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-rw-r--r--prototype/fw/Makefile2
-rw-r--r--prototype/fw/generic_stm32.ld20
-rw-r--r--prototype/fw/src/crc32.h6
-rw-r--r--prototype/fw/src/main.c131
-rw-r--r--prototype/fw/src/microcobs.c25
-rw-r--r--prototype/fw/tools/ser_test.py73
6 files changed, 197 insertions, 60 deletions
diff --git a/prototype/fw/Makefile b/prototype/fw/Makefile
index 33288b8..32ded36 100644
--- a/prototype/fw/Makefile
+++ b/prototype/fw/Makefile
@@ -37,6 +37,8 @@ STARTUP_FILE := $(CMSIS_DEVICE_DIR)/Source/Templates/gcc/startup_stm32f302xc.s
ASM_SOURCES := $(STARTUP_FILE)
C_SOURCES := src/main.c
+C_SOURCES += src/microcobs.c
+C_SOURCES += src/crc32.c
C_SOURCES += upstream/tinyprintf/tinyprintf.c
CPP_SOURCES := # - none -
diff --git a/prototype/fw/generic_stm32.ld b/prototype/fw/generic_stm32.ld
index 8fe2da8..72a9c72 100644
--- a/prototype/fw/generic_stm32.ld
+++ b/prototype/fw/generic_stm32.ld
@@ -94,26 +94,6 @@ SECTIONS
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
- _siccmram = LOADADDR(.ccmram);
-
- /* CCM-RAM section
- *
- * IMPORTANT NOTE!
- * If initialized variables will be placed in this section,
- * the startup code needs to be modified to copy the init-values.
- */
- .ccmram :
- {
- . = ALIGN(4);
- _sccmram = .; /* create a global symbol at ccmram start */
- *(.ccmram)
- *(.ccmram*)
-
- . = ALIGN(4);
- _eccmram = .; /* create a global symbol at ccmram end */
- } >CCMRAM AT> FLASH
-
-
/* Uninitialized data section */
. = ALIGN(4);
.bss :
diff --git a/prototype/fw/src/crc32.h b/prototype/fw/src/crc32.h
index 7a3a729..c115820 100644
--- a/prototype/fw/src/crc32.h
+++ b/prototype/fw/src/crc32.h
@@ -5,8 +5,10 @@
typedef uint32_t crc32_t;
-inline static uint32_t crc32_reset() { return ~0; }
+inline static uint32_t crc32_reset(void);
+uint32_t crc32_reset() { return ~0; }
uint32_t crc32_update(uint32_t old_state, uint8_t c);
-inline static uint32_t crc32_finalize(uint32_t state) { return ~state; }
+inline static uint32_t crc32_finalize(uint32_t state);
+uint32_t crc32_finalize(uint32_t state) { return ~state; }
#endif /* __CRC_32_H__ */
diff --git a/prototype/fw/src/main.c b/prototype/fw/src/main.c
index de920eb..fb3c302 100644
--- a/prototype/fw/src/main.c
+++ b/prototype/fw/src/main.c
@@ -1,49 +1,128 @@
#include <global.h>
+#include "microcobs.h"
+#include "crc32.h"
+
+struct __attribute__((packed)) ll_pkt_trailer {
+ uint32_t crc32;
+};
+
+struct __attribute__((packed)) req_pkt {
+ uint32_t req_seq;
+ struct ll_pkt_trailer trailer;
+};
+
+struct __attribute__((packed)) res_pkt {
+ uint32_t req_seq;
+ uint32_t res_seq;
+ struct ll_pkt_trailer trailer;
+};
+
+struct tx_state {
+ uint8_t *tx_char;
+ int remaining_bytes;
+};
+
+static crc32_t pkt_crc(void *pkt, struct ll_pkt_trailer *trailer);
+crc32_t pkt_crc(void *pkt, struct ll_pkt_trailer *trailer) {
+ crc32_t crc = crc32_reset();
+ for (uint8_t *in = (uint8_t *)pkt; in < (uint8_t *)trailer; in++) {
+ crc = crc32_update(crc, *in);
+ }
+ return crc32_finalize(crc);
+}
+
+static void packetize(void *pkt, struct ll_pkt_trailer *trailer);
+void packetize(void *pkt, struct ll_pkt_trailer *trailer) {
+ trailer->crc32 = pkt_crc(pkt, trailer);
+}
+
int main(void) {
RCC->AHBENR |= RCC_AHBENR_GPIOAEN;
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
- GPIOA->MODER |= (2 << GPIO_MODER_MODER9_Pos);
- GPIOA->AFR[1] = (7 << (9-8)*4);
+ GPIOA->MODER |= (2 << GPIO_MODER_MODER9_Pos) | (2 << GPIO_MODER_MODER10_Pos);
+ GPIOA->AFR[1] = (7 << (9-8)*4) | (7 << (10-8)*4);
SystemCoreClockUpdate();
int apb2_clock = SystemCoreClock / APB2_PRESC;
int baudrate = 115200;
- USART1->CR1 = USART_CR1_MME | USART_CR1_TE;
+ USART1->CR1 = USART_CR1_TE | USART_CR1_RE;
USART1->BRR = (apb2_clock + baudrate/2) / baudrate;
+ USART1->CR1 |= USART_CR2_RXINV;
USART1->CR1 |= USART_CR1_UE;
- char s[12] = {
- '0', '0', '0', '0', '0',
- ' ', 'T', 'E', 'S', 'T',
- '\n', '\0'};
- int line = 0;
- char *c = s;
- USART1->TDR = *(c++); /* Kick off transmission */
+ int req_seq = 0;
+ int res_seq = 0;
+ struct req_pkt req_buf = { 0 };
+ struct tx_state tx_st = { 0 };
+ struct res_pkt res_buf = { 0 };
+ uint8_t rx_buf[512];
+ uint8_t tx_buf[512];
+ size_t rx_char = 0;
+ unsigned int rx_overrun = 0;
+ unsigned int rx_cobs_error = 0;
+ unsigned int rx_framing_error = 0;
+ unsigned int rx_crc_error = 0;
+
+ USART1->TDR = 0; /* Kick off transmission */
while (23) {
- if (USART1->ISR & USART_ISR_TXE) {
+ if (tx_st.remaining_bytes == 0) {
+ res_buf.req_seq = req_seq;
+ res_buf.res_seq = res_seq;
+ res_seq += 1;
+ packetize(&res_buf, &res_buf.trailer);
+ tx_st.tx_char = tx_buf;
+ tx_st.remaining_bytes = cobs_encode((uint8_t *)&res_buf, sizeof(res_buf), tx_buf, sizeof(tx_buf));;
+ }
+
+ if (USART1->ISR & USART_ISR_TXE && tx_st.remaining_bytes > 0) {
for (int i=0; i<100; i++)
asm volatile ("nop");
- USART1->TDR = *(c++);
- if (!*c) {
- c = s;
- line++;
- int tmp = line;
- tmp %= 100000;
- s[0] = '0' + tmp/10000;
- tmp %= 10000;
- s[1] = '0' + tmp/1000;
- tmp %= 1000;
- s[2] = '0' + tmp/100;
- tmp %= 100;
- s[3] = '0' + tmp/10;
- tmp %= 10;
- s[4] = '0' + tmp;
+ USART1->TDR = *(tx_st.tx_char);
+ tx_st.tx_char += 1;
+ tx_st.remaining_bytes -= 1;
+ }
+
+ if (USART1->ISR & USART_ISR_ORE)
+ USART1->ICR = USART_ICR_ORECF;
+
+ if (USART1->ISR & USART_ISR_NE)
+ USART1->ICR = USART_ICR_NCF;
+
+ if (USART1->ISR & USART_ISR_FE)
+ USART1->ICR = USART_ICR_FECF;
+
+ if (USART1->ISR & USART_ISR_RXNE) {
+ uint8_t c = USART1->RDR;
+ if (!c) {
+ int rc = cobs_decode(rx_buf, rx_char, (uint8_t *)&req_buf, sizeof(req_buf));
+ if (rc < 0) {
+ rx_cobs_error += 1;
+ } else {
+ if (rc == sizeof(req_buf)) {
+ crc32_t check_crc = pkt_crc(&req_buf, &req_buf.trailer);
+ if (check_crc != req_buf.trailer.crc32) {
+ rx_crc_error += 1;
+ } else {
+ req_seq = req_buf.req_seq;
+ }
+ } else {
+ rx_framing_error += 1;
+ }
+ }
+ rx_char = 0;
+ } else {
+ if (rx_char < sizeof(rx_buf)) {
+ rx_buf[rx_char] = c;
+ rx_char += 1;
+ } else {
+ rx_overrun += 1;
+ }
}
}
}
diff --git a/prototype/fw/src/microcobs.c b/prototype/fw/src/microcobs.c
index aea199e..5007344 100644
--- a/prototype/fw/src/microcobs.c
+++ b/prototype/fw/src/microcobs.c
@@ -7,15 +7,15 @@ ssize_t cobs_encode_sg(const struct sg_entry input[], uint8_t *output, size_t ou
{
size_t idx_pos = 0;
size_t out_pos = 1;
- size_t sg_idx = 0;
+ ssize_t sg_idx = 0;
const struct sg_entry *e = input;
- fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size);
+ /* fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size); */
while (e->size >= 0) {
if (sg_idx == e->size) {
sg_idx = 0;
e++;
- fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size);
+ /* fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size); */
continue;
}
@@ -23,7 +23,7 @@ ssize_t cobs_encode_sg(const struct sg_entry input[], uint8_t *output, size_t ou
return -1;
uint8_t inbyte = e->target[sg_idx];
- fprintf(stderr, "%02x ", inbyte);
+ /* fprintf(stderr, "%02x ", inbyte); */
sg_idx += 1;
if (out_pos - idx_pos >= 255) {
@@ -49,8 +49,8 @@ ssize_t cobs_encode_sg(const struct sg_entry input[], uint8_t *output, size_t ou
return -1;
output[idx_pos] = out_pos - idx_pos;
output[out_pos] = 0x00;
- fprintf(stderr, "\n");
- fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos);
+ /* fprintf(stderr, "\n"); */
+ /* fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos); */
return out_pos + 1;
}
@@ -66,7 +66,7 @@ ssize_t cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output, siz
return -1;
uint8_t inbyte = input[in_pos];
- fprintf(stderr, "%02x ", inbyte);
+ /* fprintf(stderr, "%02x ", inbyte); */
in_pos += 1;
if (out_pos - idx_pos >= 255) {
@@ -92,12 +92,13 @@ ssize_t cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output, siz
return -1;
output[idx_pos] = out_pos - idx_pos;
output[out_pos] = 0x00;
- fprintf(stderr, "\n");
- fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos);
+ /* fprintf(stderr, "\n"); */
+ /* fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos); */
return out_pos + 1;
}
+/* input and output may overlap. */
ssize_t cobs_decode(const uint8_t *input, size_t input_len, uint8_t *output, size_t output_len)
{
size_t out_pos = 0;
@@ -108,20 +109,20 @@ ssize_t cobs_decode(const uint8_t *input, size_t input_len, uint8_t *output, siz
while (in_pos < input_len) {
size_t len = input[in_pos];
- fprintf(stderr, "Length @%03d = %03d\n", in_pos, len);
+ /* fprintf(stderr, "Length @%03d = %03d\n", in_pos, len); */
in_pos += 1;
for (size_t i=0; i<len-1; i++) {
if (in_pos >= input_len)
break;
- fprintf(stderr, "Copy %03d -> %03d %02x\n", in_pos, out_pos, input[in_pos]);
+ /* fprintf(stderr, "Copy %03d -> %03d %02x\n", in_pos, out_pos, input[in_pos]); */
output[out_pos] = input[in_pos];
in_pos += 1;
out_pos += 1;
}
if (in_pos < input_len && len < 255) {
- fprintf(stderr, "Zero %03d %02x\n", out_pos);
+ /* fprintf(stderr, "Zero %03d %02x\n", out_pos); */
output[out_pos] = 0;
out_pos += 1;
}
diff --git a/prototype/fw/tools/ser_test.py b/prototype/fw/tools/ser_test.py
new file mode 100644
index 0000000..191124b
--- /dev/null
+++ b/prototype/fw/tools/ser_test.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+import struct
+import itertools
+import binascii
+import string
+import serial
+import time
+import zlib
+
+from cobs import cobs
+
+if __name__ == '__main__':
+ import argparse
+ parser = argparse.ArgumentParser()
+ parser.add_argument('port')
+ parser.add_argument('-b', '--baudrate', type=int, default=115200)
+ args = parser.parse_args()
+
+ ser = serial.Serial(args.port, args.baudrate, timeout=0)
+
+ byte_count = 0
+ line = b''
+ packet = b''
+ start_time = time.time()
+ seq = 0
+
+ make_color = lambda x: f'\033[38;5;{x}m'
+ field_colors = [ make_color(x) for x in [ 48, 48, 48, 48, 220, 220, 220, 220, 207, 207, 207, 207 ] ]
+ last_tx = time.time()
+ while True:
+ data = ser.read()
+ for c in data:
+ if byte_count == 0:
+ print(f'\033[38;5;244m{time.time() - start_time: 8.3f} \033[0m', end='')
+
+ col = '\033[91m' if c == 0 else '\033[0m'
+ print(f'{col}{c:02x}', end=' ')
+ line += bytes([c])
+ byte_count += 1
+ if c == 0:
+ print(' ' * (16 - byte_count), end='\033[0m\n')
+ byte_count = 16
+ try:
+ payload = cobs.decode(packet)
+ if len(payload) > 4:
+ crc = zlib.crc32(payload[:-4])
+ ref_crc = struct.pack('<I', crc)
+ crc_ok = (crc,) == struct.unpack('<I', payload[-4:])
+ else:
+ crc_ok = False
+ ref_crc = ''
+ print(' '.join(f'{col if col else ""}{c if c else 0:02x}' for col, c in itertools.zip_longest(field_colors,
+ payload)), 'OK' if crc_ok else f'WRONG')
+ except cobs.DecodeError:
+ print('COBS framing error')
+ packet = b''
+ else:
+ packet += bytes([c])
+ isprint = lambda c: c in b'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ '
+ if byte_count == 16:
+ printable = ''.join( chr(c) if isprint(c) else '.' for c in line )
+ print(f'\033[93m | {printable}\033[0m')
+ byte_count = 0
+ line = b''
+
+
+ if time.time() - last_tx > 0.01:
+ data = struct.pack('<I', seq)
+ seq += 1
+ ser.write(cobs.encode(data + struct.pack('<I', zlib.crc32(data))) + b'\0')
+ last_tx = time.time()
+ #time.sleep(0.01)
generated by cgit (git 2.34.1) at 2024-11-21 17:54:57 +0000