communication.c File Reference

#include "communication.h"
#include "drivers/callback_timers.h"
#include "drivers/adc.h"
#include "drivers/dac.h"
#include "drivers/incr_encoder.h"
#include "drivers/hall.h"
#include "drivers/uart.h"
#include "lib/basic_filter.h"
#include "lib/pid.h"
#include "lib/utils.h"
#include <stdio.h>
#include "torque_regulator.h"

Macros
#define	STREAMING_PERIOD   1000
#define	COMM_BUFFER_SIZE   4096
#define	DEBUG_MESSAGE_BUFFER_SIZE   1024

Functions
void	comm_SendPacket (uint8_t type, uint8_t *data, uint16_t dataLength)
	Sends a packet with a header and data bytes. More...
void	comm_SendPacketHeader (uint8_t type)
	Sends manually a packet header. This function should be used along with comm_SendPacketContent(), in order to send very large packets, with minimal memory consumption. Otherwise, comm_SendPacket() should be used instead. More...
void	comm_SendPacketContent (uint8_t *data, uint16_t dataLength)
	Sends manually a part of packet content data. In order to send a very large packet that do not fit in memory, the packet is sent incrementally by calling comm_SendPacketHeader() once, then this function several times. Otherwise, comm_SendPacket() should be used instead. More...
void	comm_HandleByte (uint8_t rxData)
	Processes the received byte to interpret the messages. More...
void	comm_Stream ()
	Generates and sends a data streaming packet. More...
void	comm_GetVar (comm_SyncVar const *syncVar, uint8_t *varValueData)
	Gets the value of a SyncVar. More...
void	comm_SetVar (comm_SyncVar *syncVar, uint8_t *varValueData)
	Sets the value of a SyncVar. More...
void	comm_Init (void)
	Init the communication manager. More...
void	comm_Step (void)
	Updates the communication manager. Send the bytes waiting in the TX buffer, and process the bytes received. More...
void	comm_NotifyReady (void)
	Sends a packet to notify the PC that the board just (re)started. This informs the PC software that the board is ready, and that the variables list can be retrieved. More...
void	comm_monitorVar (const char name[], void *address, comm_VarType type, uint8_t size, comm_VarAccess access)
	Adds a monitored variable to the list, with its address. More...
void	comm_monitorVarFunc (const char name[], comm_VarType type, uint8_t size, void(*getFunc)(void), void(*setFunc)(void))
	Adds a monitored variable to the list, with getter/setter functions. If the getter and setter are set to an actual function address (not NULL), the variable will be READWRITE. If the getter is NULL but setter is not NULL, the variable will be WRITEONLY. If the getter is not NULL the setter is NULL, the variable will be READONLY. If the getter and setter are both NULL, the variable will not be added to the variables list. More...
void	comm_monitorBool (const char name[], bool *address, comm_VarAccess access)
	Adds a monitored bool variable to the list, with its address. More...
void	comm_monitorUint8 (const char name[], uint8_t *address, comm_VarAccess access)
	Adds a monitored uint8_t variable to the list, with its address. More...
void	comm_monitorInt8 (const char name[], int8_t *address, comm_VarAccess access)
	Adds a monitored int8_t variable to the list, with its address. More...
void	comm_monitorUint16 (const char name[], uint16_t *address, comm_VarAccess access)
	Adds a monitored uint16_t variable to the list, with its address. More...
void	comm_monitorInt16 (const char name[], int16_t *address, comm_VarAccess access)
	Adds a monitored int16_t variable to the list, with its address. More...
void	comm_monitorUint32 (const char name[], uint32_t *address, comm_VarAccess access)
	Adds a monitored uint32_t variable to the list, with its address. More...
void	comm_monitorInt32 (const char name[], int32_t *address, comm_VarAccess access)
	Adds a monitored int32_t variable to the list, with its address. More...
void	comm_monitorUint64 (const char name[], uint64_t *address, comm_VarAccess access)
	Adds a monitored uint64_t variable to the list, with its address. More...
void	comm_monitorInt64 (const char name[], int64_t *address, comm_VarAccess access)
	Adds a monitored int64_t variable to the list, with its address. More...
void	comm_monitorFloat (const char name[], float *address, comm_VarAccess access)
	Adds a monitored float variable to the list, with its address. More...
void	comm_monitorDouble (const char name[], double *address, comm_VarAccess access)
	Adds a monitored double variable to the list, with its address. More...
void	comm_monitorBoolFunc (const char name[], bool(*getFunc)(void), void(*setFunc)(bool))
	Adds a monitored bool variable to the list, with getter/setter. More...
void	comm_monitorUint8Func (const char name[], uint8_t(*getFunc)(void), void(*setFunc)(uint8_t))
	Adds a monitored uint8_t variable to the list, with getter/setter. More...
void	comm_monitorInt8Func (const char name[], int8_t(*getFunc)(void), void(*setFunc)(int8_t))
	Adds a monitored int8_t variable to the list, with getter/setter. More...
void	comm_monitorUint16Func (const char name[], uint16_t(*getFunc)(void), void(*setFunc)(uint16_t))
	Adds a monitored uint16_t variable to the list, with getter/setter. More...
void	comm_monitorInt16Func (const char name[], int16_t(*getFunc)(void), void(*setFunc)(int16_t))
	Adds a monitored int16_t variable to the list, with getter/setter. More...
void	comm_monitorUint32Func (const char name[], uint32_t(*getFunc)(void), void(*setFunc)(uint32_t))
	Adds a monitored uint32_t variable to the list, with getter/setter. More...
void	comm_monitorInt32Func (const char name[], int32_t(*getFunc)(void), void(*setFunc)(int32_t))
	Adds a monitored int32_t variable to the list, with getter/setter. More...
void	comm_monitorUint64Func (const char name[], uint64_t(*getFunc)(void), void(*setFunc)(uint64_t))
	Adds a monitored uint64_t variable to the list, with getter/setter. More...
void	comm_monitorInt64Func (const char name[], int64_t(*getFunc)(void), void(*setFunc)(int64_t))
	Adds a monitored int64_t variable to the list, with getter/setter. More...
void	comm_monitorFloatFunc (const char name[], float(*getFunc)(void), void(*setFunc)(float))
	Adds a monitored float variable to the list, with getter/setter. More...
void	comm_monitorDoubleFunc (const char name[], double(*getFunc)(void), void(*setFunc)(double))
	Adds a monitored double variable to the list, with getter/setter. More...
void	comm_LockSyncVarsList (void)
	Locks the monitored variables, so it can be used. After the call to this function, adding variables will not be possible anymore. The PC will not be able to get the variables list until this function is called. More...
void	comm_SendDebugMessage (const char *format,...)
	Sends a debug message to the computer. More...

Variables
uint32_t	selectedVariablesToStream
uint8_t	txBuffer [1024]
uint8_t	comm_packetTxBuffer [COMM_BUFFER_SIZE]
char	comm_debugMessageBuffer [DEBUG_MESSAGE_BUFFER_SIZE]
cb_CircularBuffer *	comm_rxQueue
uint8_t	rxCurrentMessageType = PC_MESSAGE_DO_NOTHING
uint32_t	rxBytesCount
uint8_t	firstHalfByte
uint8_t	rxDataBytesBuffer [32]
comm_SyncVar	comm_syncVars [N_SYNCVARS_MAX]
uint8_t	comm_nSyncVars
volatile bool	comm_varListLocked
uint8_t	comm_streamId
uint8_t	comm_nVarsToStream
comm_SyncVar const *	comm_streamedVars [N_SYNCVARS_MAX]
volatile uint32_t	hapt_timestamp

Macro Definition Documentation

COMM_BUFFER_SIZE

#define COMM_BUFFER_SIZE   4096

DEBUG_MESSAGE_BUFFER_SIZE

#define DEBUG_MESSAGE_BUFFER_SIZE   1024

STREAMING_PERIOD

#define STREAMING_PERIOD   1000

Function Documentation

comm_GetVar()

void comm_GetVar	(	comm_SyncVar const *	syncVar,
		uint8_t *	varValueData
	)

Gets the value of a SyncVar.

Parameters

syncVar	address of the SyncVar to get the value from.
varValueData	start address of an array to copy the raw bytes of the value of the SyncVar.

comm_HandleByte()

void comm_HandleByte

(

uint8_t

rxData

)

Processes the received byte to interpret the messages.

Parameters

rxData

the byte to be processed and interpreted.

comm_SendPacket()

void comm_SendPacket	(	uint8_t	type,
		uint8_t *	data,
		uint16_t	dataLength
	)

Sends a packet with a header and data bytes.

Parameters

type	message type ("header" of the message).
data	array of data bytes to be sent ("content" of the message).
dataLength	number of data bytes to be sent.

Warning

If sending a large amount of data, this function will block until all the data could be written to the write buffer, which can be very long.

comm_SendPacketContent()

void comm_SendPacketContent	(	uint8_t *	data,
		uint16_t	dataLength
	)

Sends manually a part of packet content data. In order to send a very large packet that do not fit in memory, the packet is sent incrementally by calling comm_SendPacketHeader() once, then this function several times. Otherwise, comm_SendPacket() should be used instead.

Parameters

data	array of data bytes to be sent ("content" of the message).
dataLength	number of data bytes to be sent.

Warning

If the write buffers are full, this function will block until all the data could be written to the write buffer, which can be very long.

comm_SendPacketHeader()

void comm_SendPacketHeader

(

uint8_t

type

)

Sends manually a packet header. This function should be used along with comm_SendPacketContent(), in order to send very large packets, with minimal memory consumption. Otherwise, comm_SendPacket() should be used instead.

Parameters

type	message type ("header" of the message).

Warning

If the write buffers are full, this function will block until all the data could be written to the write buffer, which can be very long.

comm_SetVar()

void comm_SetVar	(	comm_SyncVar *	syncVar,
		uint8_t *	varValueData
	)

Sets the value of a SyncVar.

Parameters

syncVar	address of the SyncVar to set the value.
varValueData	start address of an array to copy the raw bytes to the SyncVar value.

comm_Stream()

void comm_Stream

(

void

)

Generates and sends a data streaming packet.

Variable Documentation

comm_debugMessageBuffer

char comm_debugMessageBuffer[DEBUG_MESSAGE_BUFFER_SIZE]

comm_nSyncVars

uint8_t comm_nSyncVars

comm_nVarsToStream

uint8_t comm_nVarsToStream

comm_packetTxBuffer

uint8_t comm_packetTxBuffer[COMM_BUFFER_SIZE]

comm_rxQueue

cb_CircularBuffer* comm_rxQueue

comm_streamedVars

comm_SyncVar const* comm_streamedVars[N_SYNCVARS_MAX]

comm_streamId

uint8_t comm_streamId

comm_syncVars

comm_SyncVar comm_syncVars[N_SYNCVARS_MAX]

comm_varListLocked

volatile bool comm_varListLocked

firstHalfByte

uint8_t firstHalfByte

hapt_timestamp

volatile uint32_t hapt_timestamp

rxBytesCount

uint32_t rxBytesCount

rxCurrentMessageType

uint8_t rxCurrentMessageType = PC_MESSAGE_DO_NOTHING

rxDataBytesBuffer

uint8_t rxDataBytesBuffer[32]

selectedVariablesToStream

uint32_t selectedVariablesToStream

txBuffer

uint8_t txBuffer[1024]