From 5683f8ac1bc8102dc247073c0a62a8e0efb4b5bc Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Sun, 29 Jan 2017 22:25:09 -0600
Subject: [PATCH] Implemented setcontrol and packet
---
groundStation/src/backend/bitwise.h | 22 +++++++++----------
groundStation/src/backend/common/common.txt | 7 ++++++
.../examples.c} | 0
groundStation/src/backend/controller.h | 5 +++++
groundStation/src/backend/packet.c | 9 ++++++--
groundStation/src/backend/setcontrol.c | 3 ++-
6 files changed, 32 insertions(+), 14 deletions(-)
create mode 100644 groundStation/src/backend/common/common.txt
rename groundStation/src/backend/{common_examples.txt => common/examples.c} (100%)
diff --git a/groundStation/src/backend/bitwise.h b/groundStation/src/backend/bitwise.h
index 9d630707e..fec707046 100644
--- a/groundStation/src/backend/bitwise.h
+++ b/groundStation/src/backend/bitwise.h
@@ -2,28 +2,28 @@
#define _bitwise_h
/* Bit shifting for endianness of 16-bit numbers */
-#define LSByte16(x) (x & 0xff)
-#define MSByte16(x) ((x >> 8) & 0xff)
+#define LSByte16(x) ((x) & 0xff)
+#define MSByte16(x) (((x) >> 8) & 0xff)
/* Build a 16-bit integer out of two bytes */
-#define BytesTo16(lsb, msb) ((lsb & 0xff) | ((msb << 8) & 0xff))
+#define BytesTo16(lsb, msb) (((lsb) & 0xff) | (((msb) << 8) & 0xff))
/* Break apart a float. Sadly this is UB, but the "correct" way
* to do this involves actually implementing
* IEEE 754 in software to do so
*/
-#define FloatByte1(x) (((char *) x)[0])
-#define FloatByte2(x) (((char *) x)[1])
-#define FloatByte3(x) (((char *) x)[2])
-#define FloatByte4(x) (((char *) x)[3])
+#define FloatByte1(x) (((char *) &(x))[0])
+#define FloatByte2(x) (((char *) &(x))[1])
+#define FloatByte3(x) (((char *) &(x))[2])
+#define FloatByte4(x) (((char *) &(x))[3])
/* This is so much UB it hurts to write */
#define BytesToFloat(f, b1, b2, b3, b4) \
do { \
- ((char *) f)[0] = b1; \
- ((char *) f)[1] = b2; \
- ((char *) f)[2] = b3; \
- ((char *) f)[3] = b4; \
+ ((char *) &(f))[0] = (b1); \
+ ((char *) &(f))[1] = (b2); \
+ ((char *) &(f))[2] = (b3); \
+ ((char *) &(f))[3] = (b4); \
} while (0);
#endif
diff --git a/groundStation/src/backend/common/common.txt b/groundStation/src/backend/common/common.txt
new file mode 100644
index 000000000..cfc783550
--- /dev/null
+++ b/groundStation/src/backend/common/common.txt
@@ -0,0 +1,7 @@
+The common files are:
+ - packet.h
+ - packet.c
+ - setcontrol.h
+ - setcontrol.c
+ - bitwise.h
+ - controller.h
diff --git a/groundStation/src/backend/common_examples.txt b/groundStation/src/backend/common/examples.c
similarity index 100%
rename from groundStation/src/backend/common_examples.txt
rename to groundStation/src/backend/common/examples.c
diff --git a/groundStation/src/backend/controller.h b/groundStation/src/backend/controller.h
index 8c88147c2..50de090cc 100644
--- a/groundStation/src/backend/controller.h
+++ b/groundStation/src/backend/controller.h
@@ -1,6 +1,10 @@
#ifndef _controller_h
#define _controller_h
+
+/* For now, the enums come from commands.h */
+#include "commands.h"
+#if 0
enum ControllerID {
ROLL_ID, // 00 - Roll PID
PITCH_ID, // 01 - Pitch PID
@@ -19,6 +23,7 @@ enum ControllerValueID{
KD_ID, // 02 - D constant
SP_ID, // 03 - Setpoint value
};
+#endif
struct controller_message {
enum ControllerID id;
diff --git a/groundStation/src/backend/packet.c b/groundStation/src/backend/packet.c
index 3d3c78cd3..50432eab7 100644
--- a/groundStation/src/backend/packet.c
+++ b/groundStation/src/backend/packet.c
@@ -84,7 +84,12 @@ ssize_t DecodePacket(
memcpy(data, &packet[HDR_SIZE], m->data_len);
/* Validate checksum */
- // TODO
- //
+ /* TODO */
return m->data_len;
}
+
+uint8_t PacketChecksum(const uint8_t * packet, size_t packet_size)
+{
+ /* TODO implement */
+ return 42;
+}
diff --git a/groundStation/src/backend/setcontrol.c b/groundStation/src/backend/setcontrol.c
index 0cbe22d57..536c69001 100644
--- a/groundStation/src/backend/setcontrol.c
+++ b/groundStation/src/backend/setcontrol.c
@@ -1,5 +1,6 @@
#include "setcontrol.h"
-#include "../commands.h"
+#include "commands.h"
+#include "bitwise.h"
#include <sys/types.h>
--
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