Revision 1:f74116b37bc9, committed 2013-07-08

Comitter:

ysuga

Date:

Mon Jul 08 07:14:30 2013 +0000

Parent:

0:5f7bc45bc2e8

Child:

2:cd91d780177c

Commit message:

Update for V4 RTno

Changed in this revision

--- a/EtherTcp.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/EtherTcp.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -17,7 +17,7 @@
 
 
 #define ETCP_RX_BUFFER_SIZE 128
-unsigned char etcp_rx_buffer[ETCP_RX_BUFFER_SIZE];
+uint8_t etcp_rx_buffer[ETCP_RX_BUFFER_SIZE];
 int etcp_rx_buffer_pointer_head = 0;
 int etcp_rx_buffer_pointer_tail = 0;
 Host m_Client;
@@ -128,9 +128,9 @@
   }
 }
 
-char EtherTcp_getc()
+uint8_t EtherTcp_getc()
 {
-  char c;
-  etcp_rx_buffer_pop((unsigned char*)&c);
+  uint8_t c;
+  etcp_rx_buffer_pop(&c);
   return c;
 }

--- a/EtherTcp.h	Mon Jun 24 06:42:11 2013 +0000
+++ b/EtherTcp.h	Mon Jul 08 07:14:30 2013 +0000
@@ -9,6 +9,6 @@
 
 void EtherTcp_putc(const char c);
 uint8_t EtherTcp_available();
-char EtherTcp_getc();
+uint8_t EtherTcp_getc();
 
 #endif // #ifndef ETHER_HEADER_INCLUDED

--- a/Packet.h	Mon Jun 24 06:42:11 2013 +0000
+++ b/Packet.h	Mon Jul 08 07:14:30 2013 +0000
@@ -17,10 +17,14 @@
 #define INVALID_PACKET_DATASIZE  66
 
 // Packet Settings
+#define STARTING_HEADER_SIZE 2
 #define PACKET_HEADER_SIZE 2
 #define INTERFACE 0
 #define DATA_LENGTH 1
-#define DATA_START_ADDR 2
+//#define DATA_START_ADDR 2+4
+
+#define PACKET_STARTING_CHARACTOR_0 0x0a
+#define PACKET_STARTING_CHARACTOR_1 0x0a
 
 enum {
   RTC_STATE_CREATED='C',

--- a/RTno.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/RTno.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -21,10 +21,7 @@
 // module private variables.
 #define PRIVATE static
 
-// static value declaration.
-void(*SerialDevice_putc)(const char c);
-uint8_t(*SerialDevice_available)();
-char(*SerialDevice_getc)();
+extern DigitalOut led3;
 
 PRIVATE int8_t m_pPacketBuffer[PACKET_BUFFER_SIZE];
 
@@ -71,16 +68,16 @@
   }
 }
 
-
 /**
  * Arduino Loop routine.
  * This function is repeadedly called when arduino is turned on.
  */
 void loop() {
   int8_t ret;
-  ret = Transport_ReceivePacket(m_pPacketBuffer);
+  int32_t timeout = 20*1000;
+  ret = Transport_ReceivePacket((uint8_t*)m_pPacketBuffer, timeout);
   if(ret < 0) { // Timeout Error or Checksum Error
-    Transport_SendPacket(PACKET_ERROR, 1, &ret);
+    Transport_SendPacket(PACKET_ERROR, 1, (int8_t*)&ret);
   } else if (ret == 0) {
   } else if (ret > 0) { // Packet is successfully received
     if (m_pPacketBuffer[INTERFACE] == GET_PROFILE) {
@@ -94,17 +91,17 @@
     } else {
       switch(EC_get_component_state()) {
       case RTC_STATE_ERROR:
-    _PacketHandlerOnError();
-    break;
+        _PacketHandlerOnError();
+        break;
       case RTC_STATE_INACTIVE:
-    _PacketHandlerOnInactive();
-    break;
+        _PacketHandlerOnInactive();
+        break;
       case RTC_STATE_ACTIVE:
-    _PacketHandlerOnActive();
-    break;
+        _PacketHandlerOnActive();
+        break;
       case RTC_STATE_NONE:
-    ret = RTNO_NONE;
-    Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, &ret);
+        ret = RTNO_NONE;
+        Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, (int8_t*)&ret);
     break;
       default: // if m_Condition is unknown...
     
@@ -226,15 +223,16 @@
     Transport_SendPacket(EXECUTE, 1, &ret);
     break;
   case SEND_DATA: {
-      PortBase* pInPort = RTnoProfile_getInPort((const char*)&(m_pPacketBuffer[DATA_START_ADDR+2]), m_pPacketBuffer[DATA_START_ADDR]);
+      PortBase* pInPort = RTnoProfile_getInPort((char*)m_pPacketBuffer + 2 + 2, m_pPacketBuffer[2]);
       if(pInPort == NULL) {
-
+        ret = RTNO_ERROR;   
+        Transport_SendPacket(SEND_DATA, 1, &ret);
       } else {
-    PortBuffer* pBuffer = pInPort->pPortBuffer;
-    EC_suspend();
-    pBuffer->push(pBuffer,&(m_pPacketBuffer[DATA_START_ADDR+2+m_pPacketBuffer[DATA_START_ADDR]]), m_pPacketBuffer[DATA_START_ADDR+1]);
-    EC_resume();
-    Transport_SendPacket(SEND_DATA, 1, &ret);
+        PortBuffer* pBuffer = pInPort->pPortBuffer;
+        EC_suspend();
+        pBuffer->push(pBuffer,&(m_pPacketBuffer[2 + 2 + m_pPacketBuffer[2]]), m_pPacketBuffer[2+1]);
+        EC_resume();
+        Transport_SendPacket(SEND_DATA, 1, &ret);
       }
     }
     break;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialDevice.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "SerialDevice.h"
+
+// static value declaration.
+void(*SerialDevice_putc)(const char c);
+uint8_t(*SerialDevice_available)();
+uint8_t(*SerialDevice_getc)();
+
+int32_t INFINITE = -1;
+
+#if 1
+static Timer timer;
+#endif
+
+int8_t SerialDevice_read(uint8_t* buffer, const uint8_t size, const int32_t &wait_usec)
+{
+  int32_t us;
+  timer.reset();
+  timer.start();
+  for(unsigned int i = 0;i < size;i++) {
+    while (1) {
+      if(SerialDevice_available() > 0) {
+        break;
+      }
+      us = timer.read_us();
+      if (us >= wait_usec && wait_usec != INFINITE) {
+        timer.stop();
+        return -TIMEOUT;
+      }
+    }
+    buffer[i] = SerialDevice_getc();
+  }
+  timer.stop();
+  return size;
+}
+
+

--- a/SerialDevice.h	Mon Jun 24 06:42:11 2013 +0000
+++ b/SerialDevice.h	Mon Jul 08 07:14:30 2013 +0000
@@ -3,8 +3,13 @@
 
 #include <stdint.h>
 
+#define TIMEOUT 1
+
+
 extern void(*SerialDevice_putc)(const char c);
 extern uint8_t(*SerialDevice_available)();
-extern char(*SerialDevice_getc)();
+extern uint8_t(*SerialDevice_getc)();
 
+extern int32_t INFINITE;
+int8_t SerialDevice_read(uint8_t* buffer, const uint8_t size, const int32_t &wait_usec=INFINITE);
 #endif

--- a/Transport.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/Transport.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -1,6 +1,7 @@
 #define RTNO_SUBMODULE_DEFINE
 #include <stdint.h>
 #include "mbed.h"
+
 #include "Transport.h"
 #include "Packet.h"
 
@@ -11,17 +12,22 @@
 
 
 int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data) {
-  uint8_t sum = 0;
-  uint8_t sender[4] = {'U', 'A', 'R', 'T'};
+  uint8_t sum = 0;//0x0a + 0x0a;
+
+  uint8_t header[2] = {0x0a, 0x0a};
+  SerialDevice_putc(header[0]);
+  SerialDevice_putc(header[1]);
+  
   SerialDevice_putc(interface);
   sum += interface;
   SerialDevice_putc(data_length);
   sum += data_length;
 
-  for(uint8_t i = 0;i < 4;i++) {
-    sum += sender[i];
-    SerialDevice_putc(sender[i]);
-  }
+  //uint8_t sender[4] = {'U', 'A', 'R', 'T'};
+  //for(uint8_t i = 0;i < 4;i++) {
+    //sum += sender[i];
+  //  SerialDevice_putc(sender[i]);
+  //}
 
   for(uint8_t i = 0;i < data_length;i++) {
     sum += packet_data[i];
@@ -31,59 +37,60 @@
   return PACKET_HEADER_SIZE + data_length + 1;
 }
 
-int8_t Transport_ReceivePacket(int8_t* packet) {
+/**
+ * Transport_ReceivePacket
+ * ¥arg packet
+ * ¥arg timeout
+ */
+int8_t Transport_ReceivePacket(uint8_t* packet, const uint32_t& timeout) {
   uint8_t counter = 0;
-  uint8_t sum = 0;
-
-  if(SerialDevice_available() == 0) {
-    return 0;
-  }
-
-  while(SerialDevice_available() < PACKET_HEADER_SIZE) {
-    wait(PACKET_WAITING_DELAY/1000.0);
-    counter++;
-    if(counter == PACKET_WAITING_COUNT) {
-      return -TIMEOUT;
+  uint8_t buf;
+  int8_t ret;
+  while(1) {
+    if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+      return 0;
     }
-  }
-  packet[INTERFACE] = SerialDevice_getc();
-  sum += packet[INTERFACE];
-  packet[DATA_LENGTH] = SerialDevice_getc();
-  sum += packet[DATA_LENGTH];
-
-  counter = 0;
-  while(SerialDevice_available() < 4) {
-    wait(PACKET_WAITING_DELAY/1000.0);
-    counter++;
-    if(counter == PACKET_WAITING_COUNT) {
-      return -TIMEOUT;
+    if (buf != PACKET_STARTING_CHARACTOR_0) {
+      counter++;
+      continue;
+    }  
+    if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+      return 0;
     }
-  }
-  for(uint8_t i = 0;i < 4;i++) {
-    uint8_t val = SerialDevice_getc();
-    sum += val;
-  }
-
-  for(uint8_t i = 0;i < packet[DATA_LENGTH];i++) {
-    counter = 0;
-    while(SerialDevice_available() == 0) {
-      wait(PACKET_WAITING_DELAY/1000.0);
+    if (buf != PACKET_STARTING_CHARACTOR_1) {
       counter++;
-      if(counter == PACKET_WAITING_COUNT) {
-    return -DATA_TIMEOUT;
-      }
+      continue;
     }
-    packet[PACKET_HEADER_SIZE+i] = SerialDevice_getc();
-    sum += packet[PACKET_HEADER_SIZE+i];
+    break;
   }
   
-  while(SerialDevice_available() == 0) {
-    ;
+   
+  if((ret=SerialDevice_read(packet, PACKET_HEADER_SIZE, timeout)) < 0) {
+    return ret;
+  }  
+
+  //if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE,
+  //  4,
+  //  timeout)) < 0) {
+  //  return ret;
+  //}
+
+  if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE,
+    packet[DATA_LENGTH],
+    timeout)) < 0) {
+    return ret;
   }
-  uint8_t checksum = SerialDevice_getc();
+  
+  if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+    return ret;
+  }
   
-  if(sum != checksum) {
+  uint8_t sum = 0;//PACKET_STARTING_CHARACTOR_0 + PACKET_STARTING_CHARACTOR_1;
+  for(uint8_t i = 0;i < PACKET_HEADER_SIZE+packet[DATA_LENGTH];i++) {
+    sum += packet[i];
+  }
+  if(buf != sum) {
     return -CHECKSUM_ERROR;
   }
-  return PACKET_HEADER_SIZE + packet[DATA_LENGTH] + 1;
+  return PACKET_HEADER_SIZE + packet[DATA_LENGTH];
 }

--- a/Transport.h	Mon Jun 24 06:42:11 2013 +0000
+++ b/Transport.h	Mon Jul 08 07:14:30 2013 +0000
@@ -7,7 +7,7 @@
 int8_t Transport_init();
 
 int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data);
-	
-int8_t Transport_ReceivePacket(int8_t* packet);
+    
+int8_t Transport_ReceivePacket(uint8_t* packet, const uint32_t &timeout=INFINITE);
 
 #endif

--- a/UART.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/UART.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -3,7 +3,7 @@
 #include "mbed.h"
 #include "UART.h"
 
-#define UART_RX_BUFFER_SIZE 128
+#define UART_RX_BUFFER_SIZE 64
 
 static Serial *m_pSerial;
 unsigned char uart_rx_buffer[UART_RX_BUFFER_SIZE];
@@ -14,8 +14,8 @@
 /**
  * Push data to ring buffer.
  */
-int uart_rx_buffer_push(unsigned char c) {
-    uart_rx_buffer[uart_rx_buffer_pointer_tail] = c;
+int uart_rx_buffer_push(unsigned char* c) {
+    uart_rx_buffer[uart_rx_buffer_pointer_tail] = *c;
     uart_rx_buffer_pointer_tail++;
     if(uart_rx_buffer_pointer_tail >= UART_RX_BUFFER_SIZE) {
         uart_rx_buffer_pointer_tail = 0;
@@ -23,6 +23,8 @@
     return 0;
 }
 
+
+
 /**
  * Pop data fron ring buffer
  */
@@ -44,7 +46,8 @@
 }
 
 void rx_isr(void) {
-    uart_rx_buffer_push(m_pSerial->getc());
+    int8_t c = m_pSerial->getc();
+    uart_rx_buffer_push((uint8_t*)&c);
 }
 
 
@@ -77,6 +80,9 @@
 }
 
 void UART_putc(const char c) {
+  while(!m_pSerial->writeable()) {
+    wait_us(100);
+  }
   m_pSerial->putc(c);
 }
 
@@ -86,7 +92,7 @@
 }
 
 
-char UART_getc()
+uint8_t UART_getc()
 {
     unsigned char c;
     uart_rx_buffer_pop(&c);

--- a/UART.h	Mon Jun 24 06:42:11 2013 +0000
+++ b/UART.h	Mon Jul 08 07:14:30 2013 +0000
@@ -6,6 +6,6 @@
 void UART_init(unsigned char num, unsigned long baudrate);
 void UART_putc(const char c);
 uint8_t UART_available();
-char UART_getc();
+uint8_t UART_getc();
 
 #endif