git-subtree-dir: quantum/serial_link git-subtree-mainline:pull/482/head7d28d6a7bc
git-subtree-split:a20d513e3c
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*.stackdump |
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[submodule "cgreen/cgreen"] | |||
path = cgreen/cgreen | |||
url = http://github.com/cgreen-devs/cgreen |
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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. |
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# tmk_serial_link |
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# This Makefile ensures that the build is made out of source in a subdirectory called 'build' | |||
# If it doesn't exist, it is created and a Makefile created there (from Makefile.build) | |||
# | |||
# This Makefile also contains delegation of the most common make commands | |||
# | |||
# If you have cmake installed you should be able to do: | |||
# | |||
# make | |||
# make test | |||
# make install | |||
# make package | |||
# | |||
# That should build cgreen for C and C++, run some tests, install it locally and | |||
# generate two distributable packages. | |||
all: build | |||
cd $(CGREEN_BUILD_DIR); make all | |||
test: build | |||
cd $(CGREEN_BUILD_DIR); make test | |||
clean: build | |||
cd $(CGREEN_BUILD_DIR); make clean | |||
package: build | |||
cd $(CGREEN_BUILD_DIR); make package | |||
install: | |||
cd $(CGREEN_BUILD_DIR); make install | |||
############# Internal | |||
build: | |||
mkdir -p $(CGREEN_BUILD_DIR) | |||
cp Makefile.build $(CGREEN_BUILD_DIR)/Makefile | |||
.SILENT: |
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# This Makefile is copied from the cgreen top directory (where it is | |||
# named Makefile.build) and put in a subdirectory called 'build' where | |||
# builds are made This Makefile then automatically creates | |||
# subdirectories for C and C++ builds configuring them using the cmake | |||
# command. Once created you can always tweak the cmake setup as with | |||
# any cmake build directory | |||
all: build-c build-c++ | |||
for d in build-* ; do cd $$d; make ; cd .. ; done | |||
clean: | |||
for d in build-* ; do cd $$d; make clean ; cd .. ; done | |||
check test: | |||
for d in build-* ; do cd $$d; make check ; cd .. ; done | |||
package: | |||
for d in build-* ; do cd $$d; make package ; cd .. ; done | |||
install: | |||
for d in build-* ; do cd $$d; make install ; cd .. ; done | |||
############ Internal | |||
build-c: | |||
mkdir build-c | |||
cd build-c; cmake -G "Unix Makefiles" $(CGREEN_DIR) | |||
build-c++: | |||
mkdir build-c++ | |||
cd build-c++; cmake -G "Unix Makefiles" -DWITH_CXX:bool=ON $(CGREEN_DIR) | |||
.SILENT: |
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Subproject commit d4d438dda1b7131f0bd0530b2c258e9dea6a2a9f |
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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. | |||
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 |
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/* | |||
The MIT License (MIT) | |||
Copyright (c) 2016 Fred Sundvik | |||
Permission is hereby granted, free of charge, to any person obtaining a copy | |||
of this software and associated documentation files (the "Software"), to deal | |||
in the Software without restriction, including without limitation the rights | |||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |||
copies of the Software, and to permit persons to whom the Software is | |||
furnished to do so, subject to the following conditions: | |||
The above copyright notice and this permission notice shall be included in all | |||
copies or substantial portions of the Software. | |||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |||
SOFTWARE. | |||
*/ | |||
#include "serial_link/protocol/byte_stuffer.h" | |||
#include "serial_link/protocol/frame_validator.h" | |||
#include "serial_link/protocol/physical.h" | |||
#include <stdbool.h> | |||
// This implements the "Consistent overhead byte stuffing protocol" | |||
// https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing | |||
// http://www.stuartcheshire.org/papers/COBSforToN.pdf | |||
#define MAX_FRAME_SIZE 1024 | |||
#define NUM_LINKS 2 | |||
typedef struct byte_stuffer_state { | |||
uint16_t next_zero; | |||
uint16_t data_pos; | |||
bool long_frame; | |||
uint8_t data[MAX_FRAME_SIZE]; | |||
}byte_stuffer_state_t; | |||
static byte_stuffer_state_t states[NUM_LINKS]; | |||
void init_byte_stuffer_state(byte_stuffer_state_t* state) { | |||
state->next_zero = 0; | |||
state->data_pos = 0; | |||
state->long_frame = false; | |||
} | |||
void init_byte_stuffer(void) { | |||
int i; | |||
for (i=0;i<NUM_LINKS;i++) { | |||
init_byte_stuffer_state(&states[i]); | |||
} | |||
} | |||
void byte_stuffer_recv_byte(uint8_t link, uint8_t data) { | |||
byte_stuffer_state_t* state = &states[link]; | |||
// Start of a new frame | |||
if (state->next_zero == 0) { | |||
state->next_zero = data; | |||
state->long_frame = data == 0xFF; | |||
state->data_pos = 0; | |||
return; | |||
} | |||
state->next_zero--; | |||
if (data == 0) { | |||
if (state->next_zero == 0) { | |||
// The frame is completed | |||
if (state->data_pos > 0) { | |||
validator_recv_frame(link, state->data, state->data_pos); | |||
} | |||
} | |||
else { | |||
// The frame is invalid, so reset | |||
init_byte_stuffer_state(state); | |||
} | |||
} | |||
else { | |||
if (state->data_pos == MAX_FRAME_SIZE) { | |||
// We exceeded our maximum frame size | |||
// therefore there's nothing else to do than reset to a new frame | |||
state->next_zero = data; | |||
state->long_frame = data == 0xFF; | |||
state->data_pos = 0; | |||
} | |||
else if (state->next_zero == 0) { | |||
if (state->long_frame) { | |||
// This is part of a long frame, so continue | |||
state->next_zero = data; | |||
state->long_frame = data == 0xFF; | |||
} | |||
else { | |||
// Special case for zeroes | |||
state->next_zero = data; | |||
state->data[state->data_pos++] = 0; | |||
} | |||
} | |||
else { | |||
state->data[state->data_pos++] = data; | |||
} | |||
} | |||
} | |||
static void send_block(uint8_t link, uint8_t* start, uint8_t* end, uint8_t num_non_zero) { | |||
send_data(link, &num_non_zero, 1); | |||
if (end > start) { | |||
send_data(link, start, end-start); | |||
} | |||
} | |||
void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) { | |||
const uint8_t zero = 0; | |||
if (size > 0) { | |||
uint16_t num_non_zero = 1; | |||
uint8_t* end = data + size; | |||
uint8_t* start = data; | |||
while (data < end) { | |||
if (num_non_zero == 0xFF) { | |||
// There's more data after big non-zero block | |||
// So send it, and start a new block | |||
send_block(link, start, data, num_non_zero); | |||
start = data; | |||
num_non_zero = 1; | |||
} | |||
else { | |||
if (*data == 0) { | |||
// A zero encountered, so send the block | |||
send_block(link, start, data, num_non_zero); | |||
start = data + 1; | |||
num_non_zero = 1; | |||
} | |||
else { | |||
num_non_zero++; | |||
} | |||
++data; | |||
} | |||
} | |||
send_block(link, start, data, num_non_zero); | |||
send_data(link, &zero, 1); | |||
} | |||
} |
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/* | |||
The MIT License (MIT) | |||
Copyright (c) 2016 Fred Sundvik | |||
Permission is hereby granted, free of charge, to any person obtaining a copy | |||
of this software and associated documentation files (the "Software"), to deal | |||
in the Software without restriction, including without limitation the rights | |||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |||
copies of the Software, and to permit persons to whom the Software is | |||
furnished to do so, subject to the following conditions: | |||
The above copyright notice and this permission notice shall be included in all | |||
copies or substantial portions of the Software. | |||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |||
SOFTWARE. | |||
*/ | |||
#ifndef SERIAL_LINK_BYTE_STUFFER_H | |||
#define SERIAL_LINK_BYTE_STUFFER_H | |||
#include <stdint.h> | |||
void init_byte_stuffer(void); | |||
void byte_stuffer_recv_byte(uint8_t link, uint8_t data); | |||
void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size); | |||
#endif |
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/* | |||
The MIT License (MIT) | |||
Copyright (c) 2016 Fred Sundvik | |||
Permission is hereby granted, free of charge, to any person obtaining a copy | |||
of this software and associated documentation files (the "Software"), to deal | |||
in the Software without restriction, including without limitation the rights | |||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |||
copies of the Software, and to permit persons to whom the Software is | |||
furnished to do so, subject to the following conditions: | |||
The above copyright notice and this permission notice shall be included in all | |||
copies or substantial portions of the Software. | |||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |||
SOFTWARE. | |||
*/ | |||
#include "serial_link/protocol/frame_router.h" | |||
#include "serial_link/protocol/transport.h" | |||
#include "serial_link/protocol/frame_validator.h" | |||
static bool is_master; | |||
void router_set_master(bool master) { | |||
is_master = master; | |||
} | |||
void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size){ | |||
if (is_master) { | |||
if (link == DOWN_LINK) { | |||
transport_recv_frame(data[size-1], data, size - 1); | |||
} | |||
} | |||
else { | |||
if (link == UP_LINK) { | |||
if (data[size-1] & 1) { | |||
transport_recv_frame(0, data, size - 1); | |||
} | |||
data[size-1] >>= 1; | |||
validator_send_frame(DOWN_LINK, data, size); | |||
} | |||
else { | |||
data[size-1]++; | |||
validator_send_frame(UP_LINK, data, size); | |||
} | |||
} | |||
} | |||
void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) { | |||
if (destination == 0) { | |||
if (!is_master) { | |||
data[size] = 1; | |||
validator_send_frame(UP_LINK, data, size + 1); | |||
} | |||
} | |||
else { | |||
if (is_master) { | |||
data[size] = destination; | |||
validator_send_frame(DOWN_LINK, data, size + 1); | |||
} | |||
} | |||
} |
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/* | |||
The MIT License (MIT) | |||
Copyright (c) 2016 Fred Sundvik | |||
Permission is hereby granted, free of charge, to any person obtaining a copy | |||
of this software and associated documentation files (the "Software"), to deal | |||
in the Software without restriction, including without limitation the rights | |||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |||
copies of the Software, and to permit persons to whom the Software is | |||
furnished to do so, subject to the following conditions: | |||
The above copyright notice and this permission notice shall be included in all | |||
copies or substantial portions of the Software. | |||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |||
SOFTWARE. | |||
*/ | |||
#ifndef SERIAL_LINK_FRAME_ROUTER_H | |||
#define SERIAL_LINK_FRAME_ROUTER_H | |||
#include <stdint.h> | |||
#include <stdbool.h> | |||
#define UP_LINK 0 | |||
#define DOWN_LINK 1 | |||
void router_set_master(bool master); | |||
void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size); | |||
void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size); | |||
#endif |
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/* | |||
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); | |||
} |
@ -0,0 +1,34 @@ | |||
/* | |||
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 |
@ -0,0 +1,30 @@ | |||
/* | |||
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 |
@ -0,0 +1,124 @@ | |||
/* | |||
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); | |||
} | |||
} | |||
} | |||
} |
@ -0,0 +1,151 @@ | |||
/* | |||
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 |
@ -0,0 +1,78 @@ | |||
/* | |||
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(); | |||
} |
@ -0,0 +1,51 @@ | |||
/* | |||
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 |
@ -0,0 +1,265 @@ | |||
/* | |||
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; | |||
} | |||
@ -0,0 +1,63 @@ | |||
/* | |||
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 |
@ -0,0 +1,61 @@ | |||
# 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))) |
@ -0,0 +1,506 @@ | |||
/* | |||
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]); | |||
} | |||
} |
@ -0,0 +1,231 @@ | |||
/* | |||
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)); | |||
} |
@ -0,0 +1,101 @@ | |||
/* | |||
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); | |||
} |
@ -0,0 +1,168 @@ | |||
/* | |||
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)); | |||
} |
@ -0,0 +1,82 @@ | |||
/* | |||
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)); | |||
} |
@ -0,0 +1,34 @@ | |||
# 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) |