122 lines
5.3 KiB
C
122 lines
5.3 KiB
C
/*
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The MIT License (MIT)
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Copyright (c) 2016 Fred Sundvik
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#include "serial_link/protocol/transport.h"
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#include "serial_link/protocol/frame_router.h"
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#include "serial_link/protocol/triple_buffered_object.h"
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#include <string.h>
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#define MAX_REMOTE_OBJECTS 16
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static remote_object_t* remote_objects[MAX_REMOTE_OBJECTS];
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static uint32_t num_remote_objects = 0;
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void reinitialize_serial_link_transport(void) { num_remote_objects = 0; }
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void add_remote_objects(remote_object_t** _remote_objects, uint32_t _num_remote_objects) {
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unsigned int i;
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for (i = 0; i < _num_remote_objects; i++) {
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remote_object_t* obj = _remote_objects[i];
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remote_objects[num_remote_objects++] = obj;
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if (obj->object_type == MASTER_TO_ALL_SLAVES) {
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer;
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triple_buffer_init(tb);
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uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
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tb = (triple_buffer_object_t*)start;
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triple_buffer_init(tb);
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} else if (obj->object_type == MASTER_TO_SINGLE_SLAVE) {
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uint8_t* start = obj->buffer;
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unsigned int j;
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for (j = 0; j < NUM_SLAVES; j++) {
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
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triple_buffer_init(tb);
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start += LOCAL_OBJECT_SIZE(obj->object_size);
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}
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
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triple_buffer_init(tb);
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} else {
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uint8_t* start = obj->buffer;
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
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triple_buffer_init(tb);
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start += LOCAL_OBJECT_SIZE(obj->object_size);
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unsigned int j;
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for (j = 0; j < NUM_SLAVES; j++) {
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tb = (triple_buffer_object_t*)start;
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triple_buffer_init(tb);
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start += REMOTE_OBJECT_SIZE(obj->object_size);
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}
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}
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}
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}
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void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
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uint8_t id = data[size - 1];
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if (id < num_remote_objects) {
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remote_object_t* obj = remote_objects[id];
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if (obj->object_size == size - 1) {
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uint8_t* start;
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if (obj->object_type == MASTER_TO_ALL_SLAVES) {
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start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
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} else if (obj->object_type == SLAVE_TO_MASTER) {
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start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
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start += (from - 1) * REMOTE_OBJECT_SIZE(obj->object_size);
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} else {
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start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);
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}
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
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void* ptr = triple_buffer_begin_write_internal(obj->object_size, tb);
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memcpy(ptr, data, size - 1);
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triple_buffer_end_write_internal(tb);
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}
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}
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}
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void update_transport(void) {
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unsigned int i;
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for (i = 0; i < num_remote_objects; i++) {
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remote_object_t* obj = remote_objects[i];
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if (obj->object_type == MASTER_TO_ALL_SLAVES || obj->object_type == SLAVE_TO_MASTER) {
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer;
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uint8_t* ptr = (uint8_t*)triple_buffer_read_internal(obj->object_size + LOCAL_OBJECT_EXTRA, tb);
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if (ptr) {
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ptr[obj->object_size] = i;
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uint8_t dest = obj->object_type == MASTER_TO_ALL_SLAVES ? 0xFF : 0;
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router_send_frame(dest, ptr, obj->object_size + 1);
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}
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} else {
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uint8_t* start = obj->buffer;
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unsigned int j;
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for (j = 0; j < NUM_SLAVES; j++) {
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
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uint8_t* ptr = (uint8_t*)triple_buffer_read_internal(obj->object_size + LOCAL_OBJECT_EXTRA, tb);
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if (ptr) {
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ptr[obj->object_size] = i;
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uint8_t dest = j + 1;
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router_send_frame(dest, ptr, obj->object_size + 1);
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}
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start += LOCAL_OBJECT_SIZE(obj->object_size);
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}
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}
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}
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}
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