diff --git a/quad/sw/comm_dev/Debug/comm_dev.elf b/quad/sw/comm_dev/Debug/comm_dev.elf
index aaaed755a18e2062afa26e19d010e4bee5f05457..4df52521f1166a0acb7c9ca5a658baab7cf7dd21 100755
Binary files a/quad/sw/comm_dev/Debug/comm_dev.elf and b/quad/sw/comm_dev/Debug/comm_dev.elf differ
diff --git a/quad/sw/comm_dev/Debug/comm_dev.elf.size b/quad/sw/comm_dev/Debug/comm_dev.elf.size
index b9055a946ae75b49369e83a3860ddbf3c0b62b9f..aab0779e17a9821726441d8f100fc94045285814 100644
--- a/quad/sw/comm_dev/Debug/comm_dev.elf.size
+++ b/quad/sw/comm_dev/Debug/comm_dev.elf.size
@@ -1,2 +1,2 @@
text data bss dec hex filename
- 165412 68080 119152504 119385996 71daf8c comm_dev.elf
+ 166044 68080 119152840 119386964 71db354 comm_dev.elf
diff --git a/quad/sw/comm_dev/Debug/src/commands.o b/quad/sw/comm_dev/Debug/src/commands.o
index 03ddc8e02dc171e75118595e4f0d5dda690acef3..63ba9b4b21830f7ef7e9e5957874cd1170401182 100644
Binary files a/quad/sw/comm_dev/Debug/src/commands.o and b/quad/sw/comm_dev/Debug/src/commands.o differ
diff --git a/quad/sw/comm_dev/Debug/src/initialize_components.d b/quad/sw/comm_dev/Debug/src/initialize_components.d
index 03ae362ba4e55a875ade28b9b2fac4fce4619ef1..a8b84eee2940d41e35f0787ce72fc5cb20ef6bb5 100644
--- a/quad/sw/comm_dev/Debug/src/initialize_components.d
+++ b/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:
diff --git a/quad/sw/comm_dev/Debug/src/initialize_components.o b/quad/sw/comm_dev/Debug/src/initialize_components.o
index 1f1db58a17268c870461176aa01962830536259b..73082cf9c06fcb6023be2222943a440382091c9b 100644
Binary files a/quad/sw/comm_dev/Debug/src/initialize_components.o and b/quad/sw/comm_dev/Debug/src/initialize_components.o differ
diff --git a/quad/sw/comm_dev/Debug/src/main.d b/quad/sw/comm_dev/Debug/src/main.d
index e8e6bc83e25eb3dcb9e536c298bcabed80145fc6..3cedd86789408d284e16b1e9ae4af3b271affb35 100644
--- a/quad/sw/comm_dev/Debug/src/main.d
+++ b/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:
diff --git a/quad/sw/comm_dev/Debug/src/main.o b/quad/sw/comm_dev/Debug/src/main.o
index 5008a65c8650cb6970d5730ef371e75cf7b31a11..0c7b5537899499b352c725f6b0c0a718d49e02da 100644
Binary files a/quad/sw/comm_dev/Debug/src/main.o and b/quad/sw/comm_dev/Debug/src/main.o differ
diff --git a/quad/sw/comm_dev/Debug/src/new_comm.o b/quad/sw/comm_dev/Debug/src/new_comm.o
index eaa46c58ac60f9b7ffb931c0b2843bc58bcdfc7d..4ccc3ae365be17af927a1f106ebe1941ab7a88b2 100644
Binary files a/quad/sw/comm_dev/Debug/src/new_comm.o and b/quad/sw/comm_dev/Debug/src/new_comm.o differ
diff --git a/quad/sw/comm_dev/Debug/src/timer.d b/quad/sw/comm_dev/Debug/src/timer.d
index 1d2b5a016f8ea150f49147baaf2260cb8f6276ea..3454b48df86a9b86bebb41037b4a9bd6f4a081ea 100644
--- a/quad/sw/comm_dev/Debug/src/timer.d
+++ b/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:
diff --git a/quad/sw/comm_dev/Debug/src/timer.o b/quad/sw/comm_dev/Debug/src/timer.o
index 7ae0c8fb2998588898662a2c0573d71fb93df2a8..0bb7485fe4df11625c08d205d4b80d8e871c2691 100644
Binary files a/quad/sw/comm_dev/Debug/src/timer.o and b/quad/sw/comm_dev/Debug/src/timer.o differ
diff --git a/quad/sw/comm_dev/src/commands.c b/quad/sw/comm_dev/src/commands.c
index c6ca889e751848251b98e31ce47a9bafc38ba74c..4044ce9952430431fcf7591e4e8b12ab72b48c59 100644
--- a/quad/sw/comm_dev/src/commands.c
+++ b/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;
}
diff --git a/quad/sw/comm_dev/src/initialize_components.c b/quad/sw/comm_dev/src/initialize_components.c
index 7bcae721bb209f45c0dcca9893abf51f6f628205..7ef4413b4a28b3ce2036f7c5e2b878d5d28fc17b 100644
--- a/quad/sw/comm_dev/src/initialize_components.c
+++ b/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
diff --git a/quad/sw/comm_dev/src/main.c b/quad/sw/comm_dev/src/main.c
index a648a6a836ac9ca8a96480541f8642b7d1bf7548..e5ab6dec09f1184bcd6e20c4a695f0c376953203 100644
--- a/quad/sw/comm_dev/src/main.c
+++ b/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
diff --git a/quad/sw/comm_dev/src/new_comm.c b/quad/sw/comm_dev/src/new_comm.c
index 17a9274a4f0c1549234267e1ba9c3bf171f38f9e..8559b7d88e998d712cf9f7e38169418e88f2ff74 100644
--- a/quad/sw/comm_dev/src/new_comm.c
+++ b/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;
- }
-}
-
diff --git a/quad/sw/comm_dev/src/new_comm.h b/quad/sw/comm_dev/src/new_comm.h
index 7044d6cb685bcab2e4269fc96f6b690a29be9a2d..5ee7603319e4001756b8b6f716813f9764cda8a7 100644
--- a/quad/sw/comm_dev/src/new_comm.h
+++ b/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_ */
diff --git a/quad/sw/comm_dev/src/timer.c b/quad/sw/comm_dev/src/timer.c
index 8c99522c50366d83084f44ba4903266db66d311b..7d5f3b11bb2c28c42deabc3ea56209f39c84afb7 100644
--- a/quad/sw/comm_dev/src/timer.c
+++ b/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()
diff --git a/quad/sw/comm_dev/src/type_def.h b/quad/sw/comm_dev/src/type_def.h
index 55dca9e8fb27c26397b00961b7dbec8bbe0d4136..15db8f9eb62e820933e117099d74bca8eb9bf8b6 100644
--- a/quad/sw/comm_dev/src/type_def.h
+++ b/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;