[tuxdroid-svn] r1133 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2008-05-08 11:46:35 +0200 (Thu, 08 May 2008)
New Revision: 1133

Modified:
   firmware/tuxcore/trunk/communication.c
   firmware/tuxcore/trunk/communication.h
   firmware/tuxcore/trunk/i2c.c
   firmware/tuxcore/trunk/i2c.h
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/parser.c
   firmware/tuxcore/trunk/parser.h
Log:
* Here's the cleaning of the communication module in tuxcore. Things are much
  simpler and comments have been updated.

  I'm now done with the communication/I2C, except for bug fixes of course.



Modified: firmware/tuxcore/trunk/communication.c
===================================================================
--- firmware/tuxcore/trunk/communication.c	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/communication.c	2008-05-08 09:46:35 UTC (rev 1133)
@@ -22,47 +22,36 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
+#include "common/defines.h"
 #include "global.h"
 #include "communication.h"
 #include "i2c.h"
 
-/*
- * Buffer for commands received from tuxaudio
- */
-FIFO_INSTANCE(cmd_inbuf, CMD_IN_BUF_SIZE);
-fifo_t *cmdin = FifoPointer(cmd_inbuf);
+/** Size of the incoming stack buffer. */
+#define CMD_IN_BUF_SIZE 32
+/** Size of the outgoing stack buffer. */
+#define CMD_OUT_BUF_SIZE 32
 
-/*
- * audioIntBuf is a single buffer for audio commands to be sent to the audio
- * interface
- *
- * audioIntBufIdx 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 sent so it can be used to check whether the
- * buffer is empty or not.
- */
-uint8_t audioIntBuf[CMD_SIZE];  /* single buffer for audio commands to be sent to the audio interface */
-uint8_t audioIntBufIdx = 0;     /* index indicating the number of valid bytes in the buffer */
+FIFO_INSTANCE(cmdin_buf, CMD_IN_BUF_SIZE);
+/** Stack for commands received from tuxaudio */
+fifo_t *cmdin = FifoPointer(cmdin_buf);
 
-/** \brief Fifo used to buffer status datas which is to be sent over i2c to tuxaudio.
- *  Declare a fifo (statusFifo_s) and a pointer.
- */
-FIFO_INSTANCE(statusFifo_s, CMD_OUT_BUF_SIZE);
-fifo_t *statusFifo = FifoPointer(statusFifo_s);
+FIFO_INSTANCE(cmdout_s, CMD_OUT_BUF_SIZE);
+/** Stack for commands to tuxaudio */
+fifo_t *cmdout = FifoPointer(cmdout_s);
 
-/*
- * i2cSlaveReceiveService is called at the end of the i2c
- * slave reception
- *
- * We basically do a transfer of the received data to the
- * commandBuf here.
+/**
+ * \brief Called at the end of the I2C slave reception to process received
+ * data.
+ * \param data_length Length of the data buffer.
+ * \param data Buffer of data received.
  */
-void i2cSlaveReceiveService(uint8_t length, uint8_t *data)
+void i2c_slave_receive_service(uint8_t data_length, uint8_t *data)
 {
     uint8_t i;
 
     /* We should have the right number of bytes. */
-    if (length != CMD_SIZE)
+    if (data_length != CMD_SIZE)
     {
         gerror = GERROR_INV_RECEIVE_LENGTH;
         return;
@@ -77,38 +66,34 @@
         FifoPut(cmdin, data[i]);
 }
 
-/*
- * i2cSlaveTransmitService is called when an I2C read transaction occurs. It
- * fetches data to be sent to tuxaudio.
+/**
+ * \brief Called when an I2C read transaction occurs. It fetches data to be
+ * sent to tuxaudio.
+ * \param data_length Length of the data buffer.
+ * \param data Buffer of data to be transmitted.
+ * \return 0 if nothing has to be sent, 1 otherwise.
  */
-uint8_t i2cSlaveTransmitService(uint8_t transmitDataLength, uint8_t* transmitData)
+uint8_t i2c_slave_transmit_service(uint8_t data_length, uint8_t* data)
 {
     uint8_t i;
 
-    if (audioIntBufIdx)         /* one audio command to send */
+    if (!FifoLength(cmdout))
+    return 0;
+
+    for (i = 0; i < data_length; i++)
     {
-        for (i = 0; i < audioIntBufIdx; i++)
-            transmitData[i] = audioIntBuf[i];
-        for (; i < 4; i++)
-            transmitData[i] = 0;
-        audioIntBufIdx = 0;
-        return 1;
-    }
-    else if (FifoLength(statusFifo))  /* if no audio and there's some status to send, get the next value */
-    {
-        for (i = 0; i < 4; i++) /* so we loop 4 times here to get all command bytes */
+        if (FifoGet(cmdout, &data[i]) != FIFO_OK)
         {
-            i2cSendData[i] = 0;
-            FifoGet(statusFifo, &transmitData[i]);       /* TODO add a test on returned value to detect any corrupted fifo */
+            gerror = GERROR_CMDOUTBUF_EMPTY;
+            return 0;
         }
-        return 1;
     }
-    return 0;
+    return 1;
 }
 
-/*
- * Get a command from the stack of received commands from tuxaudio.
- * Returns 0 if the stack is empty, 1 if a command has been received
+/**
+ * \brief Get a command from the stack of received commands from tuxaudio.
+ * \return 0 if the stack is empty, 1 if a command has been received
  * successfully.
  */
 int8_t get_cmd(uint8_t *cmd)
@@ -117,6 +102,7 @@
 
     if (!FifoLength(cmdin))
         return 0;
+
     for (i=0; i<CMD_SIZE; i++)
     {
         if (FifoGet(cmdin, &cmd[i]) != FIFO_OK)
@@ -128,20 +114,21 @@
     return 1;
 };
 
-/*
- * Add a command on the status stack to be sent to tuxaudio.
- * Returns 0 if the stack is full, 1 if the command has been added
+/**
+ * \brief Add a command on the status stack to be sent to tuxaudio.
+ * \param cmd Command array.
+ * \return 0 if the stack is full, 1 if the command has been added
  * successfully.
  */
-int8_t send_cmd(uint8_t *cmd)
+int8_t queue_cmd(uint8_t *cmd)
 {
     uint8_t i;
 
-    if (FifoLength(statusFifo) > FifoSize(statusFifo) - CMD_SIZE)
+    if (FifoLength(cmdout) > FifoSize(cmdout) - CMD_SIZE)
         return 0;
     cli();
     for (i=0; i<CMD_SIZE; i++)
-        if (FifoPut(statusFifo, cmd[i]) != FIFO_OK)
+        if (FifoPut(cmdout, cmd[i]) != FIFO_OK)
         {
             gerror = GERROR_CMDOUTBUF_FULL;
             return 0;
@@ -150,41 +137,54 @@
     return 1;
 }
 
-/*
- * Add a command on the status stack to be sent to tuxaudio.
- * Returns 0 if the stack is full, 1 if the command has been added
+/**
+ * \brief Add a command on the status stack to be sent to tuxaudio.
+ * \param cmd Command byte.
+ * \param param1 First parameter.
+ * \param param2 Second parameter.
+ * \param param3 Third parameter.
+ * \return 0 if the stack is full, 1 if the command has been added
  * successfully.
  */
-int8_t send_cmd_p(uint8_t cmd, uint8_t param1, uint8_t param2, \
+int8_t queue_cmd_p(uint8_t cmd, uint8_t param1, uint8_t param2, \
                      uint8_t param3)
 {
     uint8_t c[4] = {cmd , param1, param2, param3};
-    return send_cmd(c);
+    return queue_cmd(c);
 }
 
-/*
- * Returns true if all commands are sent, false otherwise.
+/**
+ * \brief Check if all commands are completely sent through I2C.
+ * \return true if all commands are sent, false otherwise.
  */
 bool cmds_sent(void)
 {
-    return !(FifoLength(statusFifo) || audioIntBufIdx ||
-             (i2c_get_status() == I2C_BUSY));
+    return !(FifoLength(cmdout) || (i2c_get_status() == I2C_BUSY));
 }
 
+/**
+ * \brief Check if the command stack is empty.
+ * \return true if stack is empty.
+ * It's possible that the stack is empty but the command is in the I2C buffer.
+ * This doesn't ensure that the command has been received on the other side.
+ */
 bool cmds_empty(void)
 {
-    return !FifoLength(statusFifo);
+    return !FifoLength(cmdout);
 }
 
 /**
- * I2C communication initialization
+ * \brief I2C communication initialization
  *
  * Initialize the I2C interface in slave mode.
  */
 void communication_init(void)
 {
     i2c_init();
-    i2c_slave_receive_handler(i2cSlaveReceiveService);  /* set receive function */
-    i2c_slave_transmit_handler(i2cSlaveTransmitService);  /* set receive function */
-    FifoClear(statusFifo);
+
+    /* Set receive and transmit handlers. */
+    i2c_slave_receive_handler(i2c_slave_receive_service);
+    i2c_slave_transmit_handler(i2c_slave_transmit_service);
+
+    FifoClear(cmdout);
 }

Modified: firmware/tuxcore/trunk/communication.h
===================================================================
--- firmware/tuxcore/trunk/communication.h	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/communication.h	2008-05-08 09:46:35 UTC (rev 1133)
@@ -26,28 +26,14 @@
 #include "common/commands.h"
 #include "fifo.h"
 
-#define CMD_OUT_BUF_SIZE 32
-#define CMD_IN_BUF_SIZE 32
-#define CMD_SIZE    4
-#define AFTER_NACK_DELAY    6
 
-enum CMD_TYPE
-{ AUDIO_CMD, STATUS_CMD };
-
-extern uint8_t audioIntBuf[CMD_SIZE];   /* single buffer for commands received over i2c to control the audio interface */
-extern uint8_t audioIntBufIdx;  /* index indicating the number of valid bytes in the buffer */
-
-extern fifo_t *statusFifo;
-
-extern uint8_t errorBuf[2];     /* buffer for command errors, should contain command number and error code */
-
 void communication_init(void);
+
 int8_t get_cmd(uint8_t *cmd);
-int8_t send_cmd_p(uint8_t command, uint8_t param1, uint8_t param2, \
+int8_t queue_cmd_p(uint8_t command, uint8_t param1, uint8_t param2, \
                      uint8_t param3);
-int8_t send_cmd(uint8_t *status);
+int8_t queue_cmd(uint8_t *status);
 bool cmds_sent(void);
 bool cmds_empty(void);
-uint8_t fetchCommands(void);
 
 #endif /* COMMUNICATION_H */

Modified: firmware/tuxcore/trunk/i2c.c
===================================================================
--- firmware/tuxcore/trunk/i2c.c	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/i2c.c	2008-05-08 09:46:35 UTC (rev 1133)
@@ -22,15 +22,16 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
+#include "common/defines.h"
 #include "i2c.h"
 
 #define TWI_TWCR (_BV(TWINT) | _BV(TWIE) | _BV(TWEA) | _BV(TWEN))
 /* send/transmit buffer (outgoing data) */
-uint8_t i2cSendData[4];
+uint8_t i2cSendData[CMD_SIZE];
 uint8_t i2cSendDataIndex;
 
 /* receive buffer (incoming data) */
-uint8_t i2cReceiveData[4];
+uint8_t i2cReceiveData[CMD_SIZE];
 uint8_t i2cReceiveDataIndex;
 
 /*

Modified: firmware/tuxcore/trunk/i2c.h
===================================================================
--- firmware/tuxcore/trunk/i2c.h	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/i2c.h	2008-05-08 09:46:35 UTC (rev 1133)
@@ -67,7 +67,6 @@
 extern uint8_t i2cDeviceAddrRW;
 
 /* send/transmit buffer (outgoing data) */
-extern uint8_t i2cSendData[];
 extern uint8_t i2cSendDataIndex;
 extern uint8_t i2cSendDataLength;
 

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/main.c	2008-05-08 09:46:35 UTC (rev 1133)
@@ -203,7 +203,7 @@
         if (pingCnt && cmds_empty())
         {
             pingCnt--;
-            send_cmd_p(PONG_CMD, pingCnt, 0, 0);
+            queue_cmd_p(PONG_CMD, pingCnt, 0, 0);
         }
         /* Parse and execute received commands. */
         parse_received_cmd();
@@ -253,16 +253,16 @@
 
 static void updateStatus(void)
 {
-    send_cmd_p(STATUS_SENSORS1_CMD, gStatus.sw, gStatus.audio_play,
+    queue_cmd_p(STATUS_SENSORS1_CMD, gStatus.sw, gStatus.audio_play,
                gStatus.audio_status);
-    send_cmd_p(STATUS_PORTS_CMD, PINB, PINC, PIND);
-    send_cmd_p(STATUS_POSITION1_CMD, eyes_move_counter, mouth_move_counter,
+    queue_cmd_p(STATUS_PORTS_CMD, PINB, PINC, PIND);
+    queue_cmd_p(STATUS_POSITION1_CMD, eyes_move_counter, mouth_move_counter,
                flippers_move_counter);
-    send_cmd_p(STATUS_POSITION2_CMD, spin_move_counter, gStatus.pos, 0);
+    queue_cmd_p(STATUS_POSITION2_CMD, spin_move_counter, gStatus.pos, 0);
     if (led_f)
     {
         led_f = false;
-        send_cmd_p(STATUS_LED_CMD, left_led.status.intensity,
+        queue_cmd_p(STATUS_LED_CMD, left_led.status.intensity,
                    right_led.status.intensity,
                    left_led.status.fading |
                    (left_led.status.pulsing << 1) |
@@ -274,20 +274,20 @@
     if (sensorsStatus & LIGHT_FLAG)     /* send light measurement */
     {
         sensorsStatus &= ~LIGHT_FLAG;
-        send_cmd_p(STATUS_LIGHT_CMD, gStatus.lightH, gStatus.lightL, gStatus.lightM);
+        queue_cmd_p(STATUS_LIGHT_CMD, gStatus.lightH, gStatus.lightL, gStatus.lightM);
     }
     if (sensorsStatus & BATTERY_FLAG)   /* send battery measurement */
     {
         sensorsStatus &= ~BATTERY_FLAG;
-        send_cmd_p(STATUS_BATTERY_CMD, gStatus.batteryH, gStatus.batteryL, gStatus.batteryS);
+        queue_cmd_p(STATUS_BATTERY_CMD, gStatus.batteryH, gStatus.batteryL, gStatus.batteryS);
     }
     if (ir_f)                   /* send received ir signals */
     {
         ir_f--;
-        send_cmd_p(STATUS_IR_CMD, gStatus.ir, ir_f, gStatus.ir);
+        queue_cmd_p(STATUS_IR_CMD, gStatus.ir, ir_f, gStatus.ir);
     }
     if (gerror)
-        send_cmd_p(GERROR_CMD, TUXCORE_CPU_NUM, gerror, 0);
+        queue_cmd_p(GERROR_CMD, TUXCORE_CPU_NUM, gerror, 0);
     sensorsUpdate |= STATUS_SENT;
 }
 

Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/parser.c	2008-05-08 09:46:35 UTC (rev 1133)
@@ -75,29 +75,24 @@
     /* Sound */
     else if (cmd[0] == PLAY_SOUND_CMD)
     {
-        for (i = 0; i < 3; i++) /* forwards the cmd to the audio CPU */
-            audioIntBuf[i] = cmd[i];
-        audioIntBufIdx = 3;
+        /* Forward the cmd to the audio CPU. */
+        queue_cmd(cmd);
         return;
     }
     else if (cmd[0] == MUTE_CMD)
     {
-        for (i = 0; i < 3; i++) /* forwards the cmd to the audio CPU */
-            audioIntBuf[i] = cmd[i];
-        audioIntBufIdx = 3;
+        /* Forward the cmd to the audio CPU. */
+        queue_cmd(cmd);
         return;
     }
-
     /* Sleep mode */
     else if (cmd[0] == SLEEP_CMD)
     {
-        for (i = 0; i < 3; i++) /* forward the cmd to the audio CPU */
-            audioIntBuf[i] = cmd[i];
-        audioIntBufIdx = 3;
+        /* Forward the cmd to the audio CPU. */
+        queue_cmd(cmd);
         cond_flags.sleep = COND_PRE_SLEEP;
         return;
     }
-
     /* Version */
     else if (cmd[0] == INFO_TUXCORE_CMD)
     {
@@ -106,9 +101,9 @@
 
         for (i = 0; i < 12; i++)
             info[i] = pgm_read_byte(p++);
-        send_cmd(&info[0]);
-        send_cmd(&info[4]);
-        send_cmd(&info[8]);
+        queue_cmd(&info[0]);
+        queue_cmd(&info[4]);
+        queue_cmd(&info[8]);
         return;
     }
     /* Reset condition flags */

Modified: firmware/tuxcore/trunk/parser.h
===================================================================
--- firmware/tuxcore/trunk/parser.h	2008-05-07 19:54:14 UTC (rev 1132)
+++ firmware/tuxcore/trunk/parser.h	2008-05-08 09:46:35 UTC (rev 1133)
@@ -22,7 +22,7 @@
 #ifndef PARSER_H
 #define PARSER_H
 
-void parse_cmd(uint8_t cmd[CMD_SIZE]);
+void parse_cmd(uint8_t cmd[]);
 void parse_received_cmd(void);
 
 #endif /* PARSER_H */