[tuxdroid-svn] r1129 - firmware/tuxaudio/trunk

[jaguarondi <c2m...@c2...>]

Author: jaguarondi
Date: 2008-05-07 13:12:02 +0200 (Wed, 07 May 2008)
New Revision: 1129

Modified:
   firmware/tuxaudio/trunk/communication.c
   firmware/tuxaudio/trunk/communication.h
   firmware/tuxaudio/trunk/hardware.h
   firmware/tuxaudio/trunk/i2c.c
   firmware/tuxaudio/trunk/main.c
   firmware/tuxaudio/trunk/parser.c
Log:
* Now continuously polling for commands, not only each 33ms.

* Clear statusFifo when RF offline otherwise standalone command doesn't get
  through in this case.

* Some commands were still lost because the I2C_BUSY was not set if a restart
  and the stack could overflow. I now wait for the stack to have some space
  before fetching new commands.

* Some more cleanup.



Modified: firmware/tuxaudio/trunk/communication.c
===================================================================
--- firmware/tuxaudio/trunk/communication.c	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/communication.c	2008-05-07 11:12:02 UTC (rev 1129)
@@ -25,6 +25,7 @@
 #include "communication.h"
 #include "i2c.h"
 #include "parser.h"
+#include "hardware.h"
 
 /* I2C write message (out) */
 static uint8_t out_buf[CMD_SIZE];
@@ -33,9 +34,6 @@
 static uint8_t in_buf[CMD_SIZE];
 static struct i2c_msg msg_in = {0, 0, in_buf};
 
-/* XXX to delete */
-uint8_t statusFlag;
-
 /*
  * core_cmdout is a stack for commands to be sent to tuxcore
  */
@@ -43,18 +41,6 @@
 fifo_t *core_cmdout = FifoPointer(core_cmdout_buf);
 
 /*
- * audioBuf is a single buffer for commands received over i2c to control the
- * audio interface
- *
- * audioBufIdx should be set to the number of valid bytes in the buffer,
- * depending on the number of parameters associated with the command. It is
- * cleared when the command is processed so it can be used to check whether the
- * buffer has been processed or not.
- */
-uint8_t audioBuf[CMD_SIZE];     /* single buffer for commands received over i2c to control the audio interface */
-uint8_t audioBufIdx = 0;        /* index indicating the number of valid bytes in the buffer */
-
-/*
  * statusFifo is a fifo buffer for commands received from the i2c and that
  * should be sent over the RF link
  *
@@ -65,11 +51,11 @@
 
 /*
  * Initialize (clear) the communication buffers
+ * XXX can't we delete this?
  */
 void initCommunicationBuffers(void)
 {
     FifoClear(core_cmdout);
-    audioBufIdx = 0;
 }
 
 /*
@@ -85,7 +71,6 @@
     if (FifoLength(core_cmdout))
         /* Send commands received from RF or testers to tuxcore only. */
     {
-        msg_out.len = CMD_SIZE;
         for (i = 0; i < CMD_SIZE; i++)
         {
             if (FifoGet(core_cmdout, &out_buf[i]))
@@ -93,7 +78,6 @@
                  * bytes) XXX add an error feedback on this */
                 return -1;
         }
-        msg_out.addr = TUXCORE_ADDR;
         i2c_send_bytes(&msg_out);
     }
     else
@@ -105,10 +89,12 @@
 
 void get_core_cmd(void)
 {
+    /* First check if the stack is not full */
+    if (FifoLength(statusFifo) > INCOMING_BUF_SIZE - CMD_SIZE)
+        return;
+
     if (i2c_get_status() != I2C_BUSY)
     {
-        msg_in.addr = TUXCORE_ADDR;
-        msg_in.len = CMD_SIZE;
         i2c_read_bytes(&msg_in);
     }
 }
@@ -192,12 +178,15 @@
         /* New pointer necessary as parse_cmd modifies the pointer. */
         uint8_t *cmd = msg->buf;
         /* Parse the command */
+        /* XXX Should be moved out of the interrupt, no? */
         parse_cmd(cmd);
         /* and forward if it isn't dropped. */
         if (cmd)
             send_status(cmd);
-        /* As we got something, there's maybe more so continue */
-        return 1;
+        /* As we got something, there's maybe more so if the stack is not full,
+         * continue */
+        if (FifoLength(statusFifo) <= INCOMING_BUF_SIZE - CMD_SIZE)
+            return 1;
     }
     return 0;
 }
@@ -228,8 +217,14 @@
     return 0;
 }
 
-void core_communications(bool tick)
+void communication_task(void)
 {
+    /* Clear stack when the RF is disconnected. This makes sense but is
+     * necessary otherwise the standalone commands won't be fetched anymore
+     * when the RF is off. */
+    if (!(RF_ONLINE_PIN & RF_ONLINE_MK))
+        FifoClear(statusFifo);
+
     /* If busy, pass. */
     if (i2c_get_status() == I2C_BUSY)
         return;
@@ -240,19 +235,10 @@
         i2c_send_bytes(&msg_out);
         return;
     }
-    else if (msg_in.state == I2C_NACK)
-    {
-        get_core_cmd();
-        return;
-    }
 
     if (!sendCommands())
     {
-        if (tick)
-        {
-            get_core_cmd();
-            statusFlag = 0;
-        }
+        get_core_cmd();
     }
 }
 
@@ -266,7 +252,9 @@
 {
     i2c_init();
     msg_out.addr = TUXCORE_ADDR;
-    msg_out.buf = out_buf;
+    msg_out.len = CMD_SIZE;
+    //msg_out.buf = out_buf;
+    msg_in.addr = TUXCORE_ADDR;
+    msg_in.len = CMD_SIZE;
     i2c_master_receive_handler(i2cMasterReceiveService);
 }
-

Modified: firmware/tuxaudio/trunk/communication.h
===================================================================
--- firmware/tuxaudio/trunk/communication.h	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/communication.h	2008-05-07 11:12:02 UTC (rev 1129)
@@ -39,8 +39,6 @@
 extern uint8_t audioBuf[CMD_SIZE];      /* single buffer for commands received over i2c to control the audio interface */
 extern uint8_t audioBufIdx;     /* index indicating the number of valid bytes in the buffer */
 
-extern uint8_t statusFlag;
-
 extern fifo_t *statusFifo;      /* incomingBuf is used for commands received from the i2c and should be sent over the RF link */
 
 /* /< XXX New clean commands */
@@ -63,6 +61,6 @@
                      uint8_t param3);
 uint8_t popStatus(uint8_t * command);
 void get_core_cmd(void);
-void core_communications(bool tick);
+void communication_task(void);
 
 #endif /* COMMUNICATION_H */

Modified: firmware/tuxaudio/trunk/hardware.h
===================================================================
--- firmware/tuxaudio/trunk/hardware.h	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/hardware.h	2008-05-07 11:12:02 UTC (rev 1129)
@@ -42,6 +42,15 @@
 /** RF reset DDR. */
 #define RF_RESET_DDR DDRB
 
+/** RF online mask. */
+#define RF_ONLINE_MK _BV(PB6)
+/** RF online PIN. */
+#define RF_ONLINE_PIN PINB
+/** RF online PORT. */
+#define RF_ONLINE_PT PORTB
+/** RF online DDR. */
+#define RF_ONLINE_DDR DDRB
+
 /* Flash memory port */
 #define FLASH_PORT PORTB
 #define FLASH_CS_PIN _BV(PB1)

Modified: firmware/tuxaudio/trunk/i2c.c
===================================================================
--- firmware/tuxaudio/trunk/i2c.c	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/i2c.c	2008-05-07 11:12:02 UTC (rev 1129)
@@ -365,6 +365,7 @@
                 if (i2c_master_receive(m_msg))
                 {
                     buf_idx = 0;
+                    i2c_state = I2C_BUSY;
                     twi_send_start(); /* restart a read */
                 }
                 else

Modified: firmware/tuxaudio/trunk/main.c
===================================================================
--- firmware/tuxaudio/trunk/main.c	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/main.c	2008-05-07 11:12:02 UTC (rev 1129)
@@ -129,7 +129,7 @@
 
     command[0] = SEND_AUDIOSENSORS_CMD;
     command[1] = (PINC & 0x0F) | (PIND & 0xD0); /* get switches, charger status , RF status and mute status */
-    if (PINB & 0x40)
+    if (RF_ONLINE_PIN & RF_ONLINE_MK)
         command[1] |= 0x20;
     command[1] ^= 0x9B;         /* some bits should be inverted */
     command[2] = soundToPlay;
@@ -160,7 +160,7 @@
      * This delay is critical as the INT0 is quite shaky and any glitches on
      * INT0 at the boot of the RF CPU immeditely crash this CPU or set it in
      * the while(1) loop of spi.c */
-    while (PINB & 0x40);
+    while (RF_ONLINE_PIN & RF_ONLINE_MK);
     /* Activate the interrupts used by the RF module. */
     EIFR = (_BV(INT1) | _BV(INT0));
     EIMSK = (_BV(INT1) | _BV(INT0));
@@ -191,7 +191,7 @@
             erase();
 
         /* Send commands to I2C, otherwise get new status from tuxcore */
-        core_communications(statusFlag);
+        communication_task();
             /*else if (sleep_f)*/
             /*{*/
                 /*sleep_f = 0;*/
@@ -215,9 +215,6 @@
             /* wait for audio commands to be processed */
             //if (!audioBufIdx && !flashPlay)
 
-            /* Main tick to retrieve status */
-            statusFlag = 1;
-
             /* Delay used to power the IR receiver slowly */
             if (power_on_reset_delay)
             {

Modified: firmware/tuxaudio/trunk/parser.c
===================================================================
--- firmware/tuxaudio/trunk/parser.c	2008-05-07 10:45:54 UTC (rev 1128)
+++ firmware/tuxaudio/trunk/parser.c	2008-05-07 11:12:02 UTC (rev 1129)
@@ -52,7 +52,7 @@
             pong_received = cmd[1];
             pong_missed = 0;
         }
-        else if (pong_received > cmd[1])    /* pongs missed */
+        else /* pongs */
         {
             pong_missed += pong_received - cmd[1];
             pong_received = cmd[1]; /* resync */