Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18

quad/sw/comm_dev/Debug/comm_dev.elf.size

    text	   data	    bss	    dec	    hex	filename
- 165412	  68080	119152504	119385996	71daf8c	comm_dev.elf
+ 166044	  68080	119152840	119386964	71db354	comm_dev.elf

quad/sw/comm_dev/Debug/src/initialize_components.d

@@ -17,23 +17,22 @@ src/initialize_components.d: ../src/initialize_components.c \
  ../src/stringBuilder.h ../../system_bsp/ps7_cortexa9_0/include/xscugic.h \
  ../../system_bsp/ps7_cortexa9_0/include/xscugic_hw.h \
  ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
- ../../system_bsp/ps7_cortexa9_0/include/sleep.h \
+ ../src/new_comm.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
+ ../src/mio7_led.h ../../system_bsp/ps7_cortexa9_0/include/xgpiops.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h \
+ ../../system_bsp/ps7_cortexa9_0/include/sleep.h ../src/commands.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr_l.h \
  ../src/control_algorithm.h ../src/sensor_processing.h ../src/sensor.h \
- ../src/user_input.h ../src/util.h \
- ../../system_bsp/ps7_cortexa9_0/include/xgpiops.h \
- ../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h \
- ../src/controllers.h ../src/quadposition.h ../src/iic_mpu9150_utils.h \
+ ../src/user_input.h ../src/util.h ../src/controllers.h \
+ ../src/quadposition.h ../src/iic_mpu9150_utils.h \
  ../../system_bsp/ps7_cortexa9_0/include/xbasic_types.h \
  ../../system_bsp/ps7_cortexa9_0/include/xiicps.h \
  ../../system_bsp/ps7_cortexa9_0/include/xiicps_hw.h \
  ../src/packet_processing.h ../src/conversion.h ../src/platform.h \
- ../src/platform_config.h ../src/communication.h ../src/commands.h \
- ../src/new_comm.h \
- ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
- ../src/mio7_led.h
+ ../src/platform_config.h ../src/communication.h
 
 ../src/initialize_components.h:
 
@@ -81,8 +80,20 @@ src/initialize_components.d: ../src/initialize_components.c \
 
 ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
 
+../src/new_comm.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
+
+../src/mio7_led.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/sleep.h:
 
+../src/commands.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h:
 
 ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h:
@@ -99,10 +110,6 @@ src/initialize_components.d: ../src/initialize_components.c \
 
 ../src/util.h:
 
-../../system_bsp/ps7_cortexa9_0/include/xgpiops.h:
-
-../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h:
-
 ../src/controllers.h:
 
 ../src/quadposition.h:
@@ -124,11 +131,3 @@ src/initialize_components.d: ../src/initialize_components.c \
 ../src/platform_config.h:
 
 ../src/communication.h:
-
-../src/commands.h:
-
-../src/new_comm.h:
-
-../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
-
-../src/mio7_led.h:

quad/sw/comm_dev/Debug/src/main.d

@@ -16,23 +16,24 @@ src/main.d: ../src/main.c ../src/timer.h ../src/log_data.h ../src/PID.h \
  ../src/stringBuilder.h ../../system_bsp/ps7_cortexa9_0/include/xscugic.h \
  ../../system_bsp/ps7_cortexa9_0/include/xscugic_hw.h \
  ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
- ../../system_bsp/ps7_cortexa9_0/include/sleep.h \
+ ../src/new_comm.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
+ ../src/mio7_led.h ../../system_bsp/ps7_cortexa9_0/include/xgpiops.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h \
+ ../../system_bsp/ps7_cortexa9_0/include/sleep.h ../src/commands.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr_l.h \
  ../src/initialize_components.h ../src/control_algorithm.h \
  ../src/sensor_processing.h ../src/sensor.h ../src/user_input.h \
- ../src/util.h ../../system_bsp/ps7_cortexa9_0/include/xgpiops.h \
- ../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h \
- ../src/controllers.h ../src/quadposition.h ../src/iic_mpu9150_utils.h \
+ ../src/util.h ../src/controllers.h ../src/quadposition.h \
+ ../src/iic_mpu9150_utils.h \
  ../../system_bsp/ps7_cortexa9_0/include/xbasic_types.h \
  ../../system_bsp/ps7_cortexa9_0/include/xiicps.h \
  ../../system_bsp/ps7_cortexa9_0/include/xiicps_hw.h \
  ../src/packet_processing.h ../src/conversion.h ../src/platform.h \
  ../src/platform_config.h ../src/actuator_command_processing.h \
- ../src/send_actuator_commands.h ../src/update_gui.h ../src/new_comm.h \
- ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
- ../src/mio7_led.h ../src/commands.h
+ ../src/send_actuator_commands.h ../src/update_gui.h
 
 ../src/timer.h:
 
@@ -78,8 +79,20 @@ src/main.d: ../src/main.c ../src/timer.h ../src/log_data.h ../src/PID.h \
 
 ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
 
+../src/new_comm.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
+
+../src/mio7_led.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/sleep.h:
 
+../src/commands.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h:
 
 ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h:
@@ -98,10 +111,6 @@ src/main.d: ../src/main.c ../src/timer.h ../src/log_data.h ../src/PID.h \
 
 ../src/util.h:
 
-../../system_bsp/ps7_cortexa9_0/include/xgpiops.h:
-
-../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h:
-
 ../src/controllers.h:
 
 ../src/quadposition.h:
@@ -127,11 +136,3 @@ src/main.d: ../src/main.c ../src/timer.h ../src/log_data.h ../src/PID.h \
 ../src/send_actuator_commands.h:
 
 ../src/update_gui.h:
-
-../src/new_comm.h:
-
-../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
-
-../src/mio7_led.h:
-
-../src/commands.h:

quad/sw/comm_dev/Debug/src/timer.d

@@ -16,7 +16,11 @@ src/timer.d: ../src/timer.c ../src/timer.h ../src/log_data.h ../src/PID.h \
  ../src/stringBuilder.h ../../system_bsp/ps7_cortexa9_0/include/xscugic.h \
  ../../system_bsp/ps7_cortexa9_0/include/xscugic_hw.h \
  ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
- ../../system_bsp/ps7_cortexa9_0/include/sleep.h \
+ ../src/new_comm.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h \
+ ../src/mio7_led.h ../../system_bsp/ps7_cortexa9_0/include/xgpiops.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h \
+ ../../system_bsp/ps7_cortexa9_0/include/sleep.h ../src/commands.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h \
  ../../system_bsp/ps7_cortexa9_0/include/xtmrctr_l.h
@@ -65,8 +69,20 @@ src/timer.d: ../src/timer.c ../src/timer.h ../src/log_data.h ../src/PID.h \
 
 ../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
 
+../src/new_comm.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_exception.h:
+
+../src/mio7_led.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xgpiops_hw.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/sleep.h:
 
+../src/commands.h:
+
 ../../system_bsp/ps7_cortexa9_0/include/xtime_l.h:
 
 ../../system_bsp/ps7_cortexa9_0/include/xtmrctr.h:

quad/sw/comm_dev/src/commands.c

@@ -344,6 +344,11 @@ struct MessageType MessageTypes[MAX_TYPE] =
 			}
 		}
 	},
+	// HERE FOR SPACING
+	{
+		0x02,
+		{}
+	},
 	// RESPONSE
 	{
 		// Message Type ID
@@ -474,7 +479,14 @@ int debug(unsigned char *packet, int dataLen, modular_structs_t *structs)
 	control algorithm in order to get this to work. */
 int update(unsigned char *packet, int dataLen,	modular_structs_t *structs)
 {
-	//MIO7_led_on();
+	static int on = 0;
+	if (on) {
+		MIO7_led_off();
+		on = 1 - on;
+	}else {
+		MIO7_led_on();
+		on = 1 - on;
+	}
 	processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
 	return 0;
 }

quad/sw/comm_dev/src/initialize_components.c

@@ -101,7 +101,10 @@ int initializeAllComponents(user_input_t * user_input_struct, log_t * log_struct
 		return -1;
 	}
 	// Initialize loop timers
-	timer_init();
+	if (timer_init()) {
+		return -1;
+	}
+
 	return 0;
 
 	// Initialize I2C controller and start the sensor board

quad/sw/comm_dev/src/main.c

@@ -68,7 +68,7 @@ int main()
 //		// Process the commands going to the actuators
 //		actuator_command_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
 //
-//		// send the actuator commands
+//		// send the 004\000\002actuator commands
 //		send_actuator_commands(&(structs.log_struct), &(structs.actuator_command_struct));
 //
 //		// update the GUI

quad/sw/comm_dev/src/new_comm.c

@@ -11,11 +11,13 @@
 #define COMM_INTC_DEVICE_ID		XPAR_SCUGIC_SINGLE_DEVICE_ID
 #define COMM_UART_INT_IRQ_ID		XPAR_PS7_UART_0_INTR//XPAR_XUARTPS_0_INTR
 
-#define BAUD_RATE 115200
-// Maximum number of bytes to be received within our loop time, plus 64 for a little buffer
+#define BAUD_RATE 921600
+// Maximum number of bytes to be received within our loop time,
+// plus the maximum packet size that might be carried over from the last call,
+// plus 128 for a little buffer
 // (bit/s) * (seconds) / (10 bits / byte for UART)
-#define UART_BUF_SIZE (((BAUD_RATE * (DESIRED_USEC_PER_LOOP / 1000) / 1000) / 10) + 64)
 #define MAX_PACKET_SIZE 256
+#define UART_BUF_SIZE (((BAUD_RATE * (DESIRED_USEC_PER_LOOP / 1000) / 1000) / 10) + MAX_PACKET_SIZE + 128)
 
 // Declaration of interrupt handler
 void Handler(void *CallBackRef, u32 Event, unsigned int EventData);
@@ -24,11 +26,9 @@ void Handler(void *CallBackRef, u32 Event, unsigned int EventData);
 static XUartPs* uartInstPtr;
 
 static u8 recvBuf[UART_BUF_SIZE];
-static volatile size_t received_in_buf = 0;
+static volatile size_t recv_buf_begin = 0; // Index of start of valid packets in buffer
+static volatile size_t recv_buf_end = 0; // One past end of valid packets in buffer
 
-static u8 secondaryBuf[UART_BUF_SIZE + MAX_PACKET_SIZE];
-static volatile size_t secondaryEnd = 0; // Index of start of valid data in the secondary buffer
-static size_t secondaryBegin = 0; // Index of one past end of valid data in the secondary buffer
 
 int initUartComms() {
 	uartInstPtr = uart0_init(COMM_UART_DEVICE_ID, BAUD_RATE);
@@ -39,7 +39,7 @@ int initUartComms() {
 
 	uart0_clearFIFOs();
 
-	if (uart0_int_init(COMM_UART_INT_IRQ_ID, (Xil_ExceptionHandler) uartInterruptHandler) != XST_SUCCESS) {
+	if (uart0_int_init(COMM_UART_INT_IRQ_ID, (Xil_ExceptionHandler) uart_interrupt_handler) != XST_SUCCESS) {
 		return -1;
 	}
 
@@ -58,7 +58,7 @@ int initUartComms() {
 
 
 	/*
-	 * Set the receiver timeout. If it is noDidn'tt set, and the last few bytes
+	 * Set the receiver timeout. If it is not set, and the last few bytes
 	 * of data do not trigger the over-water or full interrupt, the bytes
 	 * will not be received. By default it is disabled.
 	 * Timeout duration = RecvTimeout x 4 x Bit Period. 0 disables the
@@ -71,13 +71,10 @@ int initUartComms() {
 	XUartPs_SetRecvTimeout(uartInstPtr, 4);
 
 	// Second argument is the number of bytes to trigger an interrupt at
-	XUartPs_SetFifoThreshold(uartInstPtr, 12);
-
-	//XUartPs_Recv(uartInstPtr, recvBuf, UART_BUF_SIZE);
+	XUartPs_SetFifoThreshold(uartInstPtr, 48);
 
 	return 0;
 }
-// TODO: Be consistent with underscore_names or camelCase
 
 int process_packet(unsigned char* packet, modular_structs_t *structs) {
 	metadata_t meta_data;
@@ -106,23 +103,30 @@ int process_packet(unsigned char* packet, modular_structs_t *structs) {
 	(* (MessageTypes[meta_data.msg_type].subtypes[meta_data.msg_subtype].functionPtr))(packet_data, meta_data.data_len, structs);
 
 	return 0;
+
 }
 
 void parse_available(modular_structs_t *structs) {
-	// Discard all data before packet begin character
-	while (secondaryBegin < secondaryEnd && secondaryBuf[secondaryBegin] != BEGIN_CHAR) {
-		secondaryBegin++;
-	}
-
 	// Minimum size of a packet (header + checksum)
-	int min_packet_size = sizeof(metadata_t) + 1;
-	// TODO: Loop limit?
-	while (secondaryEnd - secondaryBegin >= min_packet_size) {
-		unsigned char* packet_header = secondaryBuf + secondaryBegin;
+	int min_packet_size = 8;
+	// TODO: Loop limits?
+	while (recv_buf_end - recv_buf_begin >= min_packet_size) {
+		// Discard all data before packet begin character
+		while (recv_buf_begin < recv_buf_end && recvBuf[recv_buf_begin] != BEGIN_CHAR) {
+			recv_buf_begin++;
+		}
+		// If, after discarding everything before header, not enough is left, don't parse
+		if (recv_buf_end - recv_buf_begin < min_packet_size) {
+			break;
+		}
+		unsigned char* packet_header = recvBuf + recv_buf_begin;
+
+		// Read out the payload size information from the header
 		size_t packet_len = (packet_header[6] << 8) | (packet_header[5]);
-		if (secondaryEnd - secondaryBegin >= min_packet_size + packet_len) {
-			process_packet(secondaryBuf + secondaryBegin, structs);
-			secondaryBegin += min_packet_size + packet_len;
+		// Determine if we have received the entire packet. If so, process it.
+		if (recv_buf_end - recv_buf_begin >= min_packet_size + packet_len) {
+			process_packet(recvBuf + recv_buf_begin, structs);
+			recv_buf_begin += min_packet_size + packet_len;
 		}
 		else {
 			// Not enough data for a packet
@@ -131,6 +135,9 @@ void parse_available(modular_structs_t *structs) {
 	}
 }
 
+/*
+ * Temporarily disables interrupts and returns the interrupt state, for restoring them
+ */
 u32 disable_interrupts() {
 	u32 ImrRegister;
 	ImrRegister = XUartPs_ReadReg(uartInstPtr->Config.BaseAddress, XUARTPS_IMR_OFFSET);
@@ -138,50 +145,32 @@ u32 disable_interrupts() {
 	return ImrRegister;
 }
 
+/*
+ * Restores the interrupt state, saved from disable_interrupts
+ */
 void restore_interrupts(u32 intr_state) {
 	XUartPs_WriteReg(uartInstPtr->Config.BaseAddress, XUARTPS_IER_OFFSET, intr_state);
 }
 
 void process_received(modular_structs_t *structs) {
-//	// Move unprocessed bytes to front of secondary buffer
-//	size_t unprocessed_size = secondaryEnd - secondaryBegin;
-//	memmove(secondaryBuf, secondaryBuf + secondaryBegin, unprocessed_size);
-//	secondaryBegin = 0;
-//	secondaryEnd = unprocessed_size;
-//
-//	// Temporarily disable the receive interrupt
-//	XUartPs_Recv(uartInstPtr, recvBuf, 0);
-//	if (received_in_buf) {
-//		volatile int a = 3;
-//	}
-//	// Put received data into secondary buffer
-//	memcpy(secondaryBuf + secondaryEnd, recvBuf, received_in_buf);
-//
-//	secondaryEnd += received_in_buf;
-//	received_in_buf = 0;
-//	// Re-enable interrupts and process copied data
-//	XUartPs_Recv(uartInstPtr, recvBuf, UART_BUF_SIZE);
-	if (secondaryEnd != 0) {
-		volatile int asdasdf = 3;
-		MIO7_led_off();
-	}
-
+	// Parse as many packets as possible
 	parse_available(structs);
 
+	// Disable interrupts while moving data around
 	u32 intr_state = disable_interrupts();
 
 	// Move unprocessed bytes to front of secondary buffer
-	size_t unprocessed_size = secondaryEnd - secondaryBegin;
-	memmove(secondaryBuf, secondaryBuf + secondaryBegin, unprocessed_size);
-	secondaryBegin = 0;
-	secondaryEnd = unprocessed_size;
+	size_t unprocessed_size = recv_buf_end - recv_buf_begin;
+	memmove(recvBuf, recvBuf + recv_buf_begin, unprocessed_size);
+	recv_buf_begin = 0;
+	recv_buf_end = unprocessed_size;
 
 	restore_interrupts(intr_state);
 	//unsigned char in_fifo = XUartPs_ReadReg(uartInstPtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
 	return;
 }
 
-void uartInterruptHandler(XUartPs *InstancePtr) {
+void uart_interrupt_handler(XUartPs *InstancePtr) {
 	u32 IsrStatus;
 
 	/*
@@ -194,19 +183,18 @@ void uartInterruptHandler(XUartPs *InstancePtr) {
 	IsrStatus &= XUartPs_ReadReg(InstancePtr->Config.BaseAddress,
 				   XUARTPS_ISR_OFFSET);
 
-	u32 CsrRegister;
 	/*
 	* Read the Channel Status Register to determine if there is any data in
 	 * the RX FIFO
 	 */
-	CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress,
+
+	u32 CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress,
 				XUARTPS_SR_OFFSET);
 
-	while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY)) {
-		secondaryBuf[secondaryEnd] = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
-		secondaryEnd += 1;
+	while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY) && recv_buf_end <= UART_BUF_SIZE) {
+		recvBuf[recv_buf_end] = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
+		recv_buf_end += 1;
 		CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_SR_OFFSET);
-		MIO7_led_on();
 	}
 
 	// Clear the interrupt status.
@@ -214,33 +202,3 @@ void uartInterruptHandler(XUartPs *InstancePtr) {
 			IsrStatus);
 }
 
-/**************************************************************************/
-/**
-*
-* This function is the handler which performs processing to handle data events
-* from the device.  It is called from an interrupt context. so the amount of
-* processing should be minimal.
-*
-* This handler provides an example of how to handle data for the device and
-* is application specific.
-*
-* @param	CallBackRef contains a callback reference from the driver,
-*		in this case it is the instance pointer for the XUartPs driver.
-* @param	Event contains the specific kind of event that has occurred.
-* @param	EventData contains the number of bytes sent or received for sent
-*		and receive events.
-*
-* @return	None.
-*
-* @note		None.
-*
-***************************************************************************/
-void Handler(void *CallBackRef, u32 Event, unsigned int EventData)
-{
-	/* data has been received */
-	if (Event == XUARTPS_EVENT_RECV_DATA || Event == XUARTPS_EVENT_RECV_TOUT
-			|| Event == XUARTPS_IXR_RXOVR || Event == XUARTPS_IXR_RXFULL) {
-		received_in_buf = EventData;
-	}
-}
-

quad/sw/comm_dev/src/new_comm.h

@@ -21,6 +21,6 @@
 
 int initUartComms();
 void process_received(modular_structs_t *structs);
-void uartInterruptHandler(XUartPs *InstancePtr);
+void uart_interrupt_handler(XUartPs *InstancePtr);
 
 #endif /* NEW_COMM_H_ */

quad/sw/comm_dev/src/timer.c

@@ -18,9 +18,7 @@ int timer_init()
 {
 
 	// using a axi_timer core because we've had problems with the Global Timer
-	XTmrCtr_Initialize(&axi_timer, XPAR_AXI_TIMER_0_DEVICE_ID);
-
-	return 0;
+	return XTmrCtr_Initialize(&axi_timer, XPAR_AXI_TIMER_0_DEVICE_ID);
 }
 
 int timer_start_loop()

quad/sw/comm_dev/src/type_def.h

@@ -8,6 +8,8 @@
 #ifndef TYPE_DEF_H_
 #define TYPE_DEF_H_
 
+#include <stdint.h>
+
 /**
  * @brief
  *      The modes for autonomous and manual flight.
@@ -26,11 +28,11 @@ enum flight_mode{
 //     bytes||     1    |     1    |      1      |    2   |        2         | var  |    1     |
 //----------------------------------------------------------------------------------------------
 typedef struct {
-	char begin_char;
-	char msg_type;
-	char msg_subtype;
-	int msg_id;
-	int data_len;
+	unsigned char begin_char;
+	unsigned char msg_type;
+	unsigned char msg_subtype;
+	uint16_t msg_id;
+	uint16_t data_len;
 } metadata_t;