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