car_hw: cleanup Makefile and lib interfaces

car_hw/Makefile

@@ -1,4 +1,4 @@
-BIN_DIR=$(PWD)/bin
+BIN_DIR=bin
 SRC_DIR=src
 LIB_DIR=$(SRC_DIR)/lib
 OS_ARCH=linux-arm
@@ -65,7 +65,7 @@ $(CAR_OBJ): \
 	$(LD_ALL_DEPS)
 
 $(BIN_DIR)/$(CAR_OBJ_PREFIX)%.o: $(SRC_DIR)/%.c \
-		$(call dirhs,$(SRC_DIR))
+		$(call dirhs,$(SRC_DIR)/include)
 	$(CC_ALL_DEPS)
 
 clean:

car_hw/src/car_conn.c

@@ -0,0 +1,64 @@
+#include "car_conn.h"
+
+#include <usbd_cdc_vcp.h>
+
+void car_conn_init(void)
+{
+    VCP_init();
+    car_conn_rcv_buf_clear();
+}
+
+void car_conn_rcv_buf_clear(void)
+{
+    uint8_t tmp_char;
+    while (VCP_get_char(&tmp_char));
+}
+
+void car_conn_snd_byte(uint8_t b)
+{
+    VCP_put_char(b);
+}
+
+void car_conn_snd_int(int32_t n)
+{
+    VCP_put_char(n >> 24);
+    VCP_put_char(n >> 16);
+    VCP_put_char(n >> 8);
+    VCP_put_char(n);
+}
+
+void car_conn_snd_buf(uint32_t size, int buf)
+{
+    size_t i = 0;
+    uint8_t *cbuf = (uint8_t *)buf;
+
+    for (; i < size; ++i)
+        car_conn_snd_byte(cbuf[i]);
+}
+
+uint8_t car_conn_rcv_byte(void)
+{
+    uint8_t byte = 0;
+    while (!VCP_get_char(&byte));
+    return byte;
+}
+
+int32_t car_conn_rcv_int(void)
+{
+    int32_t result = 0;
+
+    result += (car_conn_rcv_byte() << 24);
+    result += (car_conn_rcv_byte() << 16);
+    result += (car_conn_rcv_byte() << 8);
+    result += car_conn_rcv_byte(); 
+    return result;
+}
+
+void car_conn_rcv_buf(uint32_t size, int buf)
+{
+    uint8_t* cbuf = (uint8_t *)buf;
+    size_t i = 0;
+
+    for (; i < size; ++i)
+        cbuf[i] = car_conn_rcv_byte();
+}

car_hw/src/car_engine.c

@@ -13,7 +13,7 @@
 #define CAR_ENGINE_RWHEEL_FWD_PIN GPIO_Pin_6
 #define CAR_ENGINE_RWHEEL_BKWD_PIN GPIO_Pin_7
 
-void engine_init(void)
+void car_engine_init(void)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
     RCC_AHB1PeriphClockCmd(CAR_ENGINE_GPIO_PORT_CLOCK, ENABLE);
@@ -29,7 +29,7 @@ void engine_init(void)
     GPIO_Init(CAR_ENGINE_GPIO_PORT, &GPIO_InitStructure);
 }
 
-void engine_stop(void)
+void car_engine_stop(void)
 {
     GPIO_ResetBits(CAR_ENGINE_GPIO_PORT, 0
             | CAR_ENGINE_LWHEEL_BKWD_PIN
@@ -40,40 +40,40 @@ void engine_stop(void)
 }
 
 #ifdef CAR_ENGINE_ENABLE
-void engine_forward(void)
+void car_engine_forward(void)
 {
-    engine_stop();
+    car_engine_stop();
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
 }
 
-void engine_backward(void)
+void car_engine_backward(void)
 {
-    engine_stop();
+    car_engine_stop();
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
 }
 
-void engine_turn_left(void)
+void car_engine_turn_left(void)
 {
-    engine_stop();
+    car_engine_stop();
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
 }
 
-void engine_turn_right(void)
+void car_engine_turn_right(void)
 {
-    engine_stop();
+    car_engine_stop();
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
     GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
 }
 #else
-void engine_forward(void) {}
-void engine_backward(void) {}
-void engine_turn_right(void) {}
-void engine_turn_left(void) {}
+void car_engine_forward(void) {}
+void car_engine_backward(void) {}
+void car_engine_turn_right(void) {}
+void car_engine_turn_left(void) {}
 #endif // CAR_ENGINE_ENABLE

car_hw/src/car_leds.c

@@ -5,15 +5,15 @@
 #include "stm32f4_discovery.h"
 #include "stm32f4xx_conf.h"
 
-void leds_init(void)
+void car_leds_init(void)
 {
-    STM_EVAL_LEDInit(LED_RED);
-    STM_EVAL_LEDInit(LED_ORANGE);
-    STM_EVAL_LEDInit(LED_GREEN);
-    STM_EVAL_LEDInit(LED_BLUE);
+    STM_EVAL_LEDInit(CAR_LED_RED);
+    STM_EVAL_LEDInit(CAR_LED_ORANGE);
+    STM_EVAL_LEDInit(CAR_LED_GREEN);
+    STM_EVAL_LEDInit(CAR_LED_BLUE);
 }
 
-void led_set(int led, bool on)
+void car_led_set(int led, bool on)
 {
     if (on)
         STM_EVAL_LEDOn(led);
@@ -21,10 +21,10 @@ void led_set(int led, bool on)
         STM_EVAL_LEDOff(led);
 }
 
-void leds_clear_all(void)
+void car_leds_clear_all(void)
 {
-    led_set(LED_GREEN, false);
-    led_set(LED_ORANGE, false);
-    led_set(LED_RED, false);
-    led_set(LED_BLUE, false);
+    car_led_set(CAR_LED_GREEN, false);
+    car_led_set(CAR_LED_ORANGE, false);
+    car_led_set(CAR_LED_RED, false);
+    car_led_set(CAR_LED_BLUE, false);
 }

car_hw/src/car_prog.c

@@ -1,119 +0,0 @@
-#include <stddef.h>
-#include <stdbool.h>
-
-#include "car_leds.h"
-#include "car_engine.h"
-#include "car_prog.h"
-#include "time.h"
-
-const uint32_t PROGRAM_DURATION_MS = 3000;
-
-static void program_stop(void)
-{
-    wait(PROGRAM_DURATION_MS);
-}
-
-static void program_forward(void)
-{
-    engine_forward();
-    wait(PROGRAM_DURATION_MS);
-}
-
-static void program_backward(void)
-{
-    engine_backward();
-    wait(PROGRAM_DURATION_MS);
-}
-
-static void program_rotation_left(void)
-{
-    engine_turn_left();
-    wait(PROGRAM_DURATION_MS);
-}
-
-static void program_rotation_right(void)
-{
-    engine_turn_right();
-    wait(PROGRAM_DURATION_MS);
-}
-
-static void program_arbitraty_route(void)
-{
-    const int ROUTE_PIECE_DURATION = 6 * PROGRAM_DURATION_MS;
-    engine_forward();
-    wait(ROUTE_PIECE_DURATION);
-
-    engine_backward();
-    wait(ROUTE_PIECE_DURATION);
-
-    engine_forward();
-    wait(ROUTE_PIECE_DURATION / 2);
-
-    engine_turn_right();
-    wait(ROUTE_PIECE_DURATION);
-
-    engine_forward();
-    wait(ROUTE_PIECE_DURATION / 2);
-
-    engine_backward();
-    wait(ROUTE_PIECE_DURATION / 2);
-
-    engine_turn_left();
-    wait(ROUTE_PIECE_DURATION);
-
-    engine_backward();
-    wait(ROUTE_PIECE_DURATION / 2);
-
-    engine_stop();
-    wait(ROUTE_PIECE_DURATION / 2);
-}
-
-typedef void (*car_program_code_t)(void);
-typedef struct car_program_desc {
-    car_program_code_t code;
-    struct {
-        bool green : 1;
-        bool orange : 1;
-        bool red : 1;
-        bool blue : 1;
-    } leds;
-} car_program_desc_t;
-
-static car_program_desc_t const PROGRAMS[] = {
-    { .code = program_stop, .leds = {} },
-    { .code = program_forward, .leds = { .green = 1 } },
-    { .code = program_backward, .leds = { .orange = 1 } },
-    { .code = program_rotation_left, .leds = { .red = 1 } },
-    { .code = program_rotation_right, .leds = { .blue = 1 } },
-    { .code = program_arbitraty_route, .leds = { .green = 1, .orange = 1 } }
-};
-static const size_t PROGRAMS_CNT = sizeof(PROGRAMS) / sizeof(PROGRAMS[0]);
-static size_t cur_program_ix;
-
-static void set_cur_program(size_t program_ix)
-{
-    cur_program_ix = program_ix;
-
-    leds_clear_all();
-
-    const car_program_desc_t *cpd = &PROGRAMS[cur_program_ix];
-    if (cpd->leds.green)
-        led_set(LED_GREEN, true);
-    if (cpd->leds.orange)
-        led_set(LED_ORANGE, true);
-    if (cpd->leds.red)
-        led_set(LED_RED, true);
-    if (cpd->leds.blue)
-        led_set(LED_BLUE, true);
-}
-
-void run_programmed_car(volatile bool *stop)
-{
-    set_cur_program(0);
-    while(!*stop) {
-        PROGRAMS[cur_program_ix].code();
-        set_cur_program((cur_program_ix + 1) % PROGRAMS_CNT);
-    }
-    leds_clear_all();
-    engine_stop();
-}

car_hw/src/car_rc.c

@@ -1,69 +0,0 @@
-#include <stddef.h>
-#include <stdbool.h>
-#include <usbd_cdc_vcp.h>
-
-#include "car_rc.h"
-#include "car_leds.h"
-#include "car_engine.h"
-
-typedef enum {
-    RC_CAR_CMD_STOP = '0',
-    RC_CAR_CMD_FWD = '1',
-    RC_CAR_CMD_BKWD = '2',
-    RC_CAR_CMD_RIGHT = '3',
-    RC_CAR_CMD_LEFT = '4'
-} RC_CAR_CMD;
-
-void send_cmd_result(uint8_t cmd, uint8_t result)
-{
-    VCP_put_char('(');
-    VCP_put_char(cmd);
-    VCP_put_char(':');
-    VCP_put_char(result);
-    VCP_put_char(')');
-}
-
-void run_rc_car(volatile bool *stop)
-{
-    led_set(LED_GREEN, true);
-    led_set(LED_ORANGE, true);
-    led_set(LED_RED, true);
-    led_set(LED_BLUE, true);
-    engine_stop();
-
-    // Cleanup VCP buffer. This doesn't clean all the garbage.
-    // Some garbage arrives much later then we read here.
-    uint8_t tmp_char;
-    while(VCP_get_char(&tmp_char));
-
-    uint8_t cur_cmd = RC_CAR_CMD_STOP;
-    uint8_t new_cmd = cur_cmd;
-
-    while(true) {
-        while((!*stop) && !VCP_get_char(&new_cmd)) {}
-        if (*stop)
-            break;
-
-        if (cur_cmd == new_cmd) {}
-        else if (new_cmd == RC_CAR_CMD_STOP)
-            engine_stop();
-        else if (new_cmd == RC_CAR_CMD_FWD)
-            engine_forward();
-        else if (new_cmd == RC_CAR_CMD_BKWD)
-            engine_backward();
-        else if (new_cmd == RC_CAR_CMD_RIGHT)
-            engine_turn_right();
-        else if (new_cmd == RC_CAR_CMD_LEFT)
-            engine_turn_left();
-        else {
-            send_cmd_result(new_cmd, '1');
-            continue;
-        }
-
-        send_cmd_result(new_cmd, '0');
-        cur_cmd = new_cmd;
-    }
-
-    leds_clear_all();
-    engine_stop();
-}

car_hw/src/car_time.c

@@ -1,10 +1,10 @@
 #include <stm32f4xx.h>
 
-#include "time.h"
+#include "car_time.h"
 
 static volatile uint32_t pending_timer_ticks, ticks_since_boot;
 
-void time_init(void)
+void car_time_init(void)
 {
     // XXX this is copy pasted and it doesn't provide 1ms periodic
     // timer interrupt
@@ -12,17 +12,17 @@ void time_init(void)
         while (1){};
 }
 
-void wait(volatile uint32_t ms) {
+void car_time_wait(volatile uint32_t ms) {
     pending_timer_ticks = ms;
     while(pending_timer_ticks){};
 }
 
-uint32_t get_timestamp(void)
+uint32_t car_time_get_timestamp(void)
 {
     return ticks_since_boot;
 }
 
-void timer_irq_handler() {
+void car_time_irq_handler() {
     if (pending_timer_ticks)
         pending_timer_ticks--;
 

car_hw/src/car_user_btn.c

@@ -0,0 +1,21 @@
+#include "car_user_btn.h"
+
+static car_user_btn_handler_t user_btn_handler;
+
+void car_user_btn_init(car_user_btn_handler_t handler)
+{
+    user_btn_handler = handler;
+    STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
+}
+
+bool car_user_btn_is_pushed(void)
+{
+    return STM_EVAL_PBGetState(BUTTON_USER) == Bit_SET;
+}
+
+void EXTI0_IRQHandler(void)
+{
+    if (user_btn_handler)
+        user_btn_handler();
+    EXTI_ClearITPendingBit(USER_BUTTON_EXTI_LINE);
+}

car_hw/src/communication.c

@@ -1,59 +0,0 @@
-#include "communication.h"
-
-#include <stddef.h>
-#include <stdbool.h>
-#include <usbd_cdc_vcp.h>
-
-#include "memory.h"
-
-void clear_buffer()
-{
-    uint8_t tmp_char;
-    while (VCP_get_char(&tmp_char));
-}
-
-void send_int(int n)
-{
-    VCP_put_char(n >> 24);
-    VCP_put_char(n >> 16);
-    VCP_put_char(n >> 8);
-    VCP_put_char(n);
-}
-
-void send_buffer(int size, int pointer)
-{
-    int i = 0;
-    char *buffer = (char *) pointer;
-
-    send_int(size);
-    for (; i < size; ++i) {
-        VCP_put_char(buffer[i]);
-    }
-}
-
-int receive_int()
-{
-    int result = 0;
-    uint8_t byte = 0;
-
-    while (!VCP_get_char(&byte));
-    result += (byte << 24);
-    while (!VCP_get_char(&byte));
-    result += (byte << 16);
-    while (!VCP_get_char(&byte));
-    result += (byte << 8);
-    while (!VCP_get_char(&byte));
-    result += byte;
-
-    return result;
-}
-
-void receive_buffer(int size, int pointer)
-{
-    char* buffer = (char*) pointer;
-    int i = 0;
-
-    for (; i < size; ++i) {
-        while(!VCP_get_char(&buffer[i]));
-    }
-}

car_hw/src/include/car_conn.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+void car_conn_init(void);
+void car_conn_rcv_buf_clear(void);
+
+void car_conn_snd_byte(uint8_t b);
+void car_conn_snd_int(int32_t n);
+void car_conn_snd_buf(uint32_t size, /*void */int buf);
+
+uint8_t car_conn_rcv_byte(void);
+int32_t car_conn_rcv_int(void);
+void car_conn_rcv_buf(uint32_t size, /*void **/int buf);

car_hw/src/include/car_engine.h

@@ -1,8 +1,8 @@
 #pragma once
 
-void engine_init(void);
-void engine_stop(void);
-void engine_forward(void);
-void engine_backward(void);
-void engine_turn_left(void);
-void engine_turn_right(void);
+void car_engine_init(void);
+void car_engine_stop(void);
+void car_engine_forward(void);
+void car_engine_backward(void);
+void car_engine_turn_left(void);
+void car_engine_turn_right(void);

car_hw/src/include/car_leds.h

@@ -5,12 +5,12 @@
 
 typedef enum
 {
-    LED_GREEN = LED4,
-    LED_ORANGE = LED3,
-    LED_RED = LED5,
-    LED_BLUE = LED6
-} led_t;
+    CAR_LED_GREEN = LED4,
+    CAR_LED_ORANGE = LED3,
+    CAR_LED_RED = LED5,
+    CAR_LED_BLUE = LED6
+} car_led_t;
 
-void leds_init(void);
-void leds_clear_all(void);
-void led_set(int led, bool on);
+void car_leds_init(void);
+void car_leds_clear_all(void);
+void car_led_set(int led, bool on);

car_hw/src/include/car_prog.h

@@ -1,4 +0,0 @@
-#pragma once
-
-#include <stdbool.h>
-void run_programmed_car(volatile bool *stop);

car_hw/src/include/car_rc.h

@@ -1,4 +0,0 @@
-#pragma once
-
-#include <stdbool.h>
-void run_rc_car(volatile bool *stop);

car_hw/src/include/car_time.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <stdint.h>
+
+void car_time_init(void);
+void car_time_wait(volatile uint32_t ms);
+uint32_t car_time_get_timestamp(void);
+/*
+ * Called from systick handler
+ */
+void car_time_irq_handler();

car_hw/src/include/car_user_btn.h

@@ -3,24 +3,9 @@
 #include <stdbool.h>
 #include "stm32f4_discovery.h"
 
-typedef void (*user_btn_handler_t)(void);
-static user_btn_handler_t user_btn_handler;
+typedef void (*car_user_btn_handler_t)(void);
 
 // @handler can be NULL
-inline void user_btn_init(user_btn_handler_t handler)
-{
-    user_btn_handler = handler;
-    STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
-}
+void car_user_btn_init(car_user_btn_handler_t handler);
 
-inline bool user_btn_is_pushed(void)
-{
-    return STM_EVAL_PBGetState(BUTTON_USER) == Bit_SET;
-}
-
-void EXTI0_IRQHandler(void)
-{
-    if (user_btn_handler)
-        user_btn_handler();
-    EXTI_ClearITPendingBit(USER_BUTTON_EXTI_LINE);
-}
+bool car_user_btn_is_pushed(void);

car_hw/src/include/communication.h

@@ -1,13 +0,0 @@
-#pragma once
-
-void clear_buffer();
-
-void send_int(int i);
-void send_buffer(int size, int pointer);
-
-int receive_int();
-void receive_buffer(int size, int pointer);
-
-void set_state(int i);
-int get_state();
-

car_hw/src/include/memory.h

@@ -1,3 +0,0 @@
-#pragma once
-
-extern char* malloc_static(int);

car_hw/src/include/time.h

@@ -1,9 +0,0 @@
-#pragma once
-
-void time_init(void);
-void wait(volatile uint32_t ms);
-uint32_t get_timestamp(void);
-/*
- * Called from systick handler
- */
-void timer_irq_handler();

car_hw/src/main.c

@@ -1,23 +0,0 @@
-#include <stddef.h>
-#include <stdbool.h>
-
-#include "car_engine.h"
-#include "car_leds.h"
-#include "car_rc.h"
-#include "car_user_btn.h"
-#include "communication.h"
-#include "time.h"
-
-#include "stm32f4xx_conf.h"
-#include "stm32f4xx_it.h"
-
-int state = 0;
-
-void set_state(int i) {
-    state = i;
-}
-
-int get_state() {
-    return state;
-}
-

car_hw/src/stm32f4xx_it.c

@@ -5,7 +5,7 @@
 #include "usbd_core.h"
 #include "usbd_cdc_core.h"
 
-#include "time.h"
+#include "car_time.h"
 
 extern uint32_t USBD_OTG_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
 extern USB_OTG_CORE_HANDLE USB_OTG_dev;
@@ -110,7 +110,7 @@ void PendSV_Handler(void)
   */
 void SysTick_Handler(void)
 {
-	timer_irq_handler();
+	car_time_irq_handler();
 }
 
 /******************************************************************************/