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152 lines
6.2 KiB
152 lines
6.2 KiB
/*
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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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#pragma once
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#include "serial_link/protocol/triple_buffered_object.h"
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#include "serial_link/system/serial_link.h"
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#define NUM_SLAVES 8
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#define LOCAL_OBJECT_EXTRA 16
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// master -> slave = 1 local(target all), 1 remote object
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// slave -> master = 1 local(target 0), multiple remote objects
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// master -> single slave (multiple local, target id), 1 remote object
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typedef enum {
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MASTER_TO_ALL_SLAVES,
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MASTER_TO_SINGLE_SLAVE,
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SLAVE_TO_MASTER,
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} remote_object_type;
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typedef struct {
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remote_object_type object_type;
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uint16_t object_size;
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uint8_t buffer[] __attribute__((aligned(4)));
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} remote_object_t;
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#define REMOTE_OBJECT_SIZE(objectsize) \
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(sizeof(triple_buffer_object_t) + objectsize * 3)
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#define LOCAL_OBJECT_SIZE(objectsize) \
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(sizeof(triple_buffer_object_t) + (objectsize + LOCAL_OBJECT_EXTRA) * 3)
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#define REMOTE_OBJECT_HELPER(name, type, num_local, num_remote) \
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typedef struct { \
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remote_object_t object; \
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uint8_t buffer[ \
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num_remote * REMOTE_OBJECT_SIZE(sizeof(type)) + \
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num_local * LOCAL_OBJECT_SIZE(sizeof(type))]; \
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} remote_object_##name##_t;
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#define MASTER_TO_ALL_SLAVES_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, 1, 1) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.object_type = MASTER_TO_ALL_SLAVES, \
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.object_size = sizeof(type), \
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} \
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}; \
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type* begin_write_##name(void) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
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return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
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}\
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void end_write_##name(void) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
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triple_buffer_end_write_internal(tb); \
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signal_data_written(); \
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}\
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type* read_##name(void) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);\
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
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return (type*)triple_buffer_read_internal(obj->object_size, tb); \
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}
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#define MASTER_TO_SINGLE_SLAVE_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, NUM_SLAVES, 1) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.object_type = MASTER_TO_SINGLE_SLAVE, \
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.object_size = sizeof(type), \
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} \
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}; \
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type* begin_write_##name(uint8_t slave) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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uint8_t* start = obj->buffer;\
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start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
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return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
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}\
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void end_write_##name(uint8_t slave) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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uint8_t* start = obj->buffer;\
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start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
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triple_buffer_end_write_internal(tb); \
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signal_data_written(); \
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}\
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type* read_##name() { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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uint8_t* start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);\
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
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return (type*)triple_buffer_read_internal(obj->object_size, tb); \
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}
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#define SLAVE_TO_MASTER_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, 1, NUM_SLAVES) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.object_type = SLAVE_TO_MASTER, \
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.object_size = sizeof(type), \
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} \
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}; \
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type* begin_write_##name(void) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
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return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
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}\
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void end_write_##name(void) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)obj->buffer; \
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triple_buffer_end_write_internal(tb); \
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signal_data_written(); \
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}\
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type* read_##name(uint8_t slave) { \
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remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
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uint8_t* start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);\
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start+=slave * REMOTE_OBJECT_SIZE(obj->object_size); \
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triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
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return (type*)triple_buffer_read_internal(obj->object_size, tb); \
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}
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#define REMOTE_OBJECT(name) (remote_object_t*)&remote_object_##name
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void add_remote_objects(remote_object_t** remote_objects, uint32_t num_remote_objects);
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void reinitialize_serial_link_transport(void);
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void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size);
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void update_transport(void);
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