[Firebug-cvs] fireboard/beta/tos/sensorboards/mts400 GpsPacket.nc,1.2,1.3

SourceForge Headquarters 225 Broadway Suite 1600 San Diego, CA 92101 +1 (858) 422-6466

Update of /cvsroot/firebug/fireboard/beta/tos/sensorboards/mts400
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6481

Modified Files:
	GpsPacket.nc 
Log Message:
Cleaned up some gps driver code.

Index: GpsPacket.nc
===================================================================
RCS file: /cvsroot/firebug/fireboard/beta/tos/sensorboards/mts400/GpsPacket.nc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** GpsPacket.nc	27 May 2005 00:38:32 -0000	1.2
--- GpsPacket.nc	28 May 2005 00:09:40 -0000	1.3
***************
*** 68,73 ****
  /* This component handles the gps control and packet abstraction */
  includes sensorboard;
  module GpsPacket {
!     provides {
      interface StdControl as Control;
      interface BareSendMsg as Send;
--- 68,75 ----
  /* This component handles the gps control and packet abstraction */
  includes sensorboard;
+ 
  module GpsPacket {
! 
!   provides {
      interface StdControl as Control;
      interface BareSendMsg as Send;
***************
*** 78,83 ****
      command result_t txBytes(uint8_t *bytes, uint8_t numBytes);
      /* Effects: start sending 'numBytes' bytes from 'bytes' */
!  //      command result_t GpsPower(uint8_t PowerState); 
!  //      /* 0 => gps power off; 1 => gps power on */   
    }
    uses {
--- 80,85 ----
      command result_t txBytes(uint8_t *bytes, uint8_t numBytes);
      /* Effects: start sending 'numBytes' bytes from 'bytes' */
!     //      command result_t GpsPower(uint8_t PowerState); 
!     //      /* 0 => gps power off; 1 => gps power on */   
    }
    uses {
***************
*** 96,108 ****
  #include "gps.h"

!  GPS_Msg buffer;
!  //GPS_Msg* bufferPtr;
!  TOS_MsgPtr bufferPtr;         //really a GPS_Msg pointer
!  enum {GPS_SWITCH_IDLE,                      //GPS I2C switches are not using the I2C bus
! 	   GPS_PWR_SWITCH_WAIT,                  //Waiting for GPS I2C power switch to set
!        GPS_EN_SWITCH_WAIT,                   //Waiting for GPS I2C enable switch to set
!        GPS_TX_SWITCH_WAIT,                   //Waiting for GPS I2C tx switch to set
!        GPS_RX_SWITCH_WAIT,                   //Waiting for GPS I2C rx switch to set
!    	};

    uint8_t state_gps;            //state of I2C switches
--- 98,110 ----
  #include "gps.h"

!   GPS_Msg buffer;
!   //GPS_Msg* bufferPtr;
!   TOS_MsgPtr bufferPtr;         //really a GPS_Msg pointer
!   enum {GPS_SWITCH_IDLE,                      //GPS I2C switches are not using the I2C bus
! 	GPS_PWR_SWITCH_WAIT,                  //Waiting for GPS I2C power switch to set
! 	GPS_EN_SWITCH_WAIT,                   //Waiting for GPS I2C enable switch to set
! 	GPS_TX_SWITCH_WAIT,                   //Waiting for GPS I2C tx switch to set
! 	GPS_RX_SWITCH_WAIT,                   //Waiting for GPS I2C rx switch to set
!   };

    uint8_t state_gps;            //state of I2C switches
***************
*** 121,127 ****
      PACKET,
      BYTES,
! 	   NO_GPS_START_BYTE = 0,
! 	   GPS_START_BYTE = 1,
! 	   GPS_BUF_NOT_AVAIL = 2
    };
    uint8_t state;
--- 123,129 ----
      PACKET,
      BYTES,
!     NO_GPS_START_BYTE = 0,
!     GPS_START_BYTE = 1,
!     GPS_BUF_NOT_AVAIL = 2
    };
    uint8_t state;
***************
*** 137,145 ****
--- 139,152 ----
      packet abstraction.  One such example is the UART.

+     27 May 2005: This is fine, but why not abstract those functionalities
+     into different modules to make the code easier to maintain
+     and debug?  -dmd
    */
+ 

    /* Initialization of this component */
    command result_t Control.init() {
+ 
      atomic recPtr = (uint8_t *)&buffer;
      bufferIndex = 0;
***************
*** 158,166 ****
    command result_t Control.start() {
      // apply your power management algorithm
!         call SwitchControl.start();
! 		return call ByteControl.start();
!    }

!     /* Command to control the power of the network stack */
    command result_t Control.stop() {
      // apply your power management algorithm
--- 165,173 ----
    command result_t Control.start() {
      // apply your power management algorithm
!     call SwitchControl.start();
!     return call ByteControl.start();
!   }

!   /* Command to control the power of the network stack */
    command result_t Control.stop() {
      // apply your power management algorithm
***************
*** 171,182 ****
      if (txCount == 0)
        {
! 	    txCount = 1;
! 	    txLength = numBytes;
! 	    sendPtr = bytes;
  	/* send the first byte */
! 	    if (call ByteComm.txByte(sendPtr[0]))
! 	    return SUCCESS;
  	else
! 	    txCount = 0;
        }
      return FAIL;
--- 178,189 ----
      if (txCount == 0)
        {
! 	txCount = 1;
! 	txLength = numBytes;
! 	sendPtr = bytes;
  	/* send the first byte */
! 	if (call ByteComm.txByte(sendPtr[0]))
! 	  return SUCCESS;
  	else
! 	  txCount = 0;
        }
      return FAIL;
***************
*** 199,203 ****
    task void sendDoneFailTask() {
      atomic{
! 	  txCount = 0;
        state = IDLE;
      }
--- 206,210 ----
    task void sendDoneFailTask() {
      atomic{
!       txCount = 0;
        state = IDLE;
      }
***************
*** 207,211 ****
    task void sendDoneSuccessTask() {
      atomic{
! 	  txCount = 0;
        state = IDLE;
      }
--- 214,218 ----
    task void sendDoneSuccessTask() {
      atomic{
!       txCount = 0;
        state = IDLE;
      }
***************
*** 215,219 ****
    task void sendVarLenFailTask() {
      atomic{
! 	  txCount = 0;
        state = IDLE;
      }
--- 222,226 ----
    task void sendVarLenFailTask() {
      atomic{
!       txCount = 0;
        state = IDLE;
      }
***************
*** 230,257 ****

    void sendComplete(result_t success) {
!    atomic{ 
!     if (state == PACKET){
! 	       TOS_MsgPtr msg = (TOS_MsgPtr)sendPtr;
         	if (success) {           /* This is a non-ack based layer */
! 	       msg->ack = TRUE;
! 	       post sendDoneSuccessTask();
! 	   }
! 	   else {
! 	       post sendDoneFailTask();
! 	   }
        }
!     else if (state == BYTES) {
!       if (success) {
! 	        post sendVarLenSuccessTask();
        }
        else {
! 	        post sendVarLenFailTask();
        }
!     }
!     else {
!       txCount = 0;
!       state = IDLE;
!     }
!    } //atomic
    }

--- 237,265 ----

    void sendComplete(result_t success) {
! 
!     atomic{ 
!       if (state == PACKET){
! 	TOS_MsgPtr msg = (TOS_MsgPtr)sendPtr;
         	if (success) {           /* This is a non-ack based layer */
! 	  msg->ack = TRUE;
! 	  post sendDoneSuccessTask();
! 	}
! 	else {
! 	  post sendDoneFailTask();
! 	}
        }
!       else if (state == BYTES) {
! 	if (success) {
! 	  post sendVarLenSuccessTask();
! 	}
! 	else {
! 	  post sendVarLenFailTask();
! 	}
        }
        else {
! 	txCount = 0;
! 	state = IDLE;
        }
!     } //atomic
    }

***************
*** 268,326 ****
    /* Byte level component signals it is ready to accept the next byte.
       Send the next byte if there are data pending to be sent */
!  async event result_t ByteComm.txByteReady(bool success) {
!    atomic{
!     if (txCount > 0){
! 	     if (!success){
! 	        dbg(DBG_ERROR, "TX_packet failed, TX_byte_failed");
! 	        sendComplete(FAIL);
! 	     }
! 	     else if (txCount < txLength){
! 	        dbg(DBG_PACKET, "PACKET: byte sent: %x, COUNT: %d\n",
! 	       	sendPtr[txCount], txCount);
! 	        if (!call ByteComm.txByte(sendPtr[txCount++])) sendComplete(FAIL);
! 	     }
!     }
!    } //atomic
      return SUCCESS;
    }

!  async  event result_t ByteComm.txDone() {
!    atomic{
!     if (txCount == txLength)
!       sendComplete(TRUE);
      }
      return SUCCESS;
    }

! /******************************************************************************
!  * Signal gps buffer avail
!  * Only one buffer
!  *****************************************************************************/
    task void receiveTask() {
!      bufferPtr = signal Receive.receive(bufferPtr);   //no pointer change on return
!      atomic state_gps_pkt = NO_GPS_START_BYTE;
!    }
! /******************************************************************************
!  * Byte received from GPS
!  * First byte in gps packet is reserved to count number of bytes rcvd.
!  * Gps messages start with '$' (0x24) and end with <cr><lf> (0x0D, 0x0A)
!  *****************************************************************************/
    async event result_t ByteComm.rxByteReady(uint8_t data, bool error,
! 				      uint16_t strength) {
!  //   SODbg(DBG_USR2, "PACKET: byte arrived: %x, COUNT: %i\n", data, rxCount);

! 	if (error){
! 	    rxCount = 0;
! 	    return FAIL;
!       }
! //if gps buffer not avail
      if (state_gps_pkt == GPS_BUF_NOT_AVAIL) return SUCCESS;

! 	if ((state_gps_pkt == NO_GPS_START_BYTE) && (data != GPS_PACKET_START)){
! 	    rxCount = 1;
! 	    return SUCCESS;
      }
      else{
!         state_gps_pkt = GPS_START_BYTE;
      }

--- 276,334 ----
    /* Byte level component signals it is ready to accept the next byte.
       Send the next byte if there are data pending to be sent */
!   async event result_t ByteComm.txByteReady(bool success) {
!     atomic{
!       if (txCount > 0){
! 	if (!success){
! 	  dbg(DBG_ERROR, "TX_packet failed, TX_byte_failed");
! 	  sendComplete(FAIL);
! 	}
! 	else if (txCount < txLength){
! 	  dbg(DBG_PACKET, "PACKET: byte sent: %x, COUNT: %d\n",
! 	      sendPtr[txCount], txCount);
! 	  if (!call ByteComm.txByte(sendPtr[txCount++])) sendComplete(FAIL);
! 	}
!       }
!     } //atomic
      return SUCCESS;
    }

!   async  event result_t ByteComm.txDone() {
!     atomic{
!       if (txCount == txLength)
! 	sendComplete(TRUE);
      }
      return SUCCESS;
    }

!   /******************************************************************************
!    * Signal gps buffer avail
!    * Only one buffer
!    *****************************************************************************/
    task void receiveTask() {
!     bufferPtr = signal Receive.receive(bufferPtr);   //no pointer change on return
!     atomic state_gps_pkt = NO_GPS_START_BYTE;
!   }
!   /******************************************************************************
!    * Byte received from GPS
!    * First byte in gps packet is reserved to count number of bytes rcvd.
!    * Gps messages start with '$' (0x24) and end with <cr><lf> (0x0D, 0x0A)
!    *****************************************************************************/
    async event result_t ByteComm.rxByteReady(uint8_t data, bool error,
! 					    uint16_t strength) {
!     //   SODbg(DBG_USR2, "PACKET: byte arrived: %x, COUNT: %i\n", data, rxCount);

!     if (error){
!       rxCount = 0;
!       return FAIL;
!     }
!     //if gps buffer not avail
      if (state_gps_pkt == GPS_BUF_NOT_AVAIL) return SUCCESS;

!     if ((state_gps_pkt == NO_GPS_START_BYTE) && (data != GPS_PACKET_START)){
!       rxCount = 1;
!       return SUCCESS;
      }
      else{
!       state_gps_pkt = GPS_START_BYTE;
      }

***************
*** 328,351 ****
      recPtr[0] = rxCount;

! 	if (rxCount == GPS_DATA_LENGTH ){
! 	  SODbg(DBG_USR2, "gps packet too large- flushed \n");  
        state_gps_pkt = NO_GPS_START_BYTE;
! 	  return SUCCESS;
      }

! 	if (data == GPS_PACKET_END2 ){
! 	  state_gps_pkt = GPS_BUF_NOT_AVAIL;
        rxCount = 1;
! 	  post receiveTask(); 
! 	  return SUCCESS;
      }

! //	    bufferIndex = bufferIndex ^ 1;
! //        recPtr = (uint8_t*)bufferPtr;           ping pong buffers !!!!!!!!!!!!!!!!!!
! 	  //  SODbg(DBG_USR2, "got gps packet; # of bytes =  %i  \n", rxCount);  
! 	  //  rxCount = 0;
! 	  //  post receiveTask();
! 	  //  return FAIL;
      //}

--- 336,359 ----
      recPtr[0] = rxCount;

!     if (rxCount == GPS_DATA_LENGTH ){
!       SODbg(DBG_USR2, "gps packet too large- flushed \n");  
        state_gps_pkt = NO_GPS_START_BYTE;
!       return SUCCESS;
      }

!     if (data == GPS_PACKET_END2 ){
!       state_gps_pkt = GPS_BUF_NOT_AVAIL;
        rxCount = 1;
!       post receiveTask(); 
!       return SUCCESS;
      }

!     //	    bufferIndex = bufferIndex ^ 1;
!     //        recPtr = (uint8_t*)bufferPtr;           ping pong buffers !!!!!!!!!!!!!!!!!!
!     //  SODbg(DBG_USR2, "got gps packet; # of bytes =  %i  \n", rxCount);  
!     //  rxCount = 0;
!     //  post receiveTask();
!     //  return FAIL;
      //}

***************
*** 353,365 ****
    }

! /******************************************************************************
!  * Turn Gps  on/off
!  * PowerState = 0 then GPS power off, GPS enable off
!  *            = 1 then GPS power on,  GPS enable on
!  * NOTE - GPS switching power supply is enabled by a lo, disabled by a hi
!  *****************************************************************************/
! command result_t GpsCmd.PowerSwitch(uint8_t PowerState){
      if (state_gps == GPS_SWITCH_IDLE){
! 	  power_gps = PowerState;
        if (power_gps){
          if (call Switch1.set(MICAWB_GPS_POWER,0) == SUCCESS) state_gps = GPS_PWR_SWITCH_WAIT;
--- 361,373 ----
    }

!   /******************************************************************************
!    * Turn Gps  on/off
!    * PowerState = 0 then GPS power off, GPS enable off
!    *            = 1 then GPS power on,  GPS enable on
!    * NOTE - GPS switching power supply is enabled by a lo, disabled by a hi
!    *****************************************************************************/
!   command result_t GpsCmd.PowerSwitch(uint8_t PowerState){
      if (state_gps == GPS_SWITCH_IDLE){
!       power_gps = PowerState;
        if (power_gps){
          if (call Switch1.set(MICAWB_GPS_POWER,0) == SUCCESS) state_gps = GPS_PWR_SWITCH_WAIT;
***************
*** 371,387 ****
      }
      return FAIL;
! } 

! // Power or Enabled switch set
    event result_t Switch1.setDone(bool local_result) {
      if (state_gps == GPS_PWR_SWITCH_WAIT) {
!        if (call Switch1.set(MICAWB_GPS_ENABLE ,power_gps) == SUCCESS) {
!        state_gps = GPS_EN_SWITCH_WAIT;
        }
      }
      else if (state_gps == GPS_EN_SWITCH_WAIT) {
!        signal GpsCmd.PowerSet(power_gps);
!        state_gps = GPS_SWITCH_IDLE;
      }

--- 379,395 ----
      }
      return FAIL;
!   } 

!   // Power or Enabled switch set
    event result_t Switch1.setDone(bool local_result) {
      if (state_gps == GPS_PWR_SWITCH_WAIT) {
!       if (call Switch1.set(MICAWB_GPS_ENABLE ,power_gps) == SUCCESS) {
! 	state_gps = GPS_EN_SWITCH_WAIT;
        }
      }
      else if (state_gps == GPS_EN_SWITCH_WAIT) {
!       signal GpsCmd.PowerSet(power_gps);
!       state_gps = GPS_SWITCH_IDLE;
      }

***************
*** 390,427 ****
    }

!  event result_t Switch1.getDone(char value) {
      return SUCCESS;
    }

! /******************************************************************************
!  * Turn Gps  Rx,Tx signals on/off
!  * state = 0 then tx and rx disabled
!  *       = 1 then tx and rx enabled
!  * NOTE - rx,tx share pressure lines.
!  *****************************************************************************/
! command result_t GpsCmd.TxRxSwitch(uint8_t rtstate){
      power_gps = rtstate;   
      if (state_gps == GPS_SWITCH_IDLE){
        if (call SwitchI2W.set( MICAWB_GPS_TX_SELECT ,power_gps) == SUCCESS) {
! 	    state_gps = GPS_TX_SWITCH_WAIT;
          return SUCCESS;
        }
      }
! 	return FAIL;
! }

! // Tx or Rx switch set
    event result_t SwitchI2W.setDone(bool local_result) {
      if (state_gps == GPS_TX_SWITCH_WAIT) {
        if (call SwitchI2W.set( MICAWB_GPS_RX_SELECT ,power_gps) == SUCCESS) {
! 	  state_gps = GPS_RX_SWITCH_WAIT;
        }
      }
      else if (state_gps == GPS_RX_SWITCH_WAIT) {
! 	   SODbg(DBG_USR2, "GpsPacket: all switches set \n"); 
!        state_gps = GPS_SWITCH_IDLE;
!        signal GpsCmd.TxRxSet(power_gps);
      }

--- 398,435 ----
    }

!   event result_t Switch1.getDone(char value) {
      return SUCCESS;
    }

!   /******************************************************************************
!    * Turn Gps  Rx,Tx signals on/off
!    * state = 0 then tx and rx disabled
!    *       = 1 then tx and rx enabled
!    * NOTE - rx,tx share pressure lines.
!    *****************************************************************************/
!   command result_t GpsCmd.TxRxSwitch(uint8_t rtstate){
      power_gps = rtstate;   
      if (state_gps == GPS_SWITCH_IDLE){
        if (call SwitchI2W.set( MICAWB_GPS_TX_SELECT ,power_gps) == SUCCESS) {
! 	state_gps = GPS_TX_SWITCH_WAIT;
          return SUCCESS;
        }
      }
!     return FAIL;
!   }

!   // Tx or Rx switch set
    event result_t SwitchI2W.setDone(bool local_result) {
      if (state_gps == GPS_TX_SWITCH_WAIT) {
        if (call SwitchI2W.set( MICAWB_GPS_RX_SELECT ,power_gps) == SUCCESS) {
! 	state_gps = GPS_RX_SWITCH_WAIT;
        }
      }
      else if (state_gps == GPS_RX_SWITCH_WAIT) {
!       SODbg(DBG_USR2, "GpsPacket: all switches set \n"); 
!       state_gps = GPS_SWITCH_IDLE;
!       signal GpsCmd.TxRxSet(power_gps);
      }