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avr: started reworking COM module.

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- sending and receiving now basically works again, but too often the
  read buffer is in use when trying to receive a message.
This commit is contained in:
Martin Preuss
2023-04-12 15:30:38 +02:00
parent da6b7da501
commit 18d34450e7
21 changed files with 1816 additions and 1926 deletions
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281
avr/comproto.asm
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@@ -40,37 +40,31 @@
.equ CPRO_CMD_SYSSTATS = 82
; flags for variable payload enqueue function
.equ CPRO_PAYLOAD_FLAGS_SECONDS = 0x01
.equ CPRO_PAYLOAD_FLAGS_UID = 0x02
.equ CPRO_PAYLOAD_FLAGS_RESERVED1 = 0x04
.equ CPRO_PAYLOAD_FLAGS_NUM0 = 0x08
.equ CPRO_PAYLOAD_FLAGS_NUM1 = 0x10
.equ CPRO_PAYLOAD_FLAGS_NUM2 = 0x20
.equ CPRO_PAYLOAD_FLAGS_NUM3 = 0x40
.equ CPRO_PAYLOAD_FLAGS_NUM4 = 0x80
.equ CPRO_PAYLOAD_FLAGS_SHIFT_NUM = 3
.equ CPRO_PACKET_HAVEADDR_OFFS_ADDRESS = COM_MSG_OFFS_PAYLOAD+4
.equ CPRO_PACKET_CLAIMADDR_OFFS_ADDRESS = COM_MSG_OFFS_PAYLOAD+4
.equ CPRO_PACKET_DENYADDR_OFFS_ADDRESS = COM_MSG_OFFS_PAYLOAD+4
.equ CPRO_PACKET_HAVEADDR_OFFS_ADDRESS = COM2_MSG_OFFS_PAYLOAD+4
.equ CPRO_PACKET_CLAIMADDR_OFFS_ADDRESS = COM2_MSG_OFFS_PAYLOAD+4
.equ CPRO_PACKET_DENYADDR_OFFS_ADDRESS = COM2_MSG_OFFS_PAYLOAD+4
.equ CPRO_WAITTIME_INITIAL = 10
.equ CPRO_WAITTIME_GETADDR = 130
.equ CPRO_WAITTIME_CLAIMADDR = 17
.equ CPRO_WAITTIME_RECLAIMADDR = 10
; current mode of operation
.equ CPRO_MODE_NORMAL = 0 ; normal operation
.equ CPRO_MODE_GETADDRSTARTED = 10 ; waiting for HAVE_ADDRESS and ADDRESS_RANGE packets to arrive
.equ CPRO_MODE_CLAIMING_ADDR1 = 20 ; CLAIM_ADDRESS sent, waiting for HAVE_ADDRESS packet to reject the claim
.equ CPRO_MODE_CLAIMING_ADDR2 = 21 ; CLAIM_ADDRESS sent, 2nd try
.equ CPRO_MODE_CLAIMING_ADDR3 = 22 ; CLAIM_ADDRESS sent, 3rd try
.equ CPRO_MODE_SENDING_HAVE_ADDRESS = 30 ; waiting for our turn to send HAVE_ADDRESS packet
.equ CPRO_MODE_RECLAIMING_ADDR = 40 ; CLAIM_ADDRESS with the previously used address sent after bootup
.equ CPRO_MODE_NOADDRESS = 0x00 ; no address, yet
.equ CPRO_MODE_NORMAL = 0x01 ; normal operation
.equ CPRO_MODE_SEND_NEED_ADDR = 0x02 ; wait to send need address
.equ CPRO_MODE_GETADDRSTARTED = 0x03 ; waiting for HAVE_ADDRESS and ADDRESS_RANGE packets to arrive
.equ CPRO_MODE_SEND_CLAIM_ADDR1 = 0x04 ; send CLAIM_ADDRESS as part of reclaiming procedure
.equ CPRO_MODE_CLAIMING_ADDR1 = 0x05 ; CLAIM_ADDRESS sent, waiting for HAVE_ADDRESS packet to reject the claim
.equ CPRO_MODE_CLAIMING_ADDR2 = 0x06 ; CLAIM_ADDRESS sent, 2nd try
.equ CPRO_MODE_CLAIMING_ADDR3 = 0x07 ; CLAIM_ADDRESS sent, 3rd try
.equ CPRO_MODE_SENDING_HAVE_ADDR = 0x08 ; waiting for our turn to send HAVE_ADDRESS packet
.equ CPRO_MODE_SEND_RECLAIM_ADDR = 0x09 ; send CLAIM_ADDRESS as part of reclaiming procedure
.equ CPRO_MODE_RECLAIMING_ADDR = 0x0a ; CLAIM_ADDRESS with the previously used address sent after bootup
.equ CPRO_MODE_SEND_DENY_ADDR = 0x0b ; someone claimed our address, send a DENY_ADDR message
.equ CPRO_MODE_NEXT_FREE = 0x0c ; next free mode
; ***************************************************************************
@@ -80,13 +74,7 @@
cproDataBegin:
#ifndef BASE_SYSTEM
cproMode: .byte 1 ; "normal", "waitForHaveAddress", "samplingAddresses", "claimAddress"
cproAddrRangeBegin: .byte 1
cproAddrRangeEnd: .byte 1
cproAddressWaitCounter: .byte 1 ; counter for seconds to wait for all nodes to respond
cproUsedAddresses: .byte 16 ; one bit per address known to b in use
#endif
cproMode: .byte 1
cproDataEnd:
@@ -107,42 +95,12 @@ CPRO_Init:
clr r16
ldi r17, (cproDataEnd-cproDataBegin)
rcall Utils_FillSram
sec
ret
CPRO_OnEverySecond:
#ifndef BASE_SYSTEM
lds r17, cproMode
cpi r17, CPRO_MODE_NORMAL
breq CPRO_OnEverySecond_done
CPRO_OnEverySecond_l1:
cpi r17, CPRO_MODE_GETADDRSTARTED
brne CPRO_OnEverySecond_l2
rjmp cproHandle1sGetAddrStarted
CPRO_OnEverySecond_l2:
cpi r17, CPRO_MODE_SENDING_HAVE_ADDRESS
brne CPRO_OnEverySecond_l3
rjmp cproHandle1sSendingHaveAddress
CPRO_OnEverySecond_l3:
cpi r17, CPRO_MODE_CLAIMING_ADDR1
brne CPRO_OnEverySecond_l4
rjmp cproHandle1sClaimingAddr12
CPRO_OnEverySecond_l4:
cpi r17, CPRO_MODE_CLAIMING_ADDR2
brne CPRO_OnEverySecond_l5
rjmp cproHandle1sClaimingAddr12
CPRO_OnEverySecond_l5:
cpi r17, CPRO_MODE_CLAIMING_ADDR3
brne CPRO_OnEverySecond_l6
rjmp cproHandle1sClaimingAddr3
CPRO_OnEverySecond_l6:
cpi r17, CPRO_MODE_RECLAIMING_ADDR
brne CPRO_OnEverySecond_done
rjmp cproHandle1sReclaimingAddr
CPRO_OnEverySecond_done:
#ifdef MODULES_COM_WITH_ADDR_PROTO
rcall CPRO_Address_Init
#endif
sec
ret
@@ -153,204 +111,43 @@ CPRO_OnEverySecond_done:
; Try to handle the given packet.
;
; IN:
; - Y : pointer to received buffer
; - X : pointer to received buffer
; OUT:
; - CFLAG: set if handled, cleared otherwise
; USED: depending on called routines
CPRO_OnPacketReceived:
ldd r16, y+(COM_BUFFER_OFFS_DATA+COM_MSG_OFFS_CMD)
adiw xh:xl, COM2_MSG_OFFS_CMD
ld r16, x
sbiw xh:xl, COM2_MSG_OFFS_CMD
cpi r16, CPRO_CMD_PING
brne CPRO_OnPacketReceived_l1
rjmp cproHandlePing
CPRO_OnPacketReceived_l1:
#ifndef BASE_SYSTEM
cpi r16, CPRO_CMD_NEED_ADDRESS
brne CPRO_OnPacketReceived_l2
rjmp cproHandlePckNeedAddr
CPRO_OnPacketReceived_l2:
cpi r16, CPRO_CMD_HAVE_ADDRESS
brne CPRO_OnPacketReceived_l3
rjmp cproHandlePckHaveAddr
CPRO_OnPacketReceived_l3:
cpi r16, CPRO_CMD_ADDRESS_RANGE
brne CPRO_OnPacketReceived_l4
rjmp cproHandleAddrRange
CPRO_OnPacketReceived_l4:
cpi r16, CPRO_CMD_DENY_ADDRESS
brne CPRO_OnPacketReceived_l5
rjmp cproHandleDenyAddr
CPRO_OnPacketReceived_l5:
cpi r16, CPRO_CMD_CLAIM_ADDRESS
brne CPRO_OnPacketReceived_l6
rjmp cproHandlePckClaimAddr
CPRO_OnPacketReceived_l6:
#endif
#ifdef MODULES_COM_WITH_ADDR_PROTO
rjmp CPRO_Address_OnPacketReceived
#else
clc
ret
#endif
cproHandlePing:
ldd r16, y+(COM_BUFFER_OFFS_DATA+COM_MSG_OFFS_SRCADDR)
tst r16
adiw xh:xl, COM2_MSG_OFFS_SRCADDR
ld r16, x
tst r16 ; dont handle src address 0
breq cproHandlePing_notHandled
rcall CPRO_EnqueuePong
ret ; use carry flag from previous call
inc r16
breq cproHandlePing_notHandled ; dont handle src address 255
rcall CPRO_WritePong
rjmp COM2_SendPacket ; use carry flag from this routine
cproHandlePing_notHandled:
clc
ret
; ---------------------------------------------------------------------------
; Enqueue a PING packet.
;
; IN:
; - R16: destination address
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R18, R20 (R15, R16, R17, X, Y)
CPRO_EnqueuePing:
ldi r18, CPRO_CMD_PING
ldi r20, COM_BUFFER_PRIO_INFO
rjmp cproEnqueueMsgWithCmdAndSrcAddr
; ---------------------------------------------------------------------------
; Enqueue a PONG packet.
;
; IN:
; - R16: destination address
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R18, R20 (R15, R16, R17, X, Y)
CPRO_EnqueuePong:
ldi r18, CPRO_CMD_PONG
ldi r20, COM_BUFFER_PRIO_INFO
rjmp cproEnqueueMsgWithCmdAndSrcAddr
; ---------------------------------------------------------------------------
; Enqueue a simple packet with payload only CMD and source address.
;
; IN:
; - R16: destination address
; - R18: command (e.g. CPRO_CMD_PING or CPRO_CMD_PONG)
; - R20: priority of the message
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R16, R17, X, Y (R3, R4, R15, R16, R17, R18, R19, R20, R21)
cproEnqueueMsgWithCmdAndSrcAddr:
push r16
rcall COM_AllocBufferAndGetXY ; (r16, r17, r21)
pop r16
brcc cproEnqueueMsgWithCmdAndSrcAddr_error
ldi r17, CPRO_PAYLOAD_FLAGS_SECONDS
push xh
push xl
push r20
rcall cproBeginMsgWithVariablePayload ; (R3, R4, R16, R17, R18, R19, R20, R21, X)
pop r20
pop xl
pop xh
rcall comCalcAndAddChecksumByte ; (R16, R17, R18, R19, X)
; mark buffer as enqueued with PRIO given in R20
rcall COM_EnqueuePacket ; (R15, R16)
brcc cproEnqueueMsgWithCmdAndSrcAddr_error
sec
ret
cproEnqueueMsgWithCmdAndSrcAddr_error:
clc
ret
; ---------------------------------------------------------------------------
; begin packet with variable payload.
;
; IN:
; - R16: destination address
; - R17: flags
; - R18: command (e.g. CPRO_CMD_PING)
; - X : pointer to packet buffer
; OUT:
; - X : points to end of packet as it was written so far
; MODIFIED REGS: R3, R16, R17, R18, R19, R20, R21, X (R4)
cproBeginMsgWithVariablePayload:
; write header (dest address, msg length)
st X+, r16 ; destination address
mov r16, r17 ; calculate payload size
mov r3, r17
rcall cproCalcPayloadSize ; (R4, R16, R17)
inc r16 ; add CMD byte
inc r16 ; add source address byte
st X+, r16
; write payload
st X+, r18 ; 0: CMD
lds r16, comAddress ; 1: source address
st X+, r16
lsr r3 ; shift out CPRO_PAYLOAD_FLAGS_SECONDS
brcc cproBeginMsgWithVariablePayload_l1
lds r16, timerModuleCounterSecs ; adding of current seconds counter requested
st X+, r16
lds r16, timerModuleCounterSecs+1
st X+, r16
lds r16, timerModuleCounterSecs+2
st X+, r16
lds r16, timerModuleCounterSecs+3
st X+, r16
cproBeginMsgWithVariablePayload_l1:
lsr r3 ; shift out shift out CPRO_PAYLOAD_FLAGS_UID
brcc cproBeginMsgWithVariablePayload_l2
push xh
push xl
rcall Utils_ReadUid ; (R16, X)
pop xl
pop xh
st X+, r18
st X+, r19
st X+, r20
st X+, r21
cproBeginMsgWithVariablePayload_l2:
ret
; ---------------------------------------------------------------------------
; cproCalcPayloadSize
;
; Calculate payload size from given flags
;
; IN:
; - R16: flags
; OUT:
; - R16: payload size
; MODIFIED REGS: R4, R16, R17
cproCalcPayloadSize:
clr r4
ldi r17, 4
lsr r16 ; shift out CPRO_PAYLOAD_FLAGS_SECONDS
brcc cproCalcPayloadSize_l1
add r4, r17 ; add 4 bytes
cproCalcPayloadSize_l1:
lsr r16 ; shift out CPRO_PAYLOAD_FLAGS_UID
brcc cproCalcPayloadSize_l2
add r4, r17 ; add 4 bytes
cproCalcPayloadSize_l2:
lsr r16 ; shift out reserved1, after this R16 contains CPRO_PAYLOAD_FLAGS_NUM0-4
add r16, r4 ; add previous bytes to R16
ret
CPRO_END:
.equ MODULE_SIZE_CPRO = CPRO_END-CPRO_BEGIN