Add 'quantum/serial_link/' from commit 'a20d513e3cdacbf6e0e70a80402497ad10166434'
git-subtree-dir: quantum/serial_link git-subtree-mainline:master7d28d6a7bcgit-subtree-split:a20d513e3c
Fred Sundvik
commit
639cdd363e
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*.stackdump
|
||||
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|
|||
[submodule "cgreen/cgreen"]
|
||||
path = cgreen/cgreen
|
||||
url = http://github.com/cgreen-devs/cgreen
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
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.
|
||||
|
|
@ -0,0 +1 @@
|
|||
# tmk_serial_link
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
# 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:
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
# 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:
|
||||
|
|
@ -0,0 +1 @@
|
|||
Subproject commit d4d438dda1b7131f0bd0530b2c258e9dea6a2a9f
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
# 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
|
||||
|
|
@ -0,0 +1,145 @@
|
|||
/*
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
|
@ -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_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
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
/*
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
/*
|
||||
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
|
||||
|
|
@ -0,0 +1,121 @@
|
|||
/*
|
||||
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)
|
||||
Loading…
Reference in New Issue