diff --git a/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_anakin/board_settings.h b/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_anakin/board_settings.h
index ff6472e8437a122e0ad9337b6310424d8b4ce833..78fd694f67b6c1932b6b60b172bea8986e114027 100644
--- a/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_anakin/board_settings.h
+++ b/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_anakin/board_settings.h
@@ -64,7 +64,7 @@ const unsigned int AUX_TIMER_MAX=0xffff; ///<\internal Aux timer is 16 bits
/// Serial port
const unsigned int defaultSerial=1;
-const unsigned int defaultSerialSpeed=19200;
+const unsigned int defaultSerialSpeed=115200;
const bool defaultSerialFlowctrl=false;
//#define SERIAL_1_DMA //Serial 1 has no DMA as it would conflict with SPI6
#define SERIAL_2_DMA //Serial 2 is used by the piksi GPS, enable DMA
diff --git a/scripts/anakin_client_curses/.gitignore b/scripts/anakin_client_curses/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..b051c6c57fa8b6cc588a3ebad860005ec6fcf7cc
--- /dev/null
+++ b/scripts/anakin_client_curses/.gitignore
@@ -0,0 +1 @@
+client
diff --git a/scripts/anakin_client_curses/Makefile b/scripts/anakin_client_curses/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f97ef085b53c809ca0363276bbae66fbf22e6ded
--- /dev/null
+++ b/scripts/anakin_client_curses/Makefile
@@ -0,0 +1,2 @@
+all:
+ gcc -o client client.c -lcurses
diff --git a/scripts/anakin_client_curses/client.c b/scripts/anakin_client_curses/client.c
new file mode 100644
index 0000000000000000000000000000000000000000..5c45227bddf8b8aa5ced0341a9cb56e0ce624d63
--- /dev/null
+++ b/scripts/anakin_client_curses/client.c
@@ -0,0 +1,319 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <ncurses.h>
+#include <signal.h>
+#include <stdint.h>
+#include <termios.h>
+#include <unistd.h>
+
+volatile int stop = 0;
+uint8_t buf[8192] = {0};
+uint16_t rptr = 0, wptr = 0;
+
+#pragma pack(1)
+struct vec3_t {
+ float x;
+ float y;
+ float z;
+};
+#pragma pack()
+
+enum DataType
+{
+ DATA_VEC3 = 0,
+ DATA_QUAT = 1,
+ DATA_FLOAT = 2,
+ DATA_INT = 3,
+ DATA_STRING= 4,
+ DATA_LIMITED_INT = 5,
+ DATA_UINT32 = 6
+};
+
+const char* sensor_names[] =
+{
+ "ACCEL_MPU9250",
+ "ACCEL_INEMO",
+ "ACCEL_MAX21105",
+
+ "GYRO_MPU9250",
+ "GYRO_INEMO",
+ "GYRO_FXAS21002",
+ "GYRO_MAX21105",
+
+ "COMPASS_MPU9250",
+ "COMPASS_INEMO",
+
+ "TEMP_MPU9250",
+ "TEMP_INEMO",
+ "TEMP_LPS331AP",
+ "TEMP_MAX21105",
+ "TEMP_MS580",
+
+ "PRESS_LPS331AP",
+ "PRESS_MS580",
+
+ "UNUSED_16",
+ "DMA_TX_FIFOSZ",
+ "DMA_RX_FIFOSZ",
+ "DMA_FIFO_ERR",
+ "CPU%",
+ "LOG_QUEUE_SZ"
+};
+
+uint8_t sensor_type[] =
+{
+ DATA_VEC3,
+ DATA_VEC3,
+ DATA_VEC3,
+
+ DATA_VEC3,
+ DATA_VEC3,
+ DATA_VEC3,
+ DATA_VEC3,
+
+ DATA_VEC3,
+ DATA_VEC3,
+
+ DATA_FLOAT,
+ DATA_FLOAT,
+ DATA_FLOAT,
+ DATA_FLOAT,
+ DATA_FLOAT,
+
+ DATA_FLOAT,
+ DATA_FLOAT,
+
+ DATA_INT,
+ DATA_LIMITED_INT,
+ DATA_LIMITED_INT,
+ DATA_UINT32,
+ DATA_UINT32,
+ DATA_LIMITED_INT
+};
+
+#define NUM_SENSORS ((int)((sizeof(sensor_names) / sizeof(sensor_names[0]))))
+
+
+void on_signal(int s)
+{
+ if(!stop)
+ {
+ signal(s, on_signal);
+ stop = 1;
+ }
+}
+
+int logline = 0;
+void log_string(const char* data, int len)
+{
+ if(len <= 0)
+ return;
+
+ move(NUM_SENSORS + 2 + logline, 10);
+ attron(COLOR_PAIR(1));
+ printw(data);
+ if(len < 30)
+ for(int i=len;i<30;i++)
+ printw(" ");
+ refresh();
+ logline = (logline+1)%20;
+}
+
+void draw_sensor(int id, int type, const void* data)
+{
+ char tmp[256] = {0};
+
+ if(id >= (int)NUM_SENSORS)
+ {
+ sprintf(tmp, "Got packet for invalid sensor %d\n", id);
+ log_string(tmp, strlen(tmp));
+ return;
+ }
+
+ if(type < 0 || type > 6 || type == 4)
+ {
+ sprintf(tmp, "Got packet for invalid type %d\n", type);
+ log_string(tmp, strlen(tmp));
+ return;
+ }
+
+ move(1+id, 10);
+ sprintf(tmp, "%20s : ", sensor_names[id]);
+
+ uint8_t color = (type != 5) ? (type + 1) : 2;
+ attron(COLOR_PAIR(color));
+ printw(tmp);
+ attroff(COLOR_PAIR(color));
+
+ int all_null = 1;
+ for(int i=0;i<NUM_SENSORS && all_null == 1;i++)
+ if(((const char *)data)[i] != 0)
+ all_null = 0;
+ if((data == NULL || all_null == 1) && type != 5)
+ {
+ attron(COLOR_PAIR(5));
+ attron(A_BOLD);
+ printw("[NULL] ");
+ attroff(A_BOLD);
+ attroff(COLOR_PAIR(5));
+ return;
+ }
+
+ const uint8_t* i = (const uint8_t*) data;
+ const struct vec3_t* v = (const struct vec3_t*) data;
+ const float* f = (const float*) data;
+ const uint8_t* ui = (const uint8_t*) data;
+ const uint32_t* ui32 = (const uint32_t*) data;
+
+ switch(type)
+ {
+ case DATA_FLOAT:
+ sprintf(tmp, "%7.4f ", *f);
+ printw(tmp);
+ break;
+ case DATA_INT:
+ sprintf(tmp, "%d ", *i);
+ printw(tmp);
+ break;
+ case DATA_UINT32:
+ sprintf(tmp, "%d ", *ui32);
+ printw(tmp);
+ break;
+ case DATA_VEC3:
+ sprintf(tmp, "(%7.4f, %7.4f, %7.4f)", v->x, v->y, v->z);
+ printw(tmp);
+ break;
+ case DATA_LIMITED_INT:
+ {
+ uint32_t vv = (*ui * 27) / 256;
+ for(uint32_t i=0;i<27;i++)
+ {
+ if(i < vv)
+ printw("#");
+ else
+ printw(".");
+ }
+ break;
+ }
+ default:
+ printw("[NOT IMPLEMENTED]");
+ break;
+ }
+}
+
+int sfd;
+int init_serial(const char *device)
+{
+ sfd = open(device, O_RDWR | O_NOCTTY | O_SYNC);
+ if(sfd < 0)
+ {
+ printf("Cannot open ttyUSB0\n");
+ return 1;
+ }
+
+ struct termios tty;
+ memset(&tty, 0, sizeof(tty));
+ if(tcgetattr(sfd, &tty) != 0)
+ {
+ printf("Cannot get attributes\n");
+ return 1;
+ }
+ cfmakeraw(&tty);
+ cfsetospeed(&tty, B115200);
+ cfsetispeed(&tty, B115200);
+ tcsetattr(sfd, TCSANOW, &tty);
+
+ return 0;
+}
+
+void parse(int len)
+{
+ if(len == 0)
+ return;
+
+ uint8_t type = buf[0];
+ if(type == DATA_STRING)
+ log_string((const char *)&buf[1], len-1);
+ else
+ {
+ uint8_t id = buf[1];
+ draw_sensor(id, type, &buf[2]);
+ }
+}
+
+int fromHex(char l)
+{
+ if(l >= '0' && l <= '9')
+ return l - '0';
+ if(l >= 'a' && l <= 'f')
+ return 10 + l - 'a';
+ if(l >= 'A' && l <= 'F')
+ return 10 + l - 'A';
+ return 0;
+}
+
+int read_and_draw()
+{
+ memset(buf, 0, sizeof(buf));
+ int bpos = 0;
+ char b;
+ char tmp = 0;
+ do {
+ read(sfd, &b, 1);
+ if(b == '\n' || b == '\r')
+ break;
+ else {
+ if(tmp == 0)
+ tmp = b;
+ else {
+ buf[bpos++] = (fromHex(tmp) << 4) | fromHex(b);
+ tmp = 0;
+ }
+ }
+ } while(1);
+ parse(bpos);
+ return 0;
+}
+
+int main(int argc, char *argv[])
+{
+ if(argc < 2)
+ {
+ printf("Usage: %s <PORT>\n", argv[0]);
+ return -1;
+ }
+ if(init_serial(argv[1]))
+ return -1;
+
+ signal(SIGINT, on_signal);
+ signal(SIGTERM, on_signal);
+
+ initscr();
+ start_color();
+ init_pair(1, COLOR_BLUE, COLOR_BLACK);
+ init_pair(2, COLOR_GREEN, COLOR_BLACK);
+ init_pair(3, COLOR_CYAN, COLOR_BLACK);
+ init_pair(4, COLOR_WHITE, COLOR_BLACK);
+ init_pair(5, COLOR_RED, COLOR_BLACK);
+ init_pair(7, COLOR_MAGENTA, COLOR_BLACK);
+ erase();
+ refresh();
+
+ log_string("Ready...", 8);
+ while(!stop)
+ {
+ if(read_and_draw() == 1)
+ stop = 1;
+ refresh();
+ }
+
+ endwin();
+
+ signal(SIGINT, 0);
+ signal(SIGTERM, 0);
+
+ return 0;
+}
diff --git a/scripts/start_openocd.sh b/scripts/start_openocd.sh
new file mode 100755
index 0000000000000000000000000000000000000000..35c9cf5928227b5f5f2cb9625cc3da087309566d
--- /dev/null
+++ b/scripts/start_openocd.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+openocd -f libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_anakin/anakin.cfg
diff --git a/src/entrypoints/anakin-test-dma.cpp b/src/entrypoints/anakin-test-dma.cpp
index 47535649e198417bdb076ed5818c94410fd0b0d8..5a130d38f6c4301026cc8b49aef2aaa75e89c4fb 100644
--- a/src/entrypoints/anakin-test-dma.cpp
+++ b/src/entrypoints/anakin-test-dma.cpp
@@ -32,6 +32,7 @@ void fifoQueueSz(void *arg)
{
const SPIDriver& spi = SPIDriver::instance();
int tx_accum = 0, rx_accum = 0, sz_ctr = 0;
+ int qsize_accum = 0;
sLog->logString("Thread started");
@@ -44,15 +45,18 @@ void fifoQueueSz(void *arg)
{
tx_accum += tx;
rx_accum += rx;
+ qsize_accum += sLog->getLogQueueSize();
if(++sz_ctr == 100)
{
float tx1 = tx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
float rx1 = rx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
- tx_accum = rx_accum = sz_ctr = 0;
+ float qsz = qsize_accum / 100.0f * 255.0f;
+ tx_accum = rx_accum = sz_ctr = qsize_accum = 0;
sLog->logLimitedInt(17, 0, 255, tx1);
sLog->logLimitedInt(18, 0, 255, rx1);
sLog->logUInt32(19, spi.getFIFOFaultCtr());
sLog->logUInt32(20, averageCpuUtilization());
+ sLog->logLimitedInt(21, 0, 255, qsz);
}
}
Thread::sleep(1);
@@ -90,68 +94,5 @@ int main()
Thread::sleep(100);
}
- // NOT EXECUTED
- while(1)
- {
- printf("---------%05d----------\n", ctr++);
- for(const auto& s : data)
- {
- printf("Sensor %03d:", s.sensor);
- if(s.value == nullptr)
- {
- printf("NULLPTR\n");
- continue;
- }
-
- switch(s.data)
- {
- case DATA_VEC3:
- {
- const Vec3* d = (const Vec3*) s.value;
- printf("(%f,%f,%f)\n", d->getX(), d->getY(), d->getZ());
- break;
- }
- case DATA_FLOAT:
- {
- const float* d = (const float*) s.value;
- printf("%f\n", *d);
- break;
- }
- case DATA_INT:
- {
- const int* d = (const int*) s.value;
- printf("[%08x]\n", *d);
- break;
- }
- default:
- {
- printf("Unhandled %d\n", s.data);
- break;
- }
- }
- }
- printf("-----------------------\n");
- Thread::sleep(10);
- }
- /*
- std::vector<SPIRequest> requests;
- requests.push_back(
- SPIRequest(CS_MPU9250::getPin(),{0x80 | 0x75, 0, 0, 0, 0, 0, 0, 0, 0})
- );
-
- printf("A\n");
- auto& driver=SPIDriver::instance();
- printf("B\n");
- bool ret = driver.transaction(requests);
- printf("C: %d\n", ret);
- auto result=requests[0].readResponseFromPeripheral();
- printf("D\n");
- memDump(result.data(),result.size());
- printf("E\n");
- */
-
- while(1){
- // Yo
- }
return 0;
}
diff --git a/src/shared/diagnostic/Log.h b/src/shared/diagnostic/Log.h
index 5ee8c80610f73b93ed5e8819fb78a6e84d144b7e..cdde20743bcf8639c8f7ae0718b72cb04c7232d4 100644
--- a/src/shared/diagnostic/Log.h
+++ b/src/shared/diagnostic/Log.h
@@ -109,6 +109,8 @@ public:
queue(std::move(buf));
}
+
+ uint32_t getLogQueueSize() const { return mQueue.size(); }
protected:
void run() override
{
diff --git a/src/shared/i2c/stm32f2_f4_i2c.cpp b/src/shared/i2c/stm32f2_f4_i2c.cpp
index 2b11eb23447c445ef6358f6552354f5da1ebf96a..6a2fefa5aa1c6664ae26fc34a5e7cde5638db0d7 100644
--- a/src/shared/i2c/stm32f2_f4_i2c.cpp
+++ b/src/shared/i2c/stm32f2_f4_i2c.cpp
@@ -30,7 +30,7 @@
#include <kernel/scheduler/scheduler.h>
#warning
-#warning "Integrate this duplicate driver in Miosix, see FIXME.txt
+#warning "Integrate this duplicate driver in Miosix, see FIXME.txt"
#warning
// #define I2C_WITH_DMA