changeset
switched firmware to binary protocol, TODO: client implementation
Tue, 25 Jun 2013 23:52:29 +0200
- author
- Malte Bayer <mbayer@neo-soft.org>
- date
- Tue, 25 Jun 2013 23:52:29 +0200
- changeset 139
- 7127e7082ee0
- parent 138
- a570dd24a413
- child 140
- f910ad6ed0b6
switched firmware to binary protocol, TODO: client implementation
| blackbox/Makefile | file | annotate | diff | comparison | revisions | |
| blackbox/main.c | file | annotate | diff | comparison | revisions | |
| blackbox/main.h | file | annotate | diff | comparison | revisions | |
| slotUI/freeslot.py | file | annotate | diff | comparison | revisions | |
| slotUI/slotCli.py | file | annotate | diff | comparison | revisions |
--- a/blackbox/Makefile Tue Jun 25 22:18:17 2013 +0200 +++ b/blackbox/Makefile Tue Jun 25 23:52:29 2013 +0200 @@ -9,8 +9,10 @@ #F_CPU = 14318000 F_CPU = 8000000 +#F_CPU = 16000000 -BAUD=57600 +#BAUD=57600 +BAUD=33600 ISP_BAUD=115200 ifdef USB PORT=/dev/ttyUSB$(USB)
--- a/blackbox/main.c Tue Jun 25 22:18:17 2013 +0200 +++ b/blackbox/main.c Tue Jun 25 23:52:29 2013 +0200 @@ -15,12 +15,13 @@ const char ok[] PROGMEM="OK\n"; const char busy[] PROGMEM="BUSY\n"; -const char prepare[] PROGMEM="!RACE PREPARE\n"; -const char countdownstart[] PROGMEM="!COUNTDOWN\n"; -const char racestart[] PROGMEM="!RACE START\n"; -const char SHORTCUT[] PROGMEM="!SHORTCUT\n"; -const char PANIC[] PROGMEM="!PANIC\n"; +const char prepare[] PROGMEM="!PRE\n"; +const char countdownstart[] PROGMEM="!SET\n"; +const char racestart[] PROGMEM="!GO\n"; + +const char SHORTCUT[] PROGMEM="!OC\n"; +const char PANIC[] PROGMEM="!STOP\n"; const char RESUME[] PROGMEM="!RESUME\n"; typedef union { @@ -29,6 +30,11 @@ uint8_t byte[4]; // all four bytes } u32; +typedef union { + uint16_t value; + uint8_t byte[2]; // all two bytes +} u16; + #define FUEL_FULL 10000 #define FUEL_JUMPSTART 5000 #define FUEL_DIV_DEFAULT 25 @@ -48,7 +54,7 @@ unsigned unlimitedfuel:1; // 1bit bool unsigned trackchange:1; // 1bit bool uint16_t jumpstart_time, fuel; - uint8_t laps; + uint16_t laps; u32 lap_time_start, lap_time; } cardata; @@ -165,6 +171,8 @@ if (status == 6) for (data=0; data<MAX_SLOTS; data++) slot[data].canrefuel = 0; if (status == 7) slot[car].canrefuel = 0; } + + /* Old ASCII Format: RS232_puts("RW:"); RS232_putc(car + '0'); RS232_putc(':'); @@ -179,6 +187,20 @@ ultoa(sysclk.value, s, 16); RS232_puts(s); RS232_putc('\n'); + */ + + // New binary protocol: TODO: compress sender & status, car & type + RS232_puts("RW:\n"); + RS232_putc(8); // 8 binary bytes following + RS232_putc(car); + RS232_putc(type); + RS232_putc(sender); + RS232_putc(status); + RS232_putc(sysclk.byte[3]); + RS232_putc(sysclk.byte[2]); + RS232_putc(sysclk.byte[1]); + RS232_putc(sysclk.byte[0]); + RS232_putc('\n'); } int insert_queue(uint16_t tmp, uint8_t len) { @@ -218,6 +240,7 @@ ISR ( USART_RXC_vect ) { uint8_t tmp; + u16 fuel, jumpstart_time; char c = UDR; // check for buffer overflow @@ -302,7 +325,7 @@ case '+': // toggle panic mode RS232_puts_p(ok); if (mode != 0xff) { - mode = 0xff; + mode = 0xff; RS232_puts_p(PANIC); } else { mode = 0; @@ -311,24 +334,21 @@ break; case 'I': // get Information data (incl. important global parameter dump) + // New binary protocol: + RS232_puts("V:"); RS232_puts(VERSION); - RS232_putc(':'); - for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(slot[tmp].speedlimit); // output speed limits - RS232_putc(':'); - for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(slot[tmp].speedminimum); // output minimum speed - RS232_putc(':'); + RS232_puts(":\n"); + RS232_putc(6 * MAX_SLOTS); // binary bytes following for (tmp=0;tmp<MAX_SLOTS;tmp++) { - itoa(slot[tmp].fuel, s, 16); - RS232_putc(s); // output fuel levels (0=empty, 100=full, 0xff=no fuel option) - RS232_putc(','); + fuel.value = slot[tmp].fuel; + jumpstart_time.value = slot[tmp].jumpstart_time; + RS232_putc(slot[tmp].speedlimit); // output speed limits + RS232_putc(slot[tmp].speedminimum); // output minimum speed + RS232_putc(fuel.byte[1]); // output fuel levels (0=empty, 100=full, 0xff=no fuel option) + RS232_putc(fuel.byte[0]); // output fuel levels (0=empty, 100=full, 0xff=no fuel option) + RS232_putc(jumpstart_time.byte[1]); // output jumpstart times + RS232_putc(jumpstart_time.byte[0]); // output jumpstart times } - RS232_putc(':'); - for (tmp=0;tmp<MAX_SLOTS;tmp++) { - itoa(slot[tmp].jumpstart_time, s, 16); - RS232_puts(s); // output jumpstart times - RS232_putc(','); - } - RS232_putc(':'); RS232_putc('\n'); break; @@ -483,7 +503,7 @@ if (slot[4].speedminimum != 0) tmp |= 0b10000101; if (slot[5].speedminimum != 0) tmp |= 0b10000011; } - // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word + // TODO: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word return insert_queue(tmp, 7); } @@ -545,6 +565,7 @@ void check_cars(void) { u32 clk, diff; + u16 laps; clk.value = sysclk.value; // freeze system clock time if (car0 != car0_state) { @@ -555,17 +576,21 @@ if (slot[car0-1].lap_time_start.value != 0) { slot[car0-1].lap_time.value = diff.value; slot[car0-1].laps++; - RS232_puts("L:3:"); // 3 = BB - itoa(slot[car0-1].laps, s, 16); - RS232_puts(s); - RS232_putc(':'); - RS232_putc('0'+car0_state); - RS232_putc(':'); - ultoa(diff.value, s, 16); - RS232_puts(s); - RS232_putc(':'); - ultoa(clk.value, s, 16); - RS232_puts(s); + laps.value = slot[car0-1].laps; + // New binary protocol: + RS232_puts("L:3:\n"); // 3 = BB + RS232_putc(11); // binary bytes following + RS232_putc(laps.byte[1]); + RS232_putc(laps.byte[0]); + RS232_putc(car0_state); // slot number + RS232_putc(diff.byte[3]); + RS232_putc(diff.byte[2]); + RS232_putc(diff.byte[1]); + RS232_putc(diff.byte[0]); + RS232_putc(sysclk.byte[3]); + RS232_putc(sysclk.byte[2]); + RS232_putc(sysclk.byte[1]); + RS232_putc(sysclk.byte[0]); RS232_putc('\n'); } slot[car0-1].lap_time_start.value = clk.value; @@ -582,17 +607,21 @@ if (slot[car1-1].lap_time_start.value != 0) { slot[car1-1].lap_time.value = diff.value; slot[car1-1].laps++; - RS232_puts("L:1:"); // 1 = AA - itoa(slot[car1-1].laps, s, 16); - RS232_puts(s); - RS232_putc(':'); - RS232_putc('0'+car1_state); - RS232_putc(':'); - ultoa(diff.value, s, 16); - RS232_puts(s); - RS232_putc(':'); - ultoa(clk.value, s, 16); - RS232_puts(s); + laps.value = slot[car1-1].laps; + // New binary protocol: + RS232_puts("L:1:\n"); // 1 = AA + RS232_putc(11); // binary bytes following + RS232_putc(laps.byte[1]); + RS232_putc(laps.byte[0]); + RS232_putc(car1_state); // slot number + RS232_putc(diff.byte[3]); + RS232_putc(diff.byte[2]); + RS232_putc(diff.byte[1]); + RS232_putc(diff.byte[0]); + RS232_putc(sysclk.byte[3]); + RS232_putc(sysclk.byte[2]); + RS232_putc(sysclk.byte[1]); + RS232_putc(sysclk.byte[0]); RS232_putc('\n'); } slot[car1-1].lap_time_start.value = clk.value; @@ -604,25 +633,29 @@ void slot_liveinfo(uint8_t idx) { if (switches.liveinfo == 0) return; + u16 fuel; if (switches.liveinfo == 1) { // increment packet counter, if == 10 output some live info if (slot[idx].seccnt == 10) { // output current fuel status - RS232_putc('F'); - RS232_putc(':'); - RS232_putc(idx + '0'); - RS232_putc(':'); - itoa(slot[idx].fuel, s, 16); - RS232_puts(s); - RS232_putc(':'); - ultoa(sysclk.value, s, 16); - RS232_puts(s); + fuel.value = slot[idx].fuel; + // new Binary protocol: + RS232_puts("F:\n"); + RS232_putc(7); // binary bytes following + RS232_putc(idx); // slot + RS232_putc(fuel.byte[1]); + RS232_putc(fuel.byte[0]); + RS232_putc(sysclk.byte[3]); + RS232_putc(sysclk.byte[2]); + RS232_putc(sysclk.byte[1]); + RS232_putc(sysclk.byte[0]); RS232_putc('\n'); slot[idx].seccnt = 0; } else slot[idx].seccnt++; } else if ( (switches.liveinfo - 2) == idx ) { // output controller status LIVEINFO-2 for remote learning + // TODO: old ascii protocol RS232_putc('L'); RS232_putc('N'); RS232_putc(':'); @@ -658,7 +691,8 @@ while (mode == 0xff) panic_mode(); if (response_len > 0) { - itoa(response, s, 2); + //TODO: Track response data??? + //itoa(response, s, 2); response_len = 0; //RS232_puts("ANSWER RX: "); //RS232_puts(s);
--- a/blackbox/main.h Tue Jun 25 22:18:17 2013 +0200 +++ b/blackbox/main.h Tue Jun 25 23:52:29 2013 +0200 @@ -4,7 +4,7 @@ #include <avr/wdt.h> #include <stdint.h> -#define VERSION "1.8" +#define VERSION "1.8.2" #define COUNTDOWN_DELAY 10 // x/10 seconds @@ -93,7 +93,7 @@ #define PIN(x) (*(&x - 2)) // address of input register of port x -// constants +// constants, do not change this #define MAX_SLOTS 6 // external variabled
--- a/slotUI/freeslot.py Tue Jun 25 22:18:17 2013 +0200 +++ b/slotUI/freeslot.py Tue Jun 25 23:52:29 2013 +0200 @@ -67,6 +67,8 @@ self.info = None def readline(self): + # TODO: Binärprotokoll implementieren und als "alte" ASCII Antwort zurückgeben! + # if self.com: return self.com.readline() return "" @@ -76,7 +78,8 @@ return self.com.query(msg) return "" - def connect(self, device="/dev/ttyUSB0", speed=57600): + def connect(self, device="/dev/ttyUSB0", speed=33600): + # old connection speed 57600 if self.com == None: self.com = SerialCommunicator(device, speed) if self.com.connected:
--- a/slotUI/slotCli.py Tue Jun 25 22:18:17 2013 +0200 +++ b/slotUI/slotCli.py Tue Jun 25 23:52:29 2013 +0200 @@ -20,7 +20,7 @@ import threading -VERSION = "1.8.1" +VERSION = "1.8.2" MAXSLOTS = 6 TERM = { "caption": "\033[1;37m\033[1;44m", @@ -607,7 +607,7 @@ self.render_slots() - if rx == "!RACE PREPARE": + if rx == "!PRE": # reset current race status # and display PREPARE PHASE self.reset_slots() @@ -615,29 +615,30 @@ self.slot[slot]["status"] = "Prepare" trigger_event("race_prepare") - if rx == "!RACE START": + if rx == "!GO": + # race start! for slot in range(MAXSLOTS): if self.slot[slot]["status"] == "~~~~~~~~~~": self.slot[slot]["status"] = "Idle" trigger_event("race_start") self.raceactive = True - if rx == "!COUNTDOWN": + if rx == "!SET": # countdown initiated for slot in range(MAXSLOTS): self.slot[slot]["status"] = "~~~~~~~~~~" trigger_event("countdown_start") - if rx == "!PANIC": - # panic mode + if rx == "!STOP": + # panic mode, race stopped trigger_event("panic") - if rx == "!SHORTCUT": - # panic mode + if rx == "!OC": + # panic mode, overcurrent trigger_event("panic_shortcut") if rx == "!RESUME": - # panic mode + # panic mode reset - race goes on normally trigger_event("resume")
