mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
7e73c59e90
- Allocate 10KBytes for bootloader; - Replace pios_com_msg with pios_com for ssp support - Change Speed to 9600 for higher reliability
119 lines
4.6 KiB
C
119 lines
4.6 KiB
C
/*******************************************************************
|
|
*
|
|
* NAME: ssp.h
|
|
*
|
|
*
|
|
*******************************************************************/
|
|
#ifndef SSP_H
|
|
#define SSP_H
|
|
/** INCLUDE FILES **/
|
|
#include <stdint.h>
|
|
|
|
/** LOCAL DEFINITIONS **/
|
|
#ifndef TRUE
|
|
#define TRUE 1
|
|
#endif
|
|
|
|
#ifndef FALSE
|
|
#define FALSE 0
|
|
#endif
|
|
|
|
#define SPP_USES_CRC
|
|
|
|
#define SSP_TX_IDLE 0 // not expecting a ACK packet (no current transmissions in progress)
|
|
#define SSP_TX_WAITING 1 // waiting for a valid ACK to arrive
|
|
#define SSP_TX_TIMEOUT 2 // failed to receive a valid ACK in the timeout period, after retrying.
|
|
#define SSP_TX_ACKED 3 // valid ACK received before timeout period.
|
|
#define SSP_TX_BUFOVERRUN 4 // amount of data to send execeds the transmission buffer sizeof
|
|
#define SSP_TX_BUSY 5 // Attempted to start a transmission while a transmission was already in progress.
|
|
// #define SSP_TX_FAIL - failure...
|
|
|
|
#define SSP_RX_IDLE 0
|
|
#define SSP_RX_RECEIVING 1
|
|
#define SSP_RX_COMPLETE 2
|
|
|
|
// types of packet that can be received
|
|
#define SSP_RX_DATA 5
|
|
#define SSP_RX_ACK 6
|
|
#define SSP_RX_SYNCH 7
|
|
|
|
typedef enum decodeState_ {
|
|
decode_len1_e = 0,
|
|
decode_seqNo_e,
|
|
decode_data_e,
|
|
decode_crc1_e,
|
|
decode_crc2_e,
|
|
decode_idle_e
|
|
} DecodeState_t;
|
|
|
|
typedef enum ReceiveState {
|
|
state_escaped_e = 0, state_unescaped_e
|
|
} ReceiveState_t;
|
|
|
|
typedef struct {
|
|
uint8_t *pbuff;
|
|
uint16_t length;
|
|
uint16_t crc;
|
|
uint8_t seqNo;
|
|
} Packet_t;
|
|
|
|
typedef struct {
|
|
uint8_t *rxBuf; // Buffer used to store rcv data
|
|
uint16_t rxBufSize; // rcv buffer size.
|
|
uint8_t *txBuf; // Length of data in buffer
|
|
uint16_t txBufSize; // CRC for data in Packet buff
|
|
uint16_t max_retry; // Maximum number of retrys for a single transmit.
|
|
int32_t timeoutLen; // how long to wait for each retry to succeed
|
|
void (*pfCallBack)(uint8_t *, uint16_t); // call back function that is called when a full packet has been received
|
|
int16_t (*pfSerialRead)(void); // function to call to read a byte from serial hardware
|
|
void (*pfSerialWrite)(uint8_t); // function used to write a byte to serial hardware for transmission
|
|
uint32_t (*pfGetTime)(void); // function returns time in number of seconds that has elapsed from a given reference point
|
|
} PortConfig_t;
|
|
|
|
typedef struct Port_tag {
|
|
void (*pfCallBack)(uint8_t *, uint16_t); // call back function that is called when a full packet has been received
|
|
int16_t (*pfSerialRead)(void); // function to read a character from the serial input stream
|
|
void (*pfSerialWrite)(uint8_t); // function to write a byte to be sent out the serial port
|
|
uint32_t (*pfGetTime)(void); // function returns time in number of seconds that has elapsed from a given reference point
|
|
uint8_t retryCount; // how many times have we tried to transmit the 'send' packet
|
|
uint8_t maxRetryCount; // max. times to try to transmit the 'send' packet
|
|
int32_t timeoutLen; // how long to wait for each retry to succeed
|
|
uint32_t timeout; // current timeout. when 'time' reaches this point we have timed out
|
|
uint8_t txSeqNo; // current 'send' packet sequence number
|
|
uint16_t rxBufPos; // current buffer position in the receive packet
|
|
uint16_t rxBufLen; // number of 'data' bytes in the buffer
|
|
uint8_t rxSeqNo; // current 'receive' packet number
|
|
uint16_t rxBufSize; // size of the receive buffer.
|
|
uint16_t txBufSize; // size of the transmit buffer.
|
|
uint8_t *txBuf; // transmit buffer. REquired to store a copy of packet data in case a retry is needed.
|
|
uint8_t *rxBuf; // receive buffer. Used to store data as a packet is received.
|
|
uint16_t sendSynch; // flag to indicate that we should send a synchronize packet to the host
|
|
// this is required when switching from the application to the bootloader
|
|
// and vice-versa. This fixes the firwmare download timeout.
|
|
// when this flag is set to true, the next time we send a packet we will first
|
|
// send a synchronize packet.
|
|
ReceiveState_t InputState;
|
|
DecodeState_t DecodeState;
|
|
uint16_t SendState;
|
|
uint16_t crc;
|
|
uint32_t RxError;
|
|
uint32_t TxError;
|
|
uint16_t flags;
|
|
} Port_t;
|
|
|
|
/** Public Data **/
|
|
|
|
/** PUBLIC FUNCTIONS **/
|
|
int16_t ssp_ReceiveProcess(Port_t *thisport);
|
|
int16_t ssp_SendProcess(Port_t *thisport);
|
|
uint16_t ssp_SendString(Port_t *thisport, char *str);
|
|
int16_t ssp_SendData(Port_t *thisport, const uint8_t *data,
|
|
const uint16_t length);
|
|
void ssp_Init(Port_t *thisport, const PortConfig_t *const info);
|
|
int16_t ssp_ReceiveByte(Port_t *thisport);
|
|
uint16_t ssp_Synchronise(Port_t *thisport);
|
|
|
|
/** EXTERNAL FUNCTIONS **/
|
|
|
|
#endif // ifndef SSP_H
|