LibrePilot/flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c

/**
 ******************************************************************************
 *
 * @file       MKSerial.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Interfacing with MK via serial port
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "openpilot.h"
#include "MkSerial.h"
#include "gpsobject.h"

//
// Private constants
//
#define PORT			COM_USART1
#define STACK_SIZE		1024
#define TASK_PRIORITY	(tskIDLE_PRIORITY + 3)
#define MAX_NB_PARS 	40

#define DEBUG_PORT		COM_USART2

#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)

#define MSG_ANY		0
#define MSG_DEBUG	'D'

//
// Private types
//
typedef struct
{
	uint8_t address;
	uint8_t cmd;
	uint8_t nbPars;
	uint8_t pars[MAX_NB_PARS];
} MkMsg_t;

enum
{
	MK_ADDR_ALL = 0,
	MK_ADDR_FC = 1,
	MK_ADDR_NC = 2,
	MK_ADDR_MAG = 3,
};


//
// Private variables
//

//
// Private functions
//
static uint8_t WaitForBytes(uint8_t* buf, uint8_t nbBytes, portTickType xTicksToWait);
static void MkSerialTask(void* parameters);

static void OnError(int line)
{
	DEBUG_MSG("MKProcol error %d\n", line);
}


void PrintMsg(const MkMsg_t* msg)
{
  switch(msg->address)
  {
  case MK_ADDR_ALL: DEBUG_MSG("ALL "); break;
  case MK_ADDR_FC:  DEBUG_MSG("FC  "); break;
  case MK_ADDR_NC:  DEBUG_MSG("NC  "); break;
  case MK_ADDR_MAG: DEBUG_MSG("MAG "); break;
  default:          DEBUG_MSG("??? "); break;
  }

  DEBUG_MSG("%c ", msg->cmd);

  for (int i=0; i<msg->nbPars; i++)
  {
	  DEBUG_MSG("%02x ", msg->pars[i]);
  }
  DEBUG_MSG("\n");

}


static int16_t Par2SignedInt(const MkMsg_t* msg, uint8_t index)
{
	int16_t res;

  res = (int)(msg->pars[index+1])*256+msg->pars[index];
  if (res > 0xFFFF/2)
    res -= 0xFFFF;
  return res;
}

static uint8_t WaitForBytes(uint8_t* buf, uint8_t nbBytes, portTickType xTicksToWait)
{
	uint8_t nbBytesLeft = nbBytes;
	xTimeOutType xTimeOut;

	vTaskSetTimeOutState( &xTimeOut );

	// Loop until
	// - all bytes are received
	// - \r is seen
	// - Timeout occurs
	do
	{
		// Check if timeout occured
		if (xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ))
			break;

		// Check if there are some bytes
		if (PIOS_COM_ReceiveBufferUsed(PORT))
		{
			*buf = PIOS_COM_ReceiveBuffer(PORT);

			nbBytesLeft--;
			if (buf[0] == '\r')
				break;
			buf++;
		}
		else
		{
			// Avoid tight loop
			// FIXME: should be blocking
			vTaskDelay(5);
		}
	} while (nbBytesLeft);

	return nbBytes - nbBytesLeft;
}

bool WaitForMsg(uint8_t cmd, MkMsg_t* msg)
{
	uint8_t buf[10];
	uint8_t n;
	bool done = FALSE;
	bool error = FALSE;
	unsigned int checkVal;


	while (!done && !error)
	{
		// Wait for start
		buf[0] = 0;
		do
		{
			WaitForBytes(buf, 1, 100 / portTICK_RATE_MS);
			// TODO: check to TO
		} while (buf[0] != '#');

		// Wait for cmd and address
		if (WaitForBytes(buf, 2, 10 / portTICK_RATE_MS) != 2)
		{
			OnError(__LINE__);
			continue;
		}

		// Is this the command we are waiting for?
		if (cmd == 0 || cmd == buf[1])
		{
			// OK follow this message to the end
			msg->address = buf[0] - 'a';
			msg->cmd = buf[1];

			checkVal = '#' + buf[0] + buf[1];

			// Parse parameters
			msg->nbPars = 0;
			while(!done && !error)
			{
				n = WaitForBytes(buf, 4, 10 / portTICK_RATE_MS);
				if (n>0 && buf[n-1] == '\r')
				{
					n--;
					// This is the end of the message
					// Get check bytes
					if (n>=2)
					{
						unsigned int msgCeckVal;
						msgCeckVal = (buf[n-1]-'=') + (buf[n-2]-'=')*64;
						//printf("%x %x\n", msgCeckVal, checkVal&0xFFF);
						n -= 2;

						if (msgCeckVal == (checkVal & 0xFFF))
						{
							done = TRUE;
						}
						else
						{
							OnError(__LINE__);
							error = TRUE;
						}
					}
					else
					{
						OnError(__LINE__);
						error = TRUE;
					}
				}
				else if (n==4)
				{
					// Parse parameters
					int i;
					for (i=0; i<4; i++)
					{
						checkVal += buf[i];
						buf[i] -= '=';
					}
					if (msg->nbPars < MAX_NB_PARS)
					{
						msg->pars[msg->nbPars] = (((buf[0]<<2)&0xFF) | ((buf[1] >> 4)));
						msg->nbPars++;
					}
					if (msg->nbPars < MAX_NB_PARS)
					{
						msg->pars[msg->nbPars] = ((buf[1] & 0x0F)<< 4 | (buf[2] >> 2));
						msg->nbPars++;
					}
					if (msg->nbPars < MAX_NB_PARS)
					{
						msg->pars[msg->nbPars] = ((buf[2] & 0x03)<< 6 | buf[3]);
						msg->nbPars++;
					}
				}
				else
				{
					OnError(__LINE__);
					error = TRUE;
				}
			}
		}
	}

	return (done && !error);
}

/**
 * Initialise the module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t MkSerialInitialize(void)
{
	// Start gps task
	xTaskCreate(MkSerialTask, (signed char*) "MkSerial", STACK_SIZE, NULL,
			TASK_PRIORITY, NULL);

	return 0;
}

/**
 * gps task. Processes input buffer. It does not return.
 */
static void MkSerialTask(void* parameters)
{

	PIOS_COM_ChangeBaud(PORT, 57600);
	PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);

	DEBUG_MSG("MKSerial Started\n");

	while(1)
	{
		MkMsg_t msg;
		if (WaitForMsg(MSG_DEBUG, &msg))
		{
			//PrintMsg(&msg);
			DEBUG_MSG("Att: Nick=%5d Roll=%5d\n", Par2SignedInt(&msg,2+2*2), Par2SignedInt(&msg,2+3*2));
		}
		else
		{
			DEBUG_MSG("NoMsg\n");
		}
	}

//	while (1)
//	{
//		int32_t len;
//
//		len = PIOS_COM_ReceiveBufferUsed(PORT);
//		if (len)
//		{
//			PIOS_COM_SendFormattedString(PORT, "Received %d: ", len);
//
//			for (int32_t n = 0; n < len; ++n)
//			{
//				PIOS_COM_SendChar(PORT, PIOS_COM_ReceiveBuffer(PORT));
//			}
//
//			PIOS_COM_SendString(PORT, "\n");
//		}
//		vTaskDelay(100 / portTICK_RATE_MS);
//	}

}