-# tmk_serial_link
\ No newline at end of file
+# qmk_serial_link
\ No newline at end of file
--- /dev/null
+/*
+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);
+ }
+}
--- /dev/null
+/*
+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
--- /dev/null
+/*
+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);
+ }
+ }
+}
--- /dev/null
+/*
+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
--- /dev/null
+/*
+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);
+}
--- /dev/null
+/*
+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
--- /dev/null
+/*
+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
--- /dev/null
+/*
+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);
+ }
+ }
+ }
+}
--- /dev/null
+/*
+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
--- /dev/null
+/*
+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();
+}
--- /dev/null
+/*
+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
+++ /dev/null
-# 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.
-
-UINCDIR += $(SERIAL_DIR)
-SRC += $(wildcard $(SERIAL_DIR)/serial_link/protocol/*.c)
-SRC += $(wildcard $(SERIAL_DIR)/serial_link/system/*.c)
-SRC += serial_link_hal.c
-OPT_DEFS += -DUSE_SERIAL_LINK
+++ /dev/null
-/*
-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);
- }
-}
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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);
- }
- }
-}
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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);
-}
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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);
- }
- }
- }
-}
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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();
-}
+++ /dev/null
-/*
-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
+++ /dev/null
-/*
-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 "report.h"
-#include "host_driver.h"
-#include "serial_link/system/serial_link.h"
-#include "hal.h"
-#include "serial_link/protocol/byte_stuffer.h"
-#include "serial_link/protocol/transport.h"
-#include "serial_link/protocol/frame_router.h"
-#include "matrix.h"
-#include <stdbool.h>
-#include "print.h"
-#include "config.h"
-
-static event_source_t new_data_event;
-static bool serial_link_connected;
-static bool is_master = false;
-
-static uint8_t keyboard_leds(void);
-static void send_keyboard(report_keyboard_t *report);
-static void send_mouse(report_mouse_t *report);
-static void send_system(uint16_t data);
-static void send_consumer(uint16_t data);
-
-host_driver_t serial_driver = {
- keyboard_leds,
- send_keyboard,
- send_mouse,
- send_system,
- send_consumer
-};
-
-// Define these in your Config.h file
-#ifndef SERIAL_LINK_BAUD
-#error "Serial link baud is not set"
-#endif
-
-#ifndef SERIAL_LINK_THREAD_PRIORITY
-#error "Serial link thread priority not set"
-#endif
-
-static SerialConfig config = {
- .sc_speed = SERIAL_LINK_BAUD
-};
-
-//#define DEBUG_LINK_ERRORS
-
-static uint32_t read_from_serial(SerialDriver* driver, uint8_t link) {
- const uint32_t buffer_size = 16;
- uint8_t buffer[buffer_size];
- uint32_t bytes_read = sdAsynchronousRead(driver, buffer, buffer_size);
- uint8_t* current = buffer;
- uint8_t* end = current + bytes_read;
- while(current < end) {
- byte_stuffer_recv_byte(link, *current);
- current++;
- }
- return bytes_read;
-}
-
-static void print_error(char* str, eventflags_t flags, SerialDriver* driver) {
-#ifdef DEBUG_LINK_ERRORS
- if (flags & SD_PARITY_ERROR) {
- print(str);
- print(" Parity error\n");
- }
- if (flags & SD_FRAMING_ERROR) {
- print(str);
- print(" Framing error\n");
- }
- if (flags & SD_OVERRUN_ERROR) {
- print(str);
- uint32_t size = qSpaceI(&(driver->iqueue));
- xprintf(" Overrun error, queue size %d\n", size);
-
- }
- if (flags & SD_NOISE_ERROR) {
- print(str);
- print(" Noise error\n");
- }
- if (flags & SD_BREAK_DETECTED) {
- print(str);
- print(" Break detected\n");
- }
-#else
- (void)str;
- (void)flags;
- (void)driver;
-#endif
-}
-
-bool is_serial_link_master(void) {
- return is_master;
-}
-
-// TODO: Optimize the stack size, this is probably way too big
-static THD_WORKING_AREA(serialThreadStack, 1024);
-static THD_FUNCTION(serialThread, arg) {
- (void)arg;
- event_listener_t new_data_listener;
- event_listener_t sd1_listener;
- event_listener_t sd2_listener;
- chEvtRegister(&new_data_event, &new_data_listener, 0);
- eventflags_t events = CHN_INPUT_AVAILABLE
- | SD_PARITY_ERROR | SD_FRAMING_ERROR | SD_OVERRUN_ERROR | SD_NOISE_ERROR | SD_BREAK_DETECTED;
- chEvtRegisterMaskWithFlags(chnGetEventSource(&SD1),
- &sd1_listener,
- EVENT_MASK(1),
- events);
- chEvtRegisterMaskWithFlags(chnGetEventSource(&SD2),
- &sd2_listener,
- EVENT_MASK(2),
- events);
- bool need_wait = false;
- while(true) {
- eventflags_t flags1 = 0;
- eventflags_t flags2 = 0;
- if (need_wait) {
- eventmask_t mask = chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(1000));
- if (mask & EVENT_MASK(1)) {
- flags1 = chEvtGetAndClearFlags(&sd1_listener);
- print_error("DOWNLINK", flags1, &SD1);
- }
- if (mask & EVENT_MASK(2)) {
- flags2 = chEvtGetAndClearFlags(&sd2_listener);
- print_error("UPLINK", flags2, &SD2);
- }
- }
-
- // Always stay as master, even if the USB goes into sleep mode
- is_master |= usbGetDriverStateI(&USBD1) == USB_ACTIVE;
- router_set_master(is_master);
-
- need_wait = true;
- need_wait &= read_from_serial(&SD2, UP_LINK) == 0;
- need_wait &= read_from_serial(&SD1, DOWN_LINK) == 0;
- update_transport();
- }
-}
-
-void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
- if (link == DOWN_LINK) {
- sdWrite(&SD1, data, size);
- }
- else {
- sdWrite(&SD2, data, size);
- }
-}
-
-static systime_t last_update = 0;
-
-typedef struct {
- matrix_row_t rows[MATRIX_ROWS];
-} matrix_object_t;
-
-static matrix_object_t last_matrix = {};
-
-SLAVE_TO_MASTER_OBJECT(keyboard_matrix, matrix_object_t);
-MASTER_TO_ALL_SLAVES_OBJECT(serial_link_connected, bool);
-
-static remote_object_t* remote_objects[] = {
- REMOTE_OBJECT(serial_link_connected),
- REMOTE_OBJECT(keyboard_matrix),
-};
-
-void init_serial_link(void) {
- serial_link_connected = false;
- init_serial_link_hal();
- add_remote_objects(remote_objects, sizeof(remote_objects)/sizeof(remote_object_t*));
- init_byte_stuffer();
- sdStart(&SD1, &config);
- sdStart(&SD2, &config);
- chEvtObjectInit(&new_data_event);
- (void)chThdCreateStatic(serialThreadStack, sizeof(serialThreadStack),
- SERIAL_LINK_THREAD_PRIORITY, serialThread, NULL);
-}
-
-void matrix_set_remote(matrix_row_t* rows, uint8_t index);
-
-void serial_link_update(void) {
- if (read_serial_link_connected()) {
- serial_link_connected = true;
- }
-
- matrix_object_t matrix;
- bool changed = false;
- for(uint8_t i=0;i<MATRIX_ROWS;i++) {
- matrix.rows[i] = matrix_get_row(i);
- changed |= matrix.rows[i] != last_matrix.rows[i];
- }
-
- systime_t current_time = chVTGetSystemTimeX();
- systime_t delta = current_time - last_update;
- if (changed || delta > US2ST(1000)) {
- last_update = current_time;
- last_matrix = matrix;
- matrix_object_t* m = begin_write_keyboard_matrix();
- for(uint8_t i=0;i<MATRIX_ROWS;i++) {
- m->rows[i] = matrix.rows[i];
- }
- end_write_keyboard_matrix();
- *begin_write_serial_link_connected() = true;
- end_write_serial_link_connected();
- }
-
- matrix_object_t* m = read_keyboard_matrix(0);
- if (m) {
- matrix_set_remote(m->rows, 0);
- }
-}
-
-void signal_data_written(void) {
- chEvtBroadcast(&new_data_event);
-}
-
-bool is_serial_link_connected(void) {
- return serial_link_connected;
-}
-
-host_driver_t* get_serial_link_driver(void) {
- return &serial_driver;
-}
-
-// NOTE: The driver does nothing, because the master handles everything
-uint8_t keyboard_leds(void) {
- return 0;
-}
-
-void send_keyboard(report_keyboard_t *report) {
- (void)report;
-}
-
-void send_mouse(report_mouse_t *report) {
- (void)report;
-}
-
-void send_system(uint16_t data) {
- (void)data;
-}
-
-void send_consumer(uint16_t data) {
- (void)data;
-}
-
+++ /dev/null
-/*
-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_H
-#define SERIAL_LINK_H
-
-#include "host_driver.h"
-#include <stdbool.h>
-
-void init_serial_link(void);
-void init_serial_link_hal(void);
-bool is_serial_link_connected(void);
-bool is_serial_link_master(void);
-host_driver_t* get_serial_link_driver(void);
-void serial_link_update(void);
-
-#if defined(PROTOCOL_CHIBIOS)
-#include "ch.h"
-
-static inline void serial_link_lock(void) {
- chSysLock();
-}
-
-static inline void serial_link_unlock(void) {
- chSysUnlock();
-}
-
-void signal_data_written(void);
-
-#else
-
-inline void serial_link_lock(void) {
-}
-
-inline void serial_link_unlock(void) {
-}
-
-void signal_data_written(void);
-
-#endif
-
-#endif
+++ /dev/null
-# 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.
-
-CC = gcc
-CFLAGS =
-INCLUDES = -I. -I../../
-LDFLAGS = -L$(BUILDDIR)/cgreen/build-c/src -shared
-LDLIBS = -lcgreen
-UNITOBJ = $(BUILDDIR)/serialtest/unitobj
-DEPDIR = $(BUILDDIR)/serialtest/unit.d
-UNITTESTS = $(BUILDDIR)/serialtest/unittests
-DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
-EXT = .so
-UNAME := $(shell uname)
-ifneq (, $(findstring MINGW, $(UNAME)))
- EXT = .dll
-endif
-ifneq (, $(findstring CYGWIN, $(UNAME)))
- EXT = .dll
-endif
-
-SRC = $(wildcard *.c)
-TESTFILES = $(patsubst %.c, $(UNITTESTS)/%$(EXT), $(SRC))
-$(shell mkdir -p $(DEPDIR) >/dev/null)
-
-test: $(TESTFILES)
- @$(BUILDDIR)/cgreen/build-c/tools/cgreen-runner --color $(TESTFILES)
-
-$(UNITTESTS)/%$(EXT): $(UNITOBJ)/%.o
- @mkdir -p $(UNITTESTS)
- $(CC) $(LDFLAGS) -o $@ $^ $(LDLIBS)
-
-$(UNITOBJ)/%.o : %.c
-$(UNITOBJ)/%.o: %.c $(DEPDIR)/%.d
- @mkdir -p $(UNITOBJ)
- $(CC) $(CFLAGS) $(DEPFLAGS) $(INCLUDES) -c $< -o $@
- @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d
-
-$(DEPDIR)/%.d: ;
-.PRECIOUS: $(DEPDIR)/%.d
-
--include $(patsubst %,$(DEPDIR)/%.d,$(basename $(SRC)))
\ No newline at end of file
+++ /dev/null
-/*
-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 <cgreen/cgreen.h>
-#include <cgreen/mocks.h>
-#include "serial_link/protocol/byte_stuffer.h"
-#include "serial_link/protocol/byte_stuffer.c"
-#include "serial_link/protocol/frame_validator.h"
-#include "serial_link/protocol/physical.h"
-
-static uint8_t sent_data[MAX_FRAME_SIZE*2];
-static uint16_t sent_data_size;
-
-Describe(ByteStuffer);
-BeforeEach(ByteStuffer) {
- init_byte_stuffer();
- sent_data_size = 0;
-}
-AfterEach(ByteStuffer) {}
-
-void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
- mock(data, size);
-}
-
-void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
- memcpy(sent_data + sent_data_size, data, size);
- sent_data_size += size;
-}
-
-Ensure(ByteStuffer, receives_no_frame_for_a_single_zero_byte) {
- never_expect(validator_recv_frame);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_no_frame_for_a_single_FF_byte) {
- never_expect(validator_recv_frame);
- byte_stuffer_recv_byte(0, 0xFF);
-}
-
-Ensure(ByteStuffer, receives_no_frame_for_a_single_random_byte) {
- never_expect(validator_recv_frame);
- byte_stuffer_recv_byte(0, 0x4A);
-}
-
-Ensure(ByteStuffer, receives_no_frame_for_a_zero_length_frame) {
- never_expect(validator_recv_frame);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_single_byte_valid_frame) {
- uint8_t expected[] = {0x37};
- expect(validator_recv_frame,
- when(size, is_equal_to(1)),
- when(data, is_equal_to_contents_of(expected, 1))
- );
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 0x37);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_three_bytes_valid_frame) {
- uint8_t expected[] = {0x37, 0x99, 0xFF};
- expect(validator_recv_frame,
- when(size, is_equal_to(3)),
- when(data, is_equal_to_contents_of(expected, 3))
- );
- byte_stuffer_recv_byte(0, 4);
- byte_stuffer_recv_byte(0, 0x37);
- byte_stuffer_recv_byte(0, 0x99);
- byte_stuffer_recv_byte(0, 0xFF);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_single_zero_valid_frame) {
- uint8_t expected[] = {0};
- expect(validator_recv_frame,
- when(size, is_equal_to(1)),
- when(data, is_equal_to_contents_of(expected, 1))
- );
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_valid_frame_with_zeroes) {
- uint8_t expected[] = {5, 0, 3, 0};
- expect(validator_recv_frame,
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(expected, 4))
- );
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 5);
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 3);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_two_valid_frames) {
- uint8_t expected1[] = {5, 0};
- uint8_t expected2[] = {3};
- expect(validator_recv_frame,
- when(size, is_equal_to(2)),
- when(data, is_equal_to_contents_of(expected1, 2))
- );
- expect(validator_recv_frame,
- when(size, is_equal_to(1)),
- when(data, is_equal_to_contents_of(expected2, 1))
- );
- byte_stuffer_recv_byte(1, 2);
- byte_stuffer_recv_byte(1, 5);
- byte_stuffer_recv_byte(1, 1);
- byte_stuffer_recv_byte(1, 0);
- byte_stuffer_recv_byte(1, 2);
- byte_stuffer_recv_byte(1, 3);
- byte_stuffer_recv_byte(1, 0);
-}
-
-Ensure(ByteStuffer, receives_valid_frame_after_unexpected_zero) {
- uint8_t expected[] = {5, 7};
- expect(validator_recv_frame,
- when(size, is_equal_to(2)),
- when(data, is_equal_to_contents_of(expected, 2))
- );
- byte_stuffer_recv_byte(1, 3);
- byte_stuffer_recv_byte(1, 1);
- byte_stuffer_recv_byte(1, 0);
- byte_stuffer_recv_byte(1, 3);
- byte_stuffer_recv_byte(1, 5);
- byte_stuffer_recv_byte(1, 7);
- byte_stuffer_recv_byte(1, 0);
-}
-
-Ensure(ByteStuffer, receives_valid_frame_after_unexpected_non_zero) {
- uint8_t expected[] = {5, 7};
- expect(validator_recv_frame,
- when(size, is_equal_to(2)),
- when(data, is_equal_to_contents_of(expected, 2))
- );
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 9);
- byte_stuffer_recv_byte(0, 4); // This should have been zero
- byte_stuffer_recv_byte(0, 0);
- byte_stuffer_recv_byte(0, 3);
- byte_stuffer_recv_byte(0, 5);
- byte_stuffer_recv_byte(0, 7);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_and_then_end_of_frame) {
- uint8_t expected[254];
- int i;
- for (i=0;i<254;i++) {
- expected[i] = i + 1;
- }
- expect(validator_recv_frame,
- when(size, is_equal_to(254)),
- when(data, is_equal_to_contents_of(expected, 254))
- );
- byte_stuffer_recv_byte(0, 0xFF);
- for (i=0;i<254;i++) {
- byte_stuffer_recv_byte(0, i+1);
- }
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_non_zero) {
- uint8_t expected[255];
- int i;
- for (i=0;i<254;i++) {
- expected[i] = i + 1;
- }
- expected[254] = 7;
- expect(validator_recv_frame,
- when(size, is_equal_to(255)),
- when(data, is_equal_to_contents_of(expected, 255))
- );
- byte_stuffer_recv_byte(0, 0xFF);
- for (i=0;i<254;i++) {
- byte_stuffer_recv_byte(0, i+1);
- }
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 7);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_zero) {
- uint8_t expected[255];
- int i;
- for (i=0;i<254;i++) {
- expected[i] = i + 1;
- }
- expected[254] = 0;
- expect(validator_recv_frame,
- when(size, is_equal_to(255)),
- when(data, is_equal_to_contents_of(expected, 255))
- );
- byte_stuffer_recv_byte(0, 0xFF);
- for (i=0;i<254;i++) {
- byte_stuffer_recv_byte(0, i+1);
- }
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_two_long_frames_and_some_more) {
- uint8_t expected[515];
- int i;
- int j;
- for (j=0;j<2;j++) {
- for (i=0;i<254;i++) {
- expected[i+254*j] = i + 1;
- }
- }
- for (i=0;i<7;i++) {
- expected[254*2+i] = i + 1;
- }
- expect(validator_recv_frame,
- when(size, is_equal_to(515)),
- when(data, is_equal_to_contents_of(expected, 510))
- );
- byte_stuffer_recv_byte(0, 0xFF);
- for (i=0;i<254;i++) {
- byte_stuffer_recv_byte(0, i+1);
- }
- byte_stuffer_recv_byte(0, 0xFF);
- for (i=0;i<254;i++) {
- byte_stuffer_recv_byte(0, i+1);
- }
- byte_stuffer_recv_byte(0, 8);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 3);
- byte_stuffer_recv_byte(0, 4);
- byte_stuffer_recv_byte(0, 5);
- byte_stuffer_recv_byte(0, 6);
- byte_stuffer_recv_byte(0, 7);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, receives_an_all_zeros_frame_that_is_maximum_size) {
- uint8_t expected[MAX_FRAME_SIZE] = {};
- expect(validator_recv_frame,
- when(size, is_equal_to(MAX_FRAME_SIZE)),
- when(data, is_equal_to_contents_of(expected, MAX_FRAME_SIZE))
- );
- int i;
- byte_stuffer_recv_byte(0, 1);
- for(i=0;i<MAX_FRAME_SIZE;i++) {
- byte_stuffer_recv_byte(0, 1);
- }
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, doesnt_recv_a_frame_thats_too_long_all_zeroes) {
- uint8_t expected[1] = {0};
- never_expect(validator_recv_frame);
- int i;
- byte_stuffer_recv_byte(0, 1);
- for(i=0;i<MAX_FRAME_SIZE;i++) {
- byte_stuffer_recv_byte(0, 1);
- }
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, received_frame_is_aborted_when_its_too_long) {
- uint8_t expected[1] = {1};
- expect(validator_recv_frame,
- when(size, is_equal_to(1)),
- when(data, is_equal_to_contents_of(expected, 1))
- );
- int i;
- byte_stuffer_recv_byte(0, 1);
- for(i=0;i<MAX_FRAME_SIZE;i++) {
- byte_stuffer_recv_byte(0, 1);
- }
- byte_stuffer_recv_byte(0, 2);
- byte_stuffer_recv_byte(0, 1);
- byte_stuffer_recv_byte(0, 0);
-}
-
-Ensure(ByteStuffer, does_nothing_when_sending_zero_size_frame) {
- assert_that(sent_data_size, is_equal_to(0));
- byte_stuffer_send_frame(0, NULL, 0);
-}
-
-Ensure(ByteStuffer, send_one_byte_frame) {
- uint8_t data[] = {5};
- byte_stuffer_send_frame(1, data, 1);
- uint8_t expected[] = {2, 5, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_two_byte_frame) {
- uint8_t data[] = {5, 0x77};
- byte_stuffer_send_frame(0, data, 2);
- uint8_t expected[] = {3, 5, 0x77, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_one_byte_frame_with_zero) {
- uint8_t data[] = {0};
- byte_stuffer_send_frame(0, data, 1);
- uint8_t expected[] = {1, 1, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_two_byte_frame_starting_with_zero) {
- uint8_t data[] = {0, 9};
- byte_stuffer_send_frame(1, data, 2);
- uint8_t expected[] = {1, 2, 9, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_two_byte_frame_starting_with_non_zero) {
- uint8_t data[] = {9, 0};
- byte_stuffer_send_frame(1, data, 2);
- uint8_t expected[] = {2, 9, 1, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_three_byte_frame_zero_in_the_middle) {
- uint8_t data[] = {9, 0, 0x68};
- byte_stuffer_send_frame(0, data, 3);
- uint8_t expected[] = {2, 9, 2, 0x68, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_three_byte_frame_data_in_the_middle) {
- uint8_t data[] = {0, 0x55, 0};
- byte_stuffer_send_frame(0, data, 3);
- uint8_t expected[] = {1, 2, 0x55, 1, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_three_byte_frame_with_all_zeroes) {
- uint8_t data[] = {0, 0, 0};
- byte_stuffer_send_frame(0, data, 3);
- uint8_t expected[] = {1, 1, 1, 1, 0};
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_frame_with_254_non_zeroes) {
- uint8_t data[254];
- int i;
- for(i=0;i<254;i++) {
- data[i] = i + 1;
- }
- byte_stuffer_send_frame(0, data, 254);
- uint8_t expected[256];
- expected[0] = 0xFF;
- for(i=1;i<255;i++) {
- expected[i] = i;
- }
- expected[255] = 0;
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_frame_with_255_non_zeroes) {
- uint8_t data[255];
- int i;
- for(i=0;i<255;i++) {
- data[i] = i + 1;
- }
- byte_stuffer_send_frame(0, data, 255);
- uint8_t expected[258];
- expected[0] = 0xFF;
- for(i=1;i<255;i++) {
- expected[i] = i;
- }
- expected[255] = 2;
- expected[256] = 255;
- expected[257] = 0;
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_frame_with_254_non_zeroes_followed_by_zero) {
- uint8_t data[255];
- int i;
- for(i=0;i<254;i++) {
- data[i] = i + 1;
- }
- data[255] = 0;
- byte_stuffer_send_frame(0, data, 255);
- uint8_t expected[258];
- expected[0] = 0xFF;
- for(i=1;i<255;i++) {
- expected[i] = i;
- }
- expected[255] = 1;
- expected[256] = 1;
- expected[257] = 0;
- assert_that(sent_data_size, is_equal_to(sizeof(expected)));
- assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
-}
-
-Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet) {
- uint8_t original_data[] = { 1, 2, 3};
- byte_stuffer_send_frame(0, original_data, sizeof(original_data));
- expect(validator_recv_frame,
- when(size, is_equal_to(sizeof(original_data))),
- when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
- );
- int i;
- for(i=0;i<sent_data_size;i++) {
- byte_stuffer_recv_byte(1, sent_data[i]);
- }
-}
-
-Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet_with_zeros) {
- uint8_t original_data[] = { 1, 0, 3, 0, 0, 9};
- byte_stuffer_send_frame(1, original_data, sizeof(original_data));
- expect(validator_recv_frame,
- when(size, is_equal_to(sizeof(original_data))),
- when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
- );
- int i;
- for(i=0;i<sent_data_size;i++) {
- byte_stuffer_recv_byte(0, sent_data[i]);
- }
-}
-
-Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes) {
- uint8_t original_data[254];
- int i;
- for(i=0;i<254;i++) {
- original_data[i] = i + 1;
- }
- byte_stuffer_send_frame(0, original_data, sizeof(original_data));
- expect(validator_recv_frame,
- when(size, is_equal_to(sizeof(original_data))),
- when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
- );
- for(i=0;i<sent_data_size;i++) {
- byte_stuffer_recv_byte(1, sent_data[i]);
- }
-}
-
-Ensure(ByteStuffer, sends_and_receives_full_roundtrip_256_bytes) {
- uint8_t original_data[256];
- int i;
- for(i=0;i<254;i++) {
- original_data[i] = i + 1;
- }
- original_data[254] = 22;
- original_data[255] = 23;
- byte_stuffer_send_frame(0, original_data, sizeof(original_data));
- expect(validator_recv_frame,
- when(size, is_equal_to(sizeof(original_data))),
- when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
- );
- for(i=0;i<sent_data_size;i++) {
- byte_stuffer_recv_byte(1, sent_data[i]);
- }
-}
-
-Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes_and_then_zero) {
- uint8_t original_data[255];
- int i;
- for(i=0;i<254;i++) {
- original_data[i] = i + 1;
- }
- original_data[254] = 0;
- byte_stuffer_send_frame(0, original_data, sizeof(original_data));
- expect(validator_recv_frame,
- when(size, is_equal_to(sizeof(original_data))),
- when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
- );
- for(i=0;i<sent_data_size;i++) {
- byte_stuffer_recv_byte(1, sent_data[i]);
- }
-}
+++ /dev/null
-/*
-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 <cgreen/cgreen.h>
-#include <cgreen/mocks.h>
-#include "serial_link/protocol/byte_stuffer.c"
-#include "serial_link/protocol/frame_validator.c"
-#include "serial_link/protocol/frame_router.c"
-#include "serial_link/protocol/transport.h"
-
-static uint8_t received_data[256];
-static uint16_t received_data_size;
-
-typedef struct {
- uint8_t sent_data[256];
- uint16_t sent_data_size;
-} receive_buffer_t;
-
-typedef struct {
- receive_buffer_t send_buffers[2];
-} router_buffer_t;
-
-router_buffer_t router_buffers[8];
-
-router_buffer_t* current_router_buffer;
-
-
-Describe(FrameRouter);
-BeforeEach(FrameRouter) {
- init_byte_stuffer();
- memset(router_buffers, 0, sizeof(router_buffers));
- current_router_buffer = 0;
-}
-AfterEach(FrameRouter) {}
-
-typedef struct {
- uint32_t data;
- uint8_t extra[16];
-} frame_buffer_t;
-
-
-void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
- receive_buffer_t* buffer = ¤t_router_buffer->send_buffers[link];
- memcpy(buffer->sent_data + buffer->sent_data_size, data, size);
- buffer->sent_data_size += size;
-}
-
-static void receive_data(uint8_t link, uint8_t* data, uint16_t size) {
- int i;
- for(i=0;i<size;i++) {
- byte_stuffer_recv_byte(link, data[i]);
- }
-}
-
-static void activate_router(uint8_t num) {
- current_router_buffer = router_buffers + num;
- router_set_master(num==0);
-}
-
-static void simulate_transport(uint8_t from, uint8_t to) {
- activate_router(to);
- if (from > to) {
- receive_data(DOWN_LINK,
- router_buffers[from].send_buffers[UP_LINK].sent_data,
- router_buffers[from].send_buffers[UP_LINK].sent_data_size);
- }
- else if(to > from) {
- receive_data(UP_LINK,
- router_buffers[from].send_buffers[DOWN_LINK].sent_data,
- router_buffers[from].send_buffers[DOWN_LINK].sent_data_size);
- }
-}
-
-void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
- mock(from, data, size);
-}
-
-
-Ensure(FrameRouter, master_broadcast_is_received_by_everyone) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(0);
- router_send_frame(0xFF, (uint8_t*)&data, 4);
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(0)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(0, 1);
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(0)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(1, 2);
- assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, master_send_is_received_by_targets) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(0);
- router_send_frame((1 << 1) | (1 << 2), (uint8_t*)&data, 4);
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-
- simulate_transport(0, 1);
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(0)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(1, 2);
- assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(0)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(2, 3);
- assert_that(router_buffers[3].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[3].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, first_link_sends_to_master) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(1);
- router_send_frame(0, (uint8_t*)&data, 4);
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(1)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(1, 0);
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, second_link_sends_to_master) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(2);
- router_send_frame(0, (uint8_t*)&data, 4);
- assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-
- simulate_transport(2, 1);
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-
- expect(transport_recv_frame,
- when(from, is_equal_to(2)),
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(&data.data, 4))
- );
- simulate_transport(1, 0);
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, master_sends_to_master_does_nothing) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(0);
- router_send_frame(0, (uint8_t*)&data, 4);
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, link_sends_to_other_link_does_nothing) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(1);
- router_send_frame(2, (uint8_t*)&data, 4);
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-}
-
-Ensure(FrameRouter, master_receives_on_uplink_does_nothing) {
- frame_buffer_t data;
- data.data = 0xAB7055BB;
- activate_router(1);
- router_send_frame(0, (uint8_t*)&data, 4);
- assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
- assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-
- never_expect(transport_recv_frame);
- activate_router(0);
- receive_data(UP_LINK,
- router_buffers[1].send_buffers[UP_LINK].sent_data,
- router_buffers[1].send_buffers[UP_LINK].sent_data_size);
- assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
- assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
-}
+++ /dev/null
-/*
-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 <cgreen/cgreen.h>
-#include <cgreen/mocks.h>
-#include "serial_link/protocol/frame_validator.c"
-
-void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size) {
- mock(data, size);
-}
-
-void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
- mock(data, size);
-}
-
-Describe(FrameValidator);
-BeforeEach(FrameValidator) {}
-AfterEach(FrameValidator) {}
-
-Ensure(FrameValidator, doesnt_validate_frames_under_5_bytes) {
- never_expect(route_incoming_frame);
- uint8_t data[] = {1, 2};
- validator_recv_frame(0, 0, 1);
- validator_recv_frame(0, data, 2);
- validator_recv_frame(0, data, 3);
- validator_recv_frame(0, data, 4);
-}
-
-Ensure(FrameValidator, validates_one_byte_frame_with_correct_crc) {
- uint8_t data[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
- expect(route_incoming_frame,
- when(size, is_equal_to(1)),
- when(data, is_equal_to_contents_of(data, 1))
- );
- validator_recv_frame(0, data, 5);
-}
-
-Ensure(FrameValidator, does_not_validate_one_byte_frame_with_incorrect_crc) {
- uint8_t data[] = {0x44, 0, 0, 0, 0};
- never_expect(route_incoming_frame);
- validator_recv_frame(1, data, 5);
-}
-
-Ensure(FrameValidator, validates_four_byte_frame_with_correct_crc) {
- uint8_t data[] = {0x44, 0x10, 0xFF, 0x00, 0x74, 0x4E, 0x30, 0xBA};
- expect(route_incoming_frame,
- when(size, is_equal_to(4)),
- when(data, is_equal_to_contents_of(data, 4))
- );
- validator_recv_frame(1, data, 8);
-}
-
-Ensure(FrameValidator, validates_five_byte_frame_with_correct_crc) {
- uint8_t data[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
- expect(route_incoming_frame,
- when(size, is_equal_to(5)),
- when(data, is_equal_to_contents_of(data, 5))
- );
- validator_recv_frame(0, data, 9);
-}
-
-Ensure(FrameValidator, sends_one_byte_with_correct_crc) {
- uint8_t original[] = {0x44, 0, 0, 0, 0};
- uint8_t expected[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
- expect(byte_stuffer_send_frame,
- when(size, is_equal_to(sizeof(expected))),
- when(data, is_equal_to_contents_of(expected, sizeof(expected)))
- );
- validator_send_frame(0, original, 1);
-}
-
-Ensure(FrameValidator, sends_five_bytes_with_correct_crc) {
- uint8_t original[] = {1, 2, 3, 4, 5, 0, 0, 0, 0};
- uint8_t expected[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
- expect(byte_stuffer_send_frame,
- when(size, is_equal_to(sizeof(expected))),
- when(data, is_equal_to_contents_of(expected, sizeof(expected)))
- );
- validator_send_frame(0, original, 5);
-}
+++ /dev/null
-/*
-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 <cgreen/cgreen.h>
-#include <cgreen/mocks.h>
-#include "serial_link/protocol/transport.c"
-#include "serial_link/protocol/triple_buffered_object.c"
-
-void signal_data_written(void) {
- mock();
-}
-
-static uint8_t sent_data[2048];
-static uint16_t sent_data_size;
-
-void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
- mock(destination);
- memcpy(sent_data + sent_data_size, data, size);
- sent_data_size += size;
-}
-
-typedef struct {
- uint32_t test;
-} test_object1_t;
-
-typedef struct {
- uint32_t test1;
- uint32_t test2;
-} test_object2_t;
-
-MASTER_TO_ALL_SLAVES_OBJECT(master_to_slave, test_object1_t);
-MASTER_TO_SINGLE_SLAVE_OBJECT(master_to_single_slave, test_object1_t);
-SLAVE_TO_MASTER_OBJECT(slave_to_master, test_object1_t);
-
-static remote_object_t* test_remote_objects[] = {
- REMOTE_OBJECT(master_to_slave),
- REMOTE_OBJECT(master_to_single_slave),
- REMOTE_OBJECT(slave_to_master),
-};
-
-Describe(Transport);
-BeforeEach(Transport) {
- add_remote_objects(test_remote_objects, sizeof(test_remote_objects) / sizeof(remote_object_t*));
- sent_data_size = 0;
-}
-AfterEach(Transport) {}
-
-Ensure(Transport, write_to_local_signals_an_event) {
- begin_write_master_to_slave();
- expect(signal_data_written);
- end_write_master_to_slave();
- begin_write_slave_to_master();
- expect(signal_data_written);
- end_write_slave_to_master();
- begin_write_master_to_single_slave(1);
- expect(signal_data_written);
- end_write_master_to_single_slave(1);
-}
-
-Ensure(Transport, writes_from_master_to_all_slaves) {
- update_transport();
- test_object1_t* obj = begin_write_master_to_slave();
- obj->test = 5;
- expect(signal_data_written);
- end_write_master_to_slave();
- expect(router_send_frame,
- when(destination, is_equal_to(0xFF)));
- update_transport();
- transport_recv_frame(0, sent_data, sent_data_size);
- test_object1_t* obj2 = read_master_to_slave();
- assert_that(obj2, is_not_equal_to(NULL));
- assert_that(obj2->test, is_equal_to(5));
-}
-
-Ensure(Transport, writes_from_slave_to_master) {
- update_transport();
- test_object1_t* obj = begin_write_slave_to_master();
- obj->test = 7;
- expect(signal_data_written);
- end_write_slave_to_master();
- expect(router_send_frame,
- when(destination, is_equal_to(0)));
- update_transport();
- transport_recv_frame(3, sent_data, sent_data_size);
- test_object1_t* obj2 = read_slave_to_master(2);
- assert_that(read_slave_to_master(0), is_equal_to(NULL));
- assert_that(obj2, is_not_equal_to(NULL));
- assert_that(obj2->test, is_equal_to(7));
-}
-
-Ensure(Transport, writes_from_master_to_single_slave) {
- update_transport();
- test_object1_t* obj = begin_write_master_to_single_slave(3);
- obj->test = 7;
- expect(signal_data_written);
- end_write_master_to_single_slave(3);
- expect(router_send_frame,
- when(destination, is_equal_to(4)));
- update_transport();
- transport_recv_frame(0, sent_data, sent_data_size);
- test_object1_t* obj2 = read_master_to_single_slave();
- assert_that(obj2, is_not_equal_to(NULL));
- assert_that(obj2->test, is_equal_to(7));
-}
-
-Ensure(Transport, ignores_object_with_invalid_id) {
- update_transport();
- test_object1_t* obj = begin_write_master_to_single_slave(3);
- obj->test = 7;
- expect(signal_data_written);
- end_write_master_to_single_slave(3);
- expect(router_send_frame,
- when(destination, is_equal_to(4)));
- update_transport();
- sent_data[sent_data_size - 1] = 44;
- transport_recv_frame(0, sent_data, sent_data_size);
- test_object1_t* obj2 = read_master_to_single_slave();
- assert_that(obj2, is_equal_to(NULL));
-}
-
-Ensure(Transport, ignores_object_with_size_too_small) {
- update_transport();
- test_object1_t* obj = begin_write_master_to_slave();
- obj->test = 7;
- expect(signal_data_written);
- end_write_master_to_slave();
- expect(router_send_frame);
- update_transport();
- sent_data[sent_data_size - 2] = 0;
- transport_recv_frame(0, sent_data, sent_data_size - 1);
- test_object1_t* obj2 = read_master_to_slave();
- assert_that(obj2, is_equal_to(NULL));
-}
-
-Ensure(Transport, ignores_object_with_size_too_big) {
- update_transport();
- test_object1_t* obj = begin_write_master_to_slave();
- obj->test = 7;
- expect(signal_data_written);
- end_write_master_to_slave();
- expect(router_send_frame);
- update_transport();
- sent_data[sent_data_size + 21] = 0;
- transport_recv_frame(0, sent_data, sent_data_size + 22);
- test_object1_t* obj2 = read_master_to_slave();
- assert_that(obj2, is_equal_to(NULL));
-}
+++ /dev/null
-/*
-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 <cgreen/cgreen.h>
-#include "serial_link/protocol/triple_buffered_object.c"
-
-typedef struct {
- uint8_t state;
- uint32_t buffer[3];
-}test_object_t;
-
-test_object_t test_object;
-
-Describe(TripleBufferedObject);
-BeforeEach(TripleBufferedObject) {
- triple_buffer_init((triple_buffer_object_t*)&test_object);
-}
-AfterEach(TripleBufferedObject) {}
-
-
-Ensure(TripleBufferedObject, writes_and_reads_object) {
- *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
- triple_buffer_end_write(&test_object);
- assert_that(*triple_buffer_read(&test_object), is_equal_to(0x3456ABCC));
-}
-
-Ensure(TripleBufferedObject, does_not_read_empty) {
- assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
-}
-
-Ensure(TripleBufferedObject, writes_twice_and_reads_object) {
- *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
- triple_buffer_end_write(&test_object);
- *triple_buffer_begin_write(&test_object) = 0x44778899;
- triple_buffer_end_write(&test_object);
- assert_that(*triple_buffer_read(&test_object), is_equal_to(0x44778899));
-}
-
-Ensure(TripleBufferedObject, performs_another_write_in_the_middle_of_read) {
- *triple_buffer_begin_write(&test_object) = 1;
- triple_buffer_end_write(&test_object);
- uint32_t* read = triple_buffer_read(&test_object);
- *triple_buffer_begin_write(&test_object) = 2;
- triple_buffer_end_write(&test_object);
- assert_that(*read, is_equal_to(1));
- assert_that(*triple_buffer_read(&test_object), is_equal_to(2));
- assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
-}
-
-Ensure(TripleBufferedObject, performs_two_writes_in_the_middle_of_read) {
- *triple_buffer_begin_write(&test_object) = 1;
- triple_buffer_end_write(&test_object);
- uint32_t* read = triple_buffer_read(&test_object);
- *triple_buffer_begin_write(&test_object) = 2;
- triple_buffer_end_write(&test_object);
- *triple_buffer_begin_write(&test_object) = 3;
- triple_buffer_end_write(&test_object);
- assert_that(*read, is_equal_to(1));
- assert_that(*triple_buffer_read(&test_object), is_equal_to(3));
- assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
-}
+++ /dev/null
-# 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.
-
-CGREEN_LIB = $(BUILDDIR)/cgreen/build-c/src/libcgreen.a
-
-CGREEN_DIR = "$(CURDIR)/$(SERIAL_DIR)/cgreen/cgreen"
-CGREEN_BUILD_DIR = "$(CURDIR)/$(BUILDDIR)/cgreen"
-export CGREEN_DIR
-export CGREEN_BUILD_DIR
-$(CGREEN_LIB):
- @make -C $(SERIAL_DIR)/cgreen
-
-.PHONY serialtest:
-serialtest : $(CGREEN_LIB)
- @make -C $(SERIAL_DIR)/serial_link/tests BUILDDIR=../../../$(BUILDDIR)
\ No newline at end of file
--- /dev/null
+/*
+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 "report.h"
+#include "host_driver.h"
+#include "serial_link/system/serial_link.h"
+#include "hal.h"
+#include "serial_link/protocol/byte_stuffer.h"
+#include "serial_link/protocol/transport.h"
+#include "serial_link/protocol/frame_router.h"
+#include "matrix.h"
+#include <stdbool.h>
+#include "print.h"
+#include "config.h"
+
+static event_source_t new_data_event;
+static bool serial_link_connected;
+static bool is_master = false;
+
+static uint8_t keyboard_leds(void);
+static void send_keyboard(report_keyboard_t *report);
+static void send_mouse(report_mouse_t *report);
+static void send_system(uint16_t data);
+static void send_consumer(uint16_t data);
+
+host_driver_t serial_driver = {
+ keyboard_leds,
+ send_keyboard,
+ send_mouse,
+ send_system,
+ send_consumer
+};
+
+// Define these in your Config.h file
+#ifndef SERIAL_LINK_BAUD
+#error "Serial link baud is not set"
+#endif
+
+#ifndef SERIAL_LINK_THREAD_PRIORITY
+#error "Serial link thread priority not set"
+#endif
+
+static SerialConfig config = {
+ .sc_speed = SERIAL_LINK_BAUD
+};
+
+//#define DEBUG_LINK_ERRORS
+
+static uint32_t read_from_serial(SerialDriver* driver, uint8_t link) {
+ const uint32_t buffer_size = 16;
+ uint8_t buffer[buffer_size];
+ uint32_t bytes_read = sdAsynchronousRead(driver, buffer, buffer_size);
+ uint8_t* current = buffer;
+ uint8_t* end = current + bytes_read;
+ while(current < end) {
+ byte_stuffer_recv_byte(link, *current);
+ current++;
+ }
+ return bytes_read;
+}
+
+static void print_error(char* str, eventflags_t flags, SerialDriver* driver) {
+#ifdef DEBUG_LINK_ERRORS
+ if (flags & SD_PARITY_ERROR) {
+ print(str);
+ print(" Parity error\n");
+ }
+ if (flags & SD_FRAMING_ERROR) {
+ print(str);
+ print(" Framing error\n");
+ }
+ if (flags & SD_OVERRUN_ERROR) {
+ print(str);
+ uint32_t size = qSpaceI(&(driver->iqueue));
+ xprintf(" Overrun error, queue size %d\n", size);
+
+ }
+ if (flags & SD_NOISE_ERROR) {
+ print(str);
+ print(" Noise error\n");
+ }
+ if (flags & SD_BREAK_DETECTED) {
+ print(str);
+ print(" Break detected\n");
+ }
+#else
+ (void)str;
+ (void)flags;
+ (void)driver;
+#endif
+}
+
+bool is_serial_link_master(void) {
+ return is_master;
+}
+
+// TODO: Optimize the stack size, this is probably way too big
+static THD_WORKING_AREA(serialThreadStack, 1024);
+static THD_FUNCTION(serialThread, arg) {
+ (void)arg;
+ event_listener_t new_data_listener;
+ event_listener_t sd1_listener;
+ event_listener_t sd2_listener;
+ chEvtRegister(&new_data_event, &new_data_listener, 0);
+ eventflags_t events = CHN_INPUT_AVAILABLE
+ | SD_PARITY_ERROR | SD_FRAMING_ERROR | SD_OVERRUN_ERROR | SD_NOISE_ERROR | SD_BREAK_DETECTED;
+ chEvtRegisterMaskWithFlags(chnGetEventSource(&SD1),
+ &sd1_listener,
+ EVENT_MASK(1),
+ events);
+ chEvtRegisterMaskWithFlags(chnGetEventSource(&SD2),
+ &sd2_listener,
+ EVENT_MASK(2),
+ events);
+ bool need_wait = false;
+ while(true) {
+ eventflags_t flags1 = 0;
+ eventflags_t flags2 = 0;
+ if (need_wait) {
+ eventmask_t mask = chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(1000));
+ if (mask & EVENT_MASK(1)) {
+ flags1 = chEvtGetAndClearFlags(&sd1_listener);
+ print_error("DOWNLINK", flags1, &SD1);
+ }
+ if (mask & EVENT_MASK(2)) {
+ flags2 = chEvtGetAndClearFlags(&sd2_listener);
+ print_error("UPLINK", flags2, &SD2);
+ }
+ }
+
+ // Always stay as master, even if the USB goes into sleep mode
+ is_master |= usbGetDriverStateI(&USBD1) == USB_ACTIVE;
+ router_set_master(is_master);
+
+ need_wait = true;
+ need_wait &= read_from_serial(&SD2, UP_LINK) == 0;
+ need_wait &= read_from_serial(&SD1, DOWN_LINK) == 0;
+ update_transport();
+ }
+}
+
+void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ if (link == DOWN_LINK) {
+ sdWrite(&SD1, data, size);
+ }
+ else {
+ sdWrite(&SD2, data, size);
+ }
+}
+
+static systime_t last_update = 0;
+
+typedef struct {
+ matrix_row_t rows[MATRIX_ROWS];
+} matrix_object_t;
+
+static matrix_object_t last_matrix = {};
+
+SLAVE_TO_MASTER_OBJECT(keyboard_matrix, matrix_object_t);
+MASTER_TO_ALL_SLAVES_OBJECT(serial_link_connected, bool);
+
+static remote_object_t* remote_objects[] = {
+ REMOTE_OBJECT(serial_link_connected),
+ REMOTE_OBJECT(keyboard_matrix),
+};
+
+void init_serial_link(void) {
+ serial_link_connected = false;
+ init_serial_link_hal();
+ add_remote_objects(remote_objects, sizeof(remote_objects)/sizeof(remote_object_t*));
+ init_byte_stuffer();
+ sdStart(&SD1, &config);
+ sdStart(&SD2, &config);
+ chEvtObjectInit(&new_data_event);
+ (void)chThdCreateStatic(serialThreadStack, sizeof(serialThreadStack),
+ SERIAL_LINK_THREAD_PRIORITY, serialThread, NULL);
+}
+
+void matrix_set_remote(matrix_row_t* rows, uint8_t index);
+
+void serial_link_update(void) {
+ if (read_serial_link_connected()) {
+ serial_link_connected = true;
+ }
+
+ matrix_object_t matrix;
+ bool changed = false;
+ for(uint8_t i=0;i<MATRIX_ROWS;i++) {
+ matrix.rows[i] = matrix_get_row(i);
+ changed |= matrix.rows[i] != last_matrix.rows[i];
+ }
+
+ systime_t current_time = chVTGetSystemTimeX();
+ systime_t delta = current_time - last_update;
+ if (changed || delta > US2ST(1000)) {
+ last_update = current_time;
+ last_matrix = matrix;
+ matrix_object_t* m = begin_write_keyboard_matrix();
+ for(uint8_t i=0;i<MATRIX_ROWS;i++) {
+ m->rows[i] = matrix.rows[i];
+ }
+ end_write_keyboard_matrix();
+ *begin_write_serial_link_connected() = true;
+ end_write_serial_link_connected();
+ }
+
+ matrix_object_t* m = read_keyboard_matrix(0);
+ if (m) {
+ matrix_set_remote(m->rows, 0);
+ }
+}
+
+void signal_data_written(void) {
+ chEvtBroadcast(&new_data_event);
+}
+
+bool is_serial_link_connected(void) {
+ return serial_link_connected;
+}
+
+host_driver_t* get_serial_link_driver(void) {
+ return &serial_driver;
+}
+
+// NOTE: The driver does nothing, because the master handles everything
+uint8_t keyboard_leds(void) {
+ return 0;
+}
+
+void send_keyboard(report_keyboard_t *report) {
+ (void)report;
+}
+
+void send_mouse(report_mouse_t *report) {
+ (void)report;
+}
+
+void send_system(uint16_t data) {
+ (void)data;
+}
+
+void send_consumer(uint16_t data) {
+ (void)data;
+}
+
--- /dev/null
+/*
+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_H
+#define SERIAL_LINK_H
+
+#include "host_driver.h"
+#include <stdbool.h>
+
+void init_serial_link(void);
+void init_serial_link_hal(void);
+bool is_serial_link_connected(void);
+bool is_serial_link_master(void);
+host_driver_t* get_serial_link_driver(void);
+void serial_link_update(void);
+
+#if defined(PROTOCOL_CHIBIOS)
+#include "ch.h"
+
+static inline void serial_link_lock(void) {
+ chSysLock();
+}
+
+static inline void serial_link_unlock(void) {
+ chSysUnlock();
+}
+
+void signal_data_written(void);
+
+#else
+
+inline void serial_link_lock(void) {
+}
+
+inline void serial_link_unlock(void) {
+}
+
+void signal_data_written(void);
+
+#endif
+
+#endif
--- /dev/null
+# 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.
+
+CC = gcc
+CFLAGS =
+INCLUDES = -I. -I../../
+LDFLAGS = -L$(BUILDDIR)/cgreen/build-c/src -shared
+LDLIBS = -lcgreen
+UNITOBJ = $(BUILDDIR)/serialtest/unitobj
+DEPDIR = $(BUILDDIR)/serialtest/unit.d
+UNITTESTS = $(BUILDDIR)/serialtest/unittests
+DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
+EXT = .so
+UNAME := $(shell uname)
+ifneq (, $(findstring MINGW, $(UNAME)))
+ EXT = .dll
+endif
+ifneq (, $(findstring CYGWIN, $(UNAME)))
+ EXT = .dll
+endif
+
+SRC = $(wildcard *.c)
+TESTFILES = $(patsubst %.c, $(UNITTESTS)/%$(EXT), $(SRC))
+$(shell mkdir -p $(DEPDIR) >/dev/null)
+
+test: $(TESTFILES)
+ @$(BUILDDIR)/cgreen/build-c/tools/cgreen-runner --color $(TESTFILES)
+
+$(UNITTESTS)/%$(EXT): $(UNITOBJ)/%.o
+ @mkdir -p $(UNITTESTS)
+ $(CC) $(LDFLAGS) -o $@ $^ $(LDLIBS)
+
+$(UNITOBJ)/%.o : %.c
+$(UNITOBJ)/%.o: %.c $(DEPDIR)/%.d
+ @mkdir -p $(UNITOBJ)
+ $(CC) $(CFLAGS) $(DEPFLAGS) $(INCLUDES) -c $< -o $@
+ @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d
+
+$(DEPDIR)/%.d: ;
+.PRECIOUS: $(DEPDIR)/%.d
+
+-include $(patsubst %,$(DEPDIR)/%.d,$(basename $(SRC)))
\ No newline at end of file
--- /dev/null
+/*
+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 <cgreen/cgreen.h>
+#include <cgreen/mocks.h>
+#include "serial_link/protocol/byte_stuffer.h"
+#include "serial_link/protocol/byte_stuffer.c"
+#include "serial_link/protocol/frame_validator.h"
+#include "serial_link/protocol/physical.h"
+
+static uint8_t sent_data[MAX_FRAME_SIZE*2];
+static uint16_t sent_data_size;
+
+Describe(ByteStuffer);
+BeforeEach(ByteStuffer) {
+ init_byte_stuffer();
+ sent_data_size = 0;
+}
+AfterEach(ByteStuffer) {}
+
+void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ mock(data, size);
+}
+
+void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ memcpy(sent_data + sent_data_size, data, size);
+ sent_data_size += size;
+}
+
+Ensure(ByteStuffer, receives_no_frame_for_a_single_zero_byte) {
+ never_expect(validator_recv_frame);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_no_frame_for_a_single_FF_byte) {
+ never_expect(validator_recv_frame);
+ byte_stuffer_recv_byte(0, 0xFF);
+}
+
+Ensure(ByteStuffer, receives_no_frame_for_a_single_random_byte) {
+ never_expect(validator_recv_frame);
+ byte_stuffer_recv_byte(0, 0x4A);
+}
+
+Ensure(ByteStuffer, receives_no_frame_for_a_zero_length_frame) {
+ never_expect(validator_recv_frame);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_single_byte_valid_frame) {
+ uint8_t expected[] = {0x37};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(1)),
+ when(data, is_equal_to_contents_of(expected, 1))
+ );
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 0x37);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_three_bytes_valid_frame) {
+ uint8_t expected[] = {0x37, 0x99, 0xFF};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(3)),
+ when(data, is_equal_to_contents_of(expected, 3))
+ );
+ byte_stuffer_recv_byte(0, 4);
+ byte_stuffer_recv_byte(0, 0x37);
+ byte_stuffer_recv_byte(0, 0x99);
+ byte_stuffer_recv_byte(0, 0xFF);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_single_zero_valid_frame) {
+ uint8_t expected[] = {0};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(1)),
+ when(data, is_equal_to_contents_of(expected, 1))
+ );
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_valid_frame_with_zeroes) {
+ uint8_t expected[] = {5, 0, 3, 0};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(expected, 4))
+ );
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_two_valid_frames) {
+ uint8_t expected1[] = {5, 0};
+ uint8_t expected2[] = {3};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(2)),
+ when(data, is_equal_to_contents_of(expected1, 2))
+ );
+ expect(validator_recv_frame,
+ when(size, is_equal_to(1)),
+ when(data, is_equal_to_contents_of(expected2, 1))
+ );
+ byte_stuffer_recv_byte(1, 2);
+ byte_stuffer_recv_byte(1, 5);
+ byte_stuffer_recv_byte(1, 1);
+ byte_stuffer_recv_byte(1, 0);
+ byte_stuffer_recv_byte(1, 2);
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 0);
+}
+
+Ensure(ByteStuffer, receives_valid_frame_after_unexpected_zero) {
+ uint8_t expected[] = {5, 7};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(2)),
+ when(data, is_equal_to_contents_of(expected, 2))
+ );
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 1);
+ byte_stuffer_recv_byte(1, 0);
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 5);
+ byte_stuffer_recv_byte(1, 7);
+ byte_stuffer_recv_byte(1, 0);
+}
+
+Ensure(ByteStuffer, receives_valid_frame_after_unexpected_non_zero) {
+ uint8_t expected[] = {5, 7};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(2)),
+ when(data, is_equal_to_contents_of(expected, 2))
+ );
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 9);
+ byte_stuffer_recv_byte(0, 4); // This should have been zero
+ byte_stuffer_recv_byte(0, 0);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_and_then_end_of_frame) {
+ uint8_t expected[254];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ expect(validator_recv_frame,
+ when(size, is_equal_to(254)),
+ when(data, is_equal_to_contents_of(expected, 254))
+ );
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_non_zero) {
+ uint8_t expected[255];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ expected[254] = 7;
+ expect(validator_recv_frame,
+ when(size, is_equal_to(255)),
+ when(data, is_equal_to_contents_of(expected, 255))
+ );
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_zero) {
+ uint8_t expected[255];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ expected[254] = 0;
+ expect(validator_recv_frame,
+ when(size, is_equal_to(255)),
+ when(data, is_equal_to_contents_of(expected, 255))
+ );
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_two_long_frames_and_some_more) {
+ uint8_t expected[515];
+ int i;
+ int j;
+ for (j=0;j<2;j++) {
+ for (i=0;i<254;i++) {
+ expected[i+254*j] = i + 1;
+ }
+ }
+ for (i=0;i<7;i++) {
+ expected[254*2+i] = i + 1;
+ }
+ expect(validator_recv_frame,
+ when(size, is_equal_to(515)),
+ when(data, is_equal_to_contents_of(expected, 510))
+ );
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 8);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 4);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 6);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, receives_an_all_zeros_frame_that_is_maximum_size) {
+ uint8_t expected[MAX_FRAME_SIZE] = {};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(MAX_FRAME_SIZE)),
+ when(data, is_equal_to_contents_of(expected, MAX_FRAME_SIZE))
+ );
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, doesnt_recv_a_frame_thats_too_long_all_zeroes) {
+ uint8_t expected[1] = {0};
+ never_expect(validator_recv_frame);
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, received_frame_is_aborted_when_its_too_long) {
+ uint8_t expected[1] = {1};
+ expect(validator_recv_frame,
+ when(size, is_equal_to(1)),
+ when(data, is_equal_to_contents_of(expected, 1))
+ );
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+Ensure(ByteStuffer, does_nothing_when_sending_zero_size_frame) {
+ assert_that(sent_data_size, is_equal_to(0));
+ byte_stuffer_send_frame(0, NULL, 0);
+}
+
+Ensure(ByteStuffer, send_one_byte_frame) {
+ uint8_t data[] = {5};
+ byte_stuffer_send_frame(1, data, 1);
+ uint8_t expected[] = {2, 5, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_two_byte_frame) {
+ uint8_t data[] = {5, 0x77};
+ byte_stuffer_send_frame(0, data, 2);
+ uint8_t expected[] = {3, 5, 0x77, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_one_byte_frame_with_zero) {
+ uint8_t data[] = {0};
+ byte_stuffer_send_frame(0, data, 1);
+ uint8_t expected[] = {1, 1, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_two_byte_frame_starting_with_zero) {
+ uint8_t data[] = {0, 9};
+ byte_stuffer_send_frame(1, data, 2);
+ uint8_t expected[] = {1, 2, 9, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_two_byte_frame_starting_with_non_zero) {
+ uint8_t data[] = {9, 0};
+ byte_stuffer_send_frame(1, data, 2);
+ uint8_t expected[] = {2, 9, 1, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_three_byte_frame_zero_in_the_middle) {
+ uint8_t data[] = {9, 0, 0x68};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {2, 9, 2, 0x68, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_three_byte_frame_data_in_the_middle) {
+ uint8_t data[] = {0, 0x55, 0};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {1, 2, 0x55, 1, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_three_byte_frame_with_all_zeroes) {
+ uint8_t data[] = {0, 0, 0};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {1, 1, 1, 1, 0};
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_frame_with_254_non_zeroes) {
+ uint8_t data[254];
+ int i;
+ for(i=0;i<254;i++) {
+ data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, data, 254);
+ uint8_t expected[256];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 0;
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_frame_with_255_non_zeroes) {
+ uint8_t data[255];
+ int i;
+ for(i=0;i<255;i++) {
+ data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, data, 255);
+ uint8_t expected[258];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 2;
+ expected[256] = 255;
+ expected[257] = 0;
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_frame_with_254_non_zeroes_followed_by_zero) {
+ uint8_t data[255];
+ int i;
+ for(i=0;i<254;i++) {
+ data[i] = i + 1;
+ }
+ data[255] = 0;
+ byte_stuffer_send_frame(0, data, 255);
+ uint8_t expected[258];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 1;
+ expected[256] = 1;
+ expected[257] = 0;
+ assert_that(sent_data_size, is_equal_to(sizeof(expected)));
+ assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
+}
+
+Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet) {
+ uint8_t original_data[] = { 1, 2, 3};
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ expect(validator_recv_frame,
+ when(size, is_equal_to(sizeof(original_data))),
+ when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
+ );
+ int i;
+ for(i=0;i<sent_data_size;i++) {
+ byte_stuffer_recv_byte(1, sent_data[i]);
+ }
+}
+
+Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet_with_zeros) {
+ uint8_t original_data[] = { 1, 0, 3, 0, 0, 9};
+ byte_stuffer_send_frame(1, original_data, sizeof(original_data));
+ expect(validator_recv_frame,
+ when(size, is_equal_to(sizeof(original_data))),
+ when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
+ );
+ int i;
+ for(i=0;i<sent_data_size;i++) {
+ byte_stuffer_recv_byte(0, sent_data[i]);
+ }
+}
+
+Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes) {
+ uint8_t original_data[254];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ expect(validator_recv_frame,
+ when(size, is_equal_to(sizeof(original_data))),
+ when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
+ );
+ for(i=0;i<sent_data_size;i++) {
+ byte_stuffer_recv_byte(1, sent_data[i]);
+ }
+}
+
+Ensure(ByteStuffer, sends_and_receives_full_roundtrip_256_bytes) {
+ uint8_t original_data[256];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ original_data[254] = 22;
+ original_data[255] = 23;
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ expect(validator_recv_frame,
+ when(size, is_equal_to(sizeof(original_data))),
+ when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
+ );
+ for(i=0;i<sent_data_size;i++) {
+ byte_stuffer_recv_byte(1, sent_data[i]);
+ }
+}
+
+Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes_and_then_zero) {
+ uint8_t original_data[255];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ original_data[254] = 0;
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ expect(validator_recv_frame,
+ when(size, is_equal_to(sizeof(original_data))),
+ when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
+ );
+ for(i=0;i<sent_data_size;i++) {
+ byte_stuffer_recv_byte(1, sent_data[i]);
+ }
+}
--- /dev/null
+/*
+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 <cgreen/cgreen.h>
+#include <cgreen/mocks.h>
+#include "serial_link/protocol/byte_stuffer.c"
+#include "serial_link/protocol/frame_validator.c"
+#include "serial_link/protocol/frame_router.c"
+#include "serial_link/protocol/transport.h"
+
+static uint8_t received_data[256];
+static uint16_t received_data_size;
+
+typedef struct {
+ uint8_t sent_data[256];
+ uint16_t sent_data_size;
+} receive_buffer_t;
+
+typedef struct {
+ receive_buffer_t send_buffers[2];
+} router_buffer_t;
+
+router_buffer_t router_buffers[8];
+
+router_buffer_t* current_router_buffer;
+
+
+Describe(FrameRouter);
+BeforeEach(FrameRouter) {
+ init_byte_stuffer();
+ memset(router_buffers, 0, sizeof(router_buffers));
+ current_router_buffer = 0;
+}
+AfterEach(FrameRouter) {}
+
+typedef struct {
+ uint32_t data;
+ uint8_t extra[16];
+} frame_buffer_t;
+
+
+void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ receive_buffer_t* buffer = ¤t_router_buffer->send_buffers[link];
+ memcpy(buffer->sent_data + buffer->sent_data_size, data, size);
+ buffer->sent_data_size += size;
+}
+
+static void receive_data(uint8_t link, uint8_t* data, uint16_t size) {
+ int i;
+ for(i=0;i<size;i++) {
+ byte_stuffer_recv_byte(link, data[i]);
+ }
+}
+
+static void activate_router(uint8_t num) {
+ current_router_buffer = router_buffers + num;
+ router_set_master(num==0);
+}
+
+static void simulate_transport(uint8_t from, uint8_t to) {
+ activate_router(to);
+ if (from > to) {
+ receive_data(DOWN_LINK,
+ router_buffers[from].send_buffers[UP_LINK].sent_data,
+ router_buffers[from].send_buffers[UP_LINK].sent_data_size);
+ }
+ else if(to > from) {
+ receive_data(UP_LINK,
+ router_buffers[from].send_buffers[DOWN_LINK].sent_data,
+ router_buffers[from].send_buffers[DOWN_LINK].sent_data_size);
+ }
+}
+
+void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
+ mock(from, data, size);
+}
+
+
+Ensure(FrameRouter, master_broadcast_is_received_by_everyone) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(0);
+ router_send_frame(0xFF, (uint8_t*)&data, 4);
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(0)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(0, 1);
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(0)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(1, 2);
+ assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, master_send_is_received_by_targets) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(0);
+ router_send_frame((1 << 1) | (1 << 2), (uint8_t*)&data, 4);
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+ simulate_transport(0, 1);
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(0)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(1, 2);
+ assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(0)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(2, 3);
+ assert_that(router_buffers[3].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[3].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, first_link_sends_to_master) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(1);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(1)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(1, 0);
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, second_link_sends_to_master) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(2);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ assert_that(router_buffers[2].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[2].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+
+ simulate_transport(2, 1);
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+
+ expect(transport_recv_frame,
+ when(from, is_equal_to(2)),
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(&data.data, 4))
+ );
+ simulate_transport(1, 0);
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, master_sends_to_master_does_nothing) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(0);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, link_sends_to_other_link_does_nothing) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(1);
+ router_send_frame(2, (uint8_t*)&data, 4);
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+}
+
+Ensure(FrameRouter, master_receives_on_uplink_does_nothing) {
+ frame_buffer_t data;
+ data.data = 0xAB7055BB;
+ activate_router(1);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_greater_than(0));
+ assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+
+ never_expect(transport_recv_frame);
+ activate_router(0);
+ receive_data(UP_LINK,
+ router_buffers[1].send_buffers[UP_LINK].sent_data,
+ router_buffers[1].send_buffers[UP_LINK].sent_data_size);
+ assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+ assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_equal_to(0));
+}
--- /dev/null
+/*
+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 <cgreen/cgreen.h>
+#include <cgreen/mocks.h>
+#include "serial_link/protocol/frame_validator.c"
+
+void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ mock(data, size);
+}
+
+void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ mock(data, size);
+}
+
+Describe(FrameValidator);
+BeforeEach(FrameValidator) {}
+AfterEach(FrameValidator) {}
+
+Ensure(FrameValidator, doesnt_validate_frames_under_5_bytes) {
+ never_expect(route_incoming_frame);
+ uint8_t data[] = {1, 2};
+ validator_recv_frame(0, 0, 1);
+ validator_recv_frame(0, data, 2);
+ validator_recv_frame(0, data, 3);
+ validator_recv_frame(0, data, 4);
+}
+
+Ensure(FrameValidator, validates_one_byte_frame_with_correct_crc) {
+ uint8_t data[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
+ expect(route_incoming_frame,
+ when(size, is_equal_to(1)),
+ when(data, is_equal_to_contents_of(data, 1))
+ );
+ validator_recv_frame(0, data, 5);
+}
+
+Ensure(FrameValidator, does_not_validate_one_byte_frame_with_incorrect_crc) {
+ uint8_t data[] = {0x44, 0, 0, 0, 0};
+ never_expect(route_incoming_frame);
+ validator_recv_frame(1, data, 5);
+}
+
+Ensure(FrameValidator, validates_four_byte_frame_with_correct_crc) {
+ uint8_t data[] = {0x44, 0x10, 0xFF, 0x00, 0x74, 0x4E, 0x30, 0xBA};
+ expect(route_incoming_frame,
+ when(size, is_equal_to(4)),
+ when(data, is_equal_to_contents_of(data, 4))
+ );
+ validator_recv_frame(1, data, 8);
+}
+
+Ensure(FrameValidator, validates_five_byte_frame_with_correct_crc) {
+ uint8_t data[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
+ expect(route_incoming_frame,
+ when(size, is_equal_to(5)),
+ when(data, is_equal_to_contents_of(data, 5))
+ );
+ validator_recv_frame(0, data, 9);
+}
+
+Ensure(FrameValidator, sends_one_byte_with_correct_crc) {
+ uint8_t original[] = {0x44, 0, 0, 0, 0};
+ uint8_t expected[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
+ expect(byte_stuffer_send_frame,
+ when(size, is_equal_to(sizeof(expected))),
+ when(data, is_equal_to_contents_of(expected, sizeof(expected)))
+ );
+ validator_send_frame(0, original, 1);
+}
+
+Ensure(FrameValidator, sends_five_bytes_with_correct_crc) {
+ uint8_t original[] = {1, 2, 3, 4, 5, 0, 0, 0, 0};
+ uint8_t expected[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
+ expect(byte_stuffer_send_frame,
+ when(size, is_equal_to(sizeof(expected))),
+ when(data, is_equal_to_contents_of(expected, sizeof(expected)))
+ );
+ validator_send_frame(0, original, 5);
+}
--- /dev/null
+/*
+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 <cgreen/cgreen.h>
+#include <cgreen/mocks.h>
+#include "serial_link/protocol/transport.c"
+#include "serial_link/protocol/triple_buffered_object.c"
+
+void signal_data_written(void) {
+ mock();
+}
+
+static uint8_t sent_data[2048];
+static uint16_t sent_data_size;
+
+void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
+ mock(destination);
+ memcpy(sent_data + sent_data_size, data, size);
+ sent_data_size += size;
+}
+
+typedef struct {
+ uint32_t test;
+} test_object1_t;
+
+typedef struct {
+ uint32_t test1;
+ uint32_t test2;
+} test_object2_t;
+
+MASTER_TO_ALL_SLAVES_OBJECT(master_to_slave, test_object1_t);
+MASTER_TO_SINGLE_SLAVE_OBJECT(master_to_single_slave, test_object1_t);
+SLAVE_TO_MASTER_OBJECT(slave_to_master, test_object1_t);
+
+static remote_object_t* test_remote_objects[] = {
+ REMOTE_OBJECT(master_to_slave),
+ REMOTE_OBJECT(master_to_single_slave),
+ REMOTE_OBJECT(slave_to_master),
+};
+
+Describe(Transport);
+BeforeEach(Transport) {
+ add_remote_objects(test_remote_objects, sizeof(test_remote_objects) / sizeof(remote_object_t*));
+ sent_data_size = 0;
+}
+AfterEach(Transport) {}
+
+Ensure(Transport, write_to_local_signals_an_event) {
+ begin_write_master_to_slave();
+ expect(signal_data_written);
+ end_write_master_to_slave();
+ begin_write_slave_to_master();
+ expect(signal_data_written);
+ end_write_slave_to_master();
+ begin_write_master_to_single_slave(1);
+ expect(signal_data_written);
+ end_write_master_to_single_slave(1);
+}
+
+Ensure(Transport, writes_from_master_to_all_slaves) {
+ update_transport();
+ test_object1_t* obj = begin_write_master_to_slave();
+ obj->test = 5;
+ expect(signal_data_written);
+ end_write_master_to_slave();
+ expect(router_send_frame,
+ when(destination, is_equal_to(0xFF)));
+ update_transport();
+ transport_recv_frame(0, sent_data, sent_data_size);
+ test_object1_t* obj2 = read_master_to_slave();
+ assert_that(obj2, is_not_equal_to(NULL));
+ assert_that(obj2->test, is_equal_to(5));
+}
+
+Ensure(Transport, writes_from_slave_to_master) {
+ update_transport();
+ test_object1_t* obj = begin_write_slave_to_master();
+ obj->test = 7;
+ expect(signal_data_written);
+ end_write_slave_to_master();
+ expect(router_send_frame,
+ when(destination, is_equal_to(0)));
+ update_transport();
+ transport_recv_frame(3, sent_data, sent_data_size);
+ test_object1_t* obj2 = read_slave_to_master(2);
+ assert_that(read_slave_to_master(0), is_equal_to(NULL));
+ assert_that(obj2, is_not_equal_to(NULL));
+ assert_that(obj2->test, is_equal_to(7));
+}
+
+Ensure(Transport, writes_from_master_to_single_slave) {
+ update_transport();
+ test_object1_t* obj = begin_write_master_to_single_slave(3);
+ obj->test = 7;
+ expect(signal_data_written);
+ end_write_master_to_single_slave(3);
+ expect(router_send_frame,
+ when(destination, is_equal_to(4)));
+ update_transport();
+ transport_recv_frame(0, sent_data, sent_data_size);
+ test_object1_t* obj2 = read_master_to_single_slave();
+ assert_that(obj2, is_not_equal_to(NULL));
+ assert_that(obj2->test, is_equal_to(7));
+}
+
+Ensure(Transport, ignores_object_with_invalid_id) {
+ update_transport();
+ test_object1_t* obj = begin_write_master_to_single_slave(3);
+ obj->test = 7;
+ expect(signal_data_written);
+ end_write_master_to_single_slave(3);
+ expect(router_send_frame,
+ when(destination, is_equal_to(4)));
+ update_transport();
+ sent_data[sent_data_size - 1] = 44;
+ transport_recv_frame(0, sent_data, sent_data_size);
+ test_object1_t* obj2 = read_master_to_single_slave();
+ assert_that(obj2, is_equal_to(NULL));
+}
+
+Ensure(Transport, ignores_object_with_size_too_small) {
+ update_transport();
+ test_object1_t* obj = begin_write_master_to_slave();
+ obj->test = 7;
+ expect(signal_data_written);
+ end_write_master_to_slave();
+ expect(router_send_frame);
+ update_transport();
+ sent_data[sent_data_size - 2] = 0;
+ transport_recv_frame(0, sent_data, sent_data_size - 1);
+ test_object1_t* obj2 = read_master_to_slave();
+ assert_that(obj2, is_equal_to(NULL));
+}
+
+Ensure(Transport, ignores_object_with_size_too_big) {
+ update_transport();
+ test_object1_t* obj = begin_write_master_to_slave();
+ obj->test = 7;
+ expect(signal_data_written);
+ end_write_master_to_slave();
+ expect(router_send_frame);
+ update_transport();
+ sent_data[sent_data_size + 21] = 0;
+ transport_recv_frame(0, sent_data, sent_data_size + 22);
+ test_object1_t* obj2 = read_master_to_slave();
+ assert_that(obj2, is_equal_to(NULL));
+}
--- /dev/null
+/*
+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 <cgreen/cgreen.h>
+#include "serial_link/protocol/triple_buffered_object.c"
+
+typedef struct {
+ uint8_t state;
+ uint32_t buffer[3];
+}test_object_t;
+
+test_object_t test_object;
+
+Describe(TripleBufferedObject);
+BeforeEach(TripleBufferedObject) {
+ triple_buffer_init((triple_buffer_object_t*)&test_object);
+}
+AfterEach(TripleBufferedObject) {}
+
+
+Ensure(TripleBufferedObject, writes_and_reads_object) {
+ *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
+ triple_buffer_end_write(&test_object);
+ assert_that(*triple_buffer_read(&test_object), is_equal_to(0x3456ABCC));
+}
+
+Ensure(TripleBufferedObject, does_not_read_empty) {
+ assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
+}
+
+Ensure(TripleBufferedObject, writes_twice_and_reads_object) {
+ *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
+ triple_buffer_end_write(&test_object);
+ *triple_buffer_begin_write(&test_object) = 0x44778899;
+ triple_buffer_end_write(&test_object);
+ assert_that(*triple_buffer_read(&test_object), is_equal_to(0x44778899));
+}
+
+Ensure(TripleBufferedObject, performs_another_write_in_the_middle_of_read) {
+ *triple_buffer_begin_write(&test_object) = 1;
+ triple_buffer_end_write(&test_object);
+ uint32_t* read = triple_buffer_read(&test_object);
+ *triple_buffer_begin_write(&test_object) = 2;
+ triple_buffer_end_write(&test_object);
+ assert_that(*read, is_equal_to(1));
+ assert_that(*triple_buffer_read(&test_object), is_equal_to(2));
+ assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
+}
+
+Ensure(TripleBufferedObject, performs_two_writes_in_the_middle_of_read) {
+ *triple_buffer_begin_write(&test_object) = 1;
+ triple_buffer_end_write(&test_object);
+ uint32_t* read = triple_buffer_read(&test_object);
+ *triple_buffer_begin_write(&test_object) = 2;
+ triple_buffer_end_write(&test_object);
+ *triple_buffer_begin_write(&test_object) = 3;
+ triple_buffer_end_write(&test_object);
+ assert_that(*read, is_equal_to(1));
+ assert_that(*triple_buffer_read(&test_object), is_equal_to(3));
+ assert_that(triple_buffer_read(&test_object), is_equal_to(NULL));
+}
projects / qmk_firmware.git / commitdiff