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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

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@ -31,6 +31,12 @@ Protocol
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
64 bytes payload. Pings and acknowledgements have no payload. Pongs
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.
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)

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@ -30,7 +30,7 @@ OBJCOPY = $(AVR_PREFIX)objcopy
#OBJDUMP = $(AVR_PREFIX)objdump
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)
BOOT_OBJS = boot.o flash.o fw.o $(COMMON_OBJS)
COMMON_OBJS = rf.o spi.o

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

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

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@ -28,6 +28,9 @@ enum pck_type {
IMAGE_ACK = 7, /* image upload acknowledgement */
PARAM = 8, /* parameter upload */
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
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@ -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,
};