19 files changed, 79 insertions(+), 42 deletions(-)

M serial_link.mk
M serial_link/protocol/byte_stuffer.c
M serial_link/protocol/byte_stuffer.h
M serial_link/protocol/frame_router.c
M serial_link/protocol/frame_router.h
M serial_link/protocol/frame_validator.c
M serial_link/protocol/frame_validator.h
M serial_link/protocol/physical.h
M serial_link/protocol/transport.c
M serial_link/protocol/transport.h
M serial_link/protocol/triple_buffered_object.c
M serial_link/protocol/triple_buffered_object.h
M serial_link/system/system.h
M serial_link/tests/Makefile
M serial_link/tests/byte_stuffer_tests.c
M serial_link/tests/frame_router_tests.c
M serial_link/tests/frame_validator_tests.c
M serial_link/tests/transport_tests.c
M serial_link/tests/triple_buffered_object_tests.c

@@ 20,4 20,5 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-INC += $(SERIAL_DIR)>
\ No newline at end of file
+INC += $(SERIAL_DIR)
+SRC += $(wildcard $(SERIAL_DIR)/serial_link/protocol/*.c)<
\ No newline at end of file

@@ 22,10 22,10 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "protocol/byte_stuffer.h"
-#include "protocol/frame_validator.h"
-#include "protocol/physical.h"
-#include <stdio.h>
+#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

@@ 22,6 22,13 @@ 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

@@ 22,8 22,9 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "protocol/frame_router.h"
-#include "protocol/transport.h"
+#include "serial_link/protocol/frame_router.h"
+#include "serial_link/protocol/transport.h"
+#include "serial_link/protocol/frame_validator.h"
 
 static bool is_master;
 

@@ 22,9 22,17 @@ 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

@@ 22,9 22,10 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "protocol/frame_validator.h"
-#include "protocol/frame_router.h"
-#include "protocol/byte_stuffer.h"
+#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] =
 {

@@ 22,6 22,13 @@ 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

@@ 22,4 22,9 @@ 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

@@ 22,9 22,10 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "protocol/transport.h"
-#include "protocol/frame_router.h"
-#include "protocol/triple_buffered_object.h"
+#include "serial_link/protocol/transport.h"
+#include "serial_link/protocol/frame_router.h"
+#include "serial_link/protocol/triple_buffered_object.h"
+#include <string.h>
 
 static remote_object_t** remote_objects;
 static uint32_t num_remote_objects;


@@ 32,7 33,7 @@ static uint32_t num_remote_objects;
 void init_transport(remote_object_t** _remote_objects, uint32_t _num_remote_objects) {
     remote_objects = _remote_objects;
     num_remote_objects = _num_remote_objects;
-    int i;
+    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) {


@@ 44,7 45,7 @@ void init_transport(remote_object_t** _remote_objects, uint32_t _num_remote_obje
         }
         else if(obj->object_type == MASTER_TO_SINGLE_SLAVE) {
             uint8_t* start = obj->buffer;
-            int j;
+            unsigned int j;
             for (j=0;j<NUM_SLAVES;j++) {
                 triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
                 triple_buffer_init(tb);


@@ 58,7 59,7 @@ void init_transport(remote_object_t** _remote_objects, uint32_t _num_remote_obje
             triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
             triple_buffer_init(tb);
             start += LOCAL_OBJECT_SIZE(obj->object_size);
-            int j;
+            unsigned int j;
             for (j=0;j<NUM_SLAVES;j++) {
                 tb = (triple_buffer_object_t*)start;
                 triple_buffer_init(tb);


@@ 88,11 89,8 @@ void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
     triple_buffer_end_write_internal(tb);
 }
 
-uint32_t transport_send_frame(uint8_t to, uint8_t* data, uint16_t size) {
-}
-
 void update_transport(void) {
-    int i;
+    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) {


@@ 106,7 104,7 @@ void update_transport(void) {
         }
         else {
             uint8_t* start = obj->buffer;
-            int j;
+            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);

@@ 25,8 25,8 @@ SOFTWARE.
 #ifndef SERIAL_LINK_TRANSPORT_H
 #define SERIAL_LINK_TRANSPORT_H
 
-#include "protocol/triple_buffered_object.h"
-#include "system/system.h"
+#include "serial_link/protocol/triple_buffered_object.h"
+#include "serial_link/system/system.h"
 
 #define NUM_SLAVES 8
 #define LOCAL_OBJECT_EXTRA 16


@@ 146,7 146,6 @@ typedef struct { \
 
 void init_transport(remote_object_t** remote_objects, uint32_t num_remote_objects);
 void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size);
-uint32_t transport_send_frame(uint8_t to, uint8_t* data, uint16_t size);
 void update_transport(void);
 
 #endif

@@ 22,8 22,10 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "protocol/triple_buffered_object.h"
-#include "system/system.h"
+#include "serial_link/protocol/triple_buffered_object.h"
+#include "serial_link/system/system.h"
+#include <stdbool.h>
+#include <stddef.h>
 
 #define GET_READ_INDEX() object->state & 3
 #define GET_WRITE_INDEX() (object->state >> 2) & 3

@@ 25,6 25,8 @@ 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)));

@@ 25,12 25,18 @@ SOFTWARE.
 #ifndef SERIAL_LINK_SYSTEM_H
 #define SERIAL_LINK_SYSTEM_H
 
-void serial_link_lock() {
+inline void serial_link_lock(void) {
 }
 
-void serial_link_unlock() {
+inline void serial_link_unlock(void) {
 }
 
-void signal_data_written(void);
+void singal_data_written(void);
+
+#if defined(PROTOCOL_CHIBIOS)
+
+inline void signal_data_written(void) {
+}
+#endif
 
 #endif

@@ 22,7 22,7 @@
 
 CC = gcc
 CFLAGS	= 
-INCLUDES = -I. -I../
+INCLUDES = -I. -I../../
 LDFLAGS = -L$(BUILDDIR)/cgreen/build-c/src -shared
 LDLIBS = -lcgreen
 UNITOBJ = $(BUILDDIR)/serialtest/unitobj

@@ 24,10 24,10 @@ SOFTWARE.
 
 #include <cgreen/cgreen.h>
 #include <cgreen/mocks.h>
-#include "protocol/byte_stuffer.h"
-#include "protocol/byte_stuffer.c"
-#include "protocol/frame_validator.h"
-#include "protocol/physical.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;

@@ 24,10 24,10 @@ SOFTWARE.
 
 #include <cgreen/cgreen.h>
 #include <cgreen/mocks.h>
-#include "protocol/byte_stuffer.c"
-#include "protocol/frame_validator.c"
-#include "protocol/frame_router.c"
-#include "protocol/transport.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;

@@ 24,7 24,7 @@ SOFTWARE.
 
 #include <cgreen/cgreen.h>
 #include <cgreen/mocks.h>
-#include "protocol/frame_validator.c"
+#include "serial_link/protocol/frame_validator.c"
 
 void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size) {
     mock(data, size);

@@ 24,8 24,8 @@ SOFTWARE.
 
 #include <cgreen/cgreen.h>
 #include <cgreen/mocks.h>
-#include "protocol/transport.c"
-#include "protocol/triple_buffered_object.c"
+#include "serial_link/protocol/transport.c"
+#include "serial_link/protocol/triple_buffered_object.c"
 
 void signal_data_written(void) {
     mock();

@@ 23,7 23,7 @@ SOFTWARE.
 */
 
 #include <cgreen/cgreen.h>
-#include "protocol/triple_buffered_object.c"
+#include "serial_link/protocol/triple_buffered_object.c"
 
 typedef struct {
     uint8_t state;