diff options
| -rw-r--r-- | fw/main.c | 88 | ||||
| -rwxr-xr-x | fw/test.py | 28 |
2 files changed, 66 insertions, 50 deletions
@@ -348,14 +348,46 @@ void uart_config(void) { NVIC_SetPriority(USART1_IRQn, 3); } +/* Error counters */ static unsigned int overruns = 0; static unsigned int frame_overruns = 0; +static unsigned int invalid = 0; + +volatile uint8_t *packet_received(int len) { + static int packet_state = 0; + if (len == 0) { + packet_state = 0; + } else if (len == sizeof(rx_buf.set_fb_rq)/2) { + if (packet_state == 0) { + packet_state = 1; + return rx_buf.byte_data + (sizeof(rx_buf.set_fb_rq)/2); + } else if (packet_state == 1) { + if (fb_op == FB_WRITE) { + fb_op = FB_FORMAT; + } else { + /* FIXME An overrun happend. What should we do? */ + frame_overruns++; + } + packet_state = 2; + } + } else { + /* FIXME An invalid packet has been received. What should we do? */ + invalid++; + packet_state = 2; + } + return rx_buf.byte_data; +} + #define SYNC_LENGTH 32 /* Must be a power of two */ void USART1_IRQHandler(void) { - static uint8_t expect_framing = 1; + static volatile uint8_t *writep = rx_buf.byte_data; static int rxpos = 0; - static int resync = SYNC_LENGTH+1; - static int sync_chars = 0; + static enum { + COBS_WAIT_SYNC = 0, + COBS_WAIT_START = 1, + COBS_RUNNING = 2 + } cobs_state = 0; + static int cobs_count = 0; GPIOA->BSRR = GPIO_BSRR_BS_0; // Debug @@ -363,42 +395,28 @@ void USART1_IRQHandler(void) { /* FIXME An overrun happend. What should we do? */ overruns++; rxpos = 0; - expect_framing = 1; + cobs_state = COBS_WAIT_SYNC; USART1->ICR = USART_ICR_ORECF; } else { /* RXNE */ uint8_t data = USART1->RDR; - if (data == 0x23) - sync_chars++; - else - sync_chars = 0; - - if (resync) { - if (sync_chars == SYNC_LENGTH+1) { - resync = 0; - } - } else if (expect_framing) { - if (data == 0x42) { - expect_framing = 0; - } else { - rxpos = 0; - resync = 1; - } + if (data == 0x00) { /* End-of-packet */ + writep = packet_received(rxpos); + cobs_state = COBS_WAIT_START; + rxpos = 0; } else { - rx_buf.byte_data[rxpos] = data; - rxpos++; - if ((rxpos&(SYNC_LENGTH-1)) == 0) { - expect_framing = 1; - } - if (rxpos >= sizeof(rx_buf.set_fb_rq)) { - rxpos = 0; - expect_framing = 1; - if (fb_op == FB_WRITE) { - fb_op = FB_FORMAT; - } else { - /* FIXME An overrun happend. What should we do? */ - frame_overruns++; + if (cobs_state == COBS_WAIT_SYNC) { + /* ignore data */ + } else if (cobs_state == COBS_WAIT_START) { + cobs_count = data; + cobs_state = COBS_RUNNING; + } else { + if (--cobs_count == 0) { + cobs_count = data; + data = 0; } + + writep[rxpos++] = data; } } } @@ -538,10 +556,6 @@ int main(void) { led_state = (led_state+1)&7; } if (fb_op == FB_FORMAT) { - for (int i=0; i<sizeof(rx_buf.set_fb_rq); i++) { - if (rx_buf.byte_data[i] == 0x42) - asm("bkpt"); - } transpose_data(rx_buf.byte_data, write_fb); fb_op = FB_UPDATE; } @@ -5,11 +5,15 @@ def chunked(data, chunk_size): for i in range(0, len(data), chunk_size): yield data[i:i+chunk_size] -def frame_packet(data, chunk_size=32, frame_char=b'\x42'): - return frame_char + frame_char.join(chunked(data, chunk_size)) - -def sync_frame(sync_char=b'\x23', chunk_size=32): - return sync_char*(chunk_size+1) +def frame_packet(data): + if len(data) > 254: + raise ValueError('Input too long') + out = b'' + for run in data.split(b'\0'): + out += bytes([len(run)+1]) + out += run + out += b'\0' + return out def format_packet(data): out = b'' @@ -18,6 +22,7 @@ def format_packet(data): al, bl, cl, dl = a&0xff, b&0xff, c&0xff, d&0xff # FIXME check order of high bits out += bytes([al, bl, cl, dl, (ah<<6 | bh<<4 | ch<<2 | dh<<0)&0xff]) + out += bytes([1, 0, 0, 0]) # global intensity return out if __name__ == '__main__': @@ -35,17 +40,14 @@ if __name__ == '__main__': frames = \ [black]*10 +\ [red]*10 +\ - [[i]*frame_len for i in range(0, 256, 4)] +\ - [[(i + (d//8)*8) % 256*8 for d in range(frame_len)] for i in range(0, 256, 16)] + [[i]*frame_len for i in range(256)] +\ + [[(i + (d//8)*8) % 256*8 for d in range(frame_len)] for i in range(256)] - frames = [red, black]*5 + #frames = [red, black]*5 while True: - print('Sending sync structure') - ser.write(sync_frame()) for i, frame in enumerate(frames): formatted = format_packet(frame) - #formatted = format_packet(list(range(256))) - framed = frame_packet(formatted) + framed = b'\0' + frame_packet(formatted[:162]) + frame_packet(formatted[162:]) print('sending', i, len(frame), len(formatted), len(framed)) ser.write(framed) - time.sleep(0.1) + time.sleep(0.02) |