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LibrePilot/flight/PipXtreme/reserved/api_comms.c
stac 967bb9bb9c pipx: COM device ids are now 32bit not 8bit
The COM layer now uses 32bit device ids rather than
8bit.  All code that stores these ids must now use
uint32_t to hold them.

Since these 32bit numbers are really just opaque
pointers, it is (reasonably) safe to assume that
they won't be 0.  The logic around tracking the
*_previous_com_port could probably be cleaned up
to remove that assumption.

Missed this fixup in the recent hwinit changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2776 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-13 15:54:26 +00:00

501 lines
16 KiB
C

/**
******************************************************************************
*
* @file api_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @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
*/
// see http://newwiki.openpilot.org/display/Doc/UAVTalk .. for UAVTalk protocol description
//
// This module scans for OP UAVTalk packets in the comm-port or RF data streams.
// It will discard any corrupt/invalid packets and only pass valid ones.
#include <string.h>
#include "stm32f10x.h"
#include "gpio_in.h"
#include "api_comms.h"
#include "packet_handler.h"
#include "main.h"
#if defined(PIOS_COM_DEBUG)
#define API_DEBUG
#endif
// *****************************************************************************
// modem configuration packets
typedef struct
{
uint32_t marker;
uint32_t serial_number;
uint8_t type;
uint8_t spare;
uint16_t data_size;
uint32_t header_crc;
uint32_t data_crc;
// uint8_t data[0];
} __attribute__((__packed__)) t_pipx_config_header;
typedef struct
{
uint8_t mode;
uint8_t state;
} __attribute__((__packed__)) t_pipx_config_data_mode_state;
typedef struct
{
uint32_t serial_baudrate; // serial uart baudrate
uint32_t destination_id;
uint32_t min_frequency_Hz;
uint32_t max_frequency_Hz;
uint32_t frequency_Hz;
uint32_t max_rf_bandwidth;
uint8_t max_tx_power;
uint8_t frequency_band;
uint8_t rf_xtal_cap;
bool aes_enable;
uint8_t aes_key[16];
uint16_t frequency_step_size;
} __attribute__((__packed__)) t_pipx_config_data_settings;
typedef struct
{
uint32_t start_frequency;
uint16_t frequency_step_size;
uint16_t magnitudes;
// int8_t magnitude[0];
} __attribute__((__packed__)) t_pipx_config_data_spectrum;
// *****************************************************************************
typedef struct
{
uint8_t sync_byte;
uint8_t message_type;
uint16_t packet_size; // not including CRC byte
uint32_t object_id;
} __attribute__((__packed__)) t_uav_header1;
typedef struct
{
uint8_t sync_byte;
uint8_t message_type;
uint16_t packet_size; // not including CRC byte
uint32_t object_id;
uint16_t instance_id;
} __attribute__((__packed__)) t_uav_header2;
#define SYNC_VAL 0x3C
#define TYPE_MASK 0xFC
#define TYPE_VER 0x20
#define TYPE_OBJ (TYPE_VER | 0x00)
#define TYPE_OBJ_REQ (TYPE_VER | 0x01)
#define TYPE_OBJ_ACK (TYPE_VER | 0x02)
#define TYPE_ACK (TYPE_VER | 0x03)
#define MIN_HEADER_LENGTH sizeof(t_uav_header1)
#define MAX_HEADER_LENGTH sizeof(t_uav_header2)
#define MAX_PAYLOAD_LENGTH 256
#define CHECKSUM_LENGTH 1
#define MAX_PACKET_LENGTH (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
// CRC lookup table
static const uint8_t crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
// *****************************************************************************
// local variables
uint32_t api_previous_com_port = 0;
volatile uint16_t api_rx_timer = 0;
volatile uint16_t api_tx_timer = 0;
uint8_t api_rx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
uint16_t api_rx_buffer_wr;
uint8_t api_tx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
uint16_t api_tx_buffer_wr;
// *****************************************************************************
// 8-bit CRC updating
uint8_t api_updateCRC_byte(uint8_t crc, uint8_t b)
{
return crc_table[crc ^ b];
}
uint8_t api_updateCRC_buffer(uint8_t crc, const void *data, int32_t length)
{
// use registers for speed
register uint8_t crc8 = crc;
register const uint8_t *p = (uint8_t *)data;
for (register int32_t i = length; i > 0; i--)
crc8 = crc_table[crc8 ^ *p++];
return crc8;
}
// returned value < 0 if no valid packet detected.
// otherwise returned value is the total size of the valid UAVTalk packet found in the buffer.
//
// any corrupt/invalid UAVTalk packets/data are deleted from the buffer and we scan for the next valid packet.
int16_t api_scanForUAVTalkPacket(void *buf, uint16_t *len)
{
uint8_t *buffer = (uint8_t *)buf;
t_uav_header1 *header1 = (t_uav_header1 *)buf;
// t_uav_header2 *header2 = (t_uav_header2 *)buf;
register uint16_t num_bytes = *len;
if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
return -1; // not yet enough bytes for a complete packet
while (TRUE)
{
// scan the buffer for the start of a UAVTalk packet
for (uint16_t i = 0; i < num_bytes; i++)
{
if (api_rx_buffer[i] != SYNC_VAL)
continue; // not the start of a packet - move on to the next byte in the buffer
// possible start of packet found - we found a SYNC byte
if (i > 0)
{ // remove/delete leading bytes before the SYNC byte
num_bytes -= i;
if (num_bytes > 0)
memmove(buffer, buffer + i, num_bytes);
*len = num_bytes;
}
break;
}
if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
return -2; // not yet enough bytes for a complete packet
if (header1->sync_byte != SYNC_VAL)
{ // SYNC byte was not found - start of UAVTalk packet not found in any of the data in the buffer
*len = 0; // empty the entire buffer
return -3;
}
if (header1->packet_size < MIN_HEADER_LENGTH || header1->packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
{ // the packet size value is too small or too big - assume either a corrupt UAVTalk packet or we are at the start of a packet
// if (--num_bytes > 0)
// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
// *len = num_bytes;
buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
continue; // continue scanning for a valid packet in the buffer
}
if (num_bytes < header1->packet_size + CHECKSUM_LENGTH)
{ // not yet enough bytes for a complete packet
return -4;
}
// check the packet CRC
uint8_t crc1 = api_updateCRC_buffer(0, buffer, header1->packet_size);
uint8_t crc2 = buffer[header1->packet_size];
if (crc1 != crc2)
{ // faulty CRC
// if (--num_bytes > 0)
// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
// *len = num_bytes;
buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
#if defined(API_DEBUG)
DEBUG_PRINTF("UAVTalk packet corrupt %d\r\n", header1->packet_size + 1);
#endif
continue; // continue scanning for a valid packet in the buffer
}
#if defined(API_DEBUG)
DEBUG_PRINTF("UAVTalk packet found %d\r\n", header1->packet_size + 1);
#endif
return (header1->packet_size + CHECKSUM_LENGTH); // return the size of the UAVTalk packet
}
return -5;
}
// *****************************************************************************
int16_t api_scanForConfigPacket(void *buf, uint16_t *len)
{
return -1;
}
// *****************************************************************************
// can be called from an interrupt if you wish
void api_1ms_tick(void)
{ // call this once every 1ms
if (api_rx_timer < 0xffff) api_rx_timer++;
if (api_tx_timer < 0xffff) api_tx_timer++;
}
// *****************************************************************************
// call this as often as possible - not from an interrupt
void api_process(void)
{ // copy data from comm-port RX buffer to RF packet handler TX buffer, and from RF packet handler RX buffer to comm-port TX buffer
// ********************
// decide which comm-port we are using (usart or usb)
bool usb_comms = false; // TRUE if we are using the usb port for comms.
uint32_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0))
{ // USB comms is up, use the USB comm-port instead of the USART comm-port
usb_comms = true;
comm_port = PIOS_COM_TELEM_USB;
}
#endif
// ********************
// check to see if the local communication port has changed (usart/usb)
if (api_previous_com_port == 0 && api_previous_com_port != comm_port)
{ // the local communications port has changed .. remove any data in the buffers
api_rx_buffer_wr = 0;
api_tx_buffer_wr = 0;
}
else
if (usb_comms)
{ // we're using the USB for comms - keep the USART rx buffer empty
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
bytes--;
}
}
api_previous_com_port = comm_port; // remember the current comm-port we are using
// ********************
uint16_t connection_index = 0; // the RF connection we are using
// ********************
// send the data received from the local comm-port to the RF packet handler TX buffer
while (TRUE)
{
int16_t packet_size;
// free space size in the RF packet handler tx buffer
uint16_t ph_num = ph_putData_free(connection_index);
// get the number of data bytes received down the comm-port
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
// set the USART RTS handshaking line
if (!usb_comms && ph_connected(connection_index))
{
if (ph_num < 32)
SERIAL_RTS_CLEAR; // lower the USART RTS line - we don't have space in the buffer for anymore bytes
else
SERIAL_RTS_SET; // release the USART RTS line - we have space in the buffer for now bytes
}
else
SERIAL_RTS_SET; // release the USART RTS line
// limit number of bytes we will get to how much space we have in our RX buffer
if (com_num > sizeof(api_rx_buffer) - api_rx_buffer_wr)
com_num = sizeof(api_rx_buffer) - api_rx_buffer_wr;
while (com_num > 0)
{ // fetch a byte from the comm-port RX buffer and save it into our RX buffer
api_rx_buffer[api_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(comm_port);
com_num--;
}
// packet_size = api_scanForConfigPacket(api_rx_buffer, &api_rx_buffer_wr);
packet_size = api_scanForUAVTalkPacket(api_rx_buffer, &api_rx_buffer_wr);
if (packet_size < 0)
break; // no UAVTalk packet in our RX buffer
api_rx_timer = 0;
if (!ph_connected(connection_index))
{ // we don't have a link to a remote modem .. remove the UAVTalk packet from our RX buffer
if (api_rx_buffer_wr > packet_size)
{
api_rx_buffer_wr -= packet_size;
memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
}
else
api_rx_buffer_wr = 0;
continue;
}
if (ph_num < packet_size)
break; // not enough room in the RF packet handler TX buffer for the UAVTalk packet
// copy the rx'ed UAVTalk packet into the RF packet handler TX buffer for sending over the RF link
ph_putData(connection_index, api_rx_buffer, packet_size);
// remove the UAVTalk packet from our RX buffer
if (api_rx_buffer_wr > packet_size)
{
api_rx_buffer_wr -= packet_size;
memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
}
else
api_rx_buffer_wr = 0;
}
// ********************
// send the data received via the RF link out the comm-port
while (TRUE)
{
// get number of data bytes received via the RF link
uint16_t ph_num = ph_getData_used(connection_index);
// limit to how much space we have in the temp TX buffer
if (ph_num > sizeof(api_tx_buffer) - api_tx_buffer_wr)
ph_num = sizeof(api_tx_buffer) - api_tx_buffer_wr;
if (ph_num > 0)
{ // fetch the data bytes received via the RF link and save into our temp buffer
ph_num = ph_getData(connection_index, api_tx_buffer + api_tx_buffer_wr, ph_num);
api_tx_buffer_wr += ph_num;
}
int16_t packet_size = api_scanForUAVTalkPacket(api_tx_buffer, &api_tx_buffer_wr);
if (packet_size <= 0)
break; // no UAV Talk packet found
// we have a UAVTalk packet to send down the comm-port
/*
#if (defined(PIOS_COM_DEBUG) && (PIOS_COM_DEBUG == PIOS_COM_SERIAL))
if (!usb_comms)
{ // the serial-port is being used for debugging - don't send data down it
api_tx_buffer_wr = 0;
api_tx_timer = 0;
continue;
}
#endif
*/
if (!usb_comms && !GPIO_IN(SERIAL_CTS_PIN))
break; // we can't yet send data down the comm-port
// send the data out the comm-port
int32_t res;
// if (usb_comms)
// res = PIOS_COM_SendBuffer(comm_port, api_tx_buffer, packet_size);
// else
res = PIOS_COM_SendBufferNonBlocking(comm_port, api_tx_buffer, packet_size); // this one doesn't work properly with USB :(
if (res < 0)
{ // failed to send the data out the comm-port
#if defined(API_DEBUG)
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", packet_size, res);
#endif
if (api_tx_timer >= 5000)
{ // seems we can't send our data for at least the last 5 seconds - delete it
if (api_tx_buffer_wr > packet_size)
{
api_tx_buffer_wr -= packet_size;
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
}
else
api_tx_buffer_wr = 0;
}
break;
}
// data was sent out the comm-port OK .. remove the sent data from our buffer
if (api_tx_buffer_wr > packet_size)
{
api_tx_buffer_wr -= packet_size;
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
}
else
api_tx_buffer_wr = 0;
api_tx_timer = 0;
}
// ********************
}
// *****************************************************************************
void api_init(void)
{
api_previous_com_port = 0;
api_rx_buffer_wr = 0;
api_tx_buffer_wr = 0;
api_rx_timer = 0;
api_tx_timer = 0;
}
// *****************************************************************************