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-rw-r--r--shared/bin.h3
-rw-r--r--shared/bool.h9
-rw-r--r--shared/consts.h24
-rw-r--r--shared/errors.h4
-rw-r--r--shared/io.h59
-rw-r--r--shared/makefile4
-rw-r--r--shared/os.mk12
-rw-r--r--shared/protocol.c19
-rw-r--r--shared/protocol.h60
-rw-r--r--shared/semver.h2
-rw-r--r--shared/serial_parse.c23
-rw-r--r--shared/serial_parse.h13
-rw-r--r--shared/util.h2
13 files changed, 137 insertions, 97 deletions
diff --git a/shared/bin.h b/shared/bin.h
index af3a249..48485c8 100644
--- a/shared/bin.h
+++ b/shared/bin.h
@@ -1,4 +1,7 @@
#pragma once
+
+/** @file bin.h */
+
/**
* helper file for binary data
*
diff --git a/shared/bool.h b/shared/bool.h
new file mode 100644
index 0000000..9ea97f7
--- /dev/null
+++ b/shared/bool.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <stdint.h>
+
+/** @file bool.h */
+
+typedef uint8_t bool;
+#define false 0 /* NOLINT */
+#define true 1 /* NOLINT */
diff --git a/shared/consts.h b/shared/consts.h
index c65e50f..cdd96b3 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -1,28 +1,38 @@
#pragma once
+/** @file consts.h */
+
#ifndef W2_BUILD_STR
// is defined by CFLAGS += -DW2_BUILD_STR in makefile
#define W2_BUILD_STR ("????????")
#endif
-/** max logic module execution time in milliseconds */
-#define W2_MAX_MODULE_CYCLE_MS (20)
+#if !defined W2_HOST_WIN32 && !defined W2_HOST_LINUX
+#define W2_HOST_UNKNOWN
+#warning "host operating system unknown"
+#endif
+
/** serial baud rate (bit/s) */
#define W2_SERIAL_BAUD (9600)
+/** size of input (receive) buffer (in bytes) */
+#define W2_SERIAL_READ_BUFFER_SIZE (255)
+
/** size of the error handling buffer (in errors, not bytes) */
#define W2_ERROR_BUFFER_SIZE (16)
/** size of the serial communication buffer (in messages, not bytes) */
#define W2_SERCOMM_BUFFER_SIZE (16)
-/** size of input (receive) buffer (in bytes) */
-#define W2_SERIAL_READ_BUFFER_SIZE (255)
-/** exponential moving average new measurement weight (double 0-1) */
-#define W2_EMA_WEIGHT (0.10)
/** size of mode history buffer */
#define W2_MODE_HISTORY_BUFFER_SIZE (4)
+/** max logic module execution time in milliseconds */
+#define W2_MAX_MODULE_CYCLE_MS (20)
+
+/** exponential moving average new measurement weight (double 0-1) */
+#define W2_EMA_WEIGHT (0.10)
+
/** front-facing distance sensor pinout */
#define W2_FRONT_SENSOR_PIN 5
/** battery voltage sensor pinout */
#define W2_BATTERY_PIN 6
/** side-facing distance sensor pinout */
-#define W2_SIDE_SENSOR_PIN 7 \ No newline at end of file
+#define W2_SIDE_SENSOR_PIN 7
diff --git a/shared/errors.h b/shared/errors.h
index ac8e95f..344a506 100644
--- a/shared/errors.h
+++ b/shared/errors.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file errors.h */
+
#include <stdint.h>
#define W2_E_TYPE_MASK (0b11 << 6)
@@ -43,8 +45,6 @@ typedef enum {
W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN,
/** semver minor version doesn't match */
W2_E_WARN_VERSION_INCOMPATIBLE = 0x07 | W2_E_TYPE_WARN,
- /** serial byte took to long to receive */
- W2_E_WARN_SERIAL_TIMEOUT = 0x08 | W2_E_TYPE_WARN,
/** unknown message encountered (noisy channel?) */
W2_E_WARN_SERIAL_NOISY = 0x09 | W2_E_TYPE_WARN,
/** mode history index out of bounds */
diff --git a/shared/io.h b/shared/io.h
new file mode 100644
index 0000000..584ad1e
--- /dev/null
+++ b/shared/io.h
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <stdio.h>
+
+#include "bool.h"
+
+#pragma pack(push, 1)
+
+/** momentary button input struct */
+typedef struct {
+ bool pressed;
+} w2_s_i_push;
+
+/** qtr contrast sensor input struct */
+typedef struct {
+ uint16_t range;
+} w2_s_i_contrast;
+
+/** distance sensor input struct */
+typedef struct {
+ uint16_t detection;
+} w2_s_i_distance;
+
+/** battery input struct */
+typedef struct {
+ uint16_t charge_level;
+} w2_s_i_battery;
+
+/** motor output struct */
+typedef struct {
+ int16_t speed;
+} w2_s_o_motor;
+
+/** underside led output struct */
+typedef struct {
+ bool on;
+} w2_s_o_led;
+
+/** lcd output struct */
+typedef struct {
+ char text[16];
+} w2_s_o_display;
+
+/** struct containing all i/o */
+typedef struct {
+ w2_s_i_push button[5];
+ w2_s_i_contrast qtr[5];
+ w2_s_i_distance front_distance;
+ w2_s_i_distance side_distance;
+ w2_s_i_battery battery;
+
+ w2_s_o_motor motor_left;
+ w2_s_o_motor motor_right;
+ w2_s_o_led led_red;
+ w2_s_o_led led_green;
+ w2_s_o_display lcd;
+} w2_s_io_all;
+
+#pragma pack(pop)
diff --git a/shared/makefile b/shared/makefile
index cfdf8ac..e5a6ff6 100644
--- a/shared/makefile
+++ b/shared/makefile
@@ -1,5 +1,9 @@
SOURCES += $(wildcard ../shared/*.c)
HEADERS += $(wildcard ../shared/*.h)
+# debug build info string
+BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
+CFLAGS += -DW2_BUILD_STR=\"$(BUILD_STR)\"
+
clean::
rm -f ../shared/*.o
diff --git a/shared/os.mk b/shared/os.mk
new file mode 100644
index 0000000..e4ede42
--- /dev/null
+++ b/shared/os.mk
@@ -0,0 +1,12 @@
+# os info
+OS=$(strip $(shell uname -o))
+ifeq ($(OS),GNU/Linux)
+CFLAGS += -DW2_HOST_LINUX
+LINUX := true
+TARGET := a.out
+endif
+ifeq ($(OS),Msys)
+CFLAGS += -DW2_HOST_WIN32
+WIN32 := true
+TARGET := a.exe
+endif \ No newline at end of file
diff --git a/shared/protocol.c b/shared/protocol.c
index fcc9fa4..9be1d31 100644
--- a/shared/protocol.c
+++ b/shared/protocol.c
@@ -74,22 +74,3 @@ size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data) {
size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data) {
return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_mcfg_rx, 3, w2_s_cmd_mcfg_feature);
}
-
-void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) {
- w2_s_bin *copy = w2_bin_s_alloc(data_length, data);
- void (*handler)(w2_s_bin *) = g_w2_cmd_handlers[data[0]];
-
- if (handler == NULL) {
-#ifdef W2_SIM
- // TODO throw warning
- simwarn("unknown serial message with code 0x%02x\n", data[0]);
-#endif
- } else {
-#ifdef W2_SIM
- w2_sim_print_serial(copy);
-#endif
- handler(copy);
- }
-
- free(copy);
-}
diff --git a/shared/protocol.h b/shared/protocol.h
index 7aa5e9f..93e53f4 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -1,14 +1,14 @@
#pragma once
+/** @file protocol.h */
+
#include <stdint.h>
#include <stdlib.h>
#include "bin.h"
+#include "bool.h"
#include "consts.h"
-
-typedef uint8_t bool;
-#define false 0 /* NOLINT */
-#define true 1 /* NOLINT */
+#include "io.h"
#define W2_SERIAL_START_BYTE 0xff
@@ -52,56 +52,6 @@ typedef enum {
#pragma pack(push, 1)
-/** momentary button input struct */
-typedef struct {
- bool pressed;
-} w2_s_i_push;
-
-/** qtr contrast sensor input struct */
-typedef struct {
- uint16_t range;
-} w2_s_i_contrast;
-
-/** distance sensor input struct */
-typedef struct {
- uint16_t detection;
-} w2_s_i_distance;
-
-/** battery input struct */
-typedef struct {
- uint16_t charge_level;
-} w2_s_i_battery;
-
-/** motor output struct */
-typedef struct {
- int16_t speed;
-} w2_s_o_motor;
-
-/** underside led output struct */
-typedef struct {
- bool on;
-} w2_s_o_led;
-
-/** lcd output struct */
-typedef struct {
- char text[16];
-} w2_s_o_display;
-
-/** struct containing all i/o */
-typedef struct {
- w2_s_i_push button[5];
- w2_s_i_contrast qtr[5];
- w2_s_i_distance front_distance;
- w2_s_i_distance side_distance;
- w2_s_i_battery battery;
-
- w2_s_o_motor motor_left;
- w2_s_o_motor motor_right;
- w2_s_o_led led_red;
- w2_s_o_led led_green;
- w2_s_o_display lcd;
-} w2_s_io_all;
-
typedef struct {
uint8_t opcode;
uint8_t id;
@@ -164,6 +114,8 @@ typedef struct {
uint8_t status;
} w2_s_cmd_bomd_tx;
+#define W2_CMD_SRES_RX_TYPE_REINITGS 0
+#define W2_CMD_SRES_RX_TYPE_PREVMODE 1
typedef struct {
uint8_t opcode;
uint8_t type;
diff --git a/shared/semver.h b/shared/semver.h
index a99ae61..6a1da79 100644
--- a/shared/semver.h
+++ b/shared/semver.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file semver.h */
+
#include <stdint.h>
typedef struct {
diff --git a/shared/serial_parse.c b/shared/serial_parse.c
index 3bc8e3b..b1b4f50 100644
--- a/shared/serial_parse.c
+++ b/shared/serial_parse.c
@@ -3,8 +3,7 @@
#include "consts.h"
#include "serial_parse.h"
-// TODO: give this function last time of byte, and measure if >5ms, throw warning
-void w2_serial_parse(uint8_t byte) {
+bool w2_serial_parse(uint8_t byte) {
static uint8_t current_message[W2_SERIAL_READ_BUFFER_SIZE] = {0};
static uint8_t current_message_index = 0;
static uint8_t complete_message_length = 2;
@@ -14,18 +13,14 @@ void w2_serial_parse(uint8_t byte) {
if (byte == W2_SERIAL_START_BYTE) {
attentive = !attentive;
- // if (attentive && listening) {
- // current_message[current_message_index++] = byte;
- // }
- } else {
- // activate listen after non-0xff byte after 0xff
- if (attentive && !listening) {
- attentive = false;
- listening = true;
- }
+ if (attentive && listening) return W2_SERIAL_READ_SUCCESS;
+ } else if (attentive) {
+ attentive = false;
+ listening = !listening;
+ if (!listening) return W2_SERIAL_READ_FAILURE;
}
- if (!listening) return;
+ if (!listening) return W2_SERIAL_READ_SUCCESS;
current_message[current_message_index++] = byte;
complete_message_length = w2_cmd_sizeof(current_message, current_message_index);
@@ -38,6 +33,8 @@ void w2_serial_parse(uint8_t byte) {
complete_message_length = 1;
attentive = false;
listening = false;
- return;
+ return W2_SERIAL_READ_SUCCESS;
}
+
+ return W2_SERIAL_READ_SUCCESS;
}
diff --git a/shared/serial_parse.h b/shared/serial_parse.h
index a1c8fb9..0816ea1 100644
--- a/shared/serial_parse.h
+++ b/shared/serial_parse.h
@@ -1,8 +1,17 @@
#pragma once
+/** @file serial_parse.h */
+
#include <stdint.h>
+#include "bool.h"
#include "protocol.h"
-/** parse serial data byte by byte */
-void w2_serial_parse(uint8_t byte);
+#define W2_SERIAL_READ_SUCCESS true
+#define W2_SERIAL_READ_FAILURE false
+
+/**
+ * parse serial data byte by byte
+ * @return true if read success, false if read fails
+ */
+bool w2_serial_parse(uint8_t byte);
diff --git a/shared/util.h b/shared/util.h
index 9e4d8ac..465e043 100644
--- a/shared/util.h
+++ b/shared/util.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file util.h */
+
#define W2_MIN(a, b) (((a) < (b)) ? (a) : (b))
#define W2_MAX(a, b) (((a) > (b)) ? (a) : (b))
#define W2_RANGE(min, val, max) W2_MIN(max, W2_MAX(val, min))