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@ -22,6 +22,73 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
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SOFTWARE. |
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*/ |
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#ifndef SERIAL_LINK_TRANSPORT_H |
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#define SERIAL_LINK_TRANSPORT_H |
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#include "protocol/triple_buffered_object.h" |
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#define NUM_SLAVES 8 |
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typedef struct { |
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uint16_t element_size; |
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uint16_t buffer_size; |
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uint8_t is_master; |
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uint8_t buffer[] __attribute__((aligned(4))); |
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} remote_object_t; |
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typedef struct { |
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uint16_t element_size; |
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uint8_t destination; |
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uint8_t buffer[] __attribute__((aligned(4))); |
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} local_object_t; |
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#define REMOTE_OBJECT_BUFFER(id, type) \ |
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typedef struct { \ |
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triple_buffer_object_t object; \ |
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type buffer[3]; \ |
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} remote_object_buffer_##id##_t; |
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#define MASTER_REMOTE_OBJECT(id, type) \ |
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REMOTE_OBJECT_BUFFER(id, type) \ |
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typedef struct { \ |
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remote_object_t object; \ |
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remote_object_buffer_##id##_t buffer; \ |
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} master_remote_object_##id##_t; \ |
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master_remote_object_##id##_t remote_object_##id = { \ |
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.object = { \ |
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.element_size = sizeof(type), \ |
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.buffer_size = sizeof(remote_object_buffer_##id##_t), \ |
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.is_master = true \ |
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}}; |
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#define SLAVE_REMOTE_OBJECT(id, type) \ |
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REMOTE_OBJECT_BUFFER(id, type) \ |
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typedef struct { \ |
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remote_object_t object; \ |
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remote_object_buffer_##id##_t buffer[NUM_SLAVES];\ |
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} slave_remote_object_##id##_t; \ |
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slave_remote_object_##id##_t remote_object_##id = { \ |
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.object = { \ |
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.element_size = sizeof(type), \ |
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.buffer_size = sizeof(remote_object_buffer_##id##_t), \ |
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.is_master = true \ |
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}}; |
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#define LOCAL_OBJECT(id, type) \ |
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typedef struct { \ |
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uint32_t element_size; \ |
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uint8_t buffer[NUM_SLAVES][sizeof(type) + 16][3]; \ |
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} remote_object_##id##_t; \ |
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remote_object_##id##_t remote_object_##id = {.element_size = sizeof(type) + 16}; |
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#define REMOTE_OBJECT(id) (remote_object_t*)&remote_object_##id |
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void init_transport(void); |
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void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size); |
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uint32_t transport_send_frame(uint8_t to, uint8_t* data, uint16_t size); |
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void transport_register_master_remote_object(uint8_t id, void* ptr, uint16_t size); |
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void transport_register_slave_remote_object(uint8_t id, void* ptr, uint16_t size); |
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#endif |