fox

Author: mpkarpov-ui

MIDAS/src/hilsim/kal.cpp

@@ -119,9 +119,21 @@ DECLARE_THREAD(hilsim, void*arg) {
 // ---- ENTRY FUNCS ----
 void k_run() {
     Serial.begin(115200);
+    while(!Serial);
+
+    k_push_event(K_START_E);
+    k_push_event(k_get_checksum_evt());
+
+    // Wait until start signal (newline written to serial)
+    k_wait_until('\n');
+    k_clear_inbuf();
+
+    // Set up MIDAS
     k_midas_setup();
     k_init_sensordata();
     k_push_event(K_SETUP_DONE);
+
+    // Start systems
     k_start();
 }
 

MIDAS/src/hilsim/kal.h

@@ -48,6 +48,7 @@ inline bool k_handle_reading(uint32_t ts, uint8_t disc, uint8_t* data, size_t da
 enum sys_instr_t {
     RESERVED = 0,
     REPORT_EN = 1,
+    VERIFY_CHECKSUM = 2,
 };
 
 // System message: instruct the Kamaji driver to do something
@@ -67,6 +68,15 @@ inline void k_handle_sys_msg(uint8_t* data, uint16_t crc) {
                 k_enable_data_report(disc, report_intv);
             }
             break;
+        case (sys_instr_t::VERIFY_CHECKSUM):
+            {
+                uint32_t checksum;
+                memcpy(&checksum, data + 1, sizeof(uint32_t));
+                if(checksum != LOG_CHECKSUM) {
+                    k_INVALIDCHECKSUM();
+                }
+            }
+            break;
         default:
             k_INVALIDINSTR();
             return;
@@ -75,6 +85,19 @@ inline void k_handle_sys_msg(uint8_t* data, uint16_t crc) {
     Serial.write("%OK");
 }
 
+void k_wait_until(char sig) {
+    char a;
+    do {
+        a = Serial.read();
+    } while (a != sig);
+}
+
+void k_clear_inbuf() {
+    while(Serial.available() > 0) {
+        char tb = Serial.read();
+    }
+}
+
 // ---- Kamaji Thread ----
 void hilsim_thread(void* arg);
 

MIDAS/src/hilsim/kamaji/kal_error.h

@@ -17,3 +17,8 @@ inline void k_INVALIDINSTR() {
     Serial.write("!II\n");
 }
 
+inline void k_INVALIDCHECKSUM() {
+    // Invalid checksum test
+    Serial.write("!IC\n");
+}
+

MIDAS/src/hilsim/kamaji/kal_events.h

@@ -1,6 +1,7 @@
 #pragma once
 #include <cstdint>
 #include "kal_error.h"
+#include "log_checksum.h"
 
 // ---- CONFIGURATION ----
 #define EVENT_STACK_SIZE 8
@@ -62,6 +63,14 @@ inline void k_log(char* log_message, size_t len) {
     k_push_event(evt);
 }
 
+inline k_event_t k_get_checksum_evt() {
+    k_event_t evt;
+    uint32_t checksum = LOG_CHECKSUM;
+    memcpy(evt.buf + 1, &checksum, sizeof(uint32_t));
+    evt.buf[0] = 'C';
+    return evt;
+}
 
 // ---- PRE-DEFINED EVENTS ----
-constexpr k_event_t K_SETUP_DONE {0, K_EVENT_TYPE::SYSTEM_MESSAGE, 3, {'H', 'I', 'L'}};
+constexpr k_event_t K_START_E {0, K_EVENT_TYPE::SYSTEM_MESSAGE, 3, {'H', 'I', 'L'}};
+constexpr k_event_t K_SETUP_DONE {0, K_EVENT_TYPE::SYSTEM_MESSAGE, 3, {'H', 'S', 'D'}};