diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/hypervisor.h | 13 | ||||
| -rw-r--r-- | robot/makefile | 2 | ||||
| -rw-r--r-- | robot/sercomm.c | 43 | ||||
| -rw-r--r-- | robot/sim.h | 2 |
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 |