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Improved Rx Events , Impemented TaskNotify
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@mecitpmk
mecitpmk authored Feb 13, 2022
1 parent 8ce0e13 commit 502c9e0
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Showing 9 changed files with 200 additions and 105 deletions.
3 changes: 3 additions & 0 deletions Inc/FreeRTOSConfig.h
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Expand Up @@ -77,6 +77,8 @@
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0

#define configUSE_TASK_NOTIFICATIONS 1
/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
/* Defaults to size_t for backward compatibility, but can be changed
if lengths will always be less than the number of bytes in a size_t. */
Expand Down Expand Up @@ -121,6 +123,7 @@ to exclude the API function. */
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTaskResumeFromISR 1 // Added from MecitPmk


/*
* The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
* by the application thus the correct define need to be enabled below
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2 changes: 0 additions & 2 deletions Inc/enums_structs.h
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Expand Up @@ -98,6 +98,4 @@ extern struct Packet_UART_Interface PCGK_UART;
//////////////////////////////// END OF STRUCT PARTS ////////////////////////////////


// Function Prototypes
void cleanUartBuffers(uint8_t * const Buffer , const uint16_t BufferSize);

5 changes: 3 additions & 2 deletions Inc/flagControl.h
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Expand Up @@ -40,8 +40,9 @@ union controlPanel
uint32_t isUartHANDLING : 1 ;
uint32_t isSeperatingMechanismActive : 1;

uint32_t TELEM_DATA_COPIED : 1 ;
uint32_t uartRX_ReceiveCmpltd : 1;
uint32_t TELEM_DATA_COPIED : 1 ;
uint32_t isvideoSendingProcessActive : 1 ;

};


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2 changes: 1 addition & 1 deletion Inc/sensors.h
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Expand Up @@ -55,7 +55,7 @@ struct Sensors_Boundry



extern struct Sensors_Boundry Sensor_Boundries;
extern const struct Sensors_Boundry Sensor_Boundries;
extern struct IMU IMU_Data;
extern struct BMP_Sensor BMP_Data;

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160 changes: 116 additions & 44 deletions Src/datapacket.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,12 @@

//Static Function Prototypes
static void solvePackageType( void );
static TELEM_VALID_STATUS isEOF_SOF_VALID( void );
static void handleManualCommands( void );
static void handleGCSMission( void );
static void GCS_Command_Inconsistent ( void );
static void resetParserPositions ( void );
static void bufferParser ( void );



//Externs
Expand Down Expand Up @@ -63,6 +66,16 @@ GCS_Telemetry_t GCS_Telemetry = {.START_OF_FRAME = SOF_HEADER , .END_OF_FRAM
VideoHandler_t VideoHandler = {.START_OF_FRAME = SOF_HEADER , .END_OF_FRAME = EOF_HEADER , .PACKAGE_TYPE = VIDEO_PACKAGE_REQUEST , .videoID = 1};



typedef struct
{
uint16_t startPosition;
uint16_t endPosition;
uint8_t isVALID;
}Eof_Seof_t;

static Eof_Seof_t parsedDataInfo = {.startPosition = 0,.endPosition = 0,.isVALID = 0};

// COPY STRUCT

//static struct GCS_Tel_Response GCS_TEL_RESP_BUFF = { .START_OF_FRAME = SOF_HEADER , .END_OF_FRAME = EOF_HEADER , .PACKAGE_TYPE = GCS_TELEM_RESPONSE };
Expand Down Expand Up @@ -93,7 +106,7 @@ void sendTelemetryData( const uint8_t TELEM_PACKAGE_TYPES )
while ( HAL_UART_Transmit_DMA( PCGK_UART.uartInterface, ( uint8_t* )&VideoHandler, sizeof ( VideoHandler ) ) != HAL_OK ); // Print waiting for data only just one time.
break;
case GCS_TELEM_RESPONSE:
// while ( HAL_UART_Transmit_DMA( PCGK_UART.uartInterface, ( uint8_t* )&GCS_Telemetry_Response, sizeof ( GCS_Telemetry_Response ) ) != HAL_OK );
while ( HAL_UART_Transmit_DMA( PCGK_UART.uartInterface, ( uint8_t* )&GCS_Telemetry_Response, sizeof ( GCS_Telemetry_Response ) ) != HAL_OK );
break;
default :
break;
Expand All @@ -109,38 +122,49 @@ static void solvePackageType( void )
* or if its about Container telemetry copy it immediately.
*/

switch ( uartBuffers.Main_Uart_Buffer[PACKAGE_TYPE_IDX] )
switch ( uartBuffers.Main_Uart_Buffer[ parsedDataInfo.startPosition +4 ] )
{
case CONTAINER_TELEMETRY:
memcpy( &Telemetry_Container , uartBuffers.Main_Uart_Buffer , sizeof( Telemetry_Container ) );
vTaskSuspendAll();
CONTAINER_TELEM_STATUS = CONTAINER_DATA_COLLECTED;
xTaskResumeAll();
if ( ( ( parsedDataInfo.endPosition+3 - parsedDataInfo.startPosition )+1 ) == sizeof( GCS_Telemetry ) )
{
memcpy( &Telemetry_Container , uartBuffers.Main_Uart_Buffer , sizeof( Telemetry_Container ) );
vTaskSuspendAll();
CONTAINER_TELEM_STATUS = CONTAINER_DATA_COLLECTED;
xTaskResumeAll();
}
break;
case GCS_TELEM_MISSION:
memcpy( &GCS_Telemetry , uartBuffers.Main_Uart_Buffer, sizeof( GCS_Telemetry ) );
handleGCSMission();
if ( ( ( parsedDataInfo.endPosition+3 - parsedDataInfo.startPosition )+1 ) == sizeof( GCS_Telemetry ) )
{
controlFlags.isvideoSendingProcessActive = TRUE;
memcpy( &GCS_Telemetry , uartBuffers.Main_Uart_Buffer, sizeof( GCS_Telemetry ) );
handleGCSMission();
}
else
{
GCS_Command_Inconsistent();
}

break;
case GCS_TELEM_COMMAND:
memcpy( &GCS_Command , uartBuffers.Main_Uart_Buffer , sizeof( GCS_Command ) );
handleManualCommands();
if ( ( ( parsedDataInfo.endPosition+3 - parsedDataInfo.startPosition )+1 ) == sizeof( GCS_Command ) )
{
memcpy( &GCS_Command , uartBuffers.Main_Uart_Buffer , sizeof( GCS_Command ) );
handleManualCommands();
}
else
{
GCS_Command_Inconsistent();
}

break;
default :
break;
}

}

static TELEM_VALID_STATUS isEOF_SOF_VALID( void )
{
uint32_t U32_SOF_HEADER = uartBuffers.Main_Uart_Buffer[EOF_IDX] << 24 | uartBuffers.Main_Uart_Buffer[EOF_IDX+1] << 16 |uartBuffers.Main_Uart_Buffer[EOF_IDX +2] << 8 | uartBuffers.Main_Uart_Buffer[EOF_IDX+3] ;
uint32_t U32_EOF_HEADER = uartBuffers.Main_Uart_Buffer[ ( uartBuffers.LastReceivedByte -1 )-3 ] << 24 | uartBuffers.Main_Uart_Buffer[( uartBuffers.LastReceivedByte -1 )-2] << 16 |uartBuffers.Main_Uart_Buffer[( uartBuffers.LastReceivedByte -1 )-1] << 8 | uartBuffers.Main_Uart_Buffer[( uartBuffers.LastReceivedByte -1 ) ] ;
if ( SOF_HEADER == U32_SOF_HEADER && EOF_HEADER == U32_EOF_HEADER )
{
return TELEM_VALIDATED;
}
return TELEM_ERROR; // ITS NOT STARTS WITH SOF_HEADER and ITS NOT END WITH EOF_HEADER!!
}



void transferContainerDatatoMainStruct( void )
Expand Down Expand Up @@ -172,12 +196,24 @@ static void handleManualCommands( void )
xTimerStart( fixedAltTimer, portMAX_DELAY ); // start timer for 10 sec.
testMotorWORK(); // This function gives a motor constant speed .
break;
default:
break;
}

if ( controlFlags.isvideoSendingProcessActive )
{
sendTelemetryData( VIDEO_PACKAGE_REQUEST );
}

}

static void handleGCSMission( void )
{

/* Timer oldugunu düşünelim bu fonksiyona girdiğinde timer reset Atsın, fonksyion sonunda timer tekrar Start etsin.( ifnot gcsTelemetry.isEnd)
* Amaç, eğer 200 ms geçmişse ve gcsTelemetry.isEnd degilse, yani paketi bana niye yollamıyosun?
* Uyarı gönder ki bana göndermeye başlasın.
*/
if (VIDEO_NOT_SAVED == Telemetry_1HZ_Data.VIDEO_TRANSMISSION_STATUS)
{
if ( GCS_Telemetry.videoID == VideoHandler.videoID )
Expand All @@ -187,45 +223,81 @@ static void handleGCSMission( void )
// Incoming Video ID is correct. Take it and Store it to SD Card.
// storeVideoToSD()
if ( GCS_Telemetry.isEnd )
{
vTaskSuspendAll();
Telemetry_1HZ_Data.VIDEO_TRANSMISSION_STATUS = VIDEO_SAVED ; // Change flags.
controlFlags.readyToSendSavedVideo = VIDEO_SAVED ; // That flags says us to you can send SAVED video's to another frequency bands.
xTaskResumeAll();
}
else
{
VideoHandler.videoID += 1;
sendTelemetryData( VIDEO_PACKAGE_REQUEST );
}
{
vTaskSuspendAll();
Telemetry_1HZ_Data.VIDEO_TRANSMISSION_STATUS = VIDEO_SAVED ; // Change flags.
controlFlags.readyToSendSavedVideo = VIDEO_SAVED ; // That flags says us to you can send SAVED video's to another frequency bands.
xTaskResumeAll();
}
else
{
VideoHandler.videoID += 1;
sendTelemetryData( VIDEO_PACKAGE_REQUEST );
}
}
}
}



static void resetParserPositions ( void )
{
parsedDataInfo.startPosition = 0;
parsedDataInfo.endPosition = 0;
parsedDataInfo.isVALID = 0;
}

static void bufferParser ( void )
{

resetParserPositions();
uint8_t findedBefore = FALSE ;
for (uint16_t i = 0 ; i < MAIN_BUFFER_SIZE-4; i++) // Change MAIN_BUFFER_SIZE to uartBuffers.LastReceivedByte
{
if ( uartBuffers.Main_Uart_Buffer[i] == 0x5A && uartBuffers.Main_Uart_Buffer[i+1] == 0x5A && uartBuffers.Main_Uart_Buffer[i+2] == 0x5A && uartBuffers.Main_Uart_Buffer[i+3] == 0x5A )
{
if ( !findedBefore )
{
parsedDataInfo.startPosition = i;
findedBefore = TRUE;
}
else
{
parsedDataInfo.endPosition = i;
parsedDataInfo.isVALID = TRUE;
break;
}
}
}
}


static void GCS_Command_Inconsistent ( void )
{
// Increase fault counter , Send Response to GCS ( says hey your SOF_HEADER and EOF_HEADER IS NOT OKAY, SEND me them again.)
// or SOF_HEADER and EOF_HEADER is OK But Size IS NOT OK!
vTaskSuspendAll();
Telemetry_Health_Data.Fault_in_GCS_TELEM += 1;
xTaskResumeAll();
GCS_Telemetry_Response.RESPONSE_STATUS = TELEM_ERROR;
sendTelemetryData( GCS_TELEM_RESPONSE );
}

void handleTelemPackage ( void )
{

TELEM_VALID_STATUS isTelemValidated = isEOF_SOF_VALID();
if ( TELEM_VALIDATED == isTelemValidated )

bufferParser();
if ( TELEM_VALIDATED == parsedDataInfo.isVALID)
{
// telem is validated checks whats the telemetry type.
solvePackageType();
}
else
{

// Increase fault counter , Send Response to GCS ( says hey your SOF_HEADER and EOF_HEADER IS NOT OKAY, SEND me them again.)
vTaskSuspendAll();
Telemetry_Health_Data.Fault_in_GCS_TELEM += 1;
xTaskResumeAll();
GCS_Telemetry_Response.RESPONSE_STATUS = TELEM_ERROR;
// sendTelemetryData( GCS_TELEM_RESPONSE );

GCS_Command_Inconsistent();
}
// HAL_UARTEx_ReceiveToIdle_DMA( PCGK_UART.uartInterface , uartBuffers.RX_Buffer, RX_BUFFER_SIZE );
// __HAL_DMA_DISABLE_IT( &hdma_usart2_rx , DMA_IT_HT );




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10 changes: 0 additions & 10 deletions Src/enums_structs.c
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Expand Up @@ -32,13 +32,3 @@ struct Packet_UART_Interface PCGK_UART = { .dataPacket = &myPacket , .uartIn
///////////// INIT VARIABLES ///////////////////




void cleanUartBuffers(uint8_t * const Buffer , const uint16_t BufferSize)
{
for ( uint16_t i = 0 ; i < BufferSize ; i++ )
{
Buffer[i] = '\0';
}

}
4 changes: 2 additions & 2 deletions Src/my_tasks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -268,9 +268,9 @@ void taskFunctionComm( void * pvParameters )
if ( RECEIVE_COMPLETED == receivedFlag ) // if the data transmission has been identified and processed
{

cleanUartBuffers( uartBuffers.Main_Uart_Buffer, MAIN_BUFFER_SIZE ); // clear the Main buffer first
memset( uartBuffers.Main_Uart_Buffer, '\0' , MAIN_BUFFER_SIZE ); // Copy the received bytes to Main Buffers.
memcpy( uartBuffers.Main_Uart_Buffer, uartBuffers.RX_Buffer , uartBuffers.LastReceivedByte ); // Copy the received bytes to Main Buffers.
cleanUartBuffers( uartBuffers.RX_Buffer, RX_BUFFER_SIZE ); // clear the RX buffer after the copying process.
memset( uartBuffers.RX_Buffer , '\0' ,RX_BUFFER_SIZE );

while ( HAL_UART_Transmit_DMA( &huart2, ( UINT8 * )RX_MES_RECEIVED, strlen( RX_MES_RECEIVED ) ) != HAL_OK ); // print RX Message has been received
while ( HAL_UART_Transmit_DMA( &huart2, uartBuffers.Main_Uart_Buffer, uartBuffers.LastReceivedByte ) != HAL_OK ); // print Received Message
Expand Down
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