlePacket(uint8_t *packet, size_t packetLen);
-void transferSPI(uint8_t address, uint8_t *data, size_t datalen);
-void sendReply(uint8_t *data, size_t len);
-
-}
-
-
-
-#endif /* IOBOARD_H_ */

Makefile

@@ -1,19 +0,0 @@
-TARGET = ArduinoIO
-
-# The C source files
-SRC = 
-
-# The C++ source files
-PSRC += main.cpp
-PSRC += IOBoard.cpp
-PSRC += $(wildcard helper/*.cpp) 
-PSRC += arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.cpp
-
-# extra Arduino libraries
-ARDLIBS = 				
-
-EXTRAINCDIRS += arduino_core/ArduinoCore-avr/libraries/SPI/src
-EXTRAINCDIRS += arduino_core/src
-
-# this line includes the Makefile.base
-include arduino_core/arduino-base.mk

main.cpp

@@ -1,47 +1,187 @@
 #include <Arduino.h>
 
-#include "IOBoard.h"
+#include "helper/SimpleRingBuffer.h"
-#include "ArduinoConfig.h"
+#include "helper/DleEncoder.h"
+#include "helper/crc_ccitt.h"
 
-// TODO: Copy this header into arduino_core, so it can be used without
-// Eclipse Sloeber as well.
-#include <arduino-timer.h>
 #include <avr/io.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 <SPI.h>
+#include "arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.h"
 
-auto timer = timer_create_default();
+//Define which port to use for the SPI Chip Select
+#define CS_PORT PORTB
+#define CS_DDR DDRB
 
-void setup() {
+#define RING_BUFFER_SIZE 100
-    // Set data direction of selected port to output.
+#define MAX_PACKET_LENGTH 100
-    CS_DDR = 0xff;
+#define SERIAL_RX_BUFFER_SIZE 256
-    // Drive all the slave selects high as required for the SPI protocol
+
-    // if no transfer is going on.
+static const uint8_t COMMAND_TRANSFER_SPI = 1;
-    CS_PORT = 0xff;
+
-    Serial.begin(BAUD_RATE);
+SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
-#if PROGRAMMING_OUTPUT == 1
+
-    Serial.println("-AI- Setting up Arduino IO interface board.");
+uint8_t rawData[2 * RING_BUFFER_SIZE];
-    Serial.print("-AI- Configured baud rate for serial communication: ");
+size_t rawDataSize = 0;
-    Serial.println(BAUD_RATE, DEC);
+
-    Serial.print("-AI- Size of serial receiver buffer: ");
+/**
-    Serial.print(SERIAL_RX_BUFFER_SIZE, DEC);
+ * Encode and send the data, last two bytes of data are assumed to be for the checksum
-    Serial.println(" bytes");
+ * and will be overwritten with it
-#endif
+ */
-    SPI.begin();
+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);
 }
 
-bool periodicHandler1(void* args) {
+void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
-    if(args) {};
+	SPI.beginTransaction(SPISettings(100000, MSBFIRST, SPI_MODE3));
-    IOBoard::handleNewData();
+	//CS_PORT = ~address;
-    return false;
+	digitalWrite(10, LOW);
+	//included
+    for (size_t i = 0; i < datalen; i++)
+    {
+    	//Serial.print("SentData is: ");Serial.println(data[i]);
+        data[i] = SPI.transfer(data[i]);
+        //Serial.print("Back from n-1 ");Serial.println(data[i]);
+
+    }
+	//SPI.transfer(data, datalen);
+	delay(100);
+	digitalWrite(10, HIGH);
+	//CS_PORT = 0xff;
+	SPI.endTransaction();
+
+}
+
+void handlePacket(uint8_t *packet, size_t packetLen) {
+	//Paket layout is:
+	// 8 bit command | 8 bit address | 16bit length | <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 != packetLen - 6) {
+		//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()
+		//check reply:
+
+		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)) {
+		//Serial.println(rawData[firstSTXinRawData]);
+		firstSTXinRawData++;
+	}
+
+	if (rawData[firstSTXinRawData] != DleEncoder::STX) {
+		//there is no STX in our data, throw it away...
+		//Serial.println("NO STX");
+		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() {
+	//Serial.println(ringBuffer.availableWriteSpace());
+	uint8_t i = 0;
+
+	while (Serial.available()>0) {
+		uint8_t byte = Serial.read();
+		ringBuffer.writeData(&byte, 1);
+	}
+	//Serial.println(ringBuffer.availableWriteSpace());
+}
+
+void setup() {
+	//CS_DDR = 0xff;
+	//CS_PORT = 0xff;
+
+	//CS_DDR |= (1<<);
+	//CS_PORT |= (1<<PB2);
+	Serial.begin(9600);
+	pinMode(MOSI, OUTPUT);
+	pinMode(SCK, OUTPUT);
+	pinMode(MISO, INPUT);
+	pinMode(10, OUTPUT);
+	digitalWrite(10,HIGH);
 }
 
 void loop() {
-    timer.tick();
+;
-    timer.every(RING_BUFFER_CHECK_INTVL, periodicHandler1);
+	handleNewData();
-    //delay(1000);
+	delay(1000);
 }
-
-

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