-Subproject commit e79aa3e3f1704c704efc67655e6588a185578de1
+Subproject commit d43071ccf6d724eb075c93cfa37a5216a5cd990c
OCD = $(OCD-nucleo)
#add sources
-SRCS_C := $(wildcard $(SRCDIR)/*.c)
+SRCS_C := $(filter-out src/interface_linux.c,$(wildcard $(SRCDIR)/*.c))
SRCS_S := $(wildcard $(SRCDIR)/*.s)
#include common project makefile
{\r
\r
huart3.Instance = USART3;\r
- huart3.Init.BaudRate = 115200;\r
+ huart3.Init.BaudRate = 9600;\r
huart3.Init.WordLength = UART_WORDLENGTH_8B;\r
huart3.Init.StopBits = UART_STOPBITS_1;\r
huart3.Init.Parity = UART_PARITY_NONE;\r
all: mTaskSymbols.h $(PROG)
-%.o: %.cpp
- gcc $(CFLAGS) -c $< -o $@
-
+interface.o: interface_linux.c
+ gcc $(CFLAGS) -c $< -o $@
+
$(PROG): $(OBJS)
gcc $(LDFLAGS) -o $@ $(OBJS)
#include <stdlib.h>
#include <string.h>
-#ifdef STM32F767xx
#include "stm32f7xx_hal.h"
#include "usart.h"
#include "gpio.h"
+#include "interface.h"
#define SET_LED_RED GPIOB->BSRR = GPIO_PIN_14
#define RESET_LED_RED GPIOB->BSRR = GPIO_PIN_14 << 16
#define SET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0
#define RESET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0 << 16
-#else
-#include <stdio.h>
-#include <netdb.h>
-#include <netinet/in.h>
-#include <signal.h>
-#include <sys/socket.h>
-#include <sys/time.h>
-#include <sys/types.h>
-#include <unistd.h>
-#endif
-#include "interface.h"
+#define BUFSIZE 1024
//Globals
-#ifdef STM32F767xx
-volatile char uartf = 0;
char buf[128];
-#else
-struct timeval tv1;
-int sock_fd = -1;
-int fd = -1;
-int gargc;
-char **gargv;
-#endif
-uint8_t bt;
-
-//Specifics
-#ifdef STM32F767xx
+volatile bool sending = false;
+uint8_t circbuf[BUFSIZE];
+uint16_t readpos, writepos;
+uint8_t readb;
+
void _exit(int i){
while(1);
(void)i;
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle)
{
- uartf=1;
-}
-#else
-void killHandler(int i)
-{
- printf("%i caught, Bye...\n", i);
- exit(1);
-}
-
-void usage(FILE *o, char *arg0){
- fprintf(o, "Usage: %s [opts]\n\nOptions\n"
- "-p PORT Custom port number, default: 8123\n" , arg0);
+ sending = false;
}
-#endif
-//Interface things
-long millis() {
-#ifdef STM32F767xx
- return HAL_GetTick();
-#else
- if (gettimeofday(&tv1, NULL) == -1)
- pdie("gettimeofday");
- return tv1.tv_sec*1000 + tv1.tv_usec/1000;
-#endif
+int i = 0;
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
+{
+ if(writepos == BUFSIZE){
+ writepos = 0;
+ }
+ circbuf[writepos++] = readb;
+ HAL_UART_Receive_DMA(&huart3, &readb, 1);
}
-bool input_available(){
-#ifdef STM32F767xx
- if(HAL_UART_Receive(&huart3, &bt, 1, 1) == HAL_TIMEOUT)
- return false;
- return true;
-#else
- struct timeval tv;
- fd_set fds;
- tv.tv_sec = 0;
- tv.tv_usec = 0;
- FD_ZERO(&fds);
- FD_SET(fd, &fds);
- if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
- pdie("select");
- if(!FD_ISSET(fd, &fds))
- return false;
- read(fd, &bt, 1);
- return true;
-#endif
+bool input_available()
+{
+ return readpos != writepos;
}
uint8_t read_byte()
{
-#ifdef STM32F767xx
- HAL_UART_Receive(&huart3, &bt, 1, 1000);
- return bt;
-#else
- read(fd, &bt, 1);
- return bt;
-#endif
+ while(sending){
+ HAL_Delay(5);
+ }
+ if(readpos == BUFSIZE){
+ readpos = 0;
+ }
+ return circbuf[readpos++];
}
void write_byte(uint8_t b)
{
-#ifdef STM32F767xx
- HAL_UART_Transmit_DMA(&huart3, &b, 1);
-#else
- write(fd, &b, 1);
-#endif
+ while(sending){
+ HAL_Delay(5);
+ }
+ sending = true;
+ HAL_UART_Transmit_IT(&huart3, &b, 1);
}
void write_dpin(uint8_t i, bool b)
{
-#ifdef STM32F767xx
-#else
- debug("dwrite %d: %d", i, b);
-#endif
(void) i;
(void) b;
}
bool read_dpin(uint8_t i)
{
-#ifdef STM32F767xx
- return false;
-#else
- debug("dread %d", i);
- return false;
-#endif
+ return 0;
(void) i;
}
void write_apin(uint8_t i, uint8_t a)
{
-#ifdef STM32F767xx
if(i == 1){
SET_LED_RED;
RESET_LED_BLUE;
RESET_LED_BLUE;
SET_LED_GREEN;
}
-#else
- debug("awrite %d: %d", i, a);
-#endif
- (void) a;
- (void) i;
}
uint8_t read_apin(uint8_t i)
{
-#ifdef STM32F767xx
- return 0;
-#else
- debug("aread %d", i);
return 0;
-#endif
(void) i;
}
+long millis(){
+ return HAL_GetTick();
+}
+
void delay(long ms)
{
-#ifdef STM32F767xx
HAL_Delay(ms);
-#else
- usleep(ms*1000);
-#endif
}
void setup()
{
-#ifdef STM32F767xx
-#else
- int port = 8123, opti = 1;
- //Register signal handler
- if(signal(SIGINT, killHandler) == SIG_ERR){
- die("Couldn't register signal handler...");
- }
- if(signal(SIGTERM, killHandler) == SIG_ERR){
- die("Couldn't register signal handler...");
- }
- //Command line arguments
- while(opti < gargc){
- if(strcmp((*gargv)+opti, "-h") == 0){
- usage(stdout, gargv[0]);
- exit(EXIT_SUCCESS);
- } else if(strcmp(gargv[opti], "-p") == 0 && opti+1<gargc){
- port = atoi(gargv[++opti]);
- if(port < 1)
- die("Port numbers are > 1");
- } else {
- usage(stderr, gargv[0]);
- exit(EXIT_FAILURE);
- }
- opti++;
- }
-
- //Open file descriptors
- struct sockaddr_in sa;
-
- memset(&sa, 0, sizeof(sa));
- sa.sin_family = AF_INET;
- sa.sin_addr.s_addr = INADDR_ANY;
- sa.sin_port = htons(port);
-
- if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
- pdie("socket");
- if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
- pdie("bind");
- if(listen(sock_fd, 10) == -1)
- pdie("listen");
-
- printf("Listening on %d\n", port);
- fflush(stdout);
- if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
- pdie("accept");
-#endif
+ readpos = 0;
+ writepos = 0;
+ HAL_UART_Receive_DMA(&huart3, &readb, 1);
+ write_byte('b');
}
#include "stm32f7xx_hal.h"
#include "gpio.h"
#include "usart.h"
+#include "serial.h"
+
+#define SET_LED_RED GPIOB->BSRR = GPIO_PIN_14
+#define RESET_LED_RED GPIOB->BSRR = GPIO_PIN_14 << 16
+
+#define SET_LED_BLUE GPIOB->BSRR = GPIO_PIN_7
+#define RESET_LED_BLUE GPIOB->BSRR = GPIO_PIN_7 << 16
+
+#define SET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0
+#define RESET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0 << 16
+
#endif
#ifdef STM32F767xx
-extern volatile char uartf;
extern char buf[128];
#else
extern int gargc;
extern char **gargv;
#endif
-extern uint8_t bt;
uint8_t read_byte();
void write_byte(uint8_t b);
#define read16() 256*read_byte() + read_byte()
#ifdef STM32F767xx
-#define debug(s, ...) {\
- sprintf(buf, "m" s "\r\n", ##__VA_ARGS__);\
- HAL_UART_Transmit(&huart3, (uint8_t*)buf, strlen(buf), 1000);\
- }
+#define debug(s, ...) ;
+//#define debug(s, ...) {\
+// sprintf(buf, "m" s "\n", ##__VA_ARGS__);\
+// for(int _i = 0; _i<strlen(buf); _i++){\
+// write_byte(buf[_i]);\
+// }\
+// }
#define pdie(s) ;
#define die(s, ...) ;
#else
--- /dev/null
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <stdio.h>
+#include <netdb.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include "interface.h"
+struct timeval tv1;
+int sock_fd = -1;
+int fd = -1;
+int gargc;
+char **gargv;
+
+uint8_t bt;
+
+void killHandler(int i)
+{
+ printf("%i caught, Bye...\n", i);
+ exit(1);
+}
+
+void usage(FILE *o, char *arg0){
+ fprintf(o, "Usage: %s [opts]\n\nOptions\n"
+ "-p PORT Custom port number, default: 8123\n" , arg0);
+}
+
+long millis() {
+ if (gettimeofday(&tv1, NULL) == -1)
+ pdie("gettimeofday");
+ return tv1.tv_sec*1000 + tv1.tv_usec/1000;
+}
+
+bool input_available(){
+ struct timeval tv;
+ fd_set fds;
+ tv.tv_sec = 0;
+ tv.tv_usec = 0;
+ FD_ZERO(&fds);
+ FD_SET(fd, &fds);
+ if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
+ pdie("select");
+ if(!FD_ISSET(fd, &fds))
+ return false;
+ read(fd, &bt, 1);
+ return true;
+}
+
+uint8_t read_byte()
+{
+ read(fd, &bt, 1);
+ return bt;
+}
+
+void write_byte(uint8_t b)
+{
+ write(fd, &b, 1);
+}
+
+void write_dpin(uint8_t i, bool b)
+{
+ debug("dwrite %d: %d", i, b);
+ (void) i;
+ (void) b;
+}
+
+bool read_dpin(uint8_t i)
+{
+ debug("dread %d", i);
+ return false;
+ (void) i;
+}
+
+void write_apin(uint8_t i, uint8_t a)
+{
+ debug("awrite %d: %d", i, a);
+ (void) a;
+ (void) i;
+}
+
+uint8_t read_apin(uint8_t i)
+{
+ debug("aread %d", i);
+ return 0;
+ (void) i;
+}
+
+void delay(long ms)
+{
+ usleep(ms*1000);
+}
+
+void setup()
+{
+ int port = 8123, opti = 1;
+ //Register signal handler
+ if(signal(SIGINT, killHandler) == SIG_ERR){
+ die("Couldn't register signal handler...");
+ }
+ if(signal(SIGTERM, killHandler) == SIG_ERR){
+ die("Couldn't register signal handler...");
+ }
+ //Command line arguments
+ while(opti < gargc){
+ if(strcmp((*gargv)+opti, "-h") == 0){
+ usage(stdout, gargv[0]);
+ exit(EXIT_SUCCESS);
+ } else if(strcmp(gargv[opti], "-p") == 0 && opti+1<gargc){
+ port = atoi(gargv[++opti]);
+ if(port < 1)
+ die("Port numbers are > 1");
+ } else {
+ usage(stderr, gargv[0]);
+ exit(EXIT_FAILURE);
+ }
+ opti++;
+ }
+
+ //Open file descriptors
+ struct sockaddr_in sa;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sin_family = AF_INET;
+ sa.sin_addr.s_addr = INADDR_ANY;
+ sa.sin_port = htons(port);
+
+ if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
+ pdie("socket");
+ if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
+ pdie("bind");
+ if(listen(sock_fd, 10) == -1)
+ pdie("listen");
+
+ printf("Listening on %d\n", port);
+ fflush(stdout);
+ if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
+ pdie("accept");
+}
{
//Find next task
if(input_available()){
- //debug("Receiving input: %c\n", c);
- switch(bt){
+ uint8_t c = read_byte();
+ debug("Receiving input: %c\n", c);
+ switch(c){
case MSG_SDS_SPEC:
debug("Receiving an sds");
sds_register();
case '\n':
break;
default:
- debug("Unknown message: %X", bt);
+ debug("Unknown message: %X", c);
}
}
}
}
#ifdef STM32F767xx
-char s[128] = "";
int main1(void){
- uint8_t bt;
- HAL_UART_Receive(&huart3, &bt, 1, 100000);
#else
int main(int argc, char *argv[]){
gargc = argc;
gargv = argv;
#endif
- debug("booting up");
//Initialize systems
setup();
sds_init();
task_init();
- write_byte('\n');
+ //debug("booting up");
+ int i = 0;
while(true){
//Check for new tasks
// debug("loop\r\n");
loop();
delay(100);
+ i = (i + 1) % 3;
+ if(i == 0){
+ SET_LED_RED;
+ RESET_LED_BLUE;
+ RESET_LED_GREEN;
+ } else if(i == 1){
+ RESET_LED_RED;
+ SET_LED_BLUE;
+ RESET_LED_GREEN;
+ } else if(i == 2){
+ RESET_LED_RED;
+ RESET_LED_BLUE;
+ SET_LED_GREEN;
+ }
}
return 0;
}
--- /dev/null
+#ifndef SERIAL_H
+#define SERIAL_H
+
+#include <stdint.h>
+
+extern volatile char uartf;
+
+void init();
+bool input_av();
+uint8_t read_byte();
+void write_byte(uint8_t b);
+#endif
repositories / mTask.git / commitdiff