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arke.c
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Thu, May 9, 14:02

arke.c
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#include <arke-avr.h>
#include <arke-avr/systime.h>
#include <yaacl.h>
#if defined(ARKE_MY_FW_TWEAK_VERSION)
#define VERSION_LENGTH 4
#elif defined(ARKE_MY_FW_PATCH_VERSION)
#define VERSION_LENGTH 3
#else
#define VERSION_LENGTH 2
#endif
typedef enum ArkeHeartbeatStatus_e {
NO_HEARTBEAT = 0,
HEARTBEAT_ONCE = 1,
HEARTBEAT_REPEAT = 2
} ArkeHeartbeatStatus_e;
typedef struct ArkeData_t {
//we limit ourselfs to 6 MOb
yaacl_txn_t control;
yaacl_txn_t heartbeat;
uint8_t controlData[8];
uint8_t heartbeatData[VERSION_LENGTH];
ArkeHeartbeatStatus_e heartbeatStatus;
ArkeSystime_t heartbeatPeriod;
ArkeSystime_t lastHeartbeat;
} ArkeData_t;
ArkeData_t arke;
void InitArke() {
arke.heartbeatData[0] = ARKE_MY_FW_MAJOR_VERSION;
arke.heartbeatData[1] = ARKE_MY_FW_MINOR_VERSION;
#if VERSION_LENGTH > 2
arke.heartbeatData[2] = ARKE_MY_FW_PATCH_VERSION;
#endif
#if VERSION_LENGTH > 3
arke.heartbeatData[3] = ARKE_MY_FW_TWEAK_VERSION;
#endif
arke.heartbeatStatus = NO_HEARTBEAT;
arke.heartbeatPeriod = 0;
ArkeInitSystime();
yaacl_config_t config;
config.baudrate = YAACL_BR_250;
yaacl_init(&config);
yaacl_init_txn(&(arke.control));
yaacl_init_txn(&(arke.heartbeat));
//reserve immediatly the highest priority Mob for Network Control Handling
arke.control.ID = 0;
arke.control.mask = ARKE_MESSAGE_TYPE_MASK | YAACL_IDEBIT_MSK;
arke.control.length = 8;
arke.control.data = &(arke.controlData[0]);
arke.heartbeat.ID = (ARKE_HEARTBEAT << 9 ) | (ARKE_MY_CLASS << 3) | ARKE_MY_SUBID;
arke.heartbeat.data = &(arke.heartbeatData[0]);
}
void ProcessControl() {
uint8_t command = arke.control.ID & ARKE_SUBID_MASK;
uint8_t dataLength = arke.control.length;
// we are forbidden to access any yaacl function here
if ( command == ARKE_RESET_REQUEST ) {
ArkeSoftwareReset();
}
if ( command == ARKE_HEARTBEAT_REQUEST ) {
if (dataLength == 0
|| (dataLength == 2
&& arke.controlData[0] == 0
&& arke.controlData[1] == 0 ) ) {
// single heartbeat request
arke.heartbeatPeriod = 0;
arke.lastHeartbeat = ArkeGetSystime();
arke.heartbeatStatus = HEARTBEAT_ONCE;
} else if ( dataLength == 2 ) {
*(((uint8_t*)(&arke.heartbeatPeriod)) + 0) = arke.controlData[0];
*(((uint8_t*)(&arke.heartbeatPeriod)) + 1) = arke.controlData[1];
arke.lastHeartbeat = ArkeGetSystime();
arke.heartbeatStatus = HEARTBEAT_REPEAT;
}
return;
}
}
void ArkeProcess() {
yaacl_txn_status_e s = yaacl_txn_status(&(arke.control));
if ( s == YAACL_TXN_COMPLETED ) {
// ID and data will not change unless yaacl_txn_status is
// called again.
uint8_t targetID = (arke.control.ID & ARKE_NODE_CLASS_MASK) >> 3;
if ( targetID == 0x00 || targetID == ARKE_MY_CLASS ) {
ProcessControl();
}
}
if ( s != YAACL_TXN_PENDING ) {
// we received or had an error, we re-listen
arke.control.length = 8;
yaacl_listen(&(arke.control));
}
// heartbeat
if ( arke.heartbeatStatus == NO_HEARTBEAT
|| yaacl_txn_status(&(arke.heartbeat)) != YAACL_TXN_UNSUBMITTED ) {
//we are sending or just have sent an heartbeat, or we do not
//need a periodic heartbeat
return;
}
ArkeSystime_t now = ArkeGetSystime();
if ( (now - arke.lastHeartbeat) < arke.heartbeatPeriod ) {
// wait before sending a new heartbeat
return;
}
arke.heartbeat.length = (arke.heartbeatStatus == HEARTBEAT_ONCE) ? VERSION_LENGTH : 0;
yaacl_error_e err = yaacl_send(&(arke.heartbeat));
if ( err == YAACL_ERR_MOB_OVERFLOW ) {
// no free Mob, no worries, we fo it later.
return;
}
//heartbeat succesfully submitted
if (arke.heartbeatStatus == HEARTBEAT_ONCE ) {
arke.heartbeatStatus = NO_HEARTBEAT;
} else {
arke.lastHeartbeat = now;
}
}
#define implement_sender_function(name) \
ARKE_DECLARE_SENDER_FUNCTION(name) { \
txn->ID = subID \
+ ( Arke ## name ## ClassValue << 3) \
+ (emergency ? (ARKE_HIGH_PRIORITY_MESSAGE << 9) : ARKE_MESSAGE); \
if (rtr) { \
txn->ID |= YAACL_RTRBIT_MSK; \
} \
txn->length = sizeof(Arke ## name); \
txn->data = (uint8_t*)data; \
return yaacl_send(txn); \
}
implement_sender_function(ZeusSetPoint)
implement_sender_function(ZeusReport)
implement_sender_function(HeliosSetPoint)
implement_sender_function(CelaenoSetPoint)
implement_sender_function(CelaenoStatus)

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