diff options
Diffstat (limited to 'prototype/fw/src/main.c')
| -rw-r--r-- | prototype/fw/src/main.c | 131 |
1 files changed, 105 insertions, 26 deletions
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; + } } } } |