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Initial public release of SystemK.

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Joe Kearney 2025-01-25 13:45:14 -06:00
parent 387f57cdda
commit 6f51f5b006
129 changed files with 11654 additions and 2 deletions
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/*
* This program source code file is part of SystemK, a library in the KTag project.
*
* 🛡️ <https://ktag.clubk.club> 🃞
*
* Copyright © 2024-2025 Joseph P. Kearney and the KTag developers.
*
* This program is free software: you can redistribute it and/or modify it under
* the terms of the GNU Affero General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
* details.
*
* There should be a copy of the GNU Affero General Public License in the LICENSE
* file in the root of this repository. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdio.h>
#include "SystemK.h"
#define DBQ_PURPLE_TEAM 0b00
#define DBQ_RED_TEAM 0b01
#define DBQ_BLUE_TEAM 0b10
#define DBQ_WHITE_TEAM 0b11
#define DBQ_ZERO_MARK_DURATION_IN_us 400
#define DBQ_ZERO_SPACE_DURATION_IN_us 800
#define DBQ_ONE_MARK_DURATION_IN_us 800
#define DBQ_ONE_SPACE_DURATION_IN_us 400
#define DBQ_TOLERANCE_IN_us 199
#define DBQ_PURPLE_TX_GAP_IN_us 2600
#define DBQ_RED_TX_GAP_IN_us 5000
#define DBQ_BLUE_TX_GAP_IN_us 7400
#define DBQ_WHITE_TX_GAP_IN_us 9800
#define MIN_ZERO_MARK_IN_us (DBQ_ZERO_MARK_DURATION_IN_us - DBQ_TOLERANCE_IN_us)
#define MAX_ZERO_MARK_IN_us (DBQ_ZERO_MARK_DURATION_IN_us + DBQ_TOLERANCE_IN_us)
#define MIN_ZERO_SPACE_IN_us (DBQ_ZERO_SPACE_DURATION_IN_us - DBQ_TOLERANCE_IN_us)
#define MAX_ZERO_SPACE_IN_us (DBQ_ZERO_SPACE_DURATION_IN_us + DBQ_TOLERANCE_IN_us)
#define MIN_ONE_MARK_IN_us (DBQ_ONE_MARK_DURATION_IN_us - DBQ_TOLERANCE_IN_us)
#define MAX_ONE_MARK_IN_us (DBQ_ONE_MARK_DURATION_IN_us + DBQ_TOLERANCE_IN_us)
#define MIN_ONE_SPACE_IN_us (DBQ_ONE_SPACE_DURATION_IN_us - DBQ_TOLERANCE_IN_us)
#define MAX_ONE_SPACE_IN_us (DBQ_ONE_SPACE_DURATION_IN_us + DBQ_TOLERANCE_IN_us)
static const TimedBit_T DBQ_ZERO_MARK = {.symbol = MARK, .duration = DBQ_ZERO_MARK_DURATION_IN_us};
static const TimedBit_T DBQ_ONE_MARK = {.symbol = MARK, .duration = DBQ_ONE_MARK_DURATION_IN_us};
static const TimedBit_T DBQ_ZERO_SPACE = {.symbol = SPACE, .duration = DBQ_ZERO_SPACE_DURATION_IN_us};
static const TimedBit_T DBQ_ONE_SPACE = {.symbol = SPACE, .duration = DBQ_ONE_SPACE_DURATION_IN_us};
static const TimedBit_T DBQ_PURPLE_GAP = {.symbol = SPACE, .duration = DBQ_ZERO_SPACE_DURATION_IN_us + DBQ_PURPLE_TX_GAP_IN_us};
static const TimedBit_T DBQ_RED_GAP = {.symbol = SPACE, .duration = DBQ_ONE_SPACE_DURATION_IN_us + DBQ_RED_TX_GAP_IN_us};
static const TimedBit_T DBQ_BLUE_GAP = {.symbol = SPACE, .duration = DBQ_ZERO_SPACE_DURATION_IN_us + DBQ_BLUE_TX_GAP_IN_us};
static const TimedBit_T DBQ_WHITE_GAP = {.symbol = SPACE, .duration = DBQ_ONE_SPACE_DURATION_IN_us + DBQ_WHITE_TX_GAP_IN_us};
static const TimedBit_T DBQ_END = {.symbol = SPACE, .duration = LAST_PULSE};
static TimedPulseTrain_T Tag_Send_Buffer;
static DecodedPacket_T DBQ_Tag_Received_Buffers[3] =
{
{.Tag.type = DECODED_PACKET_TYPE_BUFFER_FREE},
{.Tag.type = DECODED_PACKET_TYPE_BUFFER_FREE},
{.Tag.type = DECODED_PACKET_TYPE_BUFFER_FREE}
};
static uint_fast16_t Team_To_Ignore = DBQ_WHITE_TEAM;
static inline DecodedPacket_T *Get_Tag_Packet_Buffer(void)
{
if (DBQ_Tag_Received_Buffers[0].Tag.type == DECODED_PACKET_TYPE_BUFFER_FREE)
{
return &DBQ_Tag_Received_Buffers[0];
}
else if (DBQ_Tag_Received_Buffers[1].Tag.type == DECODED_PACKET_TYPE_BUFFER_FREE)
{
return &DBQ_Tag_Received_Buffers[1];
}
else
{
// Just use it.
return &DBQ_Tag_Received_Buffers[2];
}
}
TimedPulseTrain_T *DBQ_EncodePacket(TagPacket_T *packet)
{
if (packet->team_ID == DBQ_PURPLE_TEAM)
{
Tag_Send_Buffer.bitstream[0] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[1] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[2] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[3] = DBQ_PURPLE_GAP;
Tag_Send_Buffer.bitstream[4] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[5] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[6] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[7] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[8] = DBQ_END;
}
else if (packet->team_ID == DBQ_RED_TEAM)
{
Team_To_Ignore = DBQ_RED_TEAM;
Tag_Send_Buffer.bitstream[0] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[1] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[2] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[3] = DBQ_RED_GAP;
Tag_Send_Buffer.bitstream[4] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[5] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[6] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[7] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[8] = DBQ_END;
}
else if (packet->team_ID == DBQ_BLUE_TEAM)
{
Team_To_Ignore = DBQ_BLUE_TEAM;
Tag_Send_Buffer.bitstream[0] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[1] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[2] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[3] = DBQ_BLUE_GAP;
Tag_Send_Buffer.bitstream[4] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[5] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[6] = DBQ_ZERO_MARK;
Tag_Send_Buffer.bitstream[7] = DBQ_ZERO_SPACE;
Tag_Send_Buffer.bitstream[8] = DBQ_END;
}
else // if (packet->team_ID == DBQ_WHITE_TEAM)
{
Tag_Send_Buffer.bitstream[0] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[1] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[2] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[3] = DBQ_WHITE_GAP;
Tag_Send_Buffer.bitstream[4] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[5] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[6] = DBQ_ONE_MARK;
Tag_Send_Buffer.bitstream[7] = DBQ_ONE_SPACE;
Tag_Send_Buffer.bitstream[8] = DBQ_END;
}
Tag_Send_Buffer.count = 8;
return &Tag_Send_Buffer;
}
DecodedPacket_T *DBQ_MaybeDecodePacket(TimedPulseTrain_T *packet)
{
uint_fast8_t decoded_data = UINT_FAST8_MAX;
uint_fast8_t consecutive_bits = 0;
uint_fast8_t ignored_data = UINT_FAST8_MAX;
// Special handling for the purple team.
uint_fast16_t collisions = 0;
uint_fast16_t purple_completions = 0;
// Loop through all the pulses, looking for a match.
for (uint8_t n = 0; n < packet->count; n += 2)
{
// Even pulses are marks; odd pulses are spaces.
if (consecutive_bits == 0)
{
// Perform full checking on the first bit.
if ((packet->bitstream[n].duration > MIN_ONE_MARK_IN_us) && (packet->bitstream[n].duration < MAX_ONE_MARK_IN_us) &&
(packet->bitstream[n + 1].duration > MIN_ONE_SPACE_IN_us) && (packet->bitstream[n + 1].duration < MAX_ONE_SPACE_IN_us))
{
// This is a "one".
decoded_data = 2;
consecutive_bits = 1;
}
else if ((packet->bitstream[n].duration > MIN_ZERO_MARK_IN_us) && (packet->bitstream[n].duration < MAX_ZERO_MARK_IN_us) &&
(packet->bitstream[n + 1].duration > MIN_ZERO_SPACE_IN_us) && (packet->bitstream[n + 1].duration < MAX_ZERO_SPACE_IN_us))
{
// This is a "zero".
decoded_data = 0;
consecutive_bits = 1;
}
else
{
// This mark/space combination is neither a zero or a one; continue.
collisions++;
}
}
else // consecutive_bits > 0
{
// One the second bit, full check the mark, and make sure the space is long enough.
if ((packet->bitstream[n].duration > MIN_ONE_MARK_IN_us) && (packet->bitstream[n].duration < MAX_ONE_MARK_IN_us) &&
((packet->bitstream[n + 1].duration > MIN_ONE_SPACE_IN_us) || (packet->bitstream[n + 1].duration == LAST_PULSE)))
{
// This is a "one".
decoded_data += 1;
if (decoded_data == Team_To_Ignore)
{
// We received a packet we should ignore. Remember this, and keep looking.
ignored_data = decoded_data;
decoded_data = UINT_FAST8_MAX;
consecutive_bits = 0;
}
else if (decoded_data == DBQ_PURPLE_TEAM)
{
// We received a purple packet. Remember this, and keep looking.
purple_completions++;
decoded_data = UINT_FAST8_MAX;
consecutive_bits = 0;
}
else
{
break;
}
}
else if ((packet->bitstream[n].duration > MIN_ZERO_MARK_IN_us) && (packet->bitstream[n].duration < MAX_ZERO_MARK_IN_us) &&
((packet->bitstream[n + 1].duration > MIN_ZERO_SPACE_IN_us) || (packet->bitstream[n + 1].duration == LAST_PULSE)))
{
// This is a "zero".
decoded_data += 0;
if (decoded_data == Team_To_Ignore)
{
// We received a packet we should ignore. Remember this, and keep looking.
ignored_data = decoded_data;
decoded_data = UINT_FAST8_MAX;
consecutive_bits = 0;
}
else if (decoded_data == DBQ_PURPLE_TEAM)
{
// We received a purple packet. Remember this, and keep looking.
purple_completions++;
decoded_data = UINT_FAST8_MAX;
consecutive_bits = 0;
}
else
{
break;
}
}
else
{
// This mark/space combination is neither a zero or a one; reset.
collisions++;
decoded_data = UINT_FAST8_MAX;
consecutive_bits = 0;
}
}
}
// If we ignored the only data we received, restore it here.
if ((ignored_data != UINT_FAST8_MAX) && (decoded_data == UINT_FAST8_MAX))
{
decoded_data = ignored_data;
}
if (purple_completions > 0)
{
DecodedPacket_T *Tag_Rx_Buffer = Get_Tag_Packet_Buffer();
Tag_Rx_Buffer->Tag.type = DECODED_PACKET_TYPE_TAG_RECEIVED;
Tag_Rx_Buffer->Tag.protocol = DUBUQUE_PROTOCOL;
Tag_Rx_Buffer->Tag.player_ID = 0;
Tag_Rx_Buffer->Tag.team_ID = DBQ_PURPLE_TEAM;
Tag_Rx_Buffer->Tag.damage = 10 * (purple_completions + collisions);
Tag_Rx_Buffer->Tag.color = COLOR_PURPLE;
return Tag_Rx_Buffer;
}
else if (decoded_data == DBQ_RED_TEAM)
{
DecodedPacket_T *Tag_Rx_Buffer = Get_Tag_Packet_Buffer();
Tag_Rx_Buffer->Tag.type = DECODED_PACKET_TYPE_TAG_RECEIVED;
Tag_Rx_Buffer->Tag.protocol = DUBUQUE_PROTOCOL;
Tag_Rx_Buffer->Tag.player_ID = 0;
Tag_Rx_Buffer->Tag.team_ID = DBQ_RED_TEAM;
Tag_Rx_Buffer->Tag.damage = 10;
Tag_Rx_Buffer->Tag.color = COLOR_RED;
return Tag_Rx_Buffer;
}
else if (decoded_data == DBQ_BLUE_TEAM)
{
DecodedPacket_T *Tag_Rx_Buffer = Get_Tag_Packet_Buffer();
Tag_Rx_Buffer->Tag.type = DECODED_PACKET_TYPE_TAG_RECEIVED;
Tag_Rx_Buffer->Tag.protocol = DUBUQUE_PROTOCOL;
Tag_Rx_Buffer->Tag.player_ID = 0;
Tag_Rx_Buffer->Tag.team_ID = DBQ_BLUE_TEAM;
Tag_Rx_Buffer->Tag.damage = 10;
Tag_Rx_Buffer->Tag.color = COLOR_BLUE;
return Tag_Rx_Buffer;
}
else if (decoded_data == DBQ_WHITE_TEAM)
{
DecodedPacket_T *Tag_Rx_Buffer = Get_Tag_Packet_Buffer();
Tag_Rx_Buffer->Tag.type = DECODED_PACKET_TYPE_TAG_RECEIVED;
Tag_Rx_Buffer->Tag.protocol = DUBUQUE_PROTOCOL;
Tag_Rx_Buffer->Tag.player_ID = 0;
Tag_Rx_Buffer->Tag.team_ID = DBQ_WHITE_TEAM;
Tag_Rx_Buffer->Tag.damage = 10;
Tag_Rx_Buffer->Tag.color = COLOR_WHITE;
return Tag_Rx_Buffer;
}
return NULL;
}
color_t DBQ_GetTeamColor(uint8_t team_ID)
{
color_t result = COLOR_PURPLE;
if (team_ID == DBQ_RED_TEAM)
{
result = COLOR_RED;
}
else if (team_ID == DBQ_BLUE_TEAM)
{
result = COLOR_BLUE;
}
else if (team_ID == DBQ_WHITE_TEAM)
{
result = COLOR_WHITE;
}
else
{
// Nothing to do.
}
return result;
}