[Krobot-commits] [SCM] krobot branch, master, updated. 65a3c60237406303ecfc2efd5ae63e399d10d09b

[Nicolas D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 65a3c60237406303ecfc2efd5ae63e399d10d09b
Author: Nicolas Dandrimont <Nic...@cr...>
Date:   Tue Mar 29 23:47:50 2011 +0200

    [USB_CAN/Firmware] Rationnalize serial writes

commit 7aa55dd0d34b44ce45913414c760604d434ae503
Author: Nicolas Dandrimont <Nic...@cr...>
Date:   Tue Mar 29 23:47:20 2011 +0200

    [USB_CAN/Firmware] Add a semaphore to avoid serial tx interference

commit 4fa085f2f3a9ec372adaf1879e9eaac4c4e62c71
Author: Nicolas Dandrimont <Nic...@cr...>
Date:   Tue Mar 29 23:45:02 2011 +0200

    [USB_CAN/Firmware] Use LED1 for tx, LED2 for rx, LED3 for power

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/main.c b/elec/boards/USB_CAN/Firmware/usb_can/main.c
index 278d29d..40de93d 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/main.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/main.c
@@ -116,21 +116,27 @@ static void NORETURN can_receive_process(void) {
     can_rx_frame frame;
     int retval;
     bool received = false;
+    bool i = false;
 
 
     for (;;) {
         received = can_receive(usbcan.can, &frame, ms_to_ticks(100));
         if (received) {
+            i = !i;
             retval = usb_can_emit(&usbcan, &frame);
+            if (i)
+                LED2_ON();
+            else
+                LED2_OFF();
         }
     }
 }
 
 static void NORETURN blinky_process(void) {
     for (;;) {
-        LED2_ON();
+        LED3_ON();
         timer_delay(500);
-        LED2_OFF();
+        LED3_OFF();
         timer_delay(500);
     }
 }
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
index 07564ec..fc43170 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
@@ -58,6 +58,7 @@ void usb_can_init(usb_can *usbcan, can_driver *can, struct Serial *ser) {
     usbcan->is_open = false;
     usbcan->timestamped = false;
     usbcan->get_timestamp = get_timestamp;
+    sem_init(&usbcan->sem_receive);
 
 }
 
@@ -100,14 +101,16 @@ int usb_can_execute_command(usb_can *usbcan, char *command) {
     frame.data32[0] = 0;
     frame.data32[1] = 0;
 
+    sem_obtain(&usbcan->sem_receive);
+
     switch (command[0]) {
       case 'V':
         /* Version number */
-        kfile_write(&usbcan->ser->fd, "V0402\r", 6);
+        kfile_write(&usbcan->ser->fd, "V0402\r", strlen("V0402\r"));
         break;
       case 'N':
         /* Serial number */
-        kfile_write(&usbcan->ser->fd, "NKROB\r", 6);
+        kfile_write(&usbcan->ser->fd, "NKROB\r", strlen("NKROB\r"));
         break;
       case 'O':
         /* Open CAN Channel */
@@ -168,10 +171,11 @@ int usb_can_execute_command(usb_can *usbcan, char *command) {
     if (send) {
         ret = can_transmit(usbcan->can, &frame, ms_to_ticks(10));
         if (ret)
-            kfile_write(&usbcan->ser->fd, frame.ide ? "\r" : "\r", 1);
+            kfile_write(&usbcan->ser->fd, "\r", 1);
         else
             kfile_write(&usbcan->ser->fd, "\a", 1);
     }
+    sem_release(&usbcan->sem_receive);
 
     return 0;
 }
@@ -182,6 +186,10 @@ int usb_can_emit(usb_can *usbcan, can_rx_frame *frame) {
     int i = 0, j = 0;
     uint16_t timestamp;
 
+    // Do not interfere with the send ACK
+    if (!sem_attempt(&usbcan->sem_receive))
+        return 0;
+
     buffer[0] = frame->rtr ? 'r' : 't';
 
     // Extended identifier : uppercase identifier
@@ -213,5 +221,6 @@ int usb_can_emit(usb_can *usbcan, can_rx_frame *frame) {
 
     kfile_write(&usbcan->ser->fd, buffer, i);
 
+    sem_release(&usbcan->sem_receive);
     return 0;
 }
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
index 800e4a5..d24c859 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
@@ -25,7 +25,9 @@
 #define USB_CAN_H
 
 #include <stdio.h>
+#include <string.h>
 
+#include <kern/sem.h>
 #include <drv/can.h>
 #include <drv/ser.h>
 #include <drv/timer.h>
@@ -39,6 +41,7 @@ typedef struct _usb_can {
     bool is_open;         // Channel open?
     bool timestamped;     // Emit timestamps?
     usb_can_timestamp *get_timestamp; // Get Timestamp function
+    struct Semaphore sem_receive;    // Avoid receiving when tx_ing
 } usb_can;
 
 uint16_t get_timestamp(void);


hooks/post-receive
-- 
krobot