1
0
mirror of git://projects.qi-hardware.com/antorcha.git synced 2024-11-01 11:28:26 +02:00

fw/: add acceleration sensor sample protocol (untested)

This commit is contained in:
Werner Almesberger 2012-06-21 12:12:10 -03:00
parent 7a0bc4cb9c
commit 27455749bd
6 changed files with 116 additions and 1 deletions

View File

@ -31,6 +31,12 @@ Protocol
9 n 0 Parameter ACK 9 n 0 Parameter ACK
10 0 0 Sample (64 bytes payload)
11 0 0 Sample ACK
13 n 0 Samples
Unlock, firmware, image, and parameter packets all have a fixed-size Unlock, firmware, image, and parameter packets all have a fixed-size
64 bytes payload. Pings and acknowledgements have no payload. Pongs 64 bytes payload. Pings and acknowledgements have no payload. Pongs
may have a variable-size payload. may have a variable-size payload.
@ -45,3 +51,23 @@ Image format
Two bytes per line. LSB of first byte is LED A1, MSB of last byte is B8. Two bytes per line. LSB of first byte is LED A1, MSB of last byte is B8.
Unused lines must be set to zero. Unused lines must be set to zero.
Sample format
=============
Each sample packet has the following structure:
Offset Size
0 2 Absolute time of X sample, high 16 bits
2 8*N N samples
Where each sample is
Offset Size
0 2 Absolute time of X sample, lower 16 bits
2 2 X sample (0-1023)
4 2 Absolute time of Y sample, lower 16 bits
6 2 Y sample (0-1023)
Byte order TBD. (Defined by avr-gcc)

View File

@ -30,7 +30,7 @@ OBJCOPY = $(AVR_PREFIX)objcopy
#OBJDUMP = $(AVR_PREFIX)objdump #OBJDUMP = $(AVR_PREFIX)objdump
SIZE = $(AVR_PREFIX)size SIZE = $(AVR_PREFIX)size
OBJS = $(NAME).o accel.o dispatch.o hash.o image.o reset.o sweep.o \ OBJS = $(NAME).o accel.o dispatch.o hash.o image.o reset.o sample.o sweep.o \
$(COMMON_OBJS) $(COMMON_OBJS)
BOOT_OBJS = boot.o flash.o fw.o $(COMMON_OBJS) BOOT_OBJS = boot.o flash.o fw.o $(COMMON_OBJS)
COMMON_OBJS = rf.o spi.o COMMON_OBJS = rf.o spi.o

View File

@ -33,6 +33,7 @@ static struct sweep sweep = {
static const struct handler *protos[] = { static const struct handler *protos[] = {
&image_handler, &image_handler,
&reset_handler, &reset_handler,
&sample_handler,
NULL NULL
}; };

View File

@ -28,6 +28,7 @@ struct handler {
extern struct handler image_handler; extern struct handler image_handler;
extern struct handler reset_handler; extern struct handler reset_handler;
extern struct handler sample_handler;
bool dispatch(const uint8_t *buf, uint8_t len, const struct handler **protos); bool dispatch(const uint8_t *buf, uint8_t len, const struct handler **protos);

View File

@ -28,6 +28,9 @@ enum pck_type {
IMAGE_ACK = 7, /* image upload acknowledgement */ IMAGE_ACK = 7, /* image upload acknowledgement */
PARAM = 8, /* parameter upload */ PARAM = 8, /* parameter upload */
PARAM_ACK = 9, /* parameter upload acknowledgement */ PARAM_ACK = 9, /* parameter upload acknowledgement */
SAMPLE = 10, /* start/stop sampling */
SAMPLE_ACK = 11, /* start/stop sampling acknowledgement */
SAMPLES = 13, /* samples */
}; };

84
fw/sample.c Normal file
View File

@ -0,0 +1,84 @@
/*
* fw/sample.c - Acceleration sensor sample protocol
*
* Written 2012 by Werner Almesberger
* Copyright 2012 Werner Almesberger
*
* 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 2 of the License, or
* (at your option) any later version.
*/
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
#include <avr/interrupt.h>
#include "rf.h"
#include "sweep.h"
#include "accel.h"
#include "proto.h"
#include "dispatch.h"
/* @@@ keep it small for now - we're running out of RAM :-( */
//#define MAX_PACKET 120 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
#define MAX_PACKET 60 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
static uint8_t buf[MAX_PACKET+3] = { SAMPLES, 0, 0 };
static uint16_t *p;
static void handler(bool x, uint16_t v)
{
bool first;
uint32_t t;
first = p == (uint16_t *) (buf+3);
if (first && !x)
return;
t = uptime();
if (first)
*p++ = t >> 16;
*p++ = t;
*p++ = v;
if (x)
return;
if ((uint8_t *) (p+4) <= buf+MAX_PACKET)
return;
rf_send(buf, (uint8_t *) p-buf);
p = (uint16_t *) (buf+3);
}
static bool sample_first(uint8_t limit, const uint8_t *payload)
{
if (payload[0]) {
buf[1] = 0;
cli();
sample = handler;
p = (uint16_t *) (buf+3);
sei();
} else {
cli();
sample = NULL;
sei();
}
return 1;
}
static bool sample_more(uint8_t seq, uint8_t limit, const uint8_t *payload)
{
return 0;
}
struct handler sample_handler = {
.type = SAMPLE,
.first = sample_first,
.more = sample_more,
};