Initial commit for new comm protocol

software/firmware/libraries/comm_protocol/examples/rover20_comms.py

@@ -0,0 +1,129 @@
+#pothos V1.0
+#author: Anthony Grana
+#date: 1/10/2019
+#OSURC Mars Rover 2019-2020
+
+import sys
+import serial
+import time
+import io
+import struct
+import timeit
+from serial import tools
+
+class rover20_comms():
+    num_slaves = 0
+    adr = []
+    data = []
+    port = ''
+
+    def __init__(self,num_slaves, data, port,TO):
+        self.num_slaves = num_slaves
+        self.data = data
+        if (not (num_slaves == len(self.data))):
+            raise ValueError('number of slaves does not match initial data')
+        for i in range(self.num_slaves):
+            self.adr.append([])
+            for j in range(len(self.data[i])):
+                self.adr[i].append(j)
+        self.port = serial.Serial(port, 115200,timeout = TO)
+
+    def list_types(self):
+        for i in range(self.num_slaves):
+            for j in range(len(self.data[i])):
+                print("Slave ID: " + str(i+1) + "    adr: " + str(self.adr[i][j]) + "   data type: " + str(self.data[i][j]))
+
+    def write_single(self, ID, adr, data):
+        self.port.write(bytes([0x00]))
+        self.port.write(bytes([ID]))
+        self.port.write(bytes([0x02]))
+        self.port.write(bytes([adr]))
+        if(isinstance(data, int) and data >= -32768 and data <= 32767 and self.data[ID-1][adr] == 'int'):
+            self.port.write((data).to_bytes(2, byteorder='big'))
+        elif(isinstance(data,float) and self.data[ID-1][adr] == 'float'):
+            self.port.write(bytearray(struct.pack("f",data)))
+        elif(isinstance(data,str) and self.data[ID-1][adr] == 'chr'):
+            self.port.write(data.encode('utf-8'))
+        elif(isinstance(data, int) and data >= -2147483648 and data <= 2147483647 and self.data[ID-1][adr] == 'long'):
+            self.port.write((data).to_bytes(4, byteorder='big'))
+        else:
+            raise TypeError("Transmit Error\nThe data you're trying to send does not mach the type stored in the register\nor, the pothos protocol does not support that data type\n or the data you're trying to send is too large or too small")
+        self.port.write(bytes([0xff]))
+        while(self.port.out_waiting):
+            time.sleep(0.0001)
+        acknowledge = self.port.read(4)
+        if (not(acknowledge == (bytes(b'\xff\xff\xff\xff')))):
+            print("Bad acknowledge!!!!")
+
+    def read(self,ID,address):
+        good_comms = True
+        self.port.write(bytes([0x00]))
+        self.port.write(bytes([ID]))
+        self.port.write(bytes([0x01]))
+        for i in address:
+            self.port.write(bytes([i]))
+        self.port.write(bytes([0xff]))
+        while(self.port.out_waiting):
+            time.sleep(0.0001)
+        data_list = []
+        for i in address:
+            if(self.data[ID-1][i] == 'float'):
+                while(self.port.in_waiting < 4): time.sleep(0.0001)
+                data_list.append(struct.unpack('f',self.port.read(4)))
+            elif(self.data[ID-1][i] == 'int'):
+                while(self.port.in_waiting < 2): time.sleep(0.0001)
+                data_list.append(struct.unpack('h',self.port.read(2)))
+            elif(self.data[ID-1][i] == 'long'):
+                while(self.port.in_waiting < 4): time.sleep(0.0001)
+                data_list.append(struct.unpack('i',self.port.read(4)))
+            elif(self.data[ID-1][i] == 'chr'):
+                while(self.port.in_waiting < 1): time.sleep(0.0001)
+                data_list.append(struct.unpack('c',self.port.read(1)))
+            while(self.port.in_waiting < 1): time.sleep(0.0001)
+            if(not(self.port.read(1) == b'\x00')):
+                print("Type Error when reading data from a slave\nThis will also cause a \"Bad acknowledge\" Error")
+                time.sleep(0.020)
+                self.port.reset_input_buffer()
+                break
+        sync = self.port.read(5)
+        if(not(sync == b'\xff\xff\xff\xff\xff')):
+            print("Bad acknowledge!!!!")
+        return(data_list)
+
+
+    def write_multiple(self,ID,adr,data):
+        self.port.write(bytes([0x00]))
+        self.port.write(bytes([ID]))
+        self.port.write(bytes([0x03]))
+        for i in range(len(adr)):
+            self.port.write(bytes([adr[i]]))
+            if(isinstance(data[i], int) and data[i] >= -32768 and data[i] <= 32767 and self.data[ID-1][adr[i]] == 'int'):
+                self.port.write((data[i]).to_bytes(2, byteorder='big'))
+            elif(isinstance(data[i],float) and self.data[ID-1][adr[i]] == 'float'):
+                self.port.write(bytearray(struct.pack("f",data[i])))
+            elif(isinstance(data[i],str) and self.data[ID-1][adr[i]] == 'chr'):
+                self.port.write(data[i].encode('utf-8'))
+            elif(isinstance(data[i], int) and data[i] >= -2147483648 and data[i] <= 2147483647 and self.data[ID-1][adr[i]] == 'long'):
+                self.port.write((data[i]).to_bytes(4, byteorder='big'))
+            else:
+                raise TypeError("Transmit Error\nThe data you're trying to send does not mach the type stored in the register\nor, the pothos protocol does not support that data type\n or the data you're trying to send is too large or too small")
+        self.port.write(bytes([0xff]))
+        while(self.port.out_waiting):
+            time.sleep(0.0001)
+        acknowledge = self.port.read(4)
+        if (not(acknowledge == (bytes(b'\xff\xff\xff\xff')))):
+            print("Bad acknowledge!!!!mult")
+
+
+
+
+
+data_types = [['chr','int','long','float'],                             #slave 1
+              ['float','int','int']]                                    #slave 2
+
+pothos = rover20_comms(2, data_types,'/dev/ttyUSB0',0.030)              #class instantiation
+
+pothos.list_types()                                                     #list stored data types
+pothos.write_single(1,3,12398.09234)                                    #write slave 1, register 3, (which is a float) to 12398.09234
+pothos.write_multiple(1,[1,2,3],[1589,34567899,3453.0956])              #write to registers 1,2,&3 of slave 1
+print(pothos.read(1,[0, 1, 0x02, 0x03]))                                #read from all of the registers of slave 1 (can be done in hex or dec)

software/firmware/libraries/comm_protocol/pothos/data_store.h

@@ -0,0 +1,119 @@
+class data_store{
+  private:
+    char char_data[255];
+    int int_data[255];
+    long long_data[255];
+    float float_data[255];
+    int type[255];
+  public:
+
+    data_store(){
+      for(int i=0;i<255;i++){
+        char_data[i] = 0x00;
+        int_data[i] = 0;
+        long_data[i] = 0;
+        float_data[i] = 0.0;
+        type[i] = 0;
+      }
+    }
+
+    void set_type(int reg, String dType){
+      if(dType == "int")
+        type[reg] = 2;
+      else if(dType == "char")
+        type[reg] = 1;
+      else if(dType == "long")
+        type[reg] = 3;
+      else if(dType == "float")
+        type[reg] = 4;
+    }
+
+    int get_type(int reg){
+    	return type[reg];
+    }
+
+    void set_data(int reg, byte* data){
+        switch(type[reg]){
+		case(0):
+			break;
+		case(1):
+			char_data[reg] = data[0];
+			#ifdef POTHOS_DEBUG
+			Serial.print("The data that was stored is: ");
+			Serial.println(char_data[reg]);
+			#endif
+			break;
+		case(2):
+			int_data[reg] = 0;
+			int_data[reg] = int_data[reg] | data[0];
+			int_data[reg] = int_data[reg] << 8;
+			int_data[reg] = int_data[reg] | data[1];
+			#ifdef POTHOS_DEBUG
+			Serial.print("The data that was stored is: ");
+			Serial.println(int_data[reg]);
+			#endif
+			break;
+		case(3):
+			long_data[reg] = 0;
+			long_data[reg] = long_data[reg] | data[0];
+			for(int i=1;i<4;i++){
+				long_data[reg] = long_data[reg] << 8;	
+				long_data[reg] = long_data[reg] | data[i];
+			}
+			#ifdef POTHOS_DEBUG
+			Serial.print("The data that was stored is: ");
+			Serial.println(long_data[reg]);
+			#endif
+			break;
+		case(4):
+			float_data[reg] = 0;
+			memcpy(&(float_data[reg]), data, sizeof(float));
+			#ifdef POTHOS_DEBUG
+			Serial.print("The data that was stored is: ");
+			Serial.println(float_data[reg],7);
+			#endif
+			break;
+	}
+    }
+
+
+    void set_data(int reg, int data){
+	if(type[reg] == 2){
+		int_data[reg] = data;
+	}
+    }
+
+    void set_data(int reg, float data){
+	if(type[reg] == 4){
+	 float_data[reg] = data;
+	}
+    }
+
+    void set_data(int reg, long data){
+	if(type[reg] == 3){
+		long_data[reg] = data;
+	}
+    }
+
+    void set_data(int reg, char data){
+	if(type[reg] == 1){
+		char_data[reg] = data;
+	}
+    }
+
+    int get_int_data(int reg){
+      return int_data[reg];  
+    }
+
+    char get_char_data(int reg){
+      return char_data[reg];  
+    }
+
+    long get_long_data(int reg){
+      return long_data[reg];  
+    }
+
+    float get_float_data(int reg){
+      return float_data[reg];  
+    }
+};

software/firmware/libraries/comm_protocol/pothos/examples/Basic_Single_Slave/Basic_Single_Slave.ino

@@ -0,0 +1,46 @@
+//#define POTHOS_DEBUG
+#include <pothos.h>
+
+unsigned long blink_timer = 0;
+unsigned long blinkTime = 1000;
+bool blinkState = false;
+
+int EnablePin = 2;
+
+enum DATA{
+  CHAR_DATA = 0,
+  ALT_DATA = 1,
+  TIME_DATA = 2,
+  TMP_DATA = 3  
+};
+
+pothos comms(1, EnablePin);
+
+void setup() {
+  Serial1.begin(115200);
+  comms.setPort(&Serial1);
+
+  Serial.begin(115200);
+  pinMode(13,OUTPUT);
+  digitalWrite(13,HIGH);
+
+  set_data_types();
+}
+
+void loop() {
+  comms.update();
+
+  if(millis() - blink_timer >= blinkTime){
+    blinkState = !blinkState;
+    digitalWrite(13,blinkState);
+    blink_timer = millis();
+  }
+}
+
+
+void set_data_types(){
+  comms.data.set_type(DATA::CHAR_DATA, "char"); 
+  comms.data.set_type(DATA::ALT_DATA, "int");
+  comms.data.set_type(DATA::TIME_DATA, "long");
+  comms.data.set_type(DATA::TMP_DATA, "float");
+}