From 4f0718caefa7f7a1baf02997fec0b448d0d6615a Mon Sep 17 00:00:00 2001 From: lonkaars Date: Wed, 25 May 2022 11:29:50 +0200 Subject: move more shared code --- robot/errcatch.h | 52 +--------------------------------------------------- robot/sercomm.h | 35 +---------------------------------- robot/setup.c | 3 +-- shared/errors.h | 54 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ shared/protocol.h | 35 +++++++++++++++++++++++++++++++++++ 5 files changed, 92 insertions(+), 87 deletions(-) create mode 100644 shared/errors.h create mode 100644 shared/protocol.h diff --git a/robot/errcatch.h b/robot/errcatch.h index 1e273bd..dcb6a97 100644 --- a/robot/errcatch.h +++ b/robot/errcatch.h @@ -3,57 +3,7 @@ #include #include "../shared/consts.h" - -#define W2_E_TYPE_MASK (0b11 << 6) - -#define W2_E_TYPE_CRIT (0b00 << 6) -#define W2_E_TYPE_WARN (0b01 << 6) -#define W2_E_TYPE_INFO (0b10 << 6) -#define W2_E_TYPE_VERB (0b11 << 6) - -/** - * enum storing all error codes - * - * error codes are between 0-63 because the two most significant bits are - * reserved for error type checking - */ -enum w2_e_errorcodes { - /** wireless connection lost from either robot or client-side */ - W2_E_CRIT_CONN_LOST = 0x00 | W2_E_TYPE_CRIT, - /** serial COM-port unavalable. client-side only */ - W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT, - /** line unable to be found automatically */ - W2_E_CRIT_LINE_LOST = 0x02 | W2_E_TYPE_CRIT, - /** obstacle unavoidable, robot stuck */ - W2_E_CRIT_OBSTACLE_STUCK = 0x03 | W2_E_TYPE_CRIT, - - /** battery low, returning to charging station */ - W2_E_WARN_BATTERY_LOW = 0x00 | W2_E_TYPE_WARN, - /** obstacle detected, waiting then trying other route */ - W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN, - /** logic cycle took longer than `W2_MAX_MODULE_CYCLE_MS` */ - W2_E_WARN_CYCLE_EXPIRED = 0x02 | W2_E_TYPE_WARN, - /** error thrown without handler, gets thrown on next cycle */ - W2_E_WARN_UNCAUGHT_ERROR = 0x03 | W2_E_TYPE_WARN, - /** error buffer full, gets thrown on next cycle */ - W2_E_WARN_ERR_BUFFER_FULL = 0x04 | W2_E_TYPE_WARN, - /** line lost, trying to calibrate */ - W2_E_WARN_LINE_LOST = 0x05 | W2_E_TYPE_WARN, - /** serial buffer full, gets thrown on next cycle */ - W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN, -}; - -/** - * error struct - * - * holds an error with type `code`, and an optional `message` with length - * `message_length` - */ -typedef struct { - enum w2_e_errorcodes code; - uint8_t message_length; - char message[]; -} w2_s_error; +#include "../shared/errors.h" /** error ring buffer */ extern w2_s_error *g_w2_error_buffer[W2_ERROR_BUFFER_SIZE]; diff --git a/robot/sercomm.h b/robot/sercomm.h index 44fdf08..a53d3e2 100644 --- a/robot/sercomm.h +++ b/robot/sercomm.h @@ -2,40 +2,7 @@ #include "../shared/bin.h" #include "../shared/consts.h" - -#define W2_CMDDIR_RX (0) -#define W2_CMDDIR_TX (1) - -enum w2_e_serial_commands { - /** ping command */ - W2_CMD_PING = 0x00, - /** exception command */ - W2_CMD_EXPT = 0x02, - /** mode command */ - W2_CMD_MODE = 0x04, - /** speed command */ - W2_CMD_SPED = 0x06, - /** direct control command */ - W2_CMD_DIRC = 0x08, - /** coordinate command */ - W2_CMD_CORD = 0x0a, - /** backorder modify command */ - W2_CMD_BOMD = 0x0c, - /** soft reset command */ - W2_CMD_SRES = 0x0e, - /** map config command */ - W2_CMD_MCFG = 0x10, - /** sensor data command */ - W2_CMD_SENS = 0x12, - /** info command */ - W2_CMD_INFO = 0x14, - /** display control command */ - W2_CMD_DISP = 0x16, - /** play midi command */ - W2_CMD_PLAY = 0x18, - /** control leds command */ - W2_CMD_CLED = 0x1a, -}; +#include "../shared/protocol.h" /** sercomm ring buffer */ extern w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE]; diff --git a/robot/setup.c b/robot/setup.c index 6af1a05..6dfef50 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -17,8 +17,6 @@ void w2_setup_main() { // check endianness g_w2_endianness = *_ptest; - serial_set_baud_rate(W2_SERIAL_BAUD); - // reset underside leds red_led(0); green_led(0); @@ -27,6 +25,7 @@ void w2_setup_main() { clear(); // start serial input + serial_set_baud_rate(W2_SERIAL_BAUD); serial_receive_ring(g_w2_serial_buffer, W2_SERIAL_READ_BUFFER_SIZE); // indicate startup done diff --git a/shared/errors.h b/shared/errors.h new file mode 100644 index 0000000..280c5ef --- /dev/null +++ b/shared/errors.h @@ -0,0 +1,54 @@ +#pragma once + +#include + +#define W2_E_TYPE_MASK (0b11 << 6) + +#define W2_E_TYPE_CRIT (0b00 << 6) +#define W2_E_TYPE_WARN (0b01 << 6) +#define W2_E_TYPE_INFO (0b10 << 6) +#define W2_E_TYPE_VERB (0b11 << 6) + +/** + * enum storing all error codes + * + * error codes are between 0-63 because the two most significant bits are + * reserved for error type checking + */ +enum w2_e_errorcodes { + /** wireless connection lost from either robot or client-side */ + W2_E_CRIT_CONN_LOST = 0x00 | W2_E_TYPE_CRIT, + /** serial COM-port unavalable. client-side only */ + W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT, + /** line unable to be found automatically */ + W2_E_CRIT_LINE_LOST = 0x02 | W2_E_TYPE_CRIT, + /** obstacle unavoidable, robot stuck */ + W2_E_CRIT_OBSTACLE_STUCK = 0x03 | W2_E_TYPE_CRIT, + + /** battery low, returning to charging station */ + W2_E_WARN_BATTERY_LOW = 0x00 | W2_E_TYPE_WARN, + /** obstacle detected, waiting then trying other route */ + W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN, + /** logic cycle took longer than `W2_MAX_MODULE_CYCLE_MS` */ + W2_E_WARN_CYCLE_EXPIRED = 0x02 | W2_E_TYPE_WARN, + /** error thrown without handler, gets thrown on next cycle */ + W2_E_WARN_UNCAUGHT_ERROR = 0x03 | W2_E_TYPE_WARN, + /** error buffer full, gets thrown on next cycle */ + W2_E_WARN_ERR_BUFFER_FULL = 0x04 | W2_E_TYPE_WARN, + /** line lost, trying to calibrate */ + W2_E_WARN_LINE_LOST = 0x05 | W2_E_TYPE_WARN, + /** serial buffer full, gets thrown on next cycle */ + W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN, +}; + +/** + * error struct + * + * holds an error with type `code`, and an optional `message` with length + * `message_length` + */ +typedef struct { + enum w2_e_errorcodes code; + uint8_t message_length; + char message[]; +} w2_s_error; diff --git a/shared/protocol.h b/shared/protocol.h new file mode 100644 index 0000000..b400252 --- /dev/null +++ b/shared/protocol.h @@ -0,0 +1,35 @@ +#pragma once + +#define W2_CMDDIR_RX (0) +#define W2_CMDDIR_TX (1) + +enum w2_e_serial_commands { + /** ping command */ + W2_CMD_PING = 0x00, + /** exception command */ + W2_CMD_EXPT = 0x02, + /** mode command */ + W2_CMD_MODE = 0x04, + /** speed command */ + W2_CMD_SPED = 0x06, + /** direct control command */ + W2_CMD_DIRC = 0x08, + /** coordinate command */ + W2_CMD_CORD = 0x0a, + /** backorder modify command */ + W2_CMD_BOMD = 0x0c, + /** soft reset command */ + W2_CMD_SRES = 0x0e, + /** map config command */ + W2_CMD_MCFG = 0x10, + /** sensor data command */ + W2_CMD_SENS = 0x12, + /** info command */ + W2_CMD_INFO = 0x14, + /** display control command */ + W2_CMD_DISP = 0x16, + /** play midi command */ + W2_CMD_PLAY = 0x18, + /** control leds command */ + W2_CMD_CLED = 0x1a, +}; 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