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Remove extra serial_link subdirectory

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This commit is contained in:
Fred Sundvik 2016-07-06 13:26:20 +03:00
parent c5bf090d16
commit d5e7603d55
22 changed files with 1 additions and 62 deletions
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145
quantum/serial_link/protocol/byte_stuffer.c Normal file
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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "serial_link/protocol/byte_stuffer.h"
#include "serial_link/protocol/frame_validator.h"
#include "serial_link/protocol/physical.h"
#include <stdbool.h>
// This implements the "Consistent overhead byte stuffing protocol"
// https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing
// http://www.stuartcheshire.org/papers/COBSforToN.pdf
#define MAX_FRAME_SIZE 1024
#define NUM_LINKS 2
typedef struct byte_stuffer_state {
uint16_t next_zero;
uint16_t data_pos;
bool long_frame;
uint8_t data[MAX_FRAME_SIZE];
}byte_stuffer_state_t;
static byte_stuffer_state_t states[NUM_LINKS];
void init_byte_stuffer_state(byte_stuffer_state_t* state) {
state->next_zero = 0;
state->data_pos = 0;
state->long_frame = false;
}
void init_byte_stuffer(void) {
int i;
for (i=0;i<NUM_LINKS;i++) {
init_byte_stuffer_state(&states[i]);
}
}
void byte_stuffer_recv_byte(uint8_t link, uint8_t data) {
byte_stuffer_state_t* state = &states[link];
// Start of a new frame
if (state->next_zero == 0) {
state->next_zero = data;
state->long_frame = data == 0xFF;
state->data_pos = 0;
return;
}
state->next_zero--;
if (data == 0) {
if (state->next_zero == 0) {
// The frame is completed
if (state->data_pos > 0) {
validator_recv_frame(link, state->data, state->data_pos);
}
}
else {
// The frame is invalid, so reset
init_byte_stuffer_state(state);
}
}
else {
if (state->data_pos == MAX_FRAME_SIZE) {
// We exceeded our maximum frame size
// therefore there's nothing else to do than reset to a new frame
state->next_zero = data;
state->long_frame = data == 0xFF;
state->data_pos = 0;
}
else if (state->next_zero == 0) {
if (state->long_frame) {
// This is part of a long frame, so continue
state->next_zero = data;
state->long_frame = data == 0xFF;
}
else {
// Special case for zeroes
state->next_zero = data;
state->data[state->data_pos++] = 0;
}
}
else {
state->data[state->data_pos++] = data;
}
}
}
static void send_block(uint8_t link, uint8_t* start, uint8_t* end, uint8_t num_non_zero) {
send_data(link, &num_non_zero, 1);
if (end > start) {
send_data(link, start, end-start);
}
}
void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
const uint8_t zero = 0;
if (size > 0) {
uint16_t num_non_zero = 1;
uint8_t* end = data + size;
uint8_t* start = data;
while (data < end) {
if (num_non_zero == 0xFF) {
// There's more data after big non-zero block
// So send it, and start a new block
send_block(link, start, data, num_non_zero);
start = data;
num_non_zero = 1;
}
else {
if (*data == 0) {
// A zero encountered, so send the block
send_block(link, start, data, num_non_zero);
start = data + 1;
num_non_zero = 1;
}
else {
num_non_zero++;
}
++data;
}
}
send_block(link, start, data, num_non_zero);
send_data(link, &zero, 1);
}
}

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_BYTE_STUFFER_H
#define SERIAL_LINK_BYTE_STUFFER_H
#include <stdint.h>
void init_byte_stuffer(void);
void byte_stuffer_recv_byte(uint8_t link, uint8_t data);
void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size);
#endif

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quantum/serial_link/protocol/frame_router.c Normal file
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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "serial_link/protocol/frame_router.h"
#include "serial_link/protocol/transport.h"
#include "serial_link/protocol/frame_validator.h"
static bool is_master;
void router_set_master(bool master) {
is_master = master;
}
void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size){
if (is_master) {
if (link == DOWN_LINK) {
transport_recv_frame(data[size-1], data, size - 1);
}
}
else {
if (link == UP_LINK) {
if (data[size-1] & 1) {
transport_recv_frame(0, data, size - 1);
}
data[size-1] >>= 1;
validator_send_frame(DOWN_LINK, data, size);
}
else {
data[size-1]++;
validator_send_frame(UP_LINK, data, size);
}
}
}
void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
if (destination == 0) {
if (!is_master) {
data[size] = 1;
validator_send_frame(UP_LINK, data, size + 1);
}
}
else {
if (is_master) {
data[size] = destination;
validator_send_frame(DOWN_LINK, data, size + 1);
}
}
}

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quantum/serial_link/protocol/frame_router.h Normal file
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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_FRAME_ROUTER_H
#define SERIAL_LINK_FRAME_ROUTER_H
#include <stdint.h>
#include <stdbool.h>
#define UP_LINK 0
#define DOWN_LINK 1
void router_set_master(bool master);
void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size);
void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size);
#endif

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quantum/serial_link/protocol/frame_validator.c Normal file
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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "serial_link/protocol/frame_validator.h"
#include "serial_link/protocol/frame_router.h"
#include "serial_link/protocol/byte_stuffer.h"
#include <string.h>
const uint32_t poly8_lookup[256] =
{
0, 0x77073096, 0xEE0E612C, 0x990951BA,
0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988,
0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE,
0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC,
0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172,
0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940,
0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116,
0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924,
0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A,
0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E,
0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C,
0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0,
0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086,
0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A,
0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE,
0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC,
0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60,
0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236,
0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A,
0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E,
0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C,
0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0,
0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6,
0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
};
static uint32_t crc32_byte(uint8_t *p, uint32_t bytelength)
{
uint32_t crc = 0xffffffff;
while (bytelength-- !=0) crc = poly8_lookup[((uint8_t) crc ^ *(p++))] ^ (crc >> 8);
// return (~crc); also works
return (crc ^ 0xffffffff);
}
void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
if (size > 4) {
uint32_t frame_crc;
memcpy(&frame_crc, data + size -4, 4);
uint32_t expected_crc = crc32_byte(data, size - 4);
if (frame_crc == expected_crc) {
route_incoming_frame(link, data, size-4);
}
}
}
void validator_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
uint32_t crc = crc32_byte(data, size);
memcpy(data + size, &crc, 4);
byte_stuffer_send_frame(link, data, size + 4);
}

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_FRAME_VALIDATOR_H
#define SERIAL_LINK_FRAME_VALIDATOR_H
#include <stdint.h>
void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size);
// The buffer pointed to by the data needs 4 additional bytes
void validator_send_frame(uint8_t link, uint8_t* data, uint16_t size);
#endif

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quantum/serial_link/protocol/physical.h Normal file
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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_PHYSICAL_H
#define SERIAL_LINK_PHYSICAL_H
void send_data(uint8_t link, const uint8_t* data, uint16_t size);
#endif

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "serial_link/protocol/transport.h"
#include "serial_link/protocol/frame_router.h"
#include "serial_link/protocol/triple_buffered_object.h"
#include <string.h>
#define MAX_REMOTE_OBJECTS 16
static remote_object_t* remote_objects[MAX_REMOTE_OBJECTS];
static uint32_t num_remote_objects = 0;
void add_remote_objects(remote_object_t** _remote_objects, uint32_t _num_remote_objects) {
unsigned int i;
for(i=0;i<_num_remote_objects;i++) {
remote_object_t* obj = _remote_objects[i];
remote_objects[num_remote_objects++] = obj;
if (obj->object_type == MASTER_TO_ALL_SLAVES) {
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer;
triple_buffer_init(tb);
uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
tb = (triple_buffer_object_t*)start;
triple_buffer_init(tb);
}
else if(obj->object_type == MASTER_TO_SINGLE_SLAVE) {
uint8_t* start = obj->buffer;
unsigned int j;
for (j=0;j<NUM_SLAVES;j++) {
triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
triple_buffer_init(tb);
start += LOCAL_OBJECT_SIZE(obj->object_size);
}
triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
triple_buffer_init(tb);
}
else {
uint8_t* start = obj->buffer;
triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
triple_buffer_init(tb);
start += LOCAL_OBJECT_SIZE(obj->object_size);
unsigned int j;
for (j=0;j<NUM_SLAVES;j++) {
tb = (triple_buffer_object_t*)start;
triple_buffer_init(tb);
start += REMOTE_OBJECT_SIZE(obj->object_size);
}
}
}
}
void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
uint8_t id = data[size-1];
if (id < num_remote_objects) {
remote_object_t* obj = remote_objects[id];
if (obj->object_size == size - 1) {
uint8_t* start;
if (obj->object_type == MASTER_TO_ALL_SLAVES) {
start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
}
else if(obj->object_type == SLAVE_TO_MASTER) {
start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
start += (from - 1) * REMOTE_OBJECT_SIZE(obj->object_size);
}
else {
start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);
}
triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
void* ptr = triple_buffer_begin_write_internal(obj->object_size, tb);
memcpy(ptr, data, size - 1);
triple_buffer_end_write_internal(tb);
}
}
}
void update_transport(void) {
unsigned int i;
for(i=0;i<num_remote_objects;i++) {
remote_object_t* obj = remote_objects[i];
if (obj->object_type == MASTER_TO_ALL_SLAVES || obj->object_type == SLAVE_TO_MASTER) {
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer;
uint8_t* ptr = (uint8_t*)triple_buffer_read_internal(obj->object_size + LOCAL_OBJECT_EXTRA, tb);
if (ptr) {
ptr[obj->object_size] = i;
uint8_t dest = obj->object_type == MASTER_TO_ALL_SLAVES ? 0xFF : 0;
router_send_frame(dest, ptr, obj->object_size + 1);
}
}
else {
uint8_t* start = obj->buffer;
unsigned int j;
for (j=0;j<NUM_SLAVES;j++) {
triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
uint8_t* ptr = (uint8_t*)triple_buffer_read_internal(obj->object_size + LOCAL_OBJECT_EXTRA, tb);
if (ptr) {
ptr[obj->object_size] = i;
uint8_t dest = j + 1;
router_send_frame(dest, ptr, obj->object_size + 1);
}
start += LOCAL_OBJECT_SIZE(obj->object_size);
}
}
}
}

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_TRANSPORT_H
#define SERIAL_LINK_TRANSPORT_H
#include "serial_link/protocol/triple_buffered_object.h"
#include "serial_link/system/serial_link.h"
#define NUM_SLAVES 8
#define LOCAL_OBJECT_EXTRA 16
// master -> slave = 1 local(target all), 1 remote object
// slave -> master = 1 local(target 0), multiple remote objects
// master -> single slave (multiple local, target id), 1 remote object
typedef enum {
MASTER_TO_ALL_SLAVES,
MASTER_TO_SINGLE_SLAVE,
SLAVE_TO_MASTER,
} remote_object_type;
typedef struct {
remote_object_type object_type;
uint16_t object_size;
uint8_t buffer[] __attribute__((aligned(4)));
} remote_object_t;
#define REMOTE_OBJECT_SIZE(objectsize) \
(sizeof(triple_buffer_object_t) + objectsize * 3)
#define LOCAL_OBJECT_SIZE(objectsize) \
(sizeof(triple_buffer_object_t) + (objectsize + LOCAL_OBJECT_EXTRA) * 3)
#define REMOTE_OBJECT_HELPER(name, type, num_local, num_remote) \
typedef struct { \
remote_object_t object; \
uint8_t buffer[ \
num_remote * REMOTE_OBJECT_SIZE(sizeof(type)) + \
num_local * LOCAL_OBJECT_SIZE(sizeof(type))]; \
} remote_object_##name##_t;
#define MASTER_TO_ALL_SLAVES_OBJECT(name, type) \
REMOTE_OBJECT_HELPER(name, type, 1, 1) \
remote_object_##name##_t remote_object_##name = { \
.object = { \
.object_type = MASTER_TO_ALL_SLAVES, \
.object_size = sizeof(type), \
} \
}; \
type* begin_write_##name(void) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
}\
void end_write_##name(void) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
triple_buffer_end_write_internal(tb); \
signal_data_written(); \
}\
type* read_##name(void) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);\
triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
return triple_buffer_read_internal(obj->object_size, tb); \
}
#define MASTER_TO_SINGLE_SLAVE_OBJECT(name, type) \
REMOTE_OBJECT_HELPER(name, type, NUM_SLAVES, 1) \
remote_object_##name##_t remote_object_##name = { \
.object = { \
.object_type = MASTER_TO_SINGLE_SLAVE, \
.object_size = sizeof(type), \
} \
}; \
type* begin_write_##name(uint8_t slave) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
uint8_t* start = obj->buffer;\
start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
}\
void end_write_##name(uint8_t slave) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
uint8_t* start = obj->buffer;\
start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
triple_buffer_end_write_internal(tb); \
signal_data_written(); \
}\
type* read_##name() { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
uint8_t* start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);\
triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
return triple_buffer_read_internal(obj->object_size, tb); \
}
#define SLAVE_TO_MASTER_OBJECT(name, type) \
REMOTE_OBJECT_HELPER(name, type, 1, NUM_SLAVES) \
remote_object_##name##_t remote_object_##name = { \
.object = { \
.object_type = SLAVE_TO_MASTER, \
.object_size = sizeof(type), \
} \
}; \
type* begin_write_##name(void) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
}\
void end_write_##name(void) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
triple_buffer_end_write_internal(tb); \
signal_data_written(); \
}\
type* read_##name(uint8_t slave) { \
remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);\
start+=slave * REMOTE_OBJECT_SIZE(obj->object_size); \
triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
return triple_buffer_read_internal(obj->object_size, tb); \
}
#define REMOTE_OBJECT(name) (remote_object_t*)&remote_object_##name
void add_remote_objects(remote_object_t** remote_objects, uint32_t num_remote_objects);
void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size);
void update_transport(void);
#endif

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "serial_link/protocol/triple_buffered_object.h"
#include "serial_link/system/serial_link.h"
#include <stdbool.h>
#include <stddef.h>
#define GET_READ_INDEX() object->state & 3
#define GET_WRITE_INDEX() (object->state >> 2) & 3
#define GET_SHARED_INDEX() (object->state >> 4) & 3
#define GET_DATA_AVAILABLE() (object->state >> 6) & 1
#define SET_READ_INDEX(i) object->state = ((object->state & ~3) | i)
#define SET_WRITE_INDEX(i) object->state = ((object->state & ~(3 << 2)) | (i << 2))
#define SET_SHARED_INDEX(i) object->state = ((object->state & ~(3 << 4)) | (i << 4))
#define SET_DATA_AVAILABLE(i) object->state = ((object->state & ~(1 << 6)) | (i << 6))
void triple_buffer_init(triple_buffer_object_t* object) {
object->state = 0;
SET_WRITE_INDEX(0);
SET_READ_INDEX(1);
SET_SHARED_INDEX(2);
SET_DATA_AVAILABLE(0);
}
void* triple_buffer_read_internal(uint16_t object_size, triple_buffer_object_t* object) {
serial_link_lock();
if (GET_DATA_AVAILABLE()) {
uint8_t shared_index = GET_SHARED_INDEX();
uint8_t read_index = GET_READ_INDEX();
SET_READ_INDEX(shared_index);
SET_SHARED_INDEX(read_index);
SET_DATA_AVAILABLE(false);
serial_link_unlock();
return object->buffer + object_size * shared_index;
}
else {
serial_link_unlock();
return NULL;
}
}
void* triple_buffer_begin_write_internal(uint16_t object_size, triple_buffer_object_t* object) {
uint8_t write_index = GET_WRITE_INDEX();
return object->buffer + object_size * write_index;
}
void triple_buffer_end_write_internal(triple_buffer_object_t* object) {
serial_link_lock();
uint8_t shared_index = GET_SHARED_INDEX();
uint8_t write_index = GET_WRITE_INDEX();
SET_SHARED_INDEX(write_index);
SET_WRITE_INDEX(shared_index);
SET_DATA_AVAILABLE(true);
serial_link_unlock();
}

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/*
The MIT License (MIT)
Copyright (c) 2016 Fred Sundvik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef SERIAL_LINK_TRIPLE_BUFFERED_OBJECT_H
#define SERIAL_LINK_TRIPLE_BUFFERED_OBJECT_H
#include <stdint.h>
typedef struct {
uint8_t state;
uint8_t buffer[] __attribute__((aligned(4)));
}triple_buffer_object_t;
void triple_buffer_init(triple_buffer_object_t* object);
#define triple_buffer_begin_write(object) \
(typeof(*object.buffer[0])*)triple_buffer_begin_write_internal(sizeof(*object.buffer[0]), (triple_buffer_object_t*)object)
#define triple_buffer_end_write(object) \
triple_buffer_end_write_internal((triple_buffer_object_t*)object)
#define triple_buffer_read(object) \
(typeof(*object.buffer[0])*)triple_buffer_read_internal(sizeof(*object.buffer[0]), (triple_buffer_object_t*)object)
void* triple_buffer_begin_write_internal(uint16_t object_size, triple_buffer_object_t* object);
void triple_buffer_end_write_internal(triple_buffer_object_t* object);
void* triple_buffer_read_internal(uint16_t object_size, triple_buffer_object_t* object);
#endif