philip/MDH-UAV-Control-System
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First drafto of new parser

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This commit is contained in:
Lennart Eriksson 2016-11-01 09:23:40 +01:00
parent fd743c755e
commit 1c0c7fb00f
3 changed files with 231 additions and 106 deletions
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49
UAV-ControlSystem/inc/drivers/arduino_com.h
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@ -11,8 +11,55 @@
#include "drivers/usart.h"
#define ARDUINO_BAUD 115200
#define ARDUINO_DMA_SIZE 15
#define ARDUINO_DMA_SIZE 20
/***********************************************************************
* BRIEF: RX packet structure from arduino com *
* INFORMATION: Contains the whole compass message *
***********************************************************************/
typedef struct compass_data_t {
uint8_t header;
int16_t x;
int16_t y;
int16_t z;
uint8_t crc;
} compass_data_t;
/***********************************************************************
* BRIEF: RX packet structure from arduino com *
* INFORMATION: Contains the whole gps data message *
***********************************************************************/
typedef struct gps_data_t {
uint8_t header;
float latitude;
float longitude;
uint8_t crc;
} gps_data_t;
/* An instance of the GPS data read from Arduino Com */
gps_data_t gps_data;
/* An instance of the compass data read from Arduino Com */
compass_data_t compass_data;
/***********************************************************************
* BRIEF: Initializes the UART for Arduino com *
* INFORMATION: A DMA Buffer starts storing the bytes received from RX *
***********************************************************************/
void arduinoCom_init(USART_TypeDef* usart_inst);
/***********************************************************************
* BRIEF: Checks if new RX packet is available *
* INFORMATION: Is called by the scheduler *
***********************************************************************/
bool arduino_frame_available();
/***********************************************************************
* BRIEF: Updates "gps_data" and "compass_data" *
* INFORMATION: Is called by the scheduler *
***********************************************************************/
void arduino_read();
#endif /* DRIVERS_ARDUINO_COM_H_ */

284
UAV-ControlSystem/src/drivers/arduino_com.c
View File

@ -19,25 +19,6 @@ enum packet_ids {
GPS_PACKET_ID = 0xB1,
};
typedef struct compass_data_t {
uint8_t header;
int16_t x;
int16_t y;
int16_t z;
uint8_t crc;
} compass_data_t;
compass_data_t compass_data = {0};
typedef struct gps_data_t {
uint8_t header;
float latitude;
float longitude;
uint8_t crc;
} gps_data_t;
gps_data_t gps_data = {0};
typedef struct arduino_data_t {
uint8_t size; //Size of the data
void * dataPtr; //pointer to the data
@ -51,22 +32,32 @@ enum arduino_data_e {
arduino_data_t data_arr[ARDUINO_DATA_COUNT] = {
[COMPASS_DATA_ID] = {
.size = sizeof(compass_data),
.size = 8,
.dataPtr = &compass_data,
},
[GPS_DATA_ID] = {
.size = sizeof(gps_data),
.size = 10,
.dataPtr = &gps_data,
},
};
/***********************************************************************
* BRIEF: Initializes the UART for Arduino com *
* INFORMATION: A DMA Buffer starts storing the bytes received from RX *
***********************************************************************/
void arduinoCom_init(USART_TypeDef* usart_inst)
{
/* initialize the USART with a dma buffer */
usart_init_dma(usart_inst, &dmaHandler, ARDUINO_BAUD, STOP_BITS_1, PARITY_NONE, ARDUINO_DMA_SIZE, 0);
// usart_transmit(&dmaHandler.usart_pro, "data", 4, 100000);
}
/***********************************************************************
* BRIEF: Checks if new RX packet is available *
* INFORMATION: Is called by the scheduler *
***********************************************************************/
bool arduino_frame_available()
{
/* We read data from DMA */
@ -75,6 +66,11 @@ bool arduino_frame_available()
return raw_dma_data_t.new_data;
}
/***********************************************************************
* BRIEF: Private function that looks for the correct data struct from *
* the header data *
* INFORMATION: *
***********************************************************************/
arduino_data_t find_packet_from_header(uint8_t header)
{
arduino_data_t arduino_data = {
@ -82,6 +78,7 @@ arduino_data_t find_packet_from_header(uint8_t header)
.size = 0,
};
/* Check what header it is and return the correct datapointer if correct header*/
switch (header)
{
case COMPASS_PACKET_ID:
@ -96,6 +93,83 @@ arduino_data_t find_packet_from_header(uint8_t header)
return arduino_data;
}
void arduino_parse_message(uint8_t data)
{
static uint8_t arduino_arr[ARDUINO_DMA_SIZE];
static bool find_header = true;
static uint8_t message_it = 0;
static uint8_t secondary_message_it = 0;
static arduino_data_t msg_header_and_size = { .size = 0, .dataPtr = NULL };
static uint8_t crc = 0;
if(find_header)
{
msg_header_and_size = find_packet_from_header(data);
if(msg_header_and_size.size != 0)
{
find_header = false;
arduino_arr[(message_it)] = data;
message_it++;
crc ^= data;
}
}
else
{
/* If we find any new possible header then we should be able to return to that point in time */
if (((arduino_data_t)find_packet_from_header(data)).size != 0 && secondary_message_it == 0)
{
secondary_message_it = message_it; //save the value of the position in The buffer array, not the dma array index
}
/* Reading the message except the crc byte */
if ((message_it) < (msg_header_and_size.size - 1))
{
arduino_arr[(message_it)] = data;
crc ^= data;
message_it++;
}
else if ((message_it) == (msg_header_and_size.size - 1))
{
/* put the crc code into the data buffer as well */
arduino_arr[(message_it)] = data;
/* TODO: Replace with check for CRC */
if (crc == data)
{
/* Clear necessary variables in order to fill the buffer with new ones */
message_it = 0;
find_header = true;
crc = 0;
memcpy(msg_header_and_size.dataPtr, arduino_arr, msg_header_and_size.size);
}
else
{
int size = msg_header_and_size.size;
int new_iter = secondary_message_it;
crc = 0;
find_header = true;
message_it = 0;
secondary_message_it = 0;
if(new_iter > 0)
{
for(int i = new_iter; i < size; i++)
{
arduino_parse_message(arduino_arr[i]);
}
}
}
}
}
}
/***********************************************************************
* BRIEF: Updates "gps_data" and "compass_data" *
* INFORMATION: Is called by the scheduler *
***********************************************************************/
void arduino_read()
{
static uint8_t arduino_arr[ARDUINO_DMA_SIZE];
@ -103,96 +177,98 @@ void arduino_read()
static uint32_t missedMsg = 0;
static uint8_t message_it_secondary_head = 0;
static bool new_header = false;
//static uint8_t current_packet_size = 0;
static uint8_t current_header = 0;
static uint8_t crc = 0;
static arduino_data_t msg_header_and_size = {0};
arduino_frame_available();
static arduino_data_t msg_header_and_size = { .size = 0, .dataPtr = NULL };
static bool find_new_header = true;
if (raw_dma_data_t.new_data)
{
for (int i = 0; i < ARDUINO_DMA_SIZE; i++)
{
arduino_parse_message(raw_dma_data_t.buff[i]);
uint8_t msg = raw_dma_data_t.buff[i];
msg_header_and_size = find_packet_from_header(msg);
// Look for the beginning of a frame
if ( message_it == 0 )
{
if (msg_header_and_size.size != 0)
{
arduino_arr[(message_it)] = msg;
message_it++;
current_header = msg;
new_header = false; // Just received one
crc ^= msg;
}
}
// Look for the end of sbus frame
else
{
if (msg_header_and_size.size != 0 && new_header == false)
{
new_header = true;
message_it_secondary_head = message_it; //save the value of the position in The buffer array, not the dma array index
}
/* Reading the message */
if ((message_it) < msg_header_and_size.size)
{
arduino_arr[(message_it)] = msg;
crc ^= msg;
message_it++;
}
if ((message_it) == msg_header_and_size.size)
{
missedMsg++;
/* TODO: Replace with check for CRC */
if (crc == msg)
{
message_it = 0;
missedMsg--;
arduino_data_t current_header_and_size = find_packet_from_header(current_header);
uint8_t sizeof_data = current_header_and_size.size;
uint8_t* tmp_ptr_to;
tmp_ptr_to = current_header_and_size.dataPtr;
memcpy(tmp_ptr_to,arduino_arr,sizeof_data);
}
/* If CRC does not match */
else
{
int temp_secondaryHeader = message_it_secondary_head;
message_it = message_it - temp_secondaryHeader; //update the counter to the empty part of the updated array
new_header = false; //set new header to false, this is true if there is another header within the buffer
//Move all the remaning messages in the buffer to the start of the buffer
for (int i = temp_secondaryHeader; i < ARDUINO_DMA_SIZE; i++)
{
int innerCount = i-temp_secondaryHeader;
arduino_arr[innerCount] = arduino_arr[i];
//check if we find another possible header inside the rest of the buffer and save that
if (((arduino_data_t)(find_packet_from_header(innerCount))).size != 0 && innerCount > 0 && new_header == false )
{
new_header = true;
message_it_secondary_head = innerCount;
}
}
}
}
}
// uint8_t msg = raw_dma_data_t.buff[i]; //raw_dma_data_t.buff[i];
// if(find_new_header)
// {
// msg_header_and_size = find_packet_from_header(msg);
// if(msg_header_and_size.size != 0)
// {
// find_new_header = false;
// arduino_arr[(message_it)] = msg;
// message_it++;
// new_header = false; // Just received one
// crc ^= msg;
// }
// }
// // Look for the end of sbus frame
// else
// {
// /* If we find any new possible header then we should be able to return to that point in time */
// if (((arduino_data_t)find_packet_from_header(msg)).size != 0 && new_header == false)
// {
// new_header = true;
// message_it_secondary_head = message_it; //save the value of the position in The buffer array, not the dma array index
// }
//
// /* Reading the message except the crc byte */
// if ((message_it) < (msg_header_and_size.size - 1))
// {
// arduino_arr[(message_it)] = msg;
// crc ^= msg;
// message_it++;
// }
// else if ((message_it) == (msg_header_and_size.size - 1))
// {
// /* put the crc code into the data buffer as well */
// arduino_arr[(message_it)] = msg;
// missedMsg++;
//
// /* TODO: Replace with check for CRC */
// if (crc == msg)
// {
// /* Clear necessary variables in order to fill the buffer with new ones */
// message_it = 0;
// find_new_header = true;
// missedMsg--;
// crc = 0;
//
// memcpy(msg_header_and_size.dataPtr, arduino_arr, msg_header_and_size.size);
// }
//
// /* If CRC does not match */
// else
// {
//
// int temp_secondaryHeader = message_it_secondary_head;
// int length = msg_header_and_size.size;
// int new_struct_size = 0;
// message_it = message_it - temp_secondaryHeader; //update the counter to the empty part of the updated array
//
// if(new_header)
// msg_header_and_size = find_packet_from_header(arduino_arr[temp_secondaryHeader]);
//
// /* Clear necessary variables so that a new message can be read into the buffer correctly */
// new_header = false; //set new header to false, this is true if there is another header within the buffer
// crc = 0;
//
// //Move all the remaning messages in the buffer to the start of the buffer
// for (int j = temp_secondaryHeader; j < length; j++)
// {
// int innerCount = j - temp_secondaryHeader;
// arduino_arr[innerCount] = arduino_arr[j];
//
// crc ^= arduino_arr[j];
//
// //check if we find another possible header inside the rest of the buffer and save that
// if (((arduino_data_t)(find_packet_from_header(innerCount))).size != 0 && innerCount > 0 && new_header == false )
// {
// new_header = true;
// message_it_secondary_head = innerCount;
// }
// }
// }
// }
// }
}
}
}

4
UAV-ControlSystem/src/main.c
View File

@ -61,7 +61,9 @@ void init_system()
// TODO!! TEMP code
arduinoCom_init(USART1);
while (1) {
arduino_read();
if(arduino_frame_available())
arduino_read();
HAL_Delay(15);
}