Framing works now
This commit is contained in:
jaseg
parent
a542e6f291
commit
43785b2307
2 changed files with 66 additions and 50 deletions
88
fw/main.c
88
fw/main.c
|
|
@ -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;
|
||||
}
|
||||
|
|
|
|||
28
fw/test.py
28
fw/test.py
|
|
@ -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)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue