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authorlonkaars <loek@pipeframe.xyz>2022-06-02 17:22:48 +0200
committerlonkaars <loek@pipeframe.xyz>2022-06-02 17:22:48 +0200
commit14779cb187dac9ed4a0b6e7645e76e78587ad024 (patch)
treeae523d0216d0d9dce7155296bbe915a6f8f22c22 /robot
parent052be3db6fbb855be63e95291a270ba707796739 (diff)
ping working
Diffstat (limited to 'robot')
-rw-r--r--robot/hypervisor.h13
-rw-r--r--robot/makefile2
-rw-r--r--robot/sercomm.c43
-rw-r--r--robot/sim.h2
4 files changed, 48 insertions, 12 deletions
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index 589d324..59398c6 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -4,9 +4,13 @@
#include <stdint.h>
+#include "../shared/bool.h"
+
/** amount of parallel timers */
#define W2_HYPERVISOR_TIMER_COUNT (1)
+#define W2_TIMER_PING (0)
+
extern uint64_t g_w2_hypervisor_cycles;
extern uint64_t g_w2_hypervisor_uptime_ms;
@@ -15,10 +19,16 @@ extern unsigned long g_w2_hypervisor_ema_errcatch_ms;
extern unsigned long g_w2_hypervisor_ema_io_ms;
extern unsigned long g_w2_hypervisor_ema_mode_ms;
+extern unsigned int g_w2_ping_ms;
+extern uint8_t g_w2_ping_id;
+extern bool g_w2_ping_received;
+extern bool g_w2_ping_timeout;
+extern bool g_w2_connected;
+
/**
* backbone of all other modules
*
- * stores global variables and controls when other modules run
+ * stores global state and controls when other modules run
*/
void w2_hypervisor_main();
@@ -26,3 +36,4 @@ void w2_hypervisor_main();
void w2_hypervisor_time_start(uint8_t label);
/** stop timer with label `label` */
uint64_t w2_hypervisor_time_end(uint8_t label);
+
diff --git a/robot/makefile b/robot/makefile
index 11e8509..ed700ae 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -6,7 +6,7 @@ MCU ?= atmega168
AVRDUDE_DEVICE ?= m168
PORT ?= /dev/ttyACM0
-SIM = true
+# SIM = true
CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
LDFLAGS=-Wl,-gc-sections -Wl,-relax
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 519568d..afde48a 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -20,6 +20,12 @@ char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
uint8_t g_w2_serial_buffer_index = 0;
uint8_t g_w2_serial_buffer_head = 0;
+unsigned int g_w2_ping_ms = 0;
+uint8_t g_w2_ping_id = 0;
+bool g_w2_ping_received = true;
+bool g_w2_ping_timeout = false;
+bool g_w2_connected = false;
+
void w2_sercomm_main() {
#ifdef W2_SIM
simprintfunc("w2_sercomm_main", "");
@@ -31,6 +37,27 @@ void w2_sercomm_main() {
g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE;
}
+ // check time-out
+ if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) {
+ g_w2_ping_timeout = true;
+ w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT);
+ }
+ // send ping every W2_TIMER_PING ms
+ if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > 1000) || g_w2_ping_timeout) {
+ g_w2_ping_timeout = false;
+ g_w2_ping_received = false;
+ g_w2_ping_id = (uint8_t) rand();
+
+ W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, msg, bin);
+ msg->opcode = W2_CMD_PING | W2_CMDDIR_TX;
+ msg->id = g_w2_ping_id;
+
+ w2_sercomm_append_msg(bin);
+ free(bin);
+
+ w2_hypervisor_time_start(W2_TIMER_PING);
+ }
+
// send data
while (g_w2_sercomm_offset != g_w2_sercomm_index) {
w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset];
@@ -62,15 +89,14 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
-void w2_cmd_ping_rx(w2_s_bin *data) {
- W2_CAST_BIN(w2_s_cmd_ping_rx, data, req);
-
- W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, res_msg, res_bin);
- res_msg->opcode = W2_CMD_PING | W2_CMDDIR_TX;
- res_msg->id = req->id;
+void w2_cmd_ping_tx(w2_s_bin *data) {
+ g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING);
+ g_w2_ping_received = true;
+ g_w2_ping_timeout = false;
+}
- w2_sercomm_append_msg(res_bin);
- free(res_bin);
+void w2_cmd_ping_rx(w2_s_bin *data) {
+ w2_sercomm_append_msg(data);
}
void w2_cmd_mode_rx(w2_s_bin *data) {
@@ -150,7 +176,6 @@ void w2_cmd_cled_rx(w2_s_bin *data) { return; }
#pragma GCC diagnostic pop
-void w2_cmd_ping_tx(w2_s_bin *data) {}
void w2_cmd_expt_tx(w2_s_bin *data) {}
void w2_cmd_mode_tx(w2_s_bin *data) {}
void w2_cmd_cord_tx(w2_s_bin *data) {}
diff --git a/robot/sim.h b/robot/sim.h
index 9d73585..14f0f74 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -16,7 +16,7 @@
#define DBG_ENABLE_CYCLEINFO (0)
#define DBG_ENABLE_SERIAL (1)
-#define DBG_CYCLE_DELAY (100e3)
+#define DBG_CYCLE_DELAY (1e3)
#define DBG_MAX_CYCLES (-1)
// debug print options