diff options
Diffstat (limited to 'Venus_Skeleton/comm.cpp')
-rw-r--r-- | Venus_Skeleton/comm.cpp | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/Venus_Skeleton/comm.cpp b/Venus_Skeleton/comm.cpp new file mode 100644 index 0000000..f5392e0 --- /dev/null +++ b/Venus_Skeleton/comm.cpp @@ -0,0 +1,90 @@ +/** + * Serial communication module. + */ + +#include <stdbool.h> +#include "dataTypes.h" + +serial_state_t serial_state = SERIAL_UNKNOWN; + +static void handle_recv(int r); + +static void handle_ctrl(int r) { + // detect reset procedure + switch (r) { + case RESET1: + // reset request received, ack and wait for RESET2 + Serial.write(ACK1); + serial_state = SERIAL_INIT; + return; + case RESET2: + if (serial_state == SERIAL_INIT) { + // Handshake completed! + Serial.write(ACK2); + serial_state = SERIAL_READY; + } else { + // invalid state, reject it + Serial.write(OUTOFSYNC); + serial_state = SERIAL_UNKNOWN; + } + return; + case PONG: + // TODO mark as alive if PING was previously sent + return; + } + // TODO commands for navigation? Use DATA_LEN, etc? +} + +void handle_serial(data_t *data, int changedBits) { + // first attempt sync + while (Serial.available()) { + r = Serial.read(); + + if ((r & 0xC0) == 0x80) { + // handle control packets + handle_ctrl(r); + // TODO if DATA_ESCAPE or DATA_LEN1, react appropriately + } else if (serial_state == SERIAL_READY) { + // handle normal data only when the handshake has completed. + handle_recv(r); + } + } + + if (serial_state != SERIAL_READY) { + // Hardware is not ready, do not send data. + return; + } + + // then send queued data +} + +// writes data of length len +static void serial_write_data(const char *data, unsigned len) { + len--; // length on wire is one smaller (00 means 1 byte, 01 means 2, etc.) + if (len >= 0 && len < 56) { + Serial.write(0x80 + len + 7); + } else if (len >= 0 && len < 256) { + Serial.write(0x88 | (len >> 5)); + Serial.write(0xA0 | (len & 0x1F)); + } else { + // zero length or too long. + return; + } + // write remainder + for (unsigned i = 0; i < len; i++) { + char c = data[i]; + if (c & 0x80) { + Serial.write(DATA_ESCAPE); + Serial.write(c & ~0x80); + } else { + Serial.write(c); + } + } +} + +void serial_print_debug(const char *str) { + serial_print_debug(str, strlen(str)); +} + +static void handle_recv(int r) { +} |