diff --git a/Makefile b/Makefile index 5380c5da..3956d5f1 100644 --- a/Makefile +++ b/Makefile @@ -25,6 +25,7 @@ MISSION_PATH = mission CONFIG_PATH = fsfwconfig TEST_PATH = test UNITTEST_PATH = unittest +LIBCSP_PATH = libcsp # Board specific paths BSP_PATH = $(BOARD_FILE_ROOT) @@ -113,7 +114,7 @@ INCLUDES := # Directories where $(directoryname).mk files should be included from SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(BSP_PATH) $(UNITTEST_PATH)\ - $(CONFIG_PATH) $(MISSION_PATH) + $(CONFIG_PATH) $(MISSION_PATH) $(LIBCSP_PATH) # INCLUDES += framework/test/catch2 # ETL library include. diff --git a/README.md b/README.md index 71f7860e..f4d5c5f5 100644 --- a/README.md +++ b/README.md @@ -323,3 +323,28 @@ git merge upstream/master Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way. + +## PCDU +Connect to serial console of P60 Dock +```` +picocom -b 500000 /dev/ttyUSBx +```` +General information +```` +cmp ident +```` +List parameter table: +x values: 1,2 or 4 +```` +param table x +```` +Table 4 lists HK parameters +Changing parameters +First switch to table where parameter shall be changed (here table id is 1) +```` +p60-dock # param mem 1 +p60-dock # param set out_en[0] 1 +p60-dock # param get out_en[0] +GET out_en[0] = 1 +```` + diff --git a/bsp_linux/InitMission.cpp b/bsp_linux/InitMission.cpp index d076c680..c50a1d38 100644 --- a/bsp_linux/InitMission.cpp +++ b/bsp_linux/InitMission.cpp @@ -10,6 +10,7 @@ #include #include #include +#include #include @@ -125,16 +126,34 @@ void InitMission::initTasks(){ sif::error << "Object add component failed" << std::endl; } +// PeriodicTaskIF* P60DockTask = TaskFactory::instance()-> +// createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, +// 1.6, nullptr); +// result = P60DockTask->addComponent(objects::P60DOCK_HANDLER); +// if(result!=HasReturnvaluesIF::RETURN_OK){ +// sif::error << "Object add component failed" << std::endl; +// } + + FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()-> + createFixedTimeslotTask("GS_PST_TASK", 50, + PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr); + result = pst::gomspacePstInit(GomSpacePstTask); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: GomSpace PST initialization " + << "failed!" << std::endl; +} + #if ADD_TEST_CODE == 1 - FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> - createFixedTimeslotTask("PST_TEST_TASK", 10, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); - result = pst::pollingSequenceTestFunction(TestTimeslotTask); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::createTasks: Test PST initialization " - << "failed!" << std::endl; - } +// FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> +// createFixedTimeslotTask("PST_TEST_TASK", 10, +// PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); +// result = pst::pollingSequenceTestFunction(TestTimeslotTask); +// if(result != HasReturnvaluesIF::RETURN_OK) { +// sif::error << "InitMission::createTasks: Test PST initialization " +// << "failed!" << std::endl; +// } + #endif //Main thread sleep @@ -143,13 +162,18 @@ void InitMission::initTasks(){ UdpBridgeTask->startTask(); UdpPollingTask->startTask(); + GomSpacePstTask->startTask(); + PusVerification->startTask(); PusEvents->startTask(); PusHighPrio->startTask(); PusMedPrio->startTask(); PusLowPrio->startTask(); + +// P60DockTask->startTask(); + #if ADD_TEST_CODE == 1 - TestTimeslotTask->startTask(); +// TestTimeslotTask->startTask(); #endif sif::info << "Tasks started.." << std::endl; } diff --git a/bsp_linux/bsp_linux.mk b/bsp_linux/bsp_linux.mk index f7f9a469..93bfdc78 100644 --- a/bsp_linux/bsp_linux.mk +++ b/bsp_linux/bsp_linux.mk @@ -1,4 +1,6 @@ CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/comIF/cookies/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp) CSRC += $(wildcard $(CURRENTPATH)/*.c) CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) \ No newline at end of file diff --git a/bsp_linux/comIF/CspComIF.cpp b/bsp_linux/comIF/CspComIF.cpp new file mode 100644 index 00000000..83be2864 --- /dev/null +++ b/bsp_linux/comIF/CspComIF.cpp @@ -0,0 +1,211 @@ +#include "CspComIF.h" +#include +#include +#include +#include + +CspComIF::CspComIF(object_id_t objectId) : + SystemObject(objectId) { + +} + +CspComIF::~CspComIF() { +} + +ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) { + if(cookie == nullptr) { + return NULLPOINTER; + } + + CspCookie* cspCookie = dynamic_cast(cookie); + if(cspCookie == nullptr) { + return NULLPOINTER; + } + + /* Perform CAN and CSP initialization only once */ + if(cspDeviceMap.empty()){ + /* Define the memory to allocate for the CSP stack */ + int buf_count = 10; + int buf_size = 300; + /* Init CSP and CSP buffer system */ + if (csp_init(cspClientAddress) != CSP_ERR_NONE + || csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) { + sif::error << "Failed to init CSP\r\n" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + int promisc = 0; // Set filter mode on + csp_iface_t *csp_if_ptr = &csp_if; + csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc); + + /* Set default route and start router */ + uint8_t address = CSP_DEFAULT_ROUTE; + uint8_t netmask = 0; + uint8_t mac = CSP_NODE_MAC; + int result = csp_rtable_set(address, netmask, csp_if_ptr, mac); + if(result != CSP_ERR_NONE){ + sif::error << "Failed to add can interface to router table" + << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + /* Start the route task */ + unsigned int task_stack_size = 500; + unsigned int priority = 0; + result = csp_route_start_task(task_stack_size, priority); + if(result != CSP_ERR_NONE){ + sif::error << "Failed to start csp route task" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + } + + uint8_t cspAddress = cspCookie->getCspAddress(); + uint16_t maxReplyLength = cspCookie->getMaxReplyLength(); + if(cspDeviceMap.find(cspAddress) == cspDeviceMap.end()){ + /* Insert device information in CSP map */ + cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength)); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::sendMessage(CookieIF *cookie, + const uint8_t * sendData, size_t sendLen) { + int result; + if(cookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + CspCookie* cspCookie = dynamic_cast (cookie); + if(cspCookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + + /* Extract csp port and bytes to query from command buffer */ + uint8_t cspPort; + uint16_t querySize; + result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + uint8_t cspAddress = cspCookie->getCspAddress(); + switch(cspPort) { + case(Ports::CSP_PING): { + initiatePingRequest(cspAddress, querySize); + break; + } + case(Ports::CSP_REBOOT): { + csp_reboot(cspAddress); + break; + } + case(Ports::P60_PORT_GNDWDT_RESET): + case(Ports::P60_PORT_RPARAM): { + /* No CSP fixed port was selected. Send data to the specified port and + * wait for querySize number of bytes */ + result = cspTransfer(cspAddress, cspPort, sendData, sendLen, + querySize); + if(result != HasReturnvaluesIF::RETURN_OK){ + return HasReturnvaluesIF::RETURN_FAILED; + } + replySize = querySize; + break; + } + default: + sif::error << "CspComIF: Invalid port specified" << std::endl; + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::getSendSuccess(CookieIF *cookie) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::requestReceiveMessage(CookieIF *cookie, + size_t requestLen) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie, + uint8_t** buffer, size_t* size) { + if(cookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + CspCookie* cspCookie = dynamic_cast (cookie); + if(cspCookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + + uint8_t cspAddress = cspCookie->getCspAddress(); + + *buffer = cspDeviceMap[cspAddress].data(); + *size = replySize; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, + const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize) { + + uint32_t timeout_ms = 500; + vectorBufferIter iter = cspDeviceMap.find(cspAddress); + if(iter == cspDeviceMap.end()){ + sif::error << "CSP device with address " << cspAddress << " no found in" + << " device map" << std::endl; + } + uint8_t* replyBuffer = iter->second.data(); + uint8_t tmpCmdBuffer[cmdBufferLen]; + memcpy(tmpCmdBuffer, cmdBuffer, cmdBufferLen); + + csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, + CSP_O_NONE); + + int result = csp_transaction_persistent(conn, timeout_ms, + tmpCmdBuffer, cmdBufferLen, replyBuffer, querySize); + if(querySize != 0){ + if(result != querySize){ + sif::error << "CSP transfer failed to receive all requested bytes " + << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + } else { + if(result != 1){ + sif::error << "CSP transfer failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + } + + csp_close(conn); + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData, + size_t* sendLen, uint8_t* cspPort, uint16_t* querySize) { + ReturnValue_t result = SerializeAdapter::deSerialize(cspPort, sendData, + sendLen, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "CspComIF: Failed to deserialize CSP port from command " + << "buffer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + SerializeAdapter::deSerialize(querySize, sendData, sendLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "CspComIF: Failed to deserialize querySize from command " + << "buffer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize){ + uint32_t timeout_ms = 500; + uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, + CSP_O_NONE); + sif::info << "Ping address: " << cspAddress << ", reply after " + << replyTime << " ms" << std::endl; + /* Store reply time in reply buffer * */ + uint8_t* replyBuffer = cspDeviceMap[cspAddress].data(); + memcpy(replyBuffer, &replyTime, sizeof(replyTime)); + replySize = sizeof(replyTime); +} diff --git a/bsp_linux/comIF/CspComIF.h b/bsp_linux/comIF/CspComIF.h new file mode 100644 index 00000000..626b466c --- /dev/null +++ b/bsp_linux/comIF/CspComIF.h @@ -0,0 +1,89 @@ +#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ +#define BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ + +#include +#include +#include +#include + +#include +#include + +/** + * @brief This class serves as the communication interface to devices + * supporting the CSP protocol. As physical layer can0 is used + * in this implementation. + * @author J. Meier + */ +class CspComIF: public DeviceCommunicationIF, public SystemObject { +public: + CspComIF(object_id_t objectId); + virtual ~CspComIF(); + + ReturnValue_t initializeInterface(CookieIF * cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData, + size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, + size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, + uint8_t **readData, size_t *readLen) override; + +private: + + /** + * @brief This function initiates the CSP transfer. + * + * @param cspAddress The CSP address of the target device. + * @param cspPort The port of the target device. + * @param timeout The timeout to wait for csp_send and csp_read + * functions. Specifies how long the functions wait + * for a successful operation. + * @param cmdBuffer The data to send. + * @param cmpBuffer The number of bytes to send. + * @param querySize The size of the requested message. + */ + ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort, + const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize); + + enum Ports { + CSP_PING = 1, + CSP_REBOOT = 4, + P60_PORT_RPARAM = 7, + P60_PORT_GNDWDT_RESET = 9 + }; + + + typedef uint8_t node_t; + using vectorBuffer = std::vector; + using VectorBufferMap = std::unordered_map; + using vectorBufferIter = VectorBufferMap::iterator; + + /* In this map assigns reply buffers to a CSP device */ + VectorBufferMap cspDeviceMap; + + uint16_t replySize = 0; + + /* This is the CSP address of the OBC. */ + node_t cspClientAddress = 1; + + /* Interface struct for csp protocol stack */ + csp_iface_t csp_if; + + char canInterface[5] = "can0"; + int bitrate = 1000; + + /** + * @brief Function to extract the csp port and the query size from the + * command buffer. + */ + ReturnValue_t getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen, + uint8_t* cspPort, uint16_t* querySize); + + /** + * @brief This function initiates the ping request. + */ + void initiatePingRequest(uint8_t cspAddress, uint16_t querySize); +}; + +#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ */ diff --git a/bsp_linux/comIF/cookies/CspCookie.cpp b/bsp_linux/comIF/cookies/CspCookie.cpp new file mode 100644 index 00000000..18cfabd2 --- /dev/null +++ b/bsp_linux/comIF/cookies/CspCookie.cpp @@ -0,0 +1,16 @@ +#include "CspCookie.h" + +CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_) : + maxReplyLength(maxReplyLength_), cspAddress(cspAddress_) { +} + +CspCookie::~CspCookie() { +} + +uint16_t CspCookie::getMaxReplyLength(){ + return maxReplyLength; +} + +uint8_t CspCookie::getCspAddress(){ + return cspAddress; +} diff --git a/bsp_linux/comIF/cookies/CspCookie.h b/bsp_linux/comIF/cookies/CspCookie.h new file mode 100644 index 00000000..128926e5 --- /dev/null +++ b/bsp_linux/comIF/cookies/CspCookie.h @@ -0,0 +1,27 @@ +#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ +#define BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ + +#include +#include + +/** + * @brief This is the cookie for devices supporting the CSP (CubeSat Space + * Protocol). + * @author J. Meier + */ +class CspCookie: public CookieIF { +public: + + CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_); + virtual ~CspCookie(); + + uint16_t getMaxReplyLength(); + uint8_t getCspAddress(); + +private: + + uint16_t maxReplyLength; + uint8_t cspAddress; +}; + +#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ */ diff --git a/fsfwconfig/devices/logicalAddresses.cpp b/fsfwconfig/devices/addresses.cpp similarity index 52% rename from fsfwconfig/devices/logicalAddresses.cpp rename to fsfwconfig/devices/addresses.cpp index a6f0aa15..38877737 100644 --- a/fsfwconfig/devices/logicalAddresses.cpp +++ b/fsfwconfig/devices/addresses.cpp @@ -4,7 +4,7 @@ * \date 06.11.2019 */ -#include +#include "addresses.h" diff --git a/fsfwconfig/devices/addresses.h b/fsfwconfig/devices/addresses.h new file mode 100644 index 00000000..37d653fa --- /dev/null +++ b/fsfwconfig/devices/addresses.h @@ -0,0 +1,35 @@ +/** + * \file addresses.cpp + * + * \date 07.11.2019 + */ + +#ifndef FSFWCONFIG_DEVICES_ADDRESSES_H_ +#define FSFWCONFIG_DEVICES_ADDRESSES_H_ +#include +#include +#include + +namespace addresses { + /* Logical addresses have uint32_t datatype */ + enum logicalAddresses: address_t { + PCDU, + + /* Dummy and Test Addresses */ + DUMMY_ECHO = 129, + DUMMY_GPS0 = 130, + DUMMY_GPS1 = 131, + }; + + /* Addresses of devices supporting the CSP protocol */ + enum cspAddresses: uint8_t { + P60DOCK = 4, + ACU = 2, + PDU1 = 3, + /* PDU2 occupies X4 slot of P60Dock */ + PDU2 = 6 + }; +} + + +#endif /* FSFWCONFIG_DEVICES_ADDRESSES_H_ */ diff --git a/fsfwconfig/devices/logicalAddresses.h b/fsfwconfig/devices/logicalAddresses.h deleted file mode 100644 index 922c9ce1..00000000 --- a/fsfwconfig/devices/logicalAddresses.h +++ /dev/null @@ -1,26 +0,0 @@ -/** - * \file logicalAddresses.cpp - * - * \date 07.11.2019 - */ - -#ifndef FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ -#define FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ -#include -#include -#include - -namespace addresses { - /* Logical addresses have uint32_t datatype */ - enum logicalAddresses: address_t { - PCDU, - - /* Dummy and Test Addresses */ - DUMMY_ECHO = 129, - DUMMY_GPS0 = 130, - DUMMY_GPS1 = 131, - }; -} - - -#endif /* FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ */ diff --git a/fsfwconfig/objects/systemObjectList.h b/fsfwconfig/objects/systemObjectList.h index 05ed2c52..a5863380 100644 --- a/fsfwconfig/objects/systemObjectList.h +++ b/fsfwconfig/objects/systemObjectList.h @@ -26,9 +26,17 @@ namespace objects { TEST_TASK = 0x42694269, DUMMY_INTERFACE = 0xCAFECAFE, DUMMY_HANDLER = 0x4400AFFE, + P60DOCK_TEST_TASK = 0x00005060, /* 0x49 ('I') for Communication Interfaces **/ - ARDUINO_COM_IF = 0x49000001 + ARDUINO_COM_IF = 0x49000001, + CSP_COM_IF = 0x49000002, + + /* 0x44 ('D') for device handlers */ + P60DOCK_HANDLER = 0x44000001, + PDU1_HANDLER = 0x44000002, + PDU2_HANDLER = 0x44000003, + ACU_HANDLER = 0x44000004 }; } diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp index 22c00034..8a14cbb3 100644 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp +++ b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp @@ -28,3 +28,61 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) } } +ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ + + uint32_t length = thisSequence->getPeriodMs(); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0, DeviceHandlerIF::SEND_WRITE); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.25, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.25, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.25, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.25, DeviceHandlerIF::GET_WRITE); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.5, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.5, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.5, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.5, DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.75, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.75, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.75, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.75, DeviceHandlerIF::GET_READ); + + if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { + return HasReturnvaluesIF::RETURN_OK; + } + else { + sif::error << "Initialization of GomSpace PST failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } +} + diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.h b/fsfwconfig/pollingsequence/PollingSequenceFactory.h index b6cc2f1e..0b12e6b8 100644 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.h +++ b/fsfwconfig/pollingsequence/PollingSequenceFactory.h @@ -26,6 +26,13 @@ namespace pst { /* 0.4 second period init*/ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence); +/** + * @brief This function creates the PST for all gomspace devices. They are + * scheduled in a separate PST because the gomspace library uses + * blocking calls when requesting data from devices. + */ +ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence); } + #endif /* POLLINGSEQUENCEINIT_H_ */ diff --git a/libcsp/bindings/python/libcsp/__init__.py b/libcsp/bindings/python/libcsp/__init__.py new file mode 100644 index 00000000..39de36b5 --- /dev/null +++ b/libcsp/bindings/python/libcsp/__init__.py @@ -0,0 +1,6 @@ +import sys + +if sys.version_info >= (3, 0): + from libcsp_py3 import * +else: + from libcsp_py2 import * diff --git a/libcsp/doc/example.rst b/libcsp/doc/example.rst new file mode 100644 index 00000000..b82a055e --- /dev/null +++ b/libcsp/doc/example.rst @@ -0,0 +1,123 @@ +Client and server example +========================= + +The following examples show the initialization of the protocol stack and examples of client/server code. + +Initialization Sequence +----------------------- + +This code initializes the CSP buffer system, device drivers and router core. The example uses the CAN interface function csp_can_tx but the initialization is similar for other interfaces. The loopback interface does not require any explicit initialization. + +.. code-block:: c + + #include + #include + + /* CAN configuration struct for SocketCAN interface "can0" */ + struct csp_can_config can_conf = {.ifc = "can0"}; + + /* Init buffer system with 10 packets of maximum 320 bytes each */ + csp_buffer_init(10, 320); + + /* Init CSP with address 1 */ + csp_init(1); + + /* Init the CAN interface with hardware filtering */ + csp_can_init(CSP_CAN_MASKED, &can_conf) + + /* Setup default route to CAN interface */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_can_tx, CSP_HOST_MAC); + + /* Start router task with 500 word stack, OS task priority 1 */ + csp_route_start_task(500, 1); + +Server +------ + +This example shows how to create a server task that listens for incoming connections. CSP should be initialized before starting this task. Note the use of `csp_service_handler()` as the default branch in the port switch case. The service handler will automatically reply to ICMP-like requests, such as pings and buffer status requests. + +.. code-block:: c + + void csp_task(void *parameters) { + /* Create socket without any socket options */ + csp_socket_t *sock = csp_socket(CSP_SO_NONE); + + /* Bind all ports to socket */ + csp_bind(sock, CSP_ANY); + + /* Create 10 connections backlog queue */ + csp_listen(sock, 10); + + /* Pointer to current connection and packet */ + csp_conn_t *conn; + csp_packet_t *packet; + + /* Process incoming connections */ + while (1) { + /* Wait for connection, 10000 ms timeout */ + if ((conn = csp_accept(sock, 10000)) == NULL) + continue; + + /* Read packets. Timout is 1000 ms */ + while ((packet = csp_read(conn, 1000)) != NULL) { + switch (csp_conn_dport(conn)) { + case MY_PORT: + /* Process packet here */ + default: + /* Let the service handler reply pings, buffer use, etc. */ + csp_service_handler(conn, packet); + break; + } + } + + /* Close current connection, and handle next */ + csp_close(conn); + } + } + +Client +------ + +This example shows how to allocate a packet buffer, connect to another host and send the packet. CSP should be initialized before calling this function. RDP, XTEA, HMAC and CRC checksums can be enabled per connection, by setting the connection option to a bitwise OR of any combination of `CSP_O_RDP`, `CSP_O_XTEA`, `CSP_O_HMAC` and `CSP_O_CRC`. + +.. code-block:: c + + int send_packet(void) { + + /* Get packet buffer for data */ + csp_packet_t *packet = csp_buffer_get(data_size); + if (packet == NULL) { + /* Could not get buffer element */ + printf("Failed to get buffer element\\n"); + return -1; + } + + /* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */ + csp_conn_t *conn = csp_connect(CSP_PRIO_NORM, HOST, PORT, 1000, CSP_O_NONE); + if (conn == NULL) { + /* Connect failed */ + printf("Connection failed\\n"); + /* Remember to free packet buffer */ + csp_buffer_free(packet); + return -1; + } + + /* Copy message to packet */ + char *msg = "HELLO"; + strcpy(packet->data, msg); + + /* Set packet length */ + packet->length = strlen(msg); + + /* Send packet */ + if (!csp_send(conn, packet, 1000)) { + /* Send failed */ + printf("Send failed\\n"); + csp_buffer_free(packet); + } + + /* Close connection */ + csp_close(conn); + + return 0 + } diff --git a/libcsp/doc/history.rst b/libcsp/doc/history.rst new file mode 100644 index 00000000..ad064873 --- /dev/null +++ b/libcsp/doc/history.rst @@ -0,0 +1,17 @@ +History +======= + +The idea was developed by a group of students from Aalborg University in 2008. In 2009 the main developer started working for GomSpace, and CSP became integrated into the GomSpace products. The protocol is based on a 32-bit header containing both transport, network and MAC-layer information. It's implementation is designed for, but not limited to, embedded systems such as the 8-bit AVR microprocessor and the 32-bit ARM and AVR from Atmel. The implementation is written in C and is currently ported to run on FreeRTOS and POSIX and pthreads based operating systems like Linux and BSD. The three letter acronym CSP was originally an abbreviation for CAN Space Protocol because the first MAC-layer driver was written for CAN-bus. Now the physical layer has extended to include spacelink, I2C and RS232, the name was therefore extended to the more general CubeSat Space Protocol without changing the abbreviation. + +Satellites using CSP +-------------------- + +This is the known list of satellites or organisations that uses CSP. + + * GomSpace GATOSS GOMX-1 + * AAUSAT-3 + * EgyCubeSat + * EuroLuna + * NUTS + * Hawaiian Space Flight Laboratory + * GomSpace GOMX-3 diff --git a/libcsp/doc/interfaces.rst b/libcsp/doc/interfaces.rst new file mode 100644 index 00000000..5a80325c --- /dev/null +++ b/libcsp/doc/interfaces.rst @@ -0,0 +1,95 @@ +CSP Interfaces +============== + +This is an example of how to implement a new layer-2 interface in CSP. The example is going to show how to create a `csp_if_fifo`, using a set of [named pipes](http://en.wikipedia.org/wiki/Named_pipe). The complete interface example code can be found in `examples/fifo.c`. For an example of a fragmenting interface, see the CAN interface in `src/interfaces/csp_if_can.c`. + +CSP interfaces are declared in a `csp_iface_t` structure, which sets the interface nexthop function and name. A maximum transmission unit can also be set, which forces CSP to drop outgoing packets above a certain size. The fifo interface is defined as: + +.. code-block:: c + + #include + #include + + csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, + }; + +Outgoing traffic +---------------- + +The nexthop function takes a pointer to a CSP packet and a timeout as parameters. All outgoing packets that are routed to the interface are passed to this function: + +.. code-block:: c + + int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout) { + write(tx_channel, &packet->length, packet->length + sizeof(uint32_t) + sizeof(uint16_t)); + csp_buffer_free(packet); + return 1; + } + +In the fifo interface, we simply transmit the header, length field and data using a write to the fifo. CSP does not dictate the wire format, so other interfaces may decide to e.g. ignore the length field if the physical layer provides start/stop flags. + +_Important notice: If the transmission succeeds, the interface must free the packet and return 1. If transmission fails, the nexthop function should return 0 and not free the packet, to allow retransmissions by the caller._ + +Incoming traffic +---------------- + +The interface also needs to receive incoming packets and pass it to the CSP protocol stack. In the fifo interface, this is handled by a thread that blocks on the incoming fifo and waits for packets: + +.. code-block:: c + + void * fifo_rx(void * parameters) { + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + /* Wait for packet on fifo */ + while (read(rx_channel, &buf->length, BUF_SIZE) > 0) { + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + } + +A new CSP buffer is preallocated with csp_buffer_get(). When data is received, the packet is passed to CSP using `csp_qfifo_write()` and a new buffer is allocated for the next packet. In addition to the received packet, `csp_qfifo_write()` takes two additional arguments: + +.. code-block:: c + + void csp_qfifo_write(csp_packet_t *packet, csp_iface_t *interface, CSP_BASE_TYPE *pxTaskWoken); + +The calling interface must be passed in `interface` to avoid routing loops. Furthermore, `pxTaskWoken` must be set to a non-NULL value if the packet is received in an interrupt service routine. If the packet is received in task context, NULL must be passed. 'pxTaskWoken' only applies to FreeRTOS systems, and POSIX system should always set the value to NULL. + +`csp_qfifo_write` will either accept the packet or free the packet buffer, so the interface must never free the packet after passing it to CSP. + +Initialization +-------------- + +In order to initialize the interface, and make it available to the router, use the following function found in `csp/csp_interface.h`: + +.. code-block:: c + + csp_route_add_if(&csp_if_fifo); + +This actually happens automatically if you try to call `csp_route_add()` with an interface that is unknown to the router. This may however be removed in the future, in order to ensure that all interfaces are initialised before configuring the routing table. The reason is, that some products released in the future may ship with an empty routing table, which is then configured by a routing protocol rather than a static configuration. + +In order to setup a manual static route, use the following example where the default route is set to the fifo interface: + +.. code-block:: c + + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + +All outgoing traffic except loopback, is now passed to the fifo interface's nexthop function. + +Building the example +-------------------- + +The fifo examples can be compiled with: + +.. code-block:: bash + + % gcc csp_if_fifo.c -o csp_if_fifo -I/include -L/build -lcsp -lpthread -lrt + +The two named pipes are created with: + +.. code-block:: bash + + % mkfifo server_to_client client_to_server + diff --git a/libcsp/doc/libcsp.rst b/libcsp/doc/libcsp.rst new file mode 100644 index 00000000..f866015f --- /dev/null +++ b/libcsp/doc/libcsp.rst @@ -0,0 +1,21 @@ +.. CSP Documentation master file. + +.. _libcsp: + +********************** +CubeSat Space Protocol +********************** + +.. toctree:: + :maxdepth: 3 + + ../README + history + structure + interfaces + memory + protocolstack + topology + mtu + example + diff --git a/libcsp/doc/memory.rst b/libcsp/doc/memory.rst new file mode 100644 index 00000000..4e38d711 --- /dev/null +++ b/libcsp/doc/memory.rst @@ -0,0 +1,28 @@ +How CSP uses memory +=================== + +CSP has been written for small microprocessor systems. The way memory is handled is therefore a tradeoff between the amount used and the code efficiency. This section tries to give some answers to what the memory is used for and how it it used. The primary memory blocks in use by CSP is: + + * Routing table + * Ports table + * Connection table + * Buffer pool + * Interface list + +Tables +------ +The reason for using tables for the routes, ports and connections is speed. When a new packet arrives the core of CSP needs to do a quick lookup in the connection so see if it can find an existing connection to which the packet matches. If this is not found, it will take a lookup in the ports table to see if there are any applications listening on the incoming port number. Another argument of using tables are pre-allocation. The linker will reserve an area of the memory for which the routes and connections can be stored. This avoid an expensive `malloc()` call during initialization of CSP, and practically costs zero CPU instructions. The downside of using tables are the wasted memory used by unallocated ports and connections. For the routing table the argumentation is the same, pre-allocation is better than calling `malloc()`. + +Buffer Pool +----------- + +The buffer handling system can be compiled for either static allocation or a one-time dynamic allocation of the main memory block. After this, the buffer system is entirely self-contained. All allocated elements are of the same size, so the buffer size must be chosen to be able to handle the maximum possible packet length. The buffer pool uses a queue to store pointers to free buffer elements. First of all, this gives a very quick method to get the next free element since the dequeue is an O(1) operation. Furthermore, since the queue is a protected operating system primitive, it can be accessed from both task-context and interrupt-context. The `csp_buffer_get` version is for task-context and `csp_buffer_get_isr` is for interrupt-context. Using fixed size buffer elements that are preallocated is again a question of speed and safety. + + +A basic concept of the buffer system is called Zero-Copy. This means that from userspace to the kernel-driver, the buffer is never copied from one buffer to another. This is a big deal for a small microprocessor, where a call to `memcpy()` can be very expensive. In practice when data is inserted into a packet, it is shifted a certain number of bytes in order to allow for a packet header to be prepended at the lower layers. This also means that there is a strict contract between the layers, which data can be modified and where. The buffer object is normally casted to a `csp_packet_t`, but when its given to an interface on the MAC layer it's casted to a `csp_i2c_frame_t` for example. + +Interface list +-------------- + +The interface list is a simple single-ended linked list of references to the interface specification structures. These structures are static const and allocated by the linker. The pointer to this data is inserted into the list one time during setup of the interface. Each entry in the routing table has a direct pointer to the interface element, thereby avoiding list lookup, but the list is needed in order for the dynamic route configuration to know which interfaces are available. + diff --git a/libcsp/doc/mtu.rst b/libcsp/doc/mtu.rst new file mode 100644 index 00000000..27753300 --- /dev/null +++ b/libcsp/doc/mtu.rst @@ -0,0 +1,19 @@ +Maximum Transfer Unit +===================== + +There are two things limiting the MTU of CSP. + + 1. The pre-allocated buffer pool’s allocation size + 2. The link layer protocol. + +So let’s assume that you have made a protocol called KISS with a MTU of 256. The 256 is the total amount of data that you can put into the CSP-packet. However, you need to take the overhead of the link layer into account. Typically this could consist of a length field and/or a start/stop flag. So the actual frame size on the link layer would for example be 256 bytes of data + 2 bytes sync flag + 2 bytes length field. + +This requires a buffer allocation of at lest 256 + 2 + 2. However, the CSP packet itself has some reserved bytes in the beginning of the packet (which you can see in csp.h) - so the recommended buffer allocation size is MAX MTU + 16 bytes. In this case the max MTU would be 256. + +If you try to pass data which is longer than the MTU, the chance is that you will also make a buffer overflow in the CSP buffer pool. However, lets assume that you have two interfaces one with an MTU of 200 bytes and another with an MTU of 100 bytes. In this case you might successfully transfer 150 bytes over the first interface, but the packet will be rejected once it comes to the second interface. + +If you want to increase your MTU of a specific link layer, it is up to the link layer protocol to implement its own fragmentation protocol. A good example is CAN-bus which only allows a frame size of 8 bytes. libcsp have a small protocol for this called the “CAN fragmentation protocol" or CFP for short. This allows data of much larger size to be transferred over the CAN bus. + +Okay, but what if you want to transfer 1000 bytes, and the network maximum MTU is 256? Well, since CSP does not include streaming sockets, only packet’s. Somebody will have to split that data up into chunks. It might be that you application have special knowledge about the datatype you are transmitting, and that it makes sense to split the 1000 byte content into 10 chunks of 100 byte status messages. This, application layer delimitation might be good if you have a situation with packet loss, because your receiver could still make good usage of the partially delivered chunks. + +But, what if you just want 1000 bytes transmitted, and you don’t care about the fragmentation unit, and also don’t want the hassle of writing the fragmentation code yourself? - In this case, libcsp now features a new (still experimental) feature called SFP (small fragmentation protocol) designed to work on the application layer. For this purpose you will not use csp_send and csp_recv, but csp_sfp_send and csp_sfp_recv. This will split your data into chunks of a certain size, enumerate them and transfer over a given connection. If a chunk is missing the SFP client will abort the reception, because SFP does not provide retransmission. If you wish to also have retransmission and orderly delivery you will have to open an RDP connection and send your SFP message to that connection. diff --git a/libcsp/doc/protocolstack.rst b/libcsp/doc/protocolstack.rst new file mode 100644 index 00000000..365aabbe --- /dev/null +++ b/libcsp/doc/protocolstack.rst @@ -0,0 +1,54 @@ +The Protocol Stack +================== + +The CSP protocol stack includes functionality on all layers of the TCP/IP model: + +Layer 1: Drivers +---------------- + +Lib CSP is not designed for any specific processor or hardware peripheral, but yet these drivers are required in order to work. The intention of LibCSP is not to provide CAN, I2C or UART drivers for all platforms, however some drivers has been included for some platforms. If you do not find your platform supported, it is quite simple to add a driver that conforms to the CSP interfaces. For example the I2C driver just requires three functions: `init`, `send` and `recv`. For good stability and performance interrupt driven drivers are preferred in favor of polled drivers. Where applicable also DMA usage is recommended. + +Layer 2: MAC interfaces +----------------------- + +CSP has interfaces for I2C, CAN, RS232 (KISS) and Loopback. The layer 2 protocol software defines a frame-format that is suitable for the media. CSP can be easily extended with implementations for even more links. For example a radio-link and IP-networks. The file `csp_interface.h` declares the rx and tx functions needed in order to define a network interface in CSP. During initialisation of CSP each interface will be inserted into a linked list of interfaces that is available to the router. In cases where link-layer addresses are required, such as I2C, the routing table supports specifying next-hop link-layer address directly. This avoids the need to implement an address resolution protocol to translate CSP addresses to I2C addresses. + +Layer 3: Network Router +----------------------- + +The router core is the backbone of the CSP implementation. The router works by looking at a 32-bit CSP header which contains the delivery and source address together with port numbers for the connection. Each router supports both local delivery and forwarding of frames to another destination. Frames will never exit the router on the same interface that they arrives at, this concept is called split horizon, and helps prevent routing loops. + +The main purpose of the router is to accept incoming packets and deliver them to the right message queue. Therefore, in order to listen on a port-number on the network, a task must create a socket and call the accept() call. This will make the task block and wait for incoming traffic, just like a web-server or similar. When an incoming connection is opened, the task is woken. Depending on the task-priority, the task can even preempt another task and start execution immediately. + +There is no routing protocol for automatic route discovery, all routing tables are pre-programmed into the subsystems. The table itself contains a separate route to each of the possible 32 nodes in the network and the additional default route. This means that the overall topology must be decided before putting sub-systems together, as explained in the `topology.md` file. However CSP has an extension on port zero CMP (CSP management protocol), which allows for over-the-network routing table configuration. This has the advantage that default routes could be changed if for example the primary radio fails, and the secondary should be used instead. + +Layer 4: Transport Layer +------------------------ + +LibCSP implements two different Transport Layer protocols, they are called UDP (unreliable datagram protocol) and RDP (reliable datagram protocol). The name UDP has not been chosen to be an exact replica of the UDP (user datagram protocol) known from the TCP/IP model, but they have certain similarities. + +The most important thing to notice is that CSP is entirely a datagram service. There is no stream based service like TCP. A datagram is defined a block of data with a specified size and structure. This block enters the transport layer as a single datagram and exits the transport layer in the other end as a single datagram. CSP preserves this structure all the way to the physical layer for I2C, KISS and Loopback interfaces are used. The CAN-bus interface has to fragment the datagram into CAN-frames of 8 bytes, however only a fully completed datagram will arrive at the receiver. + +UDP +^^^ + +UDP uses a simple transmission model without implicit hand-shaking dialogues for guaranteeing reliability, ordering, or data integrity. Thus, UDP provides an unreliable service and datagrams may arrive out of order, appear duplicated, or go missing without notice. UDP assumes that error checking and correction is either not necessary or performed in the application, avoiding the overhead of such processing at the network interface level. Time-sensitive applications often use UDP because dropping packets is preferable to waiting for delayed packets, which may not be an option in a real-time system. + +UDP is very practical to implement request/reply based communication where a single packet forms the request and a single packet forms the reply. In this case a typical request and wait protocol is used between the client and server, which will simply return an error if a reply is not received within a specified time limit. An error would normally lead to a retransmission of the request from the user or operator which sent the request. + +While UDP is very simple, it also has some limitations. Normally a human in the loop is a good thing when operating the satellite over UDP. But when it comes to larger file transfers, the human becomes the bottleneck. When a high-speed file transfer is initiated data acknowledgment should be done automatically in order to speed up the transfer. This is where the RDP protocol can help. + +RDP +^^^ +CSP provides a transport layer extension called RDP (reliable datagram protocol) which is an implementation of RFC908 and RFC1151. RDP provides a few additional features: + + * Three-way handshake + * Flow Control + * Data-buffering + * Packet re-ordering + * Retransmission + * Windowing + * Extended Acknowledgment + +For more information on this, please refer to RFC908. + diff --git a/libcsp/doc/structure.rst b/libcsp/doc/structure.rst new file mode 100644 index 00000000..4c9b515c --- /dev/null +++ b/libcsp/doc/structure.rst @@ -0,0 +1,27 @@ +Structure +========= +The Cubesat Space Protocol library is structured as shown in the following table: + +============================= ========================================================================= +**Folder** **Description** +============================= ========================================================================= +libcsp/include/csp Main include files +libcsp/include/csp/arch Architecture include files +libcsp/include/csp/interfaces Interface include files +libcsp/include/csp/drivers Drivers include files +libcsp/src Main modules for CSP: io, router, connections, services +libcsp/src/interfaces Interface modules for CAN, I2C, KISS, LOOP and ZMQHUB +libcsp/src/drivers/can Driver for CAN +libcsp/src/drivers/usart Driver for USART +libcsp/src/arch/freertos FreeRTOS architecture module +libcsp/src/arch/macosx Mac OS X architecture module +libcsp/src/arch/posix Posix architecture module +libcsp/src/arch/windows Windows architecture module +libcsp/src/rtable Routing table module +libcsp/transport Transport module, UDP and RDP +libcsp/crypto Crypto module +libcsp/utils Utilities +libcsp/bindings/python Python wrapper for libcsp +libcsp/examples CSP examples (source code) +libasf/doc The doc folder contains the source code for this documentation +============================= ========================================================================= diff --git a/libcsp/doc/topology.rst b/libcsp/doc/topology.rst new file mode 100644 index 00000000..e629c29e --- /dev/null +++ b/libcsp/doc/topology.rst @@ -0,0 +1,26 @@ +Network Topology +================ + +CSP uses a network oriented terminology similar to what is known from the Internet and the TCP/IP model. A CSP network can be configured for several different topologies. The most common topology is to create two segments, one for the Satellite and one for the Ground-Station. + +.. code-block:: none + + I2C BUS + _______________________________ + / | | | \ + +---+ +---+ +---+ +---+ +---+ + |OBC| |COM| |EPS| |PL1| |PL2| Nodes 0 - 7 (Space segment) + +---+ +---+ +---+ +---+ +---+ + ^ + | Radio + v + +---+ +----+ + |TNC| ------- | PC | Nodes 8 - 15 (Ground segment) + +---+ USB +----+ + + Node 9 Node 10 + +The address range, from 0 to 15, has been segmented into two equal size segments. This allows for easy routing in the network. All addresses starting with binary 1 is on the ground-segment, and all addresses starting with 0 is on the space segment. From CSP v1.0 the address space has been increased to 32 addresses, 0 to 31. But for legacy purposes, the old 0 to 15 is still used in most products. + +The network is configured using static routes initialised at boot-up of each sub-system. This means that the basic routing table must be assigned compile-time of each subsystem. However each node supports assigning an individual route to every single node in the network and can be changed run-time. This means that the network topology can be easily reconfigured after startup. + diff --git a/libcsp/examples/csp_if_fifo.c b/libcsp/examples/csp_if_fifo.c new file mode 100644 index 00000000..136fc3aa --- /dev/null +++ b/libcsp/examples/csp_if_fifo.c @@ -0,0 +1,165 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include + +#include +#include + +#define TYPE_SERVER 1 +#define TYPE_CLIENT 2 +#define PORT 10 +#define BUF_SIZE 250 + +pthread_t rx_thread; +int rx_channel, tx_channel; + +int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout); + +csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, +}; + +int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout) { + /* Write packet to fifo */ + if (write(tx_channel, &packet->length, packet->length + sizeof(uint32_t) + sizeof(uint16_t)) < 0) + printf("Failed to write frame\r\n"); + csp_buffer_free(packet); + return CSP_ERR_NONE; +} + +void * fifo_rx(void * parameters) { + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + /* Wait for packet on fifo */ + while (read(rx_channel, &buf->length, BUF_SIZE) > 0) { + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + + return NULL; +} + +int main(int argc, char **argv) { + + int me, other, type; + const char *message = "Testing CSP"; + const char *rx_channel_name; + const char *tx_channel_name; + csp_socket_t *sock; + csp_conn_t *conn; + csp_packet_t *packet; + + /* Run as either server or client */ + if (argc != 2) { + printf("usage: %s \r\n", argv[0]); + return -1; + } + + /* Set type */ + if (strcmp(argv[1], "server") == 0) { + me = 1; + other = 2; + tx_channel_name = "server_to_client"; + rx_channel_name = "client_to_server"; + type = TYPE_SERVER; + } else if (strcmp(argv[1], "client") == 0) { + me = 2; + other = 1; + tx_channel_name = "client_to_server"; + rx_channel_name = "server_to_client"; + type = TYPE_CLIENT; + } else { + printf("Invalid type. Must be either 'server' or 'client'\r\n"); + return -1; + } + + /* Init CSP and CSP buffer system */ + if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) { + printf("Failed to init CSP\r\n"); + return -1; + } + + tx_channel = open(tx_channel_name, O_RDWR); + if (tx_channel < 0) { + printf("Failed to open TX channel\r\n"); + return -1; + } + + rx_channel = open(rx_channel_name, O_RDWR); + if (rx_channel < 0) { + printf("Failed to open RX channel\r\n"); + return -1; + } + + /* Start fifo RX task */ + pthread_create(&rx_thread, NULL, fifo_rx, NULL); + + /* Set default route and start router */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + /* Create socket and listen for incoming connections */ + if (type == TYPE_SERVER) { + sock = csp_socket(CSP_SO_NONE); + csp_bind(sock, PORT); + csp_listen(sock, 5); + } + + /* Super loop */ + while (1) { + if (type == TYPE_SERVER) { + /* Process incoming packet */ + conn = csp_accept(sock, 1000); + if (conn) { + packet = csp_read(conn, 0); + if (packet) + printf("Received: %s\r\n", packet->data); + csp_buffer_free(packet); + csp_close(conn); + } + } else { + /* Send a new packet */ + packet = csp_buffer_get(strlen(message)); + if (packet) { + strcpy((char *) packet->data, message); + packet->length = strlen(message); + + conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE); + printf("Sending: %s\r\n", message); + if (!conn || !csp_send(conn, packet, 1000)) + return -1; + csp_close(conn); + } + sleep(1); + } + } + + close(rx_channel); + close(tx_channel); + + return 0; +} diff --git a/libcsp/examples/csp_if_fifo_windows.c b/libcsp/examples/csp_if_fifo_windows.c new file mode 100644 index 00000000..5b360709 --- /dev/null +++ b/libcsp/examples/csp_if_fifo_windows.c @@ -0,0 +1,225 @@ +#include +#include +#include +#include +#include +#undef interface + +#include +#include + +#define PIPE_BUFSIZE 1024 + +#define TYPE_SERVER 1 +#define TYPE_CLIENT 2 +#define PORT 10 +#define BUF_SIZE 250 + + +static LPCTSTR pipeName = TEXT("\\\\.\\pipe\\CSP_Pipe"); + +static HANDLE pipe = INVALID_HANDLE_VALUE; + +unsigned WINAPI fifo_rx(void *); +unsigned WINAPI pipe_listener(void *); + +void printError(void); + +int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout); + +csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, +}; + +int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout) { + printf("csp_fifo_tx tid: %lu\n", GetCurrentThreadId()); + DWORD expectedSent = packet->length + sizeof(uint32_t) + sizeof(uint16_t); + DWORD actualSent; + /* Write packet to fifo */ + if( !WriteFile(pipe, &packet->length, expectedSent, &actualSent, NULL) + || actualSent != expectedSent ) { + printError(); + } + + csp_buffer_free(packet); + return CSP_ERR_NONE; +} + + +int main(int argc, char *argv[]) { + int me, other, type; + char *message = "Testing CSP"; + csp_socket_t *sock = NULL; + csp_conn_t *conn = NULL; + csp_packet_t *packet = NULL; + + /* Run as either server or client */ + if (argc != 2) { + printf("usage: server \r\n"); + return -1; + } + + /* Set type */ + if (strcmp(argv[1], "server") == 0) { + me = 1; + other = 2; + type = TYPE_SERVER; + } else if (strcmp(argv[1], "client") == 0) { + me = 2; + other = 1; + type = TYPE_CLIENT; + } else { + printf("Invalid type. Must be either 'server' or 'client'\r\n"); + return -1; + } + + /* Init CSP and CSP buffer system */ + if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) { + printf("Failed to init CSP\r\n"); + return -1; + } + + if( type == TYPE_SERVER ) { + _beginthreadex(NULL, 0, pipe_listener, NULL, 0, 0); + } else { + pipe = CreateFile( + pipeName, + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + if( pipe == INVALID_HANDLE_VALUE ) { + printError(); + return -1; + } + } + + /* Set default route and start router */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + /* Create socket and listen for incoming connections */ + if (type == TYPE_SERVER) { + sock = csp_socket(CSP_SO_NONE); + csp_bind(sock, PORT); + csp_listen(sock, 5); + } + + /* Super loop */ + while (1) { + if (type == TYPE_SERVER) { + /* Process incoming packet */ + conn = csp_accept(sock, 1000); + if (conn) { + packet = csp_read(conn, 0); + if (packet) + printf("Received: %s\r\n", packet->data); + csp_buffer_free(packet); + csp_close(conn); + } + } else { + /* Send a new packet */ + packet = csp_buffer_get(strlen(message)); + if (packet) { + strcpy((char *) packet->data, message); + packet->length = strlen(message); + + conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE); + printf("Sending: %s\r\n", message); + if (!conn || !csp_send(conn, packet, 1000)) + return -1; + csp_close(conn); + Sleep(1000); + } + } + } + + return 0; +} + +void printError(void) { + LPTSTR messageBuffer = NULL; + DWORD errorCode = GetLastError(); + DWORD formatMessageRet; + formatMessageRet = FormatMessage( + FORMAT_MESSAGE_ALLOCATE_BUFFER | + FORMAT_MESSAGE_FROM_SYSTEM | + FORMAT_MESSAGE_IGNORE_INSERTS, + NULL, + errorCode, + MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), + (LPTSTR)&messageBuffer, + 0, + NULL); + + if( !formatMessageRet ) { + wprintf(L"FormatMessage error, code: %lu\n", GetLastError()); + return; + } + + printf("%s\n", messageBuffer); + LocalFree(messageBuffer); +} + +unsigned WINAPI pipe_listener(void *parameters) { + while(1) { + HANDLE pipe = CreateNamedPipe( + pipeName, + PIPE_ACCESS_DUPLEX, + PIPE_TYPE_MESSAGE | PIPE_READMODE_MESSAGE | PIPE_WAIT, + PIPE_UNLIMITED_INSTANCES, + PIPE_BUFSIZE, + PIPE_BUFSIZE, + 0, + NULL); + BOOL clientConnected; + if( pipe == INVALID_HANDLE_VALUE ) { + printf("Error creating named pipe. Code %lu\n", GetLastError()); + return -1; + } + + // True if client connects *after* server called ConnectNamedPipe + // or *between* CreateNamedPipe and ConnectNamedPipe + clientConnected = + ConnectNamedPipe(pipe, NULL) ? TRUE : GetLastError()==ERROR_PIPE_CONNECTED; + printf("Client connected!\n"); + + if( !clientConnected ) { + printf("Failure while listening for clients. Code %lu\n", GetLastError()); + CloseHandle(pipe); + return -1; + } + printf("Create client thread\n"); + _beginthreadex(NULL, 0, fifo_rx, (PVOID)pipe, 0, 0); + } + + return 0; +} + +unsigned WINAPI fifo_rx(void *handle) { + printf("fifo_rx tid: %lu\n", GetCurrentThreadId()); + HANDLE pipe = (HANDLE) handle; + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + DWORD bytesRead; + BOOL readSuccess; + + while(1) { + readSuccess = + ReadFile(pipe, &buf->length, BUF_SIZE, &bytesRead, NULL); + if( !readSuccess || bytesRead == 0 ) { + csp_buffer_free(buf); + printError(); + break; + } + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + printf("Closing pipe to client\n"); + CloseHandle(pipe); + + return 0; +} diff --git a/libcsp/examples/kiss.c b/libcsp/examples/kiss.c new file mode 100644 index 00000000..c95eb2aa --- /dev/null +++ b/libcsp/examples/kiss.c @@ -0,0 +1,151 @@ +/** + * Build this example on linux with: + * ./waf configure --enable-examples --enable-if-kiss --with-driver-usart=linux --enable-crc32 clean build + */ + +#include +#include +#include + +#include +#include + +#define PORT 10 +#define MY_ADDRESS 1 + +#define SERVER_TIDX 0 +#define CLIENT_TIDX 1 +#define USART_HANDLE 0 + +CSP_DEFINE_TASK(task_server) { + int running = 1; + csp_socket_t *socket = csp_socket(CSP_SO_NONE); + csp_conn_t *conn; + csp_packet_t *packet; + csp_packet_t *response; + + response = csp_buffer_get(sizeof(csp_packet_t) + 2); + if( response == NULL ) { + fprintf(stderr, "Could not allocate memory for response packet!\n"); + return CSP_TASK_RETURN; + } + response->data[0] = 'O'; + response->data[1] = 'K'; + response->length = 2; + + csp_bind(socket, CSP_ANY); + csp_listen(socket, 5); + + printf("Server task started\r\n"); + + while(running) { + if( (conn = csp_accept(socket, 10000)) == NULL ) { + continue; + } + + while( (packet = csp_read(conn, 100)) != NULL ) { + switch( csp_conn_dport(conn) ) { + case PORT: + if( packet->data[0] == 'q' ) + running = 0; + csp_buffer_free(packet); + csp_send(conn, response, 1000); + break; + default: + csp_service_handler(conn, packet); + break; + } + } + + csp_close(conn); + } + + csp_buffer_free(response); + + return CSP_TASK_RETURN; +} + +CSP_DEFINE_TASK(task_client) { + + char outbuf = 'q'; + char inbuf[3] = {0}; + int pingResult; + + for(int i = 50; i <= 200; i+= 50) { + pingResult = csp_ping(MY_ADDRESS, 1000, 100, CSP_O_NONE); + printf("Ping with payload of %d bytes, took %d ms\n", i, pingResult); + csp_sleep_ms(1000); + } + csp_ps(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_memfree(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_buf_free(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_uptime(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + + csp_transaction(0, MY_ADDRESS, PORT, 1000, &outbuf, 1, inbuf, 2); + printf("Quit response from server: %s\n", inbuf); + + return CSP_TASK_RETURN; +} + +int main(int argc, char **argv) { + csp_debug_toggle_level(CSP_PACKET); + csp_debug_toggle_level(CSP_INFO); + + csp_buffer_init(10, 300); + csp_init(MY_ADDRESS); + + struct usart_conf conf; + +#if defined(CSP_WINDOWS) + conf.device = argc != 2 ? "COM4" : argv[1]; + conf.baudrate = CBR_9600; + conf.databits = 8; + conf.paritysetting = NOPARITY; + conf.stopbits = ONESTOPBIT; + conf.checkparity = FALSE; +#elif defined(CSP_POSIX) + conf.device = argc != 2 ? "/dev/ttyUSB0" : argv[1]; + conf.baudrate = 500000; +#elif defined(CSP_MACOSX) + conf.device = argc != 2 ? "/dev/tty.usbserial-FTSM9EGE" : argv[1]; + conf.baudrate = 115200; +#endif + + /* Run USART init */ + usart_init(&conf); + + /* Setup CSP interface */ + static csp_iface_t csp_if_kiss; + static csp_kiss_handle_t csp_kiss_driver; + csp_kiss_init(&csp_if_kiss, &csp_kiss_driver, usart_putc, usart_insert, "KISS"); + + /* Setup callback from USART RX to KISS RS */ + void my_usart_rx(uint8_t * buf, int len, void * pxTaskWoken) { + csp_kiss_rx(&csp_if_kiss, buf, len, pxTaskWoken); + } + usart_set_callback(my_usart_rx); + + csp_route_set(MY_ADDRESS, &csp_if_kiss, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + csp_conn_print_table(); + csp_route_print_table(); + csp_route_print_interfaces(); + + csp_thread_handle_t handle_server; + csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server); + csp_thread_handle_t handle_client; + csp_thread_create(task_client, "CLIENT", 1000, NULL, 0, &handle_client); + + /* Wait for program to terminate (ctrl + c) */ + while(1) { + csp_sleep_ms(1000000); + } + + return 0; + +} diff --git a/libcsp/examples/python_bindings_example_client.py b/libcsp/examples/python_bindings_example_client.py new file mode 100644 index 00000000..123ce36e --- /dev/null +++ b/libcsp/examples/python_bindings_example_client.py @@ -0,0 +1,42 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example client: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_client.py +# + +import os +import time +import libcsp as csp + + +if __name__ == "__main__": + + csp.buffer_init(10, 300) + csp.init(28) + csp.zmqhub_init(28, "localhost") + csp.rtable_set(27, 5, "ZMQHUB") + csp.route_start_task() + + ## allow router task startup + time.sleep(1) + + ## cmp_ident + (rc, host, model, rev, date, time) = csp.cmp_ident(27) + if rc == csp.CSP_ERR_NONE: + print (host, model, rev, date, time) + else: + print ("error in cmp_ident, rc=%i" % (rc)) + + ## transaction + outbuf = bytearray().fromhex('01') + inbuf = bytearray(1) + print ("using csp_transaction to send a single byte") + if csp.transaction(0, 27, 10, 1000, outbuf, inbuf) < 1: + print ("csp_transaction failed") + else: + print ("got reply, data=" + ''.join('{:02x}'.format(x) for x in inbuf)) + + diff --git a/libcsp/examples/python_bindings_example_client_can.py b/libcsp/examples/python_bindings_example_client_can.py new file mode 100644 index 00000000..ec796572 --- /dev/null +++ b/libcsp/examples/python_bindings_example_client_can.py @@ -0,0 +1,30 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example client: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_client.py +# + +import os +import time +import libcsp as csp + + +if __name__ == "__main__": + + csp.buffer_init(10, 300) + csp.init(28) + csp.can_socketcan_init("can0") + csp.rtable_set(4, 5, "CAN") + csp.route_start_task() + + ## allow router task startup + time.sleep(1) + + + node = 4 + if csp.ping(node) < 0: + print ("Unable to ping node %d"%(node)) + diff --git a/libcsp/examples/python_bindings_example_server.py b/libcsp/examples/python_bindings_example_server.py new file mode 100644 index 00000000..3cf3f5da --- /dev/null +++ b/libcsp/examples/python_bindings_example_server.py @@ -0,0 +1,72 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example server: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_server.py +# + +import os +import time +import sys +import libcsp as csp +import subprocess + +if __name__ == "__main__": + + # start a zmqproxy to transport messages to and from the client + zmqp = subprocess.Popen('build/zmqproxy') + + # init csp + csp.buffer_init(10, 300) + csp.init(27) + csp.zmqhub_init(27, "localhost") + csp.rtable_set(28, 5, "ZMQHUB") + csp.route_start_task() + + # set identity + csp.set_hostname("test_service") + csp.set_model("bindings") + csp.set_revision("1.2.3") + + # and read it back + print (csp.get_hostname()) + print (csp.get_model()) + print (csp.get_revision()) + + # start listening for packets... + sock = csp.socket() + csp.bind(sock, csp.CSP_ANY) + csp.listen(sock) + while True: + conn = csp.accept(sock) + if not conn: + continue + + print ("connection: source=%i:%i, dest=%i:%i" % (csp.conn_src(conn), + csp.conn_sport(conn), + csp.conn_dst(conn), + csp.conn_dport(conn))) + + while True: + packet = csp.read(conn) + if not packet: + break + + if csp.conn_dport(conn) == 10: + data = bytearray(csp.packet_get_data(packet)) + length = csp.packet_get_length(packet) + print ("got packet, len=" + str(length) + ", data=" + ''.join('{:02x}'.format(x) for x in data)) + + data[0] = data[0] + 1 + reply_packet = csp.buffer_get(1) + if reply_packet: + csp.packet_set_data(reply_packet, data) + csp.sendto_reply(packet, reply_packet, csp.CSP_O_NONE) + + csp.buffer_free(packet) + else: + csp.service_handler(conn, packet) + csp.close(conn) + diff --git a/libcsp/examples/simple.c b/libcsp/examples/simple.c new file mode 100644 index 00000000..b996f8c1 --- /dev/null +++ b/libcsp/examples/simple.c @@ -0,0 +1,200 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include + +/* Using un-exported header file. + * This is allowed since we are still in libcsp */ +#include + +/** Example defines */ +#define MY_ADDRESS 1 // Address of local CSP node +#define MY_PORT 10 // Port to send test traffic to + +CSP_DEFINE_TASK(task_server) { + + /* Create socket without any socket options */ + csp_socket_t *sock = csp_socket(CSP_SO_NONE); + + /* Bind all ports to socket */ + csp_bind(sock, CSP_ANY); + + /* Create 10 connections backlog queue */ + csp_listen(sock, 10); + + /* Pointer to current connection and packet */ + csp_conn_t *conn; + csp_packet_t *packet; + + /* Process incoming connections */ + while (1) { + + /* Wait for connection, 10000 ms timeout */ + if ((conn = csp_accept(sock, 10000)) == NULL) + continue; + + /* Read packets. Timout is 100 ms */ + while ((packet = csp_read(conn, 100)) != NULL) { + switch (csp_conn_dport(conn)) { + case MY_PORT: + /* Process packet here */ + printf("Packet received on MY_PORT: %s\r\n", (char *) packet->data); + csp_buffer_free(packet); + break; + + default: + /* Let the service handler reply pings, buffer use, etc. */ + csp_service_handler(conn, packet); + break; + } + } + + /* Close current connection, and handle next */ + csp_close(conn); + + } + + return CSP_TASK_RETURN; + +} + +CSP_DEFINE_TASK(task_client) { + + csp_packet_t * packet; + csp_conn_t * conn; + + while (1) { + + /** + * Try ping + */ + + csp_sleep_ms(1000); + + int result = csp_ping(MY_ADDRESS, 100, 100, CSP_O_NONE); + printf("Ping result %d [ms]\r\n", result); + + csp_sleep_ms(1000); + + /** + * Try data packet to server + */ + + /* Get packet buffer for data */ + packet = csp_buffer_get(100); + if (packet == NULL) { + /* Could not get buffer element */ + printf("Failed to get buffer element\n"); + return CSP_TASK_RETURN; + } + + /* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */ + conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE); + if (conn == NULL) { + /* Connect failed */ + printf("Connection failed\n"); + /* Remember to free packet buffer */ + csp_buffer_free(packet); + return CSP_TASK_RETURN; + } + + /* Copy dummy data to packet */ + const char *msg = "Hello World"; + strcpy((char *) packet->data, msg); + + /* Set packet length */ + packet->length = strlen(msg); + + /* Send packet */ + if (!csp_send(conn, packet, 1000)) { + /* Send failed */ + printf("Send failed\n"); + csp_buffer_free(packet); + } + + /* Close connection */ + csp_close(conn); + + } + + return CSP_TASK_RETURN; +} + +int main(int argc, char * argv[]) { + + /** + * Initialise CSP, + * No physical interfaces are initialised in this example, + * so only the loopback interface is registered. + */ + + /* Init buffer system with 10 packets of maximum 300 bytes each */ + printf("Initialising CSP\r\n"); + csp_buffer_init(5, 300); + + /* Init CSP with address MY_ADDRESS */ + csp_init(MY_ADDRESS); + + /* Start router task with 500 word stack, OS task priority 1 */ + csp_route_start_task(500, 1); + + /* Enable debug output from CSP */ + if ((argc > 1) && (strcmp(argv[1], "-v") == 0)) { + printf("Debug enabed\r\n"); + csp_debug_toggle_level(3); + csp_debug_toggle_level(4); + + printf("Conn table\r\n"); + csp_conn_print_table(); + + printf("Route table\r\n"); + csp_route_print_table(); + + printf("Interfaces\r\n"); + csp_route_print_interfaces(); + + } + + /** + * Initialise example threads, using pthreads. + */ + + /* Server */ + printf("Starting Server task\r\n"); + csp_thread_handle_t handle_server; + csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server); + + /* Client */ + printf("Starting Client task\r\n"); + csp_thread_handle_t handle_client; + csp_thread_create(task_client, "SERVER", 1000, NULL, 0, &handle_client); + + /* Wait for execution to end (ctrl+c) */ + while(1) { + csp_sleep_ms(100000); + } + + return 0; + +} diff --git a/libcsp/examples/zmqproxy.c b/libcsp/examples/zmqproxy.c new file mode 100644 index 00000000..5e259579 --- /dev/null +++ b/libcsp/examples/zmqproxy.c @@ -0,0 +1,82 @@ +#include +#include +#include +#include +#include +#include +#include + +static void * task_capture(void *ctx) { + + /* Subscriber (RX) */ + void *subscriber = zmq_socket(ctx, ZMQ_SUB); + assert(zmq_connect(subscriber, "tcp://localhost:7000") == 0); + assert(zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0) == 0); + + while (1) { + zmq_msg_t msg; + zmq_msg_init_size(&msg, 1024); + + /* Receive data */ + if (zmq_msg_recv(&msg, subscriber, 0) < 0) { + zmq_msg_close(&msg); + csp_log_error("ZMQ: %s\r\n", zmq_strerror(zmq_errno())); + continue; + } + + int datalen = zmq_msg_size(&msg); + if (datalen < 5) { + csp_log_warn("ZMQ: Too short datalen: %u\r\n", datalen); + while(zmq_msg_recv(&msg, subscriber, ZMQ_NOBLOCK) > 0) + zmq_msg_close(&msg); + continue; + } + + /* Create new csp packet */ + csp_packet_t * packet = malloc(1024); + if (packet == NULL) { + zmq_msg_close(&msg); + continue; + } + + /* Copy the data from zmq to csp */ + char * satidptr = ((char *) &packet->id) - 1; + memcpy(satidptr, zmq_msg_data(&msg), datalen); + packet->length = datalen - 4 - 1; + + printf("Input: Src %u, Dst %u, Dport %u, Sport %u, Pri %u, Flags 0x%02X, Size %"PRIu16"\r\n", + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length); + + free(packet); + zmq_msg_close(&msg); + } +} + +int main(int argc, char ** argv) { + + /** + * ZMQ PROXY + */ + void * ctx = zmq_ctx_new(); + assert(ctx); + + void *frontend = zmq_socket(ctx, ZMQ_XSUB); + assert(frontend); + assert(zmq_bind (frontend, "tcp://*:6000") == 0); + + void *backend = zmq_socket(ctx, ZMQ_XPUB); + assert(backend); + assert(zmq_bind(backend, "tcp://*:7000") == 0); + + pthread_t capworker; + pthread_create(&capworker, NULL, task_capture, ctx); + + printf("Starting ZMQproxy\r\n"); + zmq_proxy(frontend, backend, NULL); + + printf("Closing ZMQproxy\r\n"); + zmq_ctx_destroy(ctx); + return 0; + +} diff --git a/libcsp/include/csp/arch/csp_clock.h b/libcsp/include/csp/arch/csp_clock.h new file mode 100644 index 00000000..3c19c887 --- /dev/null +++ b/libcsp/include/csp/arch/csp_clock.h @@ -0,0 +1,60 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CLOCK_H_ +#define _CSP_CLOCK_H_ + +/** + @file + + Clock API. +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + Cross-platform timestamp. +*/ +typedef struct { + //! Seconds + uint32_t tv_sec; + //! Nano-seconds. + uint32_t tv_nsec; +} csp_timestamp_t; + +/** + Get time - must be implemented by the user. +*/ +__attribute__((weak)) extern void clock_get_time(csp_timestamp_t * time); + +/** + Set time - must be implemented by the user. +*/ +__attribute__((weak)) extern void clock_set_time(csp_timestamp_t * time); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CLOCK_H_ diff --git a/libcsp/include/csp/arch/csp_malloc.h b/libcsp/include/csp/arch/csp_malloc.h new file mode 100644 index 00000000..12602d1b --- /dev/null +++ b/libcsp/include/csp/arch/csp_malloc.h @@ -0,0 +1,39 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_MALLOC_H_ +#define _CSP_MALLOC_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +void * csp_malloc(size_t size); +void csp_free(void * ptr); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_MALLOC_H_ diff --git a/libcsp/include/csp/arch/csp_queue.h b/libcsp/include/csp/arch/csp_queue.h new file mode 100644 index 00000000..3156c05e --- /dev/null +++ b/libcsp/include/csp/arch/csp_queue.h @@ -0,0 +1,49 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_QUEUE_H_ +#define _CSP_QUEUE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_QUEUE_FULL 0 +#define CSP_QUEUE_ERROR 0 +#define CSP_QUEUE_OK 1 +typedef void * csp_queue_handle_t; + +#include +#include + +csp_queue_handle_t csp_queue_create(int length, size_t item_size); +void csp_queue_remove(csp_queue_handle_t queue); +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout); +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken); +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout); +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken); +int csp_queue_size(csp_queue_handle_t handle); +int csp_queue_size_isr(csp_queue_handle_t handle); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_QUEUE_H_ diff --git a/libcsp/include/csp/arch/csp_semaphore.h b/libcsp/include/csp/arch/csp_semaphore.h new file mode 100644 index 00000000..c8068da2 --- /dev/null +++ b/libcsp/include/csp/arch/csp_semaphore.h @@ -0,0 +1,109 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SEMAPHORE_H_ +#define _CSP_SEMAPHORE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/* POSIX interface */ +#if defined(CSP_POSIX) + +#include +#include + +#define CSP_SEMAPHORE_OK 1 +#define CSP_SEMAPHORE_ERROR 2 +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef sem_t csp_bin_sem_handle_t; +typedef pthread_mutex_t csp_mutex_t; + +#endif // CSP_POSIX + +/* MAC OS X interface */ +#if defined(CSP_MACOSX) + +#include +#include "posix/pthread_queue.h" + +#define CSP_SEMAPHORE_OK PTHREAD_QUEUE_OK +#define CSP_SEMAPHORE_ERROR PTHREAD_QUEUE_EMPTY +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef pthread_queue_t * csp_bin_sem_handle_t; +typedef pthread_queue_t * csp_mutex_t; + +#endif // CSP_MACOSX + +#if defined(CSP_WINDOWS) + +#include +#undef interface + +#define CSP_SEMAPHORE_OK 1 +#define CSP_SEMAPHORE_ERROR 2 +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef HANDLE csp_bin_sem_handle_t; +typedef HANDLE csp_mutex_t; + +#endif + +/* FreeRTOS interface */ +#if defined(CSP_FREERTOS) + +#include +#include + +#define CSP_SEMAPHORE_OK pdPASS +#define CSP_SEMAPHORE_ERROR pdFAIL +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef xSemaphoreHandle csp_bin_sem_handle_t; +typedef xSemaphoreHandle csp_mutex_t; + +#endif // CSP_FREERTOS + +int csp_mutex_create(csp_mutex_t * mutex); +int csp_mutex_remove(csp_mutex_t * mutex); +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout); +int csp_mutex_unlock(csp_mutex_t * mutex); +int csp_bin_sem_create(csp_bin_sem_handle_t * sem); +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem); +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout); +int csp_bin_sem_post(csp_bin_sem_handle_t * sem); +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SEMAPHORE_H_ diff --git a/libcsp/include/csp/arch/csp_system.h b/libcsp/include/csp/arch/csp_system.h new file mode 100644 index 00000000..c6c0e5af --- /dev/null +++ b/libcsp/include/csp/arch/csp_system.h @@ -0,0 +1,74 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SYSTEM_H_ +#define _CSP_SYSTEM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define COLOR_MASK_COLOR 0x0F +#define COLOR_MASK_MODIFIER 0xF0 + +typedef enum { + /* Colors */ + COLOR_RESET = 0xF0, + COLOR_BLACK = 0x01, + COLOR_RED = 0x02, + COLOR_GREEN = 0x03, + COLOR_YELLOW = 0x04, + COLOR_BLUE = 0x05, + COLOR_MAGENTA = 0x06, + COLOR_CYAN = 0x07, + COLOR_WHITE = 0x08, + /* Modifiers */ + COLOR_NORMAL = 0x0F, + COLOR_BOLD = 0x10, + COLOR_UNDERLINE = 0x20, + COLOR_BLINK = 0x30, + COLOR_HIDE = 0x40, +} csp_color_t; + +/** + * Writes out a task list into a pre-allocate buffer, + * use csp_sys_tasklist_size to get sizeof buffer to allocate + * @param out pointer to output buffer + * @return + */ +int csp_sys_tasklist(char * out); + +/** + * @return Size of tasklist buffer to allocate for the csp_sys_tasklist call + */ +int csp_sys_tasklist_size(void); + +uint32_t csp_sys_memfree(void); +int csp_sys_reboot(void); +int csp_sys_shutdown(void); +void csp_sys_set_color(csp_color_t color); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SYSTEM_H_ diff --git a/libcsp/include/csp/arch/csp_thread.h b/libcsp/include/csp/arch/csp_thread.h new file mode 100644 index 00000000..3c6ea171 --- /dev/null +++ b/libcsp/include/csp/arch/csp_thread.h @@ -0,0 +1,100 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_THREAD_H_ +#define _CSP_THREAD_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* POSIX interface */ +#if defined(CSP_POSIX) || defined(CSP_MACOSX) + +#include +#include + +#define csp_thread_exit() pthread_exit(NULL) + +typedef pthread_t csp_thread_handle_t; +typedef void * csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t task_name(void * param) +#define CSP_TASK_RETURN NULL + +#define csp_sleep_ms(time_ms) usleep(time_ms * 1000); + +#endif // CSP_POSIX + +/* Windows interface */ +#if defined(CSP_WINDOWS) + +#include +#undef interface +#include + +#define csp_thread_exit() _endthreadex(0) + +typedef HANDLE csp_thread_handle_t; +typedef unsigned int csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t __attribute__((stdcall)) task_name(void * param) +#define CSP_TASK_RETURN 0 + +#define csp_sleep_ms(time_ms) Sleep(time_ms); + +#endif // CSP_WINDOWS + +/* FreeRTOS interface */ +#if defined(CSP_FREERTOS) + +#include +#include + +#if INCLUDE_vTaskDelete +#define csp_thread_exit() vTaskDelete(NULL) +#else +#define csp_thread_exit() +#endif + +typedef xTaskHandle csp_thread_handle_t; +typedef void csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t task_name(void * param) +#define CSP_TASK_RETURN + +#define csp_sleep_ms(time_ms) vTaskDelay(time_ms / portTICK_RATE_MS); + +#endif // CSP_FREERTOS + +#ifndef CSP_WINDOWS +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle); +#else +int csp_thread_create(csp_thread_return_t (* routine)(void *)__attribute__((stdcall)), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle); +#endif + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_THREAD_H_ diff --git a/libcsp/include/csp/arch/csp_time.h b/libcsp/include/csp/arch/csp_time.h new file mode 100644 index 00000000..aa72ab8f --- /dev/null +++ b/libcsp/include/csp/arch/csp_time.h @@ -0,0 +1,57 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_TIME_H_ +#define _CSP_TIME_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* Blackfin/x86 on Linux */ +#if defined(CSP_POSIX) + +#include +#include +#include + +#endif // CSP_POSIX + +/* AVR/ARM on FreeRTOS */ +#if defined(CSP_FREERTOS) + +#include +#include + +#endif // CSP_FREERTOS + +uint32_t csp_get_ms(void); +uint32_t csp_get_ms_isr(void); +uint32_t csp_get_s(void); +uint32_t csp_get_s_isr(void); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_TIME_H_ diff --git a/libcsp/include/csp/arch/posix/pthread_queue.h b/libcsp/include/csp/arch/posix/pthread_queue.h new file mode 100644 index 00000000..44ef596e --- /dev/null +++ b/libcsp/include/csp/arch/posix/pthread_queue.h @@ -0,0 +1,118 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _PTHREAD_QUEUE_H_ +#define _PTHREAD_QUEUE_H_ + +/** + @file + + Queue implemented using pthread locks and conds. + + Inspired by c-pthread-queue by Matthew Dickinson: http://code.google.com/p/c-pthread-queue/ +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +#include + +/** + Queue error codes. + @{ +*/ +/** + General error code - something went wrong. +*/ +#define PTHREAD_QUEUE_ERROR CSP_QUEUE_ERROR +/** + Queue is empty - cannot extract element. +*/ +#define PTHREAD_QUEUE_EMPTY CSP_QUEUE_ERROR +/** + Queue is full - cannot insert element. +*/ +#define PTHREAD_QUEUE_FULL CSP_QUEUE_ERROR +/** + Ok - no error. +*/ +#define PTHREAD_QUEUE_OK CSP_QUEUE_OK +/** @{ */ + +/** + Queue handle. +*/ +typedef struct pthread_queue_s { + //! Memory area. + void * buffer; + //! Memory size. + int size; + //! Item/element size. + int item_size; + //! Items/elements in queue. + int items; + //! Insert point. + int in; + //! Extract point. + int out; + //! Lock. + pthread_mutex_t mutex; + //! Wait because queue is full (insert). + pthread_cond_t cond_full; + //! Wait because queue is empty (extract). + pthread_cond_t cond_empty; +} pthread_queue_t; + +/** + Create queue. +*/ +pthread_queue_t * pthread_queue_create(int length, size_t item_size); + +/** + Delete queue. +*/ +void pthread_queue_delete(pthread_queue_t * q); + +/** + Enqueue/insert element. +*/ +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout); + +/** + Dequeue/extract element. +*/ +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout); + +/** + Return number of elements in the queue. +*/ +int pthread_queue_items(pthread_queue_t * queue); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _PTHREAD_QUEUE_H_ + diff --git a/libcsp/include/csp/crypto/csp_hmac.h b/libcsp/include/csp/crypto/csp_hmac.h new file mode 100644 index 00000000..8c3f5d6a --- /dev/null +++ b/libcsp/include/csp/crypto/csp_hmac.h @@ -0,0 +1,73 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_HMAC_H_ +#define _CSP_HMAC_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_HMAC_LENGTH 4 + +/** + * Append HMAC to packet + * @param packet Pointer to packet + * @param include_header use header in hmac calculation (this will not modify the flags field) + * @return 0 on success, negative on failure + */ +int csp_hmac_append(csp_packet_t * packet, bool include_header); + +/** + * Verify HMAC of packet + * @param packet Pointer to packet + * @param include_header use header in hmac calculation (this will not modify the flags field) + * @return 0 on success, negative on failure + */ +int csp_hmac_verify(csp_packet_t * packet, bool include_header); + +/** + * Calculate HMAC on buffer + * + * This function is used by append/verify but cal also be called separately. + * @param key HMAC key + * @param keylen HMAC key length + * @param data pointer to data + * @param datalen lehgth of data + * @param hmac output HMAC calculation (CSP_HMAC_LENGTH) + * @return 0 on success, negative on failure + */ +int csp_hmac_memory(const uint8_t * key, uint32_t keylen, const uint8_t * data, uint32_t datalen, uint8_t * hmac); + +/** + * Save a copy of the key string for use by the append/verify functions + * @param key HMAC key + * @param keylen HMAC key length + * @return Always returns 0 + */ +int csp_hmac_set_key(char * key, uint32_t keylen); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_HMAC_H_ diff --git a/libcsp/include/csp/crypto/csp_sha1.h b/libcsp/include/csp/crypto/csp_sha1.h new file mode 100644 index 00000000..aa7e7a0d --- /dev/null +++ b/libcsp/include/csp/crypto/csp_sha1.h @@ -0,0 +1,81 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SHA1_H_ +#define _CSP_SHA1_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* The SHA1 block and message digest size in bytes */ +#define SHA1_BLOCKSIZE 64 +#define SHA1_DIGESTSIZE 20 + +/** + SHA1 state structure +*/ +typedef struct { + //! Internal SHA1 state. + uint64_t length; + //! Internal SHA1 state. + uint32_t state[5]; + //! Internal SHA1 state. + uint32_t curlen; + //! Internal SHA1 state. + uint8_t buf[SHA1_BLOCKSIZE]; +} csp_sha1_state; + +/** + * Initialize the hash state + * @param sha1 The hash state you wish to initialize + */ +void csp_sha1_init(csp_sha1_state * sha1); + +/** + * Process a block of memory though the hash + * @param sha1 The hash state + * @param in The data to hash + * @param inlen The length of the data (octets) + */ +void csp_sha1_process(csp_sha1_state * sha1, const uint8_t * in, uint32_t inlen); + +/** + * Terminate the hash to get the digest + * @param sha1 The hash state + * @param out [out] The destination of the hash (20 bytes) + */ +void csp_sha1_done(csp_sha1_state * sha1, uint8_t * out); + +/** + * Calculate SHA1 hash of block of memory. + * @param msg Pointer to message buffer + * @param len Length of message + * @param sha1 Pointer to SHA1 output buffer. Must be 20 bytes or more! + */ +void csp_sha1_memory(const uint8_t * msg, uint32_t len, uint8_t * hash); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SHA1_H_ diff --git a/libcsp/include/csp/crypto/csp_xtea.h b/libcsp/include/csp/crypto/csp_xtea.h new file mode 100644 index 00000000..f740b8d5 --- /dev/null +++ b/libcsp/include/csp/crypto/csp_xtea.h @@ -0,0 +1,52 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_XTEA_H_ +#define _CSP_XTEA_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_XTEA_IV_LENGTH 8 + +/** + * XTEA encrypt byte array + * @param plain Pointer to plain text + * @param len Length of plain text + * @param iv Initialization vector + */ +int csp_xtea_encrypt(uint8_t * plain, const uint32_t len, uint32_t iv[2]); + +/** + * Decrypt XTEA encrypted byte array + * @param cipher Pointer to cipher text + * @param len Length of plain text + * @param iv Initialization vector + */ +int csp_xtea_decrypt(uint8_t * cipher, const uint32_t len, uint32_t iv[2]); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_XTEA_H_ diff --git a/libcsp/include/csp/csp.h b/libcsp/include/csp/csp.h new file mode 100644 index 00000000..6962195b --- /dev/null +++ b/libcsp/include/csp/csp.h @@ -0,0 +1,545 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_H_ +#define _CSP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes */ +#include + +#include + +/* CSP includes */ +#include "csp_types.h" +#include "csp_platform.h" +#include "csp_error.h" +#include "csp_debug.h" +#include "csp_buffer.h" +#include "csp_rtable.h" +#include "csp_iflist.h" + +/** csp_init + * Start up the can-space protocol + * @param my_node_address The CSP node address + */ +int csp_init(uint8_t my_node_address); + +/** csp_set_address + * Set the systems own address + * @param addr The new address of the system + */ +void csp_set_address(uint8_t addr); + +/** csp_get_address + * Get the systems own address + * @return The current address of the system + */ +uint8_t csp_get_address(void); + +/** csp_set_hostname + * Set subsystem hostname. + * This function takes a pointer to a string, which should remain static + * @param hostname Hostname to set + */ +void csp_set_hostname(const char *hostname); + +/** csp_get_hostname + * Get current subsystem hostname. + * @return Pointer to char array with current hostname. + */ +const char *csp_get_hostname(void); + +/** csp_set_model + * Set subsystem model name. + * This function takes a pointer to a string, which should remain static + * @param model Model name to set + */ +void csp_set_model(const char *model); + +/** csp_get_model + * Get current model name. + * @return Pointer to char array with current model name. + */ +const char *csp_get_model(void); + +/** csp_set_revision + * Set subsystem revision. This can be used to override the CMP revision field. + * This function takes a pointer to a string, which should remain static + * @param revision Revision name to set + */ +void csp_set_revision(const char *revision); + +/** csp_get_revision + * Get subsystem revision. + * @return Pointer to char array with software revision. + */ +const char *csp_get_revision(void); + +/** csp_socket + * Create CSP socket endpoint + * @param opts Socket options + * @return Pointer to socket on success, NULL on failure + */ +csp_socket_t *csp_socket(uint32_t opts); + +/** + * Wait for a new connection on a socket created by csp_socket + * @param socket Socket to accept connections on + * @param timeout use CSP_MAX_DELAY for infinite timeout + * @return Return pointer to csp_conn_t or NULL if timeout was reached + */ +csp_conn_t *csp_accept(csp_socket_t *socket, uint32_t timeout); + +/** + * Read data from a connection + * This fuction uses the RX queue of a connection to receive a packet + * If no packet is available and a timeout has been specified + * The call will block. + * Do NOT call this from ISR + * @param conn pointer to connection + * @param timeout timeout in ms, use CSP_MAX_DELAY for infinite blocking time + * @return Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send. + */ +csp_packet_t *csp_read(csp_conn_t *conn, uint32_t timeout); + +/** + * Send a packet on an already established connection + * @param conn pointer to connection + * @param packet pointer to packet, + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send(csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout); + +/** + * Send a packet on an already established connection, and change the default priority of the connection + * + * @note When using this function, the priority of the connection will change. If you need to change it back + * use another call to csp_send_prio, or ensure that all packets sent on a given connection is using send_prio call. + * + * @param prio csp priority + * @param conn pointer to connection + * @param packet pointer to packet, + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send_prio(uint8_t prio, csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout); + +/** + * Perform an entire request/reply transaction + * Copies both input buffer and reply to output buffeer. + * Also makes the connection and closes it again + * @param prio CSP Prio + * @param dest CSP Dest + * @param port CSP Port + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @return Return 1 or reply size if successful, 0 if error or incoming length does not match or -1 if timeout was reached + */ +int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen); + +/** + * Perform an entire request/reply transaction + * Copies both input buffer and reply to output buffeer. + * Also makes the connection and closes it again + * @param prio CSP Prio + * @param dest CSP Dest + * @param port CSP Port + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @param opts Connection options. + * @return Return 1 or reply size if successful, 0 if error or incoming length does not match or -1 if timeout was reached + */ +int csp_transaction2(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen, uint32_t opts); + +/** + * Use an existing connection to perform a transaction, + * This is only possible if the next packet is on the same port and destination! + * @param conn pointer to connection structure + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @return + */ +int csp_transaction_persistent(csp_conn_t *conn, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen); + +/** + * Read data from a connection-less server socket + * This fuction uses the socket directly to receive a frame + * If no packet is available and a timeout has been specified the call will block. + * Do NOT call this from ISR + * @return Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send. + */ +csp_packet_t *csp_recvfrom(csp_socket_t *socket, uint32_t timeout); + +/** + * Send a packet without previously opening a connection + * @param prio CSP_PRIO_x + * @param dest destination node + * @param dport destination port + * @param src_port source port + * @param opts CSP_O_x + * @param packet pointer to packet + * @param timeout timeout used by interfaces with blocking send + * @return -1 if error (you must free packet), 0 if OK (you must discard pointer) + */ +int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t *packet, uint32_t timeout); + +/** + * Send a packet as a direct reply to the source of an incoming packet, + * but still without holding an entire connection + * @param request_packet pointer to packet to reply to + * @param reply_packet actual reply data + * @param opts CSP_O_x + * @param timeout timeout used by interfaces with blocking send + * @return -1 if error (you must free packet), 0 if OK (you must discard pointer) + */ +int csp_sendto_reply(csp_packet_t * request_packet, csp_packet_t * reply_packet, uint32_t opts, uint32_t timeout); + +/** csp_connect + * Used to establish outgoing connections + * This function searches the port table for free slots and finds an unused + * connection from the connection pool + * There is no handshake in the CSP protocol + * @param prio Connection priority. + * @param dest Destination address. + * @param dport Destination port. + * @param timeout Timeout in ms. + * @param opts Connection options. + * @return a pointer to a new connection or NULL + */ +csp_conn_t *csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts); + +/** csp_close + * Closes a given connection and frees buffers used. + * @param conn pointer to connection structure + * @return CSP_ERR_NONE if connection was closed. Otherwise, an err code is returned. + */ +int csp_close(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return destination port of an incoming connection + */ +int csp_conn_dport(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return source port of an incoming connection + */ +int csp_conn_sport(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return destination address of an incoming connection + */ +int csp_conn_dst(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return source address of an incoming connection + */ +int csp_conn_src(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return flags field of an incoming connection + */ +int csp_conn_flags(csp_conn_t *conn); + +/** + * Set socket to listen for incoming connections + * @param socket Socket to enable listening on + * @param conn_queue_length Lenght of backlog connection queue + * @return 0 on success, -1 on error. + */ +int csp_listen(csp_socket_t *socket, size_t conn_queue_length); + +/** + * Bind port to socket + * @param socket Socket to bind port to + * @param port Port number to bind + * @return 0 on success, -1 on error. + */ +int csp_bind(csp_socket_t *socket, uint8_t port); + +/** + * Start the router task. + * @param task_stack_size The number of portStackType to allocate. This only affects FreeRTOS systems. + * @param priority The OS task priority of the router + */ +int csp_route_start_task(unsigned int task_stack_size, unsigned int priority); + +/** + * Call the router worker function manually (without the router task) + * This must be run inside a loop or called periodically for the csp router to work. + * Use this function instead of calling and starting the router task. + * @param timeout max blocking time + * @return -1 if no packet was processed, 0 otherwise + */ +int csp_route_work(uint32_t timeout); + +/** + * Start the bridge task. + * @param task_stack_size The number of portStackType to allocate. This only affects FreeRTOS systems. + * @param priority The OS task priority of the router + * @param _if_a pointer to first side + * @param _if_b pointer to second side + * @return CSP_ERR type + */ +int csp_bridge_start(unsigned int task_stack_size, unsigned int task_priority, csp_iface_t * _if_a, csp_iface_t * _if_b); + +/** + * Enable promiscuous mode packet queue + * This function is used to enable promiscuous mode for the router. + * If enabled, a copy of all incoming packets are placed in a queue + * that can be read with csp_promisc_get(). Not all interface drivers + * support promiscuous mode. + * + * @param buf_size Size of buffer for incoming packets + */ +int csp_promisc_enable(unsigned int buf_size); + +/** + * Disable promiscuous mode. + * If the queue was initialised prior to this, it can be re-enabled + * by calling promisc_enable(0) + */ +void csp_promisc_disable(void); + +/** + * Get packet from promiscuous mode packet queue + * Returns the first packet from the promiscuous mode packet queue. + * The queue is FIFO, so the returned packet is the oldest one + * in the queue. + * + * @param timeout Timeout in ms to wait for a new packet + */ +csp_packet_t *csp_promisc_read(uint32_t timeout); + +/** + * Send multiple packets using the simple fragmentation protocol + * CSP will add total size and offset to all packets + * This can be read by the client using the csp_sfp_recv, if the CSP_FFRAG flag is set + * @param conn pointer to connection + * @param data pointer to data to send + * @param totalsize size of data to send + * @param mtu maximum transfer unit + * @param timeout timeout in ms to wait for csp_send() + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_send(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout); + +/** + * Same as csp_sfp_send but with option to supply your own memcpy function. + * This is usefull if you wish to send data stored in flash memory or another location + * @param conn pointer to connection + * @param data pointer to data to send + * @param totalsize size of data to send + * @param mtu maximum transfer unit + * @param timeout timeout in ms to wait for csp_send() + * @param memcpyfcn, pointer to memcpy function + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_send_own_memcpy(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout, void * (*memcpyfcn)(void *, const void *, size_t)); + +/** + * This is the counterpart to the csp_sfp_send function + * @param conn pointer to active conn, on which you expect to receive sfp packed data + * @param dataout pointer to NULL pointer, whill be overwritten with malloc pointer + * @param datasize actual size of received data + * @param timeout timeout in ms to wait for csp_recv() + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_recv(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout); + +/** + * This is the counterpart to the csp_sfp_send function + * @param conn pointer to active conn, on which you expect to receive sfp packed data + * @param dataout pointer to NULL pointer, whill be overwritten with malloc pointer + * @param datasize actual size of received data + * @param timeout timeout in ms to wait for csp_recv() + * @param first_packet This is a pointer to the first SFP packet (previously received with csp_read) + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_recv_fp(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout, csp_packet_t * first_packet); + +/** + * If the given packet is a service-request (that is uses one of the csp service ports) + * it will be handled according to the CSP service handler. + * This function will either use the packet buffer or delete it, + * so this function is typically called in the last "default" clause of + * a switch/case statement in a csp_listener task. + * In order to listen to csp service ports, bind your listener to the CSP_ANY port. + * This function may only be called from task context. + * @param conn Pointer to the new connection + * @param packet Pointer to the first packet, obtained by using csp_read() + */ +void csp_service_handler(csp_conn_t *conn, csp_packet_t *packet); + +/** + * Send a single ping/echo packet + * @param node node id + * @param timeout timeout in ms + * @param size size of packet to transmit + * @param conn_options csp connection options + * @return >0 = Echo time in ms, -1 = ERR + */ +int csp_ping(uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options); + +/** + * Send a single ping/echo packet without waiting for reply + * @param node node id + */ +void csp_ping_noreply(uint8_t node); + +/** + * Request process list. + * @note This is only available for FreeRTOS systems + * @param node node id + * @param timeout timeout in ms + */ +void csp_ps(uint8_t node, uint32_t timeout); + +/** + * Request amount of free memory + * @param node node id + * @param timeout timeout in ms + */ +void csp_memfree(uint8_t node, uint32_t timeout); + +/** + * Request number of free buffer elements + * @param node node id + * @param timeout timeout in ms + */ +void csp_buf_free(uint8_t node, uint32_t timeout); + +/** + * Reboot subsystem + * @param node node id + */ +void csp_reboot(uint8_t node); + +/** + * Shutdown subsystem + * @param node node id + */ +void csp_shutdown(uint8_t node); + +/** + * Request subsystem uptime + * @param node node id + * @param timeout timeout in ms + */ +void csp_uptime(uint8_t node, uint32_t timeout); + +/** + * Set RDP options + * @param window_size Window size + * @param conn_timeout_ms Connection timeout in ms + * @param packet_timeout_ms Packet timeout in ms + * @param delayed_acks Enable/disable delayed acknowledgements + * @param ack_timeout Acknowledgement timeout when delayed ACKs is enabled + * @param ack_delay_count Send acknowledgement for every ack_delay_count packets + */ +void csp_rdp_set_opt(unsigned int window_size, unsigned int conn_timeout_ms, + unsigned int packet_timeout_ms, unsigned int delayed_acks, + unsigned int ack_timeout, unsigned int ack_delay_count); + +/** + * Get RDP options + * @param window_size Window size + * @param conn_timeout_ms Connection timeout in ms + * @param packet_timeout_ms Packet timeout in ms + * @param delayed_acks Enable/disable delayed acknowledgements + * @param ack_timeout Acknowledgement timeout when delayed ACKs is enabled + * @param ack_delay_count Send acknowledgement for every ack_delay_count packets + */ +void csp_rdp_get_opt(unsigned int *window_size, unsigned int *conn_timeout_ms, + unsigned int *packet_timeout_ms, unsigned int *delayed_acks, + unsigned int *ack_timeout, unsigned int *ack_delay_count); + +/** + * Set XTEA key + * @param key Pointer to key array + * @param keylen Length of key + * @return 0 if key was successfully set, -1 otherwise + */ +int csp_xtea_set_key(char *key, uint32_t keylen); + +/** + * Set HMAC key + * @param key Pointer to key array + * @param keylen Length of key + * @return 0 if key was successfully set, -1 otherwise + */ +int csp_hmac_set_key(char *key, uint32_t keylen); + +/** + * Print connection table + */ +void csp_conn_print_table(void); +int csp_conn_print_table_str(char * str_buf, int str_size); + +/** + * Print buffer usage table + */ +void csp_buffer_print_table(void); + +/** + * Hex dump to stdout + */ +void csp_hex_dump(const char *desc, void *addr, int len); + +#ifdef __AVR__ +typedef uint32_t csp_memptr_t; +#else +typedef void * csp_memptr_t; +#endif + +typedef csp_memptr_t (*csp_memcpy_fnc_t)(csp_memptr_t, const csp_memptr_t, size_t); +void csp_cmp_set_memcpy(csp_memcpy_fnc_t fnc); + +/** + * Set csp_debug hook function + * @param f Hook function + */ +#include +typedef void (*csp_debug_hook_func_t)(csp_debug_level_t level, const char *format, va_list args); +void csp_debug_hook_set(csp_debug_hook_func_t f); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_H_ diff --git a/libcsp/include/csp/csp_autoconfig.h b/libcsp/include/csp/csp_autoconfig.h new file mode 100644 index 00000000..703f3754 --- /dev/null +++ b/libcsp/include/csp/csp_autoconfig.h @@ -0,0 +1,48 @@ +/* + * csp_autoconfig.h + * + * Created on: 20.11.2020 + * Author: jakob + */ + +#ifndef GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ +#define GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ + +#define ENABLE_NANOPOWER2_CLIENT 1 +#define GIT_REV "unknown" +/* #undef CSP_FREERTOS */ +#define CSP_POSIX 1 +/* #undef CSP_WINDOWS */ +/* #undef CSP_MACOSX */ +#define HAVE_LIBZMQ 1 +#define CSP_DEBUG 1 +#define CSP_USE_RDP 1 +#define CSP_USE_CRC32 1 +#define CSP_USE_HMAC 1 +#define CSP_USE_XTEA 1 +#define CSP_USE_PROMISC 1 +#define CSP_USE_QOS 1 +/* #undef CSP_USE_DEDUP */ +/* #undef CSP_USE_INIT_SHUTDOWN */ +#define CSP_USE_CAN 1 +/* #define CSP_USE_I2C 1 */ +/* #define CSP_USE_KISS 1 */ +/* #define CSP_USE_ZMQHUB 1 */ +#define CSP_CONN_MAX 10 +#define CSP_CONN_QUEUE_LENGTH 100 +#define CSP_FIFO_INPUT 100 +#define CSP_MAX_BIND_PORT 31 +#define CSP_RDP_MAX_WINDOW 20 +#define CSP_PADDING_BYTES 8 +#define CSP_CONNECTION_SO 64 +#define CSP_LOG_LEVEL_DEBUG 1 +#define CSP_LOG_LEVEL_INFO 1 +#define CSP_LOG_LEVEL_WARN 1 +#define CSP_LOG_LEVEL_ERROR 1 +#define CSP_LITTLE_ENDIAN 1 +/* #undef CSP_BIG_ENDIAN */ +#define CSP_HAVE_STDBOOL_H 1 +/* #define CSP_HAVE_LIBSOCKETCAN 1 */ +#define LIBCSP_VERSION "1.5" + +#endif /* GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ */ diff --git a/libcsp/include/csp/csp_buffer.h b/libcsp/include/csp/csp_buffer.h new file mode 100644 index 00000000..9ed6df77 --- /dev/null +++ b/libcsp/include/csp/csp_buffer.h @@ -0,0 +1,92 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_BUFFER_H_ +#define _CSP_BUFFER_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Start the buffer handling system + * You must specify the number for buffers and the size. All buffers are fixed + * size so you must specify the size of your largest buffer. + * + * @param count Number of buffers to allocate + * @param size Buffer size in bytes. + * + * @return CSP_ERR_NONE if malloc() succeeded, CSP_ERR message otherwise. + */ +int csp_buffer_init(int count, int size); + +/** + * Get a reference to a free buffer. This function can only be called + * from task context. + * + * @param size Specify what data-size you will put in the buffer + * @return pointer to a free csp_packet_t or NULL if out of memory + */ +void * csp_buffer_get(size_t size); + +/** + * Get a reference to a free buffer. This function can only be called + * from interrupt context. + * + * @param buf_size Specify what data-size you will put in the buffer + * @return pointer to a free csp_packet_t or NULL if out of memory + */ +void * csp_buffer_get_isr(size_t buf_size); + +/** + * Free a buffer after use. + * @param packet pointer to memory area, must be acquired by csp_buffer_get(). + */ +void csp_buffer_free(void *packet); + +/** + * Free a buffer after use in ISR context. + * @param packet pointer to memory area, must be acquired by csp_buffer_get(). + */ +void csp_buffer_free_isr(void *packet); + +/** + * Clone an existing packet and increase/decrease cloned packet size. + * @param buffer Existing buffer to clone. + */ +void * csp_buffer_clone(void *buffer); + +/** + * Return how many buffers that are currently free. + * @return number of free buffers + */ +int csp_buffer_remaining(void); + +/** + * Return the size of the CSP buffers + * @return size of CSP buffers + */ +int csp_buffer_size(void); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_BUFFER_H_ */ diff --git a/libcsp/include/csp/csp_cmp.h b/libcsp/include/csp/csp_cmp.h new file mode 100644 index 00000000..114a8eab --- /dev/null +++ b/libcsp/include/csp/csp_cmp.h @@ -0,0 +1,189 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CMP_H_ +#define _CSP_CMP_H_ + +/** + @file + CSP management protocol (CMP). +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +/** + CMP type. + @{ +*/ +/** + CMP request. +*/ +#define CSP_CMP_REQUEST 0x00 +/** + CMP reply. +*/ +#define CSP_CMP_REPLY 0xff +/**@}*/ + +/** + CMP requests. + @{ +*/ +/** + CMP request codes. +*/ +/** + Request identification, compile time, revision, name. +*/ +#define CSP_CMP_IDENT 1 +/** + Set/configure routing. +*/ +#define CSP_CMP_ROUTE_SET 2 +/** + Request interface statistics. +*/ +#define CSP_CMP_IF_STATS 3 +/** + Peek/read data from memory. +*/ +#define CSP_CMP_PEEK 4 +/** + Poke/write data from memory. +*/ +#define CSP_CMP_POKE 5 +/** + Get/set clock. +*/ +#define CSP_CMP_CLOCK 6 +/**@}*/ + +/** + CMP identification - max revision length. +*/ +#define CSP_CMP_IDENT_REV_LEN 20 +/** + CMP identification - max date length. +*/ +#define CSP_CMP_IDENT_DATE_LEN 12 +/** + CMP identification - max time length. +*/ +#define CSP_CMP_IDENT_TIME_LEN 9 + +/** + CMP interface statistics - max interface name length. +*/ +#define CSP_CMP_ROUTE_IFACE_LEN 11 + +/** + CMP peek/read memeory - max read length. +*/ +#define CSP_CMP_PEEK_MAX_LEN 200 + +/** + CMP poke/write memeory - max write length. +*/ +#define CSP_CMP_POKE_MAX_LEN 200 + +/** + CSP management protocol description. +*/ +struct csp_cmp_message { + //! CMP request type. + uint8_t type; + //! CMP request code. + uint8_t code; + union { + struct { + char hostname[CSP_HOSTNAME_LEN]; + char model[CSP_MODEL_LEN]; + char revision[CSP_CMP_IDENT_REV_LEN]; + char date[CSP_CMP_IDENT_DATE_LEN]; + char time[CSP_CMP_IDENT_TIME_LEN]; + } ident; + struct { + uint8_t dest_node; + uint8_t next_hop_mac; + char interface[CSP_CMP_ROUTE_IFACE_LEN]; + } route_set; + struct __attribute__((__packed__)) { + char interface[CSP_CMP_ROUTE_IFACE_LEN]; + uint32_t tx; + uint32_t rx; + uint32_t tx_error; + uint32_t rx_error; + uint32_t drop; + uint32_t autherr; + uint32_t frame; + uint32_t txbytes; + uint32_t rxbytes; + uint32_t irq; + } if_stats; + struct { + uint32_t addr; + uint8_t len; + char data[CSP_CMP_PEEK_MAX_LEN]; + } peek; + struct { + uint32_t addr; + uint8_t len; + char data[CSP_CMP_POKE_MAX_LEN]; + } poke; + csp_timestamp_t clock; + }; +} __attribute__ ((packed)); + +/** + Macro for calculating size of management message. +*/ +#define CMP_SIZE(_memb) (sizeof(((struct csp_cmp_message *)0)->_memb) + sizeof(uint8_t) + sizeof(uint8_t)) + +/** + Generic send management message request. +*/ +int csp_cmp(uint8_t node, uint32_t timeout, uint8_t code, int membsize, struct csp_cmp_message *msg); + +/** + Macro for defining management handling function. +*/ +#define CMP_MESSAGE(_code, _memb) \ +static inline int csp_cmp_##_memb(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg) { \ + return csp_cmp(node, timeout, _code, CMP_SIZE(_memb), msg); \ +} + +CMP_MESSAGE(CSP_CMP_IDENT, ident) +CMP_MESSAGE(CSP_CMP_ROUTE_SET, route_set) +CMP_MESSAGE(CSP_CMP_IF_STATS, if_stats) +CMP_MESSAGE(CSP_CMP_PEEK, peek) +CMP_MESSAGE(CSP_CMP_POKE, poke) +CMP_MESSAGE(CSP_CMP_CLOCK, clock) + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CMP_H_ diff --git a/libcsp/include/csp/csp_crc32.h b/libcsp/include/csp/csp_crc32.h new file mode 100644 index 00000000..a474eaf8 --- /dev/null +++ b/libcsp/include/csp/csp_crc32.h @@ -0,0 +1,63 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CRC32_H_ +#define _CSP_CRC32_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Generate precomputed CRC32 table + */ +void csp_crc32_gentab(void); + +/** + * Append CRC32 checksum to packet + * @param packet Packet to append checksum + * @param include_header use header in calculation (this will not modify the flags field) + * @return 0 on success, -1 on error + */ +int csp_crc32_append(csp_packet_t * packet, bool include_header); + +/** + * Verify CRC32 checksum on packet + * @param packet Packet to verify + * @param include_header use header in calculation (this will not modify the flags field) + * @return 0 if checksum is valid, -1 otherwise + */ +int csp_crc32_verify(csp_packet_t * packet, bool include_header); + +/** + * Calculate checksum for a given memory area + * @param data pointer to memory + * @param length length of memory to do checksum on + * @return return uint32_t checksum + */ +uint32_t csp_crc32_memory(const uint8_t * data, uint32_t length); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_CRC32_H_ */ diff --git a/libcsp/include/csp/csp_debug.h b/libcsp/include/csp/csp_debug.h new file mode 100644 index 00000000..64429d49 --- /dev/null +++ b/libcsp/include/csp/csp_debug.h @@ -0,0 +1,150 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_DEBUG_H_ +#define _CSP_DEBUG_H_ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** Debug levels */ +typedef enum { + CSP_ERROR = 0, + CSP_WARN = 1, + CSP_INFO = 2, + CSP_BUFFER = 3, + CSP_PACKET = 4, + CSP_PROTOCOL = 5, + CSP_LOCK = 6, +} csp_debug_level_t; + +/* Extract filename component from path */ +#define BASENAME(_file) ((strrchr(_file, '/') ? : (strrchr(_file, '\\') ? : _file)) + 1) + +/* Implement csp_assert_fail_action to override default failure action */ +extern void __attribute__((weak)) csp_assert_fail_action(const char *assertion, const char *file, int line); + +#ifndef NDEBUG + #define csp_assert(exp) \ + do { \ + if (!(exp)) { \ + const char *assertion = #exp; \ + const char *file = BASENAME(__FILE__); \ + int line = __LINE__; \ + printf("\E[1;31m[%02" PRIu8 "] Assertion \'%s\' failed in %s:%d\E[0m\r\n", \ + csp_get_address(), assertion, file, line); \ + if (csp_assert_fail_action) \ + csp_assert_fail_action(assertion, file, line); \ + } \ + } while (0) +#else + #define csp_assert(...) do {} while (0) +#endif + +#ifdef __AVR__ + #include + #include + #define CONSTSTR(data) PSTR(data) + #undef printf + #undef sscanf + #undef scanf + #undef sprintf + #undef snprintf + #define printf(s, ...) printf_P(PSTR(s), ## __VA_ARGS__) + #define sscanf(buf, s, ...) sscanf_P(buf, PSTR(s), ## __VA_ARGS__) + #define scanf(s, ...) scanf_P(PSTR(s), ## __VA_ARGS__) + #define sprintf(buf, s, ...) sprintf_P(buf, PSTR(s), ## __VA_ARGS__) + #define snprintf(buf, size, s, ...) snprintf_P(buf, size, PSTR(s), ## __VA_ARGS__) +#else + #define CONSTSTR(data) data +#endif + +#ifdef CSP_DEBUG + #define csp_debug(level, format, ...) do { do_csp_debug(level, CONSTSTR(format), ##__VA_ARGS__); } while(0) +#else + #define csp_debug(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_ERROR + #define csp_log_error(format, ...) csp_debug(CSP_ERROR, format, ##__VA_ARGS__) +#else + #define csp_log_error(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_WARN + #define csp_log_warn(format, ...) csp_debug(CSP_WARN, format, ##__VA_ARGS__) +#else + #define csp_log_warn(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_INFO + #define csp_log_info(format, ...) csp_debug(CSP_INFO, format, ##__VA_ARGS__) +#else + #define csp_log_info(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_DEBUG + #define csp_log_buffer(format, ...) csp_debug(CSP_BUFFER, format, ##__VA_ARGS__) + #define csp_log_packet(format, ...) csp_debug(CSP_PACKET, format, ##__VA_ARGS__) + #define csp_log_protocol(format, ...) csp_debug(CSP_PROTOCOL, format, ##__VA_ARGS__) + #define csp_log_lock(format, ...) csp_debug(CSP_LOCK, format, ##__VA_ARGS__) +#else + #define csp_log_buffer(...) do {} while (0) + #define csp_log_packet(...) do {} while (0) + #define csp_log_protocol(...) do {} while (0) + #define csp_log_lock(...) do {} while (0) +#endif + +/** + * This function should not be used directly, use csp_log_() macro instead + * @param level + * @param format + */ +void do_csp_debug(csp_debug_level_t level, const char *format, ...); + +/** + * Toggle debug level on/off + * @param level Level to toggle + */ +void csp_debug_toggle_level(csp_debug_level_t level); + +/** + * Set debug level + * @param level Level to set + * @param value New level value + */ +void csp_debug_set_level(csp_debug_level_t level, bool value); + +/** + * Get current debug level value + * @param level Level value to get + * @return Level value + */ +int csp_debug_get_level(csp_debug_level_t level); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_DEBUG_H_ diff --git a/libcsp/include/csp/csp_endian.h b/libcsp/include/csp/csp_endian.h new file mode 100644 index 00000000..e63a73c2 --- /dev/null +++ b/libcsp/include/csp/csp_endian.h @@ -0,0 +1,170 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ENDIAN_H_ +#define _CSP_ENDIAN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + * Convert 16-bit integer from host byte order to network byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_hton16(uint16_t h16); + +/** + * Convert 16-bit integer from host byte order to host byte order + * @param n16 Network byte order 16-bit integer + */ +uint16_t csp_ntoh16(uint16_t n16); + +/** + * Convert 32-bit integer from host byte order to network byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_hton32(uint32_t h32); + +/** + * Convert 32-bit integer from host byte order to host byte order + * @param n32 Network byte order 32-bit integer + */ +uint32_t csp_ntoh32(uint32_t n32); + +/** + * Convert 64-bit integer from host byte order to network byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_hton64(uint64_t h64); + +/** + * Convert 64-bit integer from host byte order to host byte order + * @param n64 Network byte order 64-bit integer + */ +uint64_t csp_ntoh64(uint64_t n64); + +/** + * Convert 16-bit integer from host byte order to big endian byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_htobe16(uint16_t h16); + +/** + * Convert 16-bit integer from host byte order to little endian byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_htole16(uint16_t h16); + +/** + * Convert 16-bit integer from big endian byte order to little endian byte order + * @param be16 Big endian byte order 16-bit integer + */ +uint16_t csp_betoh16(uint16_t be16); + +/** + * Convert 16-bit integer from little endian byte order to host byte order + * @param le16 Little endian byte order 16-bit integer + */ +uint16_t csp_letoh16(uint16_t le16); + +/** + * Convert 32-bit integer from host byte order to big endian byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_htobe32(uint32_t h32); + +/** + * Convert 32-bit integer from little endian byte order to host byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_htole32(uint32_t h32); + +/** + * Convert 32-bit integer from big endian byte order to host byte order + * @param be32 Big endian byte order 32-bit integer + */ +uint32_t csp_betoh32(uint32_t be32); + +/** + * Convert 32-bit integer from little endian byte order to host byte order + * @param le32 Little endian byte order 32-bit integer + */ +uint32_t csp_letoh32(uint32_t le32); + +/** + * Convert 64-bit integer from host byte order to big endian byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_htobe64(uint64_t h64); + +/** + * Convert 64-bit integer from host byte order to little endian byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_htole64(uint64_t h64); + +/** + * Convert 64-bit integer from big endian byte order to host byte order + * @param be64 Big endian byte order 64-bit integer + */ +uint64_t csp_betoh64(uint64_t be64); + +/** + * Convert 64-bit integer from little endian byte order to host byte order + * @param le64 Little endian byte order 64-bit integer + */ +uint64_t csp_letoh64(uint64_t le64); + +/** + * Convert float from host to network byte order + * @param f Float in host order + * @return Float in network order + */ +float csp_htonflt(float f); + +/** + * Convert float from network to host byte order + * @param f Float in network order + * @return Float in host order + */ +float csp_ntohflt(float f); + +/** + * Convert double from host to network byte order + * @param d Double in host order + * @return Double in network order + */ +double csp_htondbl(double d); + +/** + * Convert double from network to host order + * @param d Double in network order + * @return Double in host order + */ +double csp_ntohdbl(double d); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_ENDIAN_H_ diff --git a/libcsp/include/csp/csp_error.h b/libcsp/include/csp/csp_error.h new file mode 100644 index 00000000..31866607 --- /dev/null +++ b/libcsp/include/csp/csp_error.h @@ -0,0 +1,50 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ERROR_H_ +#define _CSP_ERROR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_ERR_NONE 0 /* No error */ +#define CSP_ERR_NOMEM -1 /* Not enough memory */ +#define CSP_ERR_INVAL -2 /* Invalid argument */ +#define CSP_ERR_TIMEDOUT -3 /* Operation timed out */ +#define CSP_ERR_USED -4 /* Resource already in use */ +#define CSP_ERR_NOTSUP -5 /* Operation not supported */ +#define CSP_ERR_BUSY -6 /* Device or resource busy */ +#define CSP_ERR_ALREADY -7 /* Connection already in progress */ +#define CSP_ERR_RESET -8 /* Connection reset */ +#define CSP_ERR_NOBUFS -9 /* No more buffer space available */ +#define CSP_ERR_TX -10 /* Transmission failed */ +#define CSP_ERR_DRIVER -11 /* Error in driver layer */ +#define CSP_ERR_AGAIN -12 /* Resource temporarily unavailable */ + +#define CSP_ERR_HMAC -100 /* HMAC failed */ +#define CSP_ERR_XTEA -101 /* XTEA failed */ +#define CSP_ERR_CRC32 -102 /* CRC32 failed */ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_ERROR_H_ diff --git a/libcsp/include/csp/csp_iflist.h b/libcsp/include/csp/csp_iflist.h new file mode 100644 index 00000000..55875657 --- /dev/null +++ b/libcsp/include/csp/csp_iflist.h @@ -0,0 +1,56 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_IFLIST_H_ +#define CSP_IFLIST_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Add interface to list + * @param ifc Pointer to interface to add + */ +void csp_iflist_add(csp_iface_t *ifc); + +/** + * Lookup interface by name + * @param name String with interface name + * @return Pointer to interface or NULL if not found + */ +csp_iface_t * csp_iflist_get_by_name(const char *name); + +/** + * Print list of interfaces to stdout + */ +void csp_iflist_print(void); + +/** + * Return list of registered interfaces. + */ +csp_iface_t * csp_iflist_get(void); + +#ifdef __cplusplus +} +#endif +#endif /* CSP_IFLIST_H_ */ diff --git a/libcsp/include/csp/csp_interface.h b/libcsp/include/csp/csp_interface.h new file mode 100644 index 00000000..8f04bee3 --- /dev/null +++ b/libcsp/include/csp/csp_interface.h @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_INTERFACE_H_ +#define _CSP_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + * Inputs a new packet into the system + * This function is called from interface drivers ISR to route and accept packets. + * But it can also be called from a task, provided that the pxTaskWoken parameter is NULL! + * + * EXTREMELY IMPORTANT: + * pxTaskWoken arg must ALWAYS be NULL if called from task, + * and ALWAYS be NON NULL if called from ISR! + * If this condition is met, this call is completely thread-safe + * + * This function is fire and forget, it returns void, meaning + * that a packet will always be either accepted or dropped + * so the memory will always be freed. + * + * @param packet A pointer to the incoming packet + * @param interface A pointer to the incoming interface TX function. + * @param pxTaskWoken This must be a pointer a valid variable if called from ISR or NULL otherwise! + */ +void csp_qfifo_write(csp_packet_t *packet, csp_iface_t *interface, CSP_BASE_TYPE *pxTaskWoken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_INTERFACE_H_ diff --git a/libcsp/include/csp/csp_platform.h b/libcsp/include/csp/csp_platform.h new file mode 100644 index 00000000..b33292e9 --- /dev/null +++ b/libcsp/include/csp/csp_platform.h @@ -0,0 +1,56 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_PLATFORM_H_ +#define _CSP_PLATFORM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/* Set OS */ +#if defined(CSP_POSIX) || defined(CSP_WINDOWS) || defined(CSP_MACOSX) + #define CSP_BASE_TYPE int + #define CSP_MAX_DELAY (UINT32_MAX) + #define CSP_INFINITY (UINT32_MAX) + #define CSP_DEFINE_CRITICAL(lock) static csp_bin_sem_handle_t lock + #define CSP_INIT_CRITICAL(lock) ({(csp_bin_sem_create(&lock) == CSP_SEMAPHORE_OK) ? CSP_ERR_NONE : CSP_ERR_NOMEM;}) + #define CSP_ENTER_CRITICAL(lock) do { csp_bin_sem_wait(&lock, CSP_MAX_DELAY); } while(0) + #define CSP_EXIT_CRITICAL(lock) do { csp_bin_sem_post(&lock); } while(0) +#elif defined(CSP_FREERTOS) + #include "FreeRTOS.h" + #define CSP_BASE_TYPE portBASE_TYPE + #define CSP_MAX_DELAY portMAX_DELAY + #define CSP_INFINITY portMAX_DELAY + #define CSP_DEFINE_CRITICAL(lock) + #define CSP_INIT_CRITICAL(lock) ({CSP_ERR_NONE;}) + #define CSP_ENTER_CRITICAL(lock) do { portENTER_CRITICAL(); } while (0) + #define CSP_EXIT_CRITICAL(lock) do { portEXIT_CRITICAL(); } while (0) +#else + #error "OS must be either CSP_POSIX, CSP_MACOSX, CSP_FREERTOS OR CSP_WINDOWS" +#endif + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_PLATFORM_H_ diff --git a/libcsp/include/csp/csp_rtable.h b/libcsp/include/csp/csp_rtable.h new file mode 100644 index 00000000..34cd18e2 --- /dev/null +++ b/libcsp/include/csp/csp_rtable.h @@ -0,0 +1,149 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_RTABLE_H_ +#define CSP_RTABLE_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_NODE_MAC 0xFF +#define CSP_ROUTE_COUNT (CSP_ID_HOST_MAX + 2) +#define CSP_ROUTE_TABLE_SIZE 5 * CSP_ROUTE_COUNT + +/** + * Find outgoing interface in routing table + * @param id Destination node + * @return pointer to outgoing interface or NULL + */ +csp_iface_t * csp_rtable_find_iface(uint8_t id); + +/** + * Find MAC address associated with node + * @param id Destination node + * @return MAC address + */ +uint8_t csp_rtable_find_mac(uint8_t id); + +/** + * Setup routing entry + * @param node Host + * @param mask Number of bits in netmask + * @param ifc Interface + * @param mac MAC address + * @return CSP error type + */ +int csp_rtable_set(uint8_t node, uint8_t mask, csp_iface_t *ifc, uint8_t mac); + +/** + * Print routing table to stdout + */ +void csp_rtable_print(void); + + +/** + * Load the routing table from a buffer + * (deprecated, please use new csp_rtable_load) + * + * Warning: + * The table will be RAW from memory and contains direct pointers, not interface names. + * Therefore it's very important that a saved routing table is deleted after a firmware update + * + * @param route_table_in pointer to routing table buffer + */ +void csp_route_table_load(uint8_t route_table_in[CSP_ROUTE_TABLE_SIZE]); + +/** + * Save the routing table to a buffer + * (deprecated, please use new csp_rtable_save) + * + * Warning: + * The table will be RAW from memory and contains direct pointers, not interface names. + * Therefore it's very important that a saved routing table is deleted after a firmware update + * + * @param route_table_out pointer to routing table buffer + */ +void csp_route_table_save(uint8_t route_table_out[CSP_ROUTE_TABLE_SIZE]); + +/** + * Save routing table as a string to a buffer, which can be parsed + * again by csp_rtable_load. + * @param buffer pointer to buffer + * @param maxlen length of buffer + * @return length of saved string + */ +int csp_rtable_save(char * buffer, int maxlen); + +/** + * Load routing table from a string in the format + * %u/%u %s %u + * - Address + * - Netmask + * - Ifname + * - Mac Address (this field is optional) + * An example routing string is "0/0 I2C, 8/2 KISS" + * The string must be \0 null terminated + * @param buffer Pointer to string + */ +void csp_rtable_load(const char * buffer); + +/** + * Check string for valid routing table + * @param buffer Pointer to string + * @return number of valid entries found + */ +int csp_rtable_check(const char * buffer); + +/** + * Clear routing table: + * This could be done before load to ensure an entire clean table is loaded. + */ +void csp_rtable_clear(void); + +/** + * Setup routing entry to single node + * (deprecated, please use csp_rtable_set) + * + * @param node Host + * @param ifc Interface + * @param mac MAC address + * @return CSP error type + */ +#define csp_route_set(node, ifc, mac) csp_rtable_set(node, CSP_ID_HOST_SIZE, ifc, mac) + +/** + * Print routing table + * (deprecated, please use csp_rtable_print) + */ +#define csp_route_print_table() csp_rtable_print(); + +/** + * Print list of interfaces + * (deprecated, please use csp_iflist_print) + */ +#define csp_route_print_interfaces() csp_iflist_print(); + +#ifdef __cplusplus +} +#endif +#endif /* CSP_RTABLE_H_ */ diff --git a/libcsp/include/csp/csp_types.h b/libcsp/include/csp/csp_types.h new file mode 100644 index 00000000..a9cc28cd --- /dev/null +++ b/libcsp/include/csp/csp_types.h @@ -0,0 +1,235 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_TYPES_H_ +#define CSP_TYPES_H_ + +#include +#include // -> CSP_HAVE_X defines +#ifdef CSP_HAVE_STDBOOL_H +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/* Make bool for compilers without stdbool.h */ +#ifndef CSP_HAVE_STDBOOL_H +#define bool int +#define false 0 +#define true !false +#endif + +/** + * RESERVED PORTS (SERVICES) + */ + +enum csp_reserved_ports_e { + CSP_CMP = 0, + CSP_PING = 1, + CSP_PS = 2, + CSP_MEMFREE = 3, + CSP_REBOOT = 4, + CSP_BUF_FREE = 5, + CSP_UPTIME = 6, + CSP_ANY = (CSP_MAX_BIND_PORT + 1), + CSP_PROMISC = (CSP_MAX_BIND_PORT + 2) +}; + +typedef enum { + CSP_PRIO_CRITICAL = 0, + CSP_PRIO_HIGH = 1, + CSP_PRIO_NORM = 2, + CSP_PRIO_LOW = 3, +} csp_prio_t; + +#define CSP_PRIORITIES (1 << CSP_ID_PRIO_SIZE) + +#ifdef CSP_USE_QOS +#define CSP_RX_QUEUE_LENGTH (CSP_CONN_QUEUE_LENGTH / CSP_PRIORITIES) +#define CSP_ROUTE_FIFOS CSP_PRIORITIES +#define CSP_RX_QUEUES CSP_PRIORITIES +#else +#define CSP_RX_QUEUE_LENGTH CSP_CONN_QUEUE_LENGTH +#define CSP_ROUTE_FIFOS 1 +#define CSP_RX_QUEUES 1 +#endif + +/** Size of bit-fields in CSP header */ +#define CSP_ID_PRIO_SIZE 2 +#define CSP_ID_HOST_SIZE 5 +#define CSP_ID_PORT_SIZE 6 +#define CSP_ID_FLAGS_SIZE 8 + +#define CSP_HEADER_BITS (CSP_ID_PRIO_SIZE + 2 * CSP_ID_HOST_SIZE + 2 * CSP_ID_PORT_SIZE + CSP_ID_FLAGS_SIZE) +#define CSP_HEADER_LENGTH (CSP_HEADER_BITS / 8) + +#if CSP_HEADER_BITS != 32 && __GNUC__ +#error "Header length must be 32 bits" +#endif + +/** Highest number to be entered in field */ +#define CSP_ID_PRIO_MAX ((1 << (CSP_ID_PRIO_SIZE)) - 1) +#define CSP_ID_HOST_MAX ((1 << (CSP_ID_HOST_SIZE)) - 1) +#define CSP_ID_PORT_MAX ((1 << (CSP_ID_PORT_SIZE)) - 1) +#define CSP_ID_FLAGS_MAX ((1 << (CSP_ID_FLAGS_SIZE)) - 1) + +/** Identifier field masks */ +#define CSP_ID_PRIO_MASK ((uint32_t) CSP_ID_PRIO_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE + 2 * CSP_ID_HOST_SIZE)) +#define CSP_ID_SRC_MASK ((uint32_t) CSP_ID_HOST_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE + 1 * CSP_ID_HOST_SIZE)) +#define CSP_ID_DST_MASK ((uint32_t) CSP_ID_HOST_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE)) +#define CSP_ID_DPORT_MASK ((uint32_t) CSP_ID_PORT_MAX << (CSP_ID_FLAGS_SIZE + 1 * CSP_ID_PORT_SIZE)) +#define CSP_ID_SPORT_MASK ((uint32_t) CSP_ID_PORT_MAX << (CSP_ID_FLAGS_SIZE)) +#define CSP_ID_FLAGS_MASK ((uint32_t) CSP_ID_FLAGS_MAX << (0)) + +#define CSP_ID_CONN_MASK (CSP_ID_SRC_MASK | CSP_ID_DST_MASK | CSP_ID_DPORT_MASK | CSP_ID_SPORT_MASK) + +/** + CSP identifier. +*/ +typedef union { + //! Entire identifier. + uint32_t ext; + //! Individual fields. + struct __attribute__((__packed__)) { +#if defined(CSP_BIG_ENDIAN) && !defined(CSP_LITTLE_ENDIAN) + unsigned int pri : CSP_ID_PRIO_SIZE; + unsigned int src : CSP_ID_HOST_SIZE; + unsigned int dst : CSP_ID_HOST_SIZE; + unsigned int dport : CSP_ID_PORT_SIZE; + unsigned int sport : CSP_ID_PORT_SIZE; + unsigned int flags : CSP_ID_FLAGS_SIZE; +#elif defined(CSP_LITTLE_ENDIAN) && !defined(CSP_BIG_ENDIAN) + unsigned int flags : CSP_ID_FLAGS_SIZE; + unsigned int sport : CSP_ID_PORT_SIZE; + unsigned int dport : CSP_ID_PORT_SIZE; + unsigned int dst : CSP_ID_HOST_SIZE; + unsigned int src : CSP_ID_HOST_SIZE; + unsigned int pri : CSP_ID_PRIO_SIZE; +#else +#error "Must define one of CSP_BIG_ENDIAN or CSP_LITTLE_ENDIAN in csp_platform.h" +#endif + }; +} csp_id_t; + +/** Broadcast address */ +#define CSP_BROADCAST_ADDR CSP_ID_HOST_MAX + +/** Default routing address */ +#define CSP_DEFAULT_ROUTE (CSP_ID_HOST_MAX + 1) + +/** CSP Flags */ +#define CSP_FRES1 0x80 // Reserved for future use +#define CSP_FRES2 0x40 // Reserved for future use +#define CSP_FRES3 0x20 // Reserved for future use +#define CSP_FFRAG 0x10 // Use fragmentation +#define CSP_FHMAC 0x08 // Use HMAC verification +#define CSP_FXTEA 0x04 // Use XTEA encryption +#define CSP_FRDP 0x02 // Use RDP protocol +#define CSP_FCRC32 0x01 // Use CRC32 checksum + +/** CSP Socket options */ +#define CSP_SO_NONE 0x0000 // No socket options +#define CSP_SO_RDPREQ 0x0001 // Require RDP +#define CSP_SO_RDPPROHIB 0x0002 // Prohibit RDP +#define CSP_SO_HMACREQ 0x0004 // Require HMAC +#define CSP_SO_HMACPROHIB 0x0008 // Prohibit HMAC +#define CSP_SO_XTEAREQ 0x0010 // Require XTEA +#define CSP_SO_XTEAPROHIB 0x0020 // Prohibit HMAC +#define CSP_SO_CRC32REQ 0x0040 // Require CRC32 +#define CSP_SO_CRC32PROHIB 0x0080 // Prohibit CRC32 +#define CSP_SO_CONN_LESS 0x0100 // Enable Connection Less mode +#define CSP_SO_INTERNAL_LISTEN 0x1000 // Internal flag: listen called on socket + +/** CSP Connect options */ +#define CSP_O_NONE CSP_SO_NONE // No connection options +#define CSP_O_RDP CSP_SO_RDPREQ // Enable RDP +#define CSP_O_NORDP CSP_SO_RDPPROHIB // Disable RDP +#define CSP_O_HMAC CSP_SO_HMACREQ // Enable HMAC +#define CSP_O_NOHMAC CSP_SO_HMACPROHIB // Disable HMAC +#define CSP_O_XTEA CSP_SO_XTEAREQ // Enable XTEA +#define CSP_O_NOXTEA CSP_SO_XTEAPROHIB // Disable XTEA +#define CSP_O_CRC32 CSP_SO_CRC32REQ // Enable CRC32 +#define CSP_O_NOCRC32 CSP_SO_CRC32PROHIB // Disable CRC32 + +/** + * CSP PACKET STRUCTURE + * Note: This structure is constructed to fit + * with all interface frame types in order to + * have buffer reuse + */ +typedef struct __attribute__((__packed__)) { + uint8_t padding[CSP_PADDING_BYTES]; /**< Interface dependent padding */ + uint16_t length; /**< Length field must be just before CSP ID */ + csp_id_t id; /**< CSP id must be just before data */ + union { + uint8_t data[0]; /**< This just points to the rest of the buffer, without a size indication. */ + uint16_t data16[0]; /**< The data 16 and 32 types makes it easy to reference an integer (properly aligned) */ + uint32_t data32[0]; /**< without the compiler warning about strict aliasing rules. */ + }; +} csp_packet_t; + +/** Interface TX function */ +struct csp_iface_s; +typedef int (*nexthop_t)(struct csp_iface_s * interface, csp_packet_t *packet, uint32_t timeout); + +/** Interface struct */ +typedef struct csp_iface_s { + const char *name; /**< Interface name (keep below 10 bytes) */ + void * driver; /**< Pointer to interface handler structure */ + nexthop_t nexthop; /**< Next hop function */ + uint16_t mtu; /**< Maximum Transmission Unit of interface */ + uint8_t split_horizon_off; /**< Disable the route-loop prevention on if */ + uint32_t tx; /**< Successfully transmitted packets */ + uint32_t rx; /**< Successfully received packets */ + uint32_t tx_error; /**< Transmit errors */ + uint32_t rx_error; /**< Receive errors */ + uint32_t drop; /**< Dropped packets */ + uint32_t autherr; /**< Authentication errors */ + uint32_t frame; /**< Frame format errors */ + uint32_t txbytes; /**< Transmitted bytes */ + uint32_t rxbytes; /**< Received bytes */ + uint32_t irq; /**< Interrupts */ + struct csp_iface_s *next; /**< Next interface */ +} csp_iface_t; + +/** + * This define must be equal to the size of the packet overhead in csp_packet_t. + * It is used in csp_buffer_get() to check the allocated buffer size against + * the required buffer size. + */ +#define CSP_BUFFER_PACKET_OVERHEAD (sizeof(csp_packet_t) - sizeof(((csp_packet_t *)0)->data)) + +/** Forward declaration of socket and connection structures */ +typedef struct csp_conn_s csp_socket_t; +typedef struct csp_conn_s csp_conn_t; + +#define CSP_HOSTNAME_LEN 20 +#define CSP_MODEL_LEN 30 + +/* CSP_REBOOT magic values */ +#define CSP_REBOOT_MAGIC 0x80078007 +#define CSP_REBOOT_SHUTDOWN_MAGIC 0xD1E5529A + +#ifdef __cplusplus +} +#endif +#endif /* CSP_TYPES_H_ */ diff --git a/libcsp/include/csp/drivers/can_socketcan.h b/libcsp/include/csp/drivers/can_socketcan.h new file mode 100644 index 00000000..0963b414 --- /dev/null +++ b/libcsp/include/csp/drivers/can_socketcan.h @@ -0,0 +1,22 @@ +/* + * can_socketcan.h + * + * Created on: Feb 6, 2017 + * Author: johan + */ + +#ifndef LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ +#define LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc); + +#ifdef __cplusplus +} +#endif +#endif /* LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ */ diff --git a/libcsp/include/csp/drivers/i2c.h b/libcsp/include/csp/drivers/i2c.h new file mode 100644 index 00000000..3cf605ee --- /dev/null +++ b/libcsp/include/csp/drivers/i2c.h @@ -0,0 +1,120 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/** + * @file + * Common I2C interface, + * This file is derived from the Gomspace I2C driver, + * + */ + +#ifndef I2C_H_ +#define I2C_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The return value of the driver is a bit strange, + * It should return E_NO_ERR if successfull and the value is -1 + */ +#define E_NO_ERR -1 + +/** + * Maximum transfer length on I2C + */ +#define I2C_MTU 256 + +/** + I2C device modes + @{ +*/ +/** + I2C Master mode. +*/ +#define I2C_MASTER 0 +/** + I2C Slave mode. +*/ +#define I2C_SLAVE 1 +/**@}*/ + +/** + Data structure for I2C frames. + This structs fits on top of #csp_packet_t, removing the need for copying data. +*/ +typedef struct __attribute__((packed)) i2c_frame_s { + //! Not used by CSP + uint8_t padding; + //! Not used by CSP - cleared before Tx + uint8_t retries; + //! Not used by CSP + uint32_t reserved; + //! Destination address + uint8_t dest; + //! Not used by CSP - cleared before Tx + uint8_t len_rx; + //! Length of \a data part + uint16_t len; + //! CSP data + uint8_t data[I2C_MTU]; +} i2c_frame_t; + +/** + Callback for receiving data. + + @param[in] frame received I2C frame + @param[out] pxTaskWoken can be set, if context switch is required due to received data. +*/ +typedef void (*i2c_callback_t) (i2c_frame_t * frame, void * pxTaskWoken); + +/** + Initialise the I2C driver + + Functions is called by csp_i2c_init(). + + @param handle Which I2C bus (if more than one exists) + @param mode I2C device mode. Must be either I2C_MASTER or I2C_SLAVE + @param addr Own slave address + @param speed Bus speed in kbps + @param queue_len_tx Length of transmit queue + @param queue_len_rx Length of receive queue + @param callback If this value is set, the driver will call this function instead of using an RX queue + @return Error code +*/ +int i2c_init(int handle, int mode, uint8_t addr, uint16_t speed, int queue_len_tx, int queue_len_rx, i2c_callback_t callback); + +/** + User I2C transmit function. + + Called by CSP, when sending message over I2C. + + @param handle Handle to the device + @param frame Pointer to I2C frame + @param timeout Ticks to wait + @return Error code +*/ +int i2c_send(int handle, i2c_frame_t * frame, uint16_t timeout); + +#ifdef __cplusplus +} +#endif +#endif diff --git a/libcsp/include/csp/drivers/usart.h b/libcsp/include/csp/drivers/usart.h new file mode 100644 index 00000000..d2da8448 --- /dev/null +++ b/libcsp/include/csp/drivers/usart.h @@ -0,0 +1,107 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/** + * @file + * Common USART interface, + * This file is derived from the Gomspace USART driver, + * the main difference is the assumption that only one USART will be present on a PC + */ + +#ifndef USART_H_ +#define USART_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + Usart configuration, to be used with the usart_init call. +*/ +struct usart_conf { + //! USART device. + const char *device; + //! bits per second. + uint32_t baudrate; + //! Number of data bits. + uint8_t databits; + //! Number of stop bits. + uint8_t stopbits; + //! Parity setting. + uint8_t paritysetting; + //! Enable parity checking (Windows only). + uint8_t checkparity; +}; + +/** + Initialise UART with the usart_conf data structure + @param[in] conf full configuration structure +*/ +void usart_init(struct usart_conf *conf); + +/** + In order to catch incoming chars use the callback. + Only one callback per interface. + @param[in] handle usart[0,1,2,3] + @param[in] callback function pointer +*/ +typedef void (*usart_callback_t) (uint8_t *buf, int len, void *pxTaskWoken); + +/** + Set callback for receiving data. +*/ +void usart_set_callback(usart_callback_t callback); + +/** + Insert a character to the RX buffer of a usart + + @param[in] c character to insert + @param[out] pxTaskWoken can be set, if context switch is required due to received data. +*/ +void usart_insert(char c, void *pxTaskWoken); + +/** + Polling putchar (stdin). + + @param[in] c Character to transmit +*/ +void usart_putc(char c); + +/** + Send char buffer on UART (stdout). + + @param[in] buf Pointer to data + @param[in] len Length of data +*/ +void usart_putstr(char *buf, int len); + +/** + Buffered getchar (stdin). + + @return Character received +*/ +char usart_getc(void); + +#ifdef __cplusplus +} +#endif +#endif /* USART_H_ */ diff --git a/libcsp/include/csp/interfaces/csp_if_can.h b/libcsp/include/csp/interfaces/csp_if_can.h new file mode 100644 index 00000000..229671f2 --- /dev/null +++ b/libcsp/include/csp/interfaces/csp_if_can.h @@ -0,0 +1,76 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_CAN_H_ +#define _CSP_IF_CAN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include + +/* CAN header macros */ +#define CFP_HOST_SIZE 5 +#define CFP_TYPE_SIZE 1 +#define CFP_REMAIN_SIZE 8 +#define CFP_ID_SIZE 10 + +/* Macros for extracting header fields */ +#define CFP_FIELD(id,rsiz,fsiz) ((uint32_t)((uint32_t)((id) >> (rsiz)) & (uint32_t)((1 << (fsiz)) - 1))) +#define CFP_SRC(id) CFP_FIELD(id, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE) +#define CFP_DST(id) CFP_FIELD(id, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE) +#define CFP_TYPE(id) CFP_FIELD(id, CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_TYPE_SIZE) +#define CFP_REMAIN(id) CFP_FIELD(id, CFP_ID_SIZE, CFP_REMAIN_SIZE) +#define CFP_ID(id) CFP_FIELD(id, 0, CFP_ID_SIZE) + +/* Macros for building CFP headers */ +#define CFP_MAKE_FIELD(id,fsiz,rsiz) ((uint32_t)(((id) & (uint32_t)((uint32_t)(1 << (fsiz)) - 1)) << (rsiz))) +#define CFP_MAKE_SRC(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_DST(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_TYPE(id) CFP_MAKE_FIELD(id, CFP_TYPE_SIZE, CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_REMAIN(id) CFP_MAKE_FIELD(id, CFP_REMAIN_SIZE, CFP_ID_SIZE) +#define CFP_MAKE_ID(id) CFP_MAKE_FIELD(id, CFP_ID_SIZE, 0) + +/* Mask to uniquely separate connections */ +#define CFP_ID_CONN_MASK (CFP_MAKE_SRC((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \ + CFP_MAKE_DST((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \ + CFP_MAKE_ID((uint32_t)(1 << CFP_ID_SIZE) - 1)) + +/** + Default Maximum Transmission Unit (MTU) for CSP over CAN. + Maximum value is 2042 bytes. +*/ +#define CSP_CAN_MTU 256 + +int csp_can_rx(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc, CSP_BASE_TYPE *task_woken); +int csp_can_tx(csp_iface_t *interface, csp_packet_t *packet, uint32_t timeout); + +/* Must be implemented by the driver */ +int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_CAN_H_ */ diff --git a/libcsp/include/csp/interfaces/csp_if_i2c.h b/libcsp/include/csp/interfaces/csp_if_i2c.h new file mode 100644 index 00000000..c2169843 --- /dev/null +++ b/libcsp/include/csp/interfaces/csp_if_i2c.h @@ -0,0 +1,51 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_I2C_H_ +#define _CSP_IF_I2C_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include +#include + +extern csp_iface_t csp_if_i2c; + +/** + * Capture I2C RX events for CSP + * @param opt_addr local i2c address + * @param handle which i2c device to use + * @param speed interface speed in kHz (normally 100 or 400) + * @return csp_error.h code + */ +int csp_i2c_init(uint8_t opt_addr, int handle, int speed); + +void csp_i2c_rx(i2c_frame_t * frame, void * pxTaskWoken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_I2C_H_ */ diff --git a/libcsp/include/csp/interfaces/csp_if_kiss.h b/libcsp/include/csp/interfaces/csp_if_kiss.h new file mode 100644 index 00000000..f164cad1 --- /dev/null +++ b/libcsp/include/csp/interfaces/csp_if_kiss.h @@ -0,0 +1,110 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_KISS_H_ +#define _CSP_IF_KISS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include + +/** + * The KISS interface relies on the USART callback in order to parse incoming + * messaged from the serial interface. The USART callback however does not + * support passing the handle number of the responding USART, so you need to implement + * a USART callback for each handle and then call kiss_rx subsequently. + * + * In order to initialize the KISS interface. Fist call kiss_init() and then + * setup your usart to call csp_kiss_rx when new data is available. + * + * When a byte is not a part of a kiss packet, it will be returned to your + * usart driver using the usart_insert funtion that you provide. + * + * @param csp_iface pointer to interface + * @param buf pointer to incoming data + * @param len length of incoming data + * @param pxTaskWoken NULL if task context, pointer to variable if ISR + */ +void csp_kiss_rx(csp_iface_t * interface, uint8_t *buf, int len, void *pxTaskWoken); + +/** + * The putc function is used by the kiss interface to send + * a string of data to the serial port. This function must + * be implemented by the user, and passed to the kiss + * interface through the kiss_init function. + * @param buf byte to push + */ +typedef void (*csp_kiss_putc_f)(char buf); + +/** + * The characters not accepted by the kiss interface, are discarded + * using this function, which must be implemented by the user + * and passed through the kiss_init function. + * + * This reject function is typically used to display ASCII strings + * sent over the serial port, which are not in KISS format. Such as + * debugging information. + * + * @param c rejected character + * @param pxTaskWoken NULL if task context, pointer to variable if ISR + */ +typedef void (*csp_kiss_discard_f)(char c, void *pxTaskWoken); + +typedef enum { + KISS_MODE_NOT_STARTED, + KISS_MODE_STARTED, + KISS_MODE_ESCAPED, + KISS_MODE_SKIP_FRAME, +} kiss_mode_e; + +/** + * This structure should be statically allocated by the user + * and passed to the kiss interface during the init function + * no member information should be changed + */ +typedef struct csp_kiss_handle_s { + //! Put character on usart (tx). + csp_kiss_putc_f kiss_putc; + //! Discard - not KISS data (rx). + csp_kiss_discard_f kiss_discard; + //! Internal KISS state. + unsigned int rx_length; + //! Internal KISS state. + kiss_mode_e rx_mode; + //! Internal KISS state. + unsigned int rx_first; + //! Not used. + volatile unsigned char *rx_cbuf; + //! Internal KISS state. + csp_packet_t * rx_packet; +} csp_kiss_handle_t; + +void csp_kiss_init(csp_iface_t * csp_iface, csp_kiss_handle_t * csp_kiss_handle, csp_kiss_putc_f kiss_putc_f, csp_kiss_discard_f kiss_discard_f, const char * name); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_KISS_H_ */ diff --git a/libcsp/include/csp/interfaces/csp_if_lo.h b/libcsp/include/csp/interfaces/csp_if_lo.h new file mode 100644 index 00000000..793c45ac --- /dev/null +++ b/libcsp/include/csp/interfaces/csp_if_lo.h @@ -0,0 +1,38 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_LO_H_ +#define _CSP_IF_LO_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* CSP includes */ +#include +#include + +extern csp_iface_t csp_if_lo; + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_IF_LO_H_ diff --git a/libcsp/include/csp/interfaces/csp_if_zmqhub.h b/libcsp/include/csp/interfaces/csp_if_zmqhub.h new file mode 100644 index 00000000..f9ab43bf --- /dev/null +++ b/libcsp/include/csp/interfaces/csp_if_zmqhub.h @@ -0,0 +1,26 @@ +#ifndef CSP_IF_ZMQHUB_H_ +#define CSP_IF_ZMQHUB_H_ + +#include + +extern csp_iface_t csp_if_zmqhub; + +/** + * Setup ZMQ interface + * @param addr only receive messages matching this address (255 means all) + * @param host Pointer to string containing zmqproxy host + * @return CSP_ERR + */ +int csp_zmqhub_init(uint8_t addr, const char * host); + +/** + * Setup ZMQ interface + * @param addr only receive messages matching this address (255 means all) + * @param publisher_endpoint Pointer to string containing zmqproxy publisher endpoint + * @param subscriber_endpoint Pointer to string containing zmqproxy subscriber endpoint + * @return CSP_ERR + */ +int csp_zmqhub_init_w_endpoints(uint8_t addr, const char * publisher_url, + const char * subscriber_url); + +#endif /* CSP_IF_ZMQHUB_H_ */ diff --git a/libcsp/libcsp.mk b/libcsp/libcsp.mk new file mode 100644 index 00000000..febffad7 --- /dev/null +++ b/libcsp/libcsp.mk @@ -0,0 +1,12 @@ +CSRC += $(wildcard $(CURRENTPATH)/src/drivers/can/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/interfaces/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/rtable/csp_rtable_cidr.c) +CSRC += $(wildcard $(CURRENTPATH)/src/crypto/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/arch/posix/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/transport/*.c) + +INCLUDES += $(CURRENTPATH)/include +INCLUDES += $(CURRENTPATH)/include/csp +INCLUDES += $(CURRENTPATH)/include/csp/crypto +INCLUDES += $(CURRENTPATH) \ No newline at end of file diff --git a/libcsp/src/arch/freertos/csp_malloc.c b/libcsp/src/arch/freertos/csp_malloc.c new file mode 100644 index 00000000..97e5c8f4 --- /dev/null +++ b/libcsp/src/arch/freertos/csp_malloc.c @@ -0,0 +1,33 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* FreeRTOS includes */ +#include + +void * csp_malloc(size_t size) { + return pvPortMalloc(size); +} + +void csp_free(void *ptr) { + vPortFree(ptr); +} diff --git a/libcsp/src/arch/freertos/csp_queue.c b/libcsp/src/arch/freertos/csp_queue.c new file mode 100644 index 00000000..44efd0eb --- /dev/null +++ b/libcsp/src/arch/freertos/csp_queue.c @@ -0,0 +1,66 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return xQueueCreate(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + vQueueDelete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void * value, uint32_t timeout) { + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + return xQueueSendToBack(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + return xQueueSendToBackFromISR(handle, value, task_woken); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void * buf, uint32_t timeout) { + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + return xQueueReceive(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken) { + return xQueueReceiveFromISR(handle, buf, task_woken); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return uxQueueMessagesWaiting(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return uxQueueMessagesWaitingFromISR(handle); +} diff --git a/libcsp/src/arch/freertos/csp_semaphore.c b/libcsp/src/arch/freertos/csp_semaphore.c new file mode 100644 index 00000000..b91757e5 --- /dev/null +++ b/libcsp/src/arch/freertos/csp_semaphore.c @@ -0,0 +1,96 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include +#include +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + *mutex = xSemaphoreCreateMutex(); + if (*mutex) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + return csp_bin_sem_remove(mutex); +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + return csp_bin_sem_wait(mutex, timeout); +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + return csp_bin_sem_post(mutex); +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + vSemaphoreCreateBinary(*sem); + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if ((sem != NULL) && (*sem != NULL)) { + csp_queue_remove(*sem); + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + csp_log_lock("Wait: %p", sem); + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + if (xSemaphoreTake(*sem, timeout) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + csp_log_lock("Post: %p", sem); + if (xSemaphoreGive(*sem) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + csp_log_lock("Post: %p", sem); + if (xSemaphoreGiveFromISR(*sem, task_woken) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + diff --git a/libcsp/src/arch/freertos/csp_system.c b/libcsp/src/arch/freertos/csp_system.c new file mode 100644 index 00000000..a81c84b4 --- /dev/null +++ b/libcsp/src/arch/freertos/csp_system.c @@ -0,0 +1,139 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { +#if (tskKERNEL_VERSION_MAJOR < 8) + vTaskList((signed portCHAR *) out); +#else + vTaskList(out); +#endif + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 40 * uxTaskGetNumberOfTasks(); +} + +uint32_t csp_sys_memfree(void) { + + uint32_t total = 0, max = UINT32_MAX, size; + void * pmem; + + /* If size_t is less than 32 bits, start with 10 KiB */ + size = sizeof(uint32_t) > sizeof(size_t) ? 10000 : 1000000; + + while (1) { + pmem = pvPortMalloc(size + total); + if (pmem == NULL) { + max = size + total; + size = size / 2; + } else { + total += size; + if (total + size >= max) + size = size / 2; + vPortFree(pmem); + } + if (size < 32) break; + } + + return total; +} + +int csp_sys_reboot(void) { + + extern void __attribute__((weak)) cpu_set_reset_cause(unsigned int); + if (cpu_set_reset_cause) + cpu_set_reset_cause(1); + + extern void __attribute__((weak)) cpu_reset(void); + if (cpu_reset) { + cpu_reset(); + while (1); + } + + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + + extern void __attribute__((weak)) cpu_shutdown(void); + if (cpu_shutdown) { + cpu_shutdown(); + while (1); + } + + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/libcsp/src/arch/freertos/csp_thread.c b/libcsp/src/arch/freertos/csp_thread.c new file mode 100644 index 00000000..af8296cd --- /dev/null +++ b/libcsp/src/arch/freertos/csp_thread.c @@ -0,0 +1,38 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { +#if (tskKERNEL_VERSION_MAJOR >= 8) + portBASE_TYPE ret = xTaskCreate(routine, thread_name, stack_depth, parameters, priority, handle); +#else + portBASE_TYPE ret = xTaskCreate(routine, (signed char *) thread_name, stack_depth, parameters, priority, handle); +#endif + if (ret != pdTRUE) + return CSP_ERR_NOMEM; + return CSP_ERR_NONE; +} diff --git a/libcsp/src/arch/freertos/csp_time.c b/libcsp/src/arch/freertos/csp_time.c new file mode 100644 index 00000000..fd54a8cb --- /dev/null +++ b/libcsp/src/arch/freertos/csp_time.c @@ -0,0 +1,46 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + return (uint32_t)(xTaskGetTickCount() * (1000/configTICK_RATE_HZ)); +} + +uint32_t csp_get_ms_isr(void) { + return (uint32_t)(xTaskGetTickCountFromISR() * (1000/configTICK_RATE_HZ)); +} + +uint32_t csp_get_s(void) { + return (uint32_t)(xTaskGetTickCount()/configTICK_RATE_HZ); +} + +uint32_t csp_get_s_isr(void) { + return (uint32_t)(xTaskGetTickCountFromISR()/configTICK_RATE_HZ); +} diff --git a/libcsp/src/arch/macosx/csp_malloc.c b/libcsp/src/arch/macosx/csp_malloc.c new file mode 100644 index 00000000..95bb8cc7 --- /dev/null +++ b/libcsp/src/arch/macosx/csp_malloc.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void *ptr) { + free(ptr); +} + diff --git a/libcsp/src/arch/macosx/csp_queue.c b/libcsp/src/arch/macosx/csp_queue.c new file mode 100644 index 00000000..a2fb1b4f --- /dev/null +++ b/libcsp/src/arch/macosx/csp_queue.c @@ -0,0 +1,64 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include +#include + + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return pthread_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + return pthread_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return pthread_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if (task_woken != NULL) + *task_woken = 0; + return csp_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return pthread_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void *buf, CSP_BASE_TYPE * task_woken) { + *task_woken = 0; + return csp_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} diff --git a/libcsp/src/arch/macosx/csp_semaphore.c b/libcsp/src/arch/macosx/csp_semaphore.c new file mode 100644 index 00000000..915447f3 --- /dev/null +++ b/libcsp/src/arch/macosx/csp_semaphore.c @@ -0,0 +1,105 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + csp_log_lock("Mutex init: %p", mutex); + *mutex = pthread_queue_create(1, sizeof(int)); + if (mutex) { + int dummy = 0; + pthread_queue_enqueue(*mutex, &dummy, 0); + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + pthread_queue_delete(*mutex); + return CSP_SEMAPHORE_OK; +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + + int ret; + csp_log_lock("Wait: %p timeout %"PRIu32, mutex, timeout); + + if (timeout == CSP_INFINITY) { + /* TODO: fix this to be infinite */ + int dummy = 0; + if (pthread_queue_dequeue(*mutex, &dummy, timeout) == PTHREAD_QUEUE_OK) + ret = CSP_MUTEX_OK; + else + ret = CSP_MUTEX_ERROR; + } else { + int dummy = 0; + if (pthread_queue_dequeue(*mutex, &dummy, timeout) == PTHREAD_QUEUE_OK) + ret = CSP_MUTEX_OK; + else + ret = CSP_MUTEX_ERROR; + } + + return ret == CSP_MUTEX_ERROR ? CSP_SEMAPHORE_ERROR : CSP_SEMAPHORE_OK; +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + int dummy = 0; + if (pthread_queue_enqueue(*mutex, &dummy, 0) == PTHREAD_QUEUE_OK) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + return csp_mutex_create(sem); +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + return csp_mutex_remove(sem); +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + return csp_mutex_lock(sem, timeout); +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + return csp_mutex_unlock(sem); +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + return csp_mutex_unlock(sem); +} diff --git a/libcsp/src/arch/macosx/csp_system.c b/libcsp/src/arch/macosx/csp_system.c new file mode 100644 index 00000000..834cb210 --- /dev/null +++ b/libcsp/src/arch/macosx/csp_system.c @@ -0,0 +1,99 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on OSX"); + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 100; +} + +uint32_t csp_sys_memfree(void) { + /* TODO: Fix memory free on OSX */ + uint32_t total = 0; + return total; +} + +int csp_sys_reboot(void) { + /* TODO: Fix reboot on OSX */ + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + /* TODO: Fix shutdown on OSX */ + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/libcsp/src/arch/macosx/csp_thread.c b/libcsp/src/arch/macosx/csp_thread.c new file mode 100644 index 00000000..ed64856a --- /dev/null +++ b/libcsp/src/arch/macosx/csp_thread.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + return pthread_create(handle, NULL, routine, parameters); +} diff --git a/libcsp/src/arch/macosx/csp_time.c b/libcsp/src/arch/macosx/csp_time.c new file mode 100644 index 00000000..a53f27e6 --- /dev/null +++ b/libcsp/src/arch/macosx/csp_time.c @@ -0,0 +1,65 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + return (uint32_t)(ts.tv_sec*1000+ts.tv_nsec/1000000); +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + return (uint32_t)ts.tv_sec; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/libcsp/src/arch/macosx/pthread_queue.c b/libcsp/src/arch/macosx/pthread_queue.c new file mode 100644 index 00000000..c4ac8c1d --- /dev/null +++ b/libcsp/src/arch/macosx/pthread_queue.c @@ -0,0 +1,179 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* +Inspired by c-pthread-queue by Matthew Dickinson +http://code.google.com/p/c-pthread-queue/ +*/ + +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +pthread_queue_t * pthread_queue_create(int length, size_t item_size) { + + pthread_queue_t * q = malloc(sizeof(pthread_queue_t)); + + if (q != NULL) { + q->buffer = malloc(length*item_size); + if (q->buffer != NULL) { + q->size = length; + q->item_size = item_size; + q->items = 0; + q->in = 0; + q->out = 0; + if (pthread_mutex_init(&(q->mutex), NULL) || pthread_cond_init(&(q->cond_full), NULL) || pthread_cond_init(&(q->cond_empty), NULL)) { + free(q->buffer); + free(q); + q = NULL; + } + } else { + free(q); + q = NULL; + } + } + + return q; + +} + +void pthread_queue_delete(pthread_queue_t * q) { + + if (q == NULL) + return; + + free(q->buffer); + free(q); + + return; + +} + +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout) { + + int ret; + + /* Calculate timeout */ + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + uint32_t sec = timeout / 1000; + uint32_t nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec > 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + while (queue->items == queue->size) { + ret = pthread_cond_timedwait(&(queue->cond_full), &(queue->mutex), &ts); + if (ret != 0) { + pthread_mutex_unlock(&(queue->mutex)); + return PTHREAD_QUEUE_FULL; + } + } + + /* Coby object from input buffer */ + memcpy(queue->buffer+(queue->in * queue->item_size), value, queue->item_size); + queue->items++; + queue->in = (queue->in + 1) % queue->size; + pthread_mutex_unlock(&(queue->mutex)); + + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_empty)); + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout) { + + int ret; + + /* Calculate timeout */ + struct timespec ts; + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + uint32_t sec = timeout / 1000; + uint32_t nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec > 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + while (queue->items == 0) { + ret = pthread_cond_timedwait(&(queue->cond_empty), &(queue->mutex), &ts); + if (ret != 0) { + pthread_mutex_unlock(&(queue->mutex)); + return PTHREAD_QUEUE_EMPTY; + } + } + + /* Coby object to output buffer */ + memcpy(buf, queue->buffer+(queue->out * queue->item_size), queue->item_size); + queue->items--; + queue->out = (queue->out + 1) % queue->size; + pthread_mutex_unlock(&(queue->mutex)); + + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_full)); + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_items(pthread_queue_t * queue) { + + pthread_mutex_lock(&(queue->mutex)); + int items = queue->items; + pthread_mutex_unlock(&(queue->mutex)); + + return items; + +} diff --git a/libcsp/src/arch/posix/csp_malloc.c b/libcsp/src/arch/posix/csp_malloc.c new file mode 100644 index 00000000..95bb8cc7 --- /dev/null +++ b/libcsp/src/arch/posix/csp_malloc.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void *ptr) { + free(ptr); +} + diff --git a/libcsp/src/arch/posix/csp_queue.c b/libcsp/src/arch/posix/csp_queue.c new file mode 100644 index 00000000..a2fb1b4f --- /dev/null +++ b/libcsp/src/arch/posix/csp_queue.c @@ -0,0 +1,64 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include +#include + + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return pthread_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + return pthread_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return pthread_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if (task_woken != NULL) + *task_woken = 0; + return csp_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return pthread_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void *buf, CSP_BASE_TYPE * task_woken) { + *task_woken = 0; + return csp_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} diff --git a/libcsp/src/arch/posix/csp_semaphore.c b/libcsp/src/arch/posix/csp_semaphore.c new file mode 100644 index 00000000..6829dec2 --- /dev/null +++ b/libcsp/src/arch/posix/csp_semaphore.c @@ -0,0 +1,164 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + csp_log_lock("Mutex init: %p", mutex); + if (pthread_mutex_init(mutex, NULL) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + if (pthread_mutex_destroy(mutex) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + + int ret; + struct timespec ts; + uint32_t sec, nsec; + + csp_log_lock("Wait: %p timeout %"PRIu32, mutex, timeout); + + if (timeout == CSP_INFINITY) { + ret = pthread_mutex_lock(mutex); + } else { + if (clock_gettime(CLOCK_REALTIME, &ts)) + return CSP_SEMAPHORE_ERROR; + + sec = timeout / 1000; + nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec >= 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + ret = pthread_mutex_timedlock(mutex, &ts); + } + + if (ret != 0) + return CSP_SEMAPHORE_ERROR; + + return CSP_SEMAPHORE_OK; +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + if (pthread_mutex_unlock(mutex) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + csp_log_lock("Semaphore init: %p", sem); + if (sem_init(sem, 0, 1) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if (sem_destroy(sem) == 0) + return CSP_SEMAPHORE_OK; + else + return CSP_SEMAPHORE_ERROR; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + + int ret; + struct timespec ts; + uint32_t sec, nsec; + + csp_log_lock("Wait: %p timeout %"PRIu32, sem, timeout); + + if (timeout == CSP_INFINITY) { + ret = sem_wait(sem); + } else { + if (clock_gettime(CLOCK_REALTIME, &ts)) + return CSP_SEMAPHORE_ERROR; + + sec = timeout / 1000; + nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec >= 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + ret = sem_timedwait(sem, &ts); + } + + if (ret != 0) + return CSP_SEMAPHORE_ERROR; + + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + CSP_BASE_TYPE dummy = 0; + return csp_bin_sem_post_isr(sem, &dummy); +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + csp_log_lock("Post: %p", sem); + *task_woken = 0; + + int value; + sem_getvalue(sem, &value); + if (value > 0) + return CSP_SEMAPHORE_OK; + + if (sem_post(sem) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} diff --git a/libcsp/src/arch/posix/csp_system.c b/libcsp/src/arch/posix/csp_system.c new file mode 100644 index 00000000..6c882c7c --- /dev/null +++ b/libcsp/src/arch/posix/csp_system.c @@ -0,0 +1,131 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on POSIX"); + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 100; +} + +uint32_t csp_sys_memfree(void) { + uint32_t total = 0; + struct sysinfo info; + sysinfo(&info); + total = info.freeram * info.mem_unit; + return total; +} + +int csp_sys_reboot(void) { +#ifdef CSP_USE_INIT_SHUTDOWN + /* Let init(1) handle the reboot */ + int ret = system("reboot"); + (void) ret; /* Silence warning */ +#else + int magic = LINUX_REBOOT_CMD_RESTART; + + /* Sync filesystem before reboot */ + sync(); + reboot(magic); +#endif + + /* If reboot(2) returns, it is an error */ + csp_log_error("Failed to reboot: %s", strerror(errno)); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { +#ifdef CSP_USE_INIT_SHUTDOWN + /* Let init(1) handle the shutdown */ + int ret = system("halt"); + (void) ret; /* Silence warning */ +#else + int magic = LINUX_REBOOT_CMD_HALT; + + /* Sync filesystem before reboot */ + sync(); + reboot(magic); +#endif + + /* If reboot(2) returns, it is an error */ + csp_log_error("Failed to shutdown: %s", strerror(errno)); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/libcsp/src/arch/posix/csp_thread.c b/libcsp/src/arch/posix/csp_thread.c new file mode 100644 index 00000000..3277d35d --- /dev/null +++ b/libcsp/src/arch/posix/csp_thread.c @@ -0,0 +1,55 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + pthread_attr_t attributes, *attr_ref; + int return_code; + + if( pthread_attr_init(&attributes) == 0 ) + { + unsigned int stack_size = PTHREAD_STACK_MIN;// use at least one memory page + + while(stack_size < stack_depth)// must reach at least the provided size + { + stack_size += PTHREAD_STACK_MIN;// keep memory page boundary (some systems may fail otherwise)) + } + attr_ref = &attributes; + + pthread_attr_setdetachstate(attr_ref, PTHREAD_CREATE_DETACHED);// do not waste memory on each call + pthread_attr_setstacksize(attr_ref, stack_size); + } + else + { + attr_ref = NULL; + } + return_code = pthread_create(handle, attr_ref, routine, parameters); + if( attr_ref != NULL ) pthread_attr_destroy(attr_ref); + + return return_code; +} diff --git a/libcsp/src/arch/posix/csp_time.c b/libcsp/src/arch/posix/csp_time.c new file mode 100644 index 00000000..c9677443 --- /dev/null +++ b/libcsp/src/arch/posix/csp_time.c @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + struct timespec ts; + + if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) + return (uint32_t)(ts.tv_sec*1000+ts.tv_nsec/1000000); + else + return 0; +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + struct timespec ts; + + if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) + return (uint32_t)ts.tv_sec; + else + return 0; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/libcsp/src/arch/posix/pthread_queue.c b/libcsp/src/arch/posix/pthread_queue.c new file mode 100644 index 00000000..e8b6d4ab --- /dev/null +++ b/libcsp/src/arch/posix/pthread_queue.c @@ -0,0 +1,243 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* +Inspired by c-pthread-queue by Matthew Dickinson +http://code.google.com/p/c-pthread-queue/ +*/ + +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +static inline int get_deadline(struct timespec *ts, uint32_t timeout_ms) +{ + int ret = clock_gettime(CLOCK_MONOTONIC, ts); + + if (ret < 0) { + return ret; + } + + uint32_t sec = timeout_ms / 1000; + uint32_t nsec = (timeout_ms - 1000 * sec) * 1000000; + + ts->tv_sec += sec; + + if (ts->tv_nsec + nsec >= 1000000000) { + ts->tv_sec++; + } + + ts->tv_nsec = (ts->tv_nsec + nsec) % 1000000000; + + return ret; +} + +static inline int init_cond_clock_monotonic(pthread_cond_t * cond) +{ + + int ret; + pthread_condattr_t attr; + + pthread_condattr_init(&attr); + ret = pthread_condattr_setclock(&attr, CLOCK_MONOTONIC); + + if (ret == 0) { + ret = pthread_cond_init(cond, &attr); + } + + pthread_condattr_destroy(&attr); + return ret; + +} + +pthread_queue_t * pthread_queue_create(int length, size_t item_size) { + + pthread_queue_t * q = malloc(sizeof(pthread_queue_t)); + + if (q != NULL) { + q->buffer = malloc(length*item_size); + if (q->buffer != NULL) { + q->size = length; + q->item_size = item_size; + q->items = 0; + q->in = 0; + q->out = 0; + if (pthread_mutex_init(&(q->mutex), NULL) || init_cond_clock_monotonic(&(q->cond_full)) || init_cond_clock_monotonic(&(q->cond_empty))) { + free(q->buffer); + free(q); + q = NULL; + } + } else { + free(q); + q = NULL; + } + } + + return q; + +} + +void pthread_queue_delete(pthread_queue_t * q) { + + if (q == NULL) + return; + + free(q->buffer); + free(q); + + return; + +} + + +static inline int wait_slot_available(pthread_queue_t * queue, struct timespec *ts) { + + int ret; + + while (queue->items == queue->size) { + + if (ts != NULL) { + ret = pthread_cond_timedwait(&(queue->cond_full), &(queue->mutex), ts); + } else { + ret = pthread_cond_wait(&(queue->cond_full), &(queue->mutex)); + } + + if (ret != 0 && errno != EINTR) { + return PTHREAD_QUEUE_FULL; //Timeout + } + } + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout) { + + int ret; + struct timespec ts; + struct timespec *pts = NULL; + + /* Calculate timeout */ + if (timeout != CSP_MAX_DELAY) { + if (get_deadline(&ts, timeout) != 0) { + return PTHREAD_QUEUE_ERROR; + } + pts = &ts; + } else { + pts = NULL; + } + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + + ret = wait_slot_available(queue, pts); + if (ret == PTHREAD_QUEUE_OK) { + /* Copy object from input buffer */ + memcpy(queue->buffer+(queue->in * queue->item_size), value, queue->item_size); + queue->items++; + queue->in = (queue->in + 1) % queue->size; + } + + pthread_mutex_unlock(&(queue->mutex)); + + if (ret == PTHREAD_QUEUE_OK) { + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_empty)); + } + + return ret; + +} + +static inline int wait_item_available(pthread_queue_t * queue, struct timespec *ts) { + + int ret; + + while (queue->items == 0) { + + if (ts != NULL) { + ret = pthread_cond_timedwait(&(queue->cond_empty), &(queue->mutex), ts); + } else { + ret = pthread_cond_wait(&(queue->cond_empty), &(queue->mutex)); + } + + if (ret != 0 && errno != EINTR) { + return PTHREAD_QUEUE_EMPTY; //Timeout + } + } + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout) { + + int ret; + struct timespec ts; + struct timespec *pts; + + /* Calculate timeout */ + if (timeout != CSP_MAX_DELAY) { + if (get_deadline(&ts, timeout) != 0) { + return PTHREAD_QUEUE_ERROR; + } + pts = &ts; + } else { + pts = NULL; + } + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + + ret = wait_item_available(queue, pts); + if (ret == PTHREAD_QUEUE_OK) { + /* Coby object to output buffer */ + memcpy(buf, queue->buffer+(queue->out * queue->item_size), queue->item_size); + queue->items--; + queue->out = (queue->out + 1) % queue->size; + } + + pthread_mutex_unlock(&(queue->mutex)); + + if (ret == PTHREAD_QUEUE_OK) { + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_full)); + } + + return ret; + +} + +int pthread_queue_items(pthread_queue_t * queue) { + + pthread_mutex_lock(&(queue->mutex)); + int items = queue->items; + pthread_mutex_unlock(&(queue->mutex)); + + return items; + +} diff --git a/libcsp/src/arch/windows/README b/libcsp/src/arch/windows/README new file mode 100644 index 00000000..b97ce7f5 --- /dev/null +++ b/libcsp/src/arch/windows/README @@ -0,0 +1,18 @@ +This directory contains files specific to the windows port of libcsp. + +To compile and create a static library, execute: + + python waf configure --with-os=windows build + +from the root of this project. Note python must be in PATH. + +The build requirements are: + * Windows Vista SP1 + * A recent version of MinGW _or_ MinGW-w64 + * Windows API headers + * cPython 2.5 or newer + +What provides the Windows API headers depends on the development environment: +Using MinGW: Headers provided by w32api package. windows_glue.h header is needed because these headers do not declare condition variables. +Using MinGW-w64: Headers should be available in the default configuration. You may have to compile the distribution from source. windows_glue.h should not be needed. + diff --git a/libcsp/src/arch/windows/csp_malloc.c b/libcsp/src/arch/windows/csp_malloc.c new file mode 100644 index 00000000..4b301e49 --- /dev/null +++ b/libcsp/src/arch/windows/csp_malloc.c @@ -0,0 +1,9 @@ +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void * ptr) { + free(ptr); +} diff --git a/libcsp/src/arch/windows/csp_queue.c b/libcsp/src/arch/windows/csp_queue.c new file mode 100644 index 00000000..177f8fa9 --- /dev/null +++ b/libcsp/src/arch/windows/csp_queue.c @@ -0,0 +1,40 @@ +#include +#include +#include +#include "windows_queue.h" + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return windows_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + windows_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return windows_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) + *task_woken = 0; + return windows_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return windows_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) + *task_woken = 0; + return windows_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return windows_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return windows_queue_items(handle); +} diff --git a/libcsp/src/arch/windows/csp_semaphore.c b/libcsp/src/arch/windows/csp_semaphore.c new file mode 100644 index 00000000..aa69251e --- /dev/null +++ b/libcsp/src/arch/windows/csp_semaphore.c @@ -0,0 +1,74 @@ +#include +#include +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + HANDLE mutexHandle = CreateMutex(NULL, FALSE, FALSE); + if( mutexHandle == NULL ) { + return CSP_MUTEX_ERROR; + } + *mutex = mutexHandle; + return CSP_MUTEX_OK; +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + if( !CloseHandle(*mutex) ) { + return CSP_MUTEX_ERROR; + } + return CSP_MUTEX_OK; +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + if(WaitForSingleObject(*mutex, timeout) == WAIT_OBJECT_0) { + return CSP_MUTEX_OK; + } + return CSP_MUTEX_ERROR; + +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + if( !ReleaseMutex(*mutex) ) { + return CSP_MUTEX_ERROR; + } + return CSP_MUTEX_OK; +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + HANDLE semHandle = CreateSemaphore(NULL, 1, 1, NULL); + if( semHandle == NULL ) { + return CSP_SEMAPHORE_ERROR; + } + *sem = semHandle; + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if( !CloseHandle(*sem) ) { + return CSP_SEMAPHORE_ERROR; + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + if( WaitForSingleObject(*sem, timeout) == WAIT_OBJECT_0 ) { + return CSP_SEMAPHORE_OK; + } + return CSP_SEMAPHORE_ERROR; + +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + if( !ReleaseSemaphore(*sem, 1, NULL) ) { + return CSP_SEMAPHORE_ERROR; + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) { + *task_woken = 0; + } + return csp_bin_sem_post(sem); +} + + diff --git a/libcsp/src/arch/windows/csp_system.c b/libcsp/src/arch/windows/csp_system.c new file mode 100644 index 00000000..262c2052 --- /dev/null +++ b/libcsp/src/arch/windows/csp_system.c @@ -0,0 +1,60 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on Windows"); + return CSP_ERR_NONE; +} + +uint32_t csp_sys_memfree(void) { + MEMORYSTATUSEX statex; + statex.dwLength = sizeof(statex); + GlobalMemoryStatusEx(&statex); + DWORDLONG freePhysicalMem = statex.ullAvailPhys; + size_t total = (size_t) freePhysicalMem; + return (uint32_t)total; +} + +int csp_sys_reboot(void) { + /* TODO: Fix reboot on Windows */ + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + /* TODO: Fix shutdown on Windows */ + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + /* TODO: Add Windows color output here */ +} diff --git a/libcsp/src/arch/windows/csp_thread.c b/libcsp/src/arch/windows/csp_thread.c new file mode 100644 index 00000000..ef46a948 --- /dev/null +++ b/libcsp/src/arch/windows/csp_thread.c @@ -0,0 +1,11 @@ +#include +#include +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *)__attribute__((stdcall)), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + HANDLE taskHandle = (HANDLE) _beginthreadex(NULL, stack_depth, routine, parameters, 0, 0); + if( taskHandle == 0 ) + return CSP_ERR_NOMEM; // Failure + *handle = taskHandle; + return CSP_ERR_NONE; +} diff --git a/libcsp/src/arch/windows/csp_time.c b/libcsp/src/arch/windows/csp_time.c new file mode 100644 index 00000000..618292ab --- /dev/null +++ b/libcsp/src/arch/windows/csp_time.c @@ -0,0 +1,20 @@ +#include +#include +#include + +uint32_t csp_get_ms(void) { + return (uint32_t)GetTickCount(); +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + uint32_t time_ms = csp_get_ms(); + return time_ms/1000; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/libcsp/src/arch/windows/windows_glue.h b/libcsp/src/arch/windows/windows_glue.h new file mode 100644 index 00000000..6e0cf6db --- /dev/null +++ b/libcsp/src/arch/windows/windows_glue.h @@ -0,0 +1,23 @@ +#ifndef WINDOWS_GLUE_H +#define WINDOWS_GLUE_H + +#include +#undef interface + +#if (_WIN32_WINNT >= 0x0600) + +#define RTL_CONDITION_VARIABLE_INIT 0 +#define RTL_CONDITION_VARIABLE_LOCKMODE_SHARED 1 +#define CONDITION_VARIABLE_INIT RTL_CONDITION_VARIABLE_INIT +#define CONDITION_VARIABLE_LOCKMODE_SHARED RTL_CONDITION_VARIABLE_LOCKMODE_SHARED + +typedef PVOID RTL_CONDITION_VARIABLE; +typedef RTL_CONDITION_VARIABLE CONDITION_VARIABLE, *PCONDITION_VARIABLE; + +WINBASEAPI VOID WINAPI InitializeConditionVariable(PCONDITION_VARIABLE ConditionVariable); +WINBASEAPI WINBOOL WINAPI SleepConditionVariableCS(PCONDITION_VARIABLE ConditionVariable, PCRITICAL_SECTION CriticalSection, DWORD dwMilliseconds); +WINBASEAPI VOID WINAPI WakeAllConditionVariable(PCONDITION_VARIABLE ConditionVariable); +WINBASEAPI VOID WINAPI WakeConditionVariable(PCONDITION_VARIABLE ConditionVariable); + +#endif // _WIN#"_WINNT +#endif diff --git a/libcsp/src/arch/windows/windows_queue.c b/libcsp/src/arch/windows/windows_queue.c new file mode 100644 index 00000000..aa337dc8 --- /dev/null +++ b/libcsp/src/arch/windows/windows_queue.c @@ -0,0 +1,91 @@ +#include "windows_queue.h" +#include "windows_glue.h" +#include + +static int queueFull(windows_queue_t * queue) { + return queue->items == queue->size; +} + +static int queueEmpty(windows_queue_t * queue) { + return queue->items == 0; +} + +windows_queue_t * windows_queue_create(int length, size_t item_size) { + windows_queue_t *queue = (windows_queue_t*)malloc(sizeof(windows_queue_t)); + if(queue == NULL) + goto queue_malloc_failed; + + queue->buffer = malloc(length*item_size); + if(queue->buffer == NULL) + goto buffer_malloc_failed; + + queue->size = length; + queue->item_size = item_size; + queue->items = 0; + queue->head_idx = 0; + + InitializeCriticalSection(&(queue->mutex)); + InitializeConditionVariable(&(queue->cond_full)); + InitializeConditionVariable(&(queue->cond_empty)); + goto queue_init_success; + +buffer_malloc_failed: + free(queue); + queue = NULL; +queue_malloc_failed: +queue_init_success: + return queue; +} + +void windows_queue_delete(windows_queue_t * q) { + if(q==NULL) return; + DeleteCriticalSection(&(q->mutex)); + free(q->buffer); + free(q); +} + +int windows_queue_enqueue(windows_queue_t * queue, void * value, int timeout) { + int offset; + EnterCriticalSection(&(queue->mutex)); + while(queueFull(queue)) { + int ret = SleepConditionVariableCS(&(queue->cond_full), &(queue->mutex), timeout); + if( !ret ) { + LeaveCriticalSection(&(queue->mutex)); + return ret == WAIT_TIMEOUT ? WINDOWS_QUEUE_FULL : WINDOWS_QUEUE_ERROR; + } + } + offset = ((queue->head_idx+queue->items) % queue->size) * queue->item_size; + memcpy((unsigned char*)queue->buffer + offset, value, queue->item_size); + queue->items++; + + LeaveCriticalSection(&(queue->mutex)); + WakeAllConditionVariable(&(queue->cond_empty)); + return WINDOWS_QUEUE_OK; +} + +int windows_queue_dequeue(windows_queue_t * queue, void * buf, int timeout) { + EnterCriticalSection(&(queue->mutex)); + while(queueEmpty(queue)) { + int ret = SleepConditionVariableCS(&(queue->cond_empty), &(queue->mutex), timeout); + if( !ret ) { + LeaveCriticalSection(&(queue->mutex)); + return ret == WAIT_TIMEOUT ? WINDOWS_QUEUE_EMPTY : WINDOWS_QUEUE_ERROR; + } + } + memcpy(buf, (unsigned char*)queue->buffer+(queue->head_idx%queue->size*queue->item_size), queue->item_size); + queue->items--; + queue->head_idx = (queue->head_idx + 1) % queue->size; + + LeaveCriticalSection(&(queue->mutex)); + WakeAllConditionVariable(&(queue->cond_full)); + return WINDOWS_QUEUE_OK; +} + +int windows_queue_items(windows_queue_t * queue) { + int items; + EnterCriticalSection(&(queue->mutex)); + items = queue->items; + LeaveCriticalSection(&(queue->mutex)); + + return items; +} diff --git a/libcsp/src/arch/windows/windows_queue.h b/libcsp/src/arch/windows/windows_queue.h new file mode 100644 index 00000000..e6bc5423 --- /dev/null +++ b/libcsp/src/arch/windows/windows_queue.h @@ -0,0 +1,41 @@ +#ifndef _WINDOWS_QUEUE_H_ +#define _WINDOWS_QUEUE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include "windows_glue.h" +#undef interface + +#include + +#define WINDOWS_QUEUE_ERROR CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_EMPTY CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_FULL CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_OK CSP_QUEUE_OK + +typedef struct windows_queue_s { + void * buffer; + int size; + int item_size; + int items; + int head_idx; + CRITICAL_SECTION mutex; + CONDITION_VARIABLE cond_full; + CONDITION_VARIABLE cond_empty; +} windows_queue_t; + +windows_queue_t * windows_queue_create(int length, size_t item_size); +void windows_queue_delete(windows_queue_t * q); +int windows_queue_enqueue(windows_queue_t * queue, void * value, int timeout); +int windows_queue_dequeue(windows_queue_t * queue, void * buf, int timeout); +int windows_queue_items(windows_queue_t * queue); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _WINDOWS_QUEUE_H_ + diff --git a/libcsp/src/bindings/python/pycsp.c b/libcsp/src/bindings/python/pycsp.c new file mode 100644 index 00000000..f1009d1a --- /dev/null +++ b/libcsp/src/bindings/python/pycsp.c @@ -0,0 +1,1052 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if PY_MAJOR_VERSION == 3 +#define IS_PY3 +#endif + +static int is_capsule_of_type(PyObject* capsule, const char* expected_type) { + const char* capsule_name = PyCapsule_GetName(capsule); + if (strcmp(capsule_name, expected_type) != 0) { + PyErr_Format( + PyExc_TypeError, + "capsule contains unexpected type, expected=%s, got=%s", + expected_type, capsule_name); // TypeError is thrown + return 0; + } + return 1; +} + +/** + * csp/csp.h + */ + +/* + * void csp_service_handler(csp_conn_t *conn, csp_packet_t *packet); + */ +static PyObject* pycsp_service_handler(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + PyObject* packet_capsule; + if (!PyArg_ParseTuple(args, "OO", &conn_capsule, &packet_capsule)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t") || + !is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_service_handler( + (csp_conn_t*)PyCapsule_GetPointer(conn_capsule, "csp_conn_t"), + (csp_packet_t*)PyCapsule_GetPointer(packet_capsule, "csp_packet_t")); + + Py_RETURN_NONE; +} + +/* + * int csp_init(uint8_t my_node_address); + */ +static PyObject* pycsp_init(PyObject *self, PyObject *args) { + uint8_t my_node_address; + if (!PyArg_ParseTuple(args, "b", &my_node_address)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_init(my_node_address)); +} + +/* + * void csp_set_hostname(const char *hostname); + */ +static PyObject* pycsp_set_hostname(PyObject *self, PyObject *args) { + char* hostname; + if (!PyArg_ParseTuple(args, "s", &hostname)) { + return NULL; // TypeError is thrown + } + + csp_set_hostname(hostname); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_hostname(void); + */ +static PyObject* pycsp_get_hostname(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_hostname()); +} + +/* + * void csp_set_model(const char *model); + */ +static PyObject* pycsp_set_model(PyObject *self, PyObject *args) { + char* model; + if (!PyArg_ParseTuple(args, "s", &model)) { + return NULL; // TypeError is thrown + } + + csp_set_model(model); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_model(void); + */ +static PyObject* pycsp_get_model(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_model()); +} + +/* + * void csp_set_revision(const char *revision); + */ +static PyObject* pycsp_set_revision(PyObject *self, PyObject *args) { + char* revision; + if (!PyArg_ParseTuple(args, "s", &revision)) { + return NULL; // TypeError is thrown + } + + csp_set_revision(revision); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_revision(void); + */ +static PyObject* pycsp_get_revision(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_revision()); +} + +/* + * csp_socket_t *csp_socket(uint32_t opts); + */ +static PyObject* pycsp_socket(PyObject *self, PyObject *args) { + uint32_t opts = CSP_SO_NONE; + if (!PyArg_ParseTuple(args, "|I", &opts)) { + return NULL; // TypeError is thrown + } + + return PyCapsule_New(csp_socket(opts), "csp_socket_t", NULL); +} + +/* + * csp_conn_t *csp_accept(csp_socket_t *socket, uint32_t timeout); + */ +static PyObject* pycsp_accept(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "O|I", &socket_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* socket = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + csp_conn_t* conn = csp_accept((csp_socket_t*)socket, timeout); + if (conn == NULL) { + Py_RETURN_NONE; // because a capsule cannot contain a NULL-pointer + } + + return PyCapsule_New(conn, "csp_conn_t", NULL); +} + +/* + * csp_packet_t *csp_read(csp_conn_t *conn, uint32_t timeout); + */ +static PyObject* pycsp_read(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "O|I", &conn_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + csp_packet_t* packet = csp_read((csp_conn_t*)conn, timeout); + if (packet == NULL) { + Py_RETURN_NONE; // because capsule cannot contain a NULL-pointer + } + + return PyCapsule_New(packet, "csp_packet_t", NULL); +} + +/* +* int csp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) +*/ +static PyObject* pycsp_send(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + PyObject* packet_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "OO|I", &conn_capsule, &packet_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + if (packet == NULL) { + Py_RETURN_NONE; + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + + int result = csp_send(conn, packet, timeout); + + return Py_BuildValue("i", result); +} + +/* + * int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, + * uint32_t timeout, void *outbuf, int outlen, + * void *inbuf, int inlen); + */ +static PyObject* pycsp_transaction(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t port; + uint32_t timeout; + Py_buffer inbuf; + Py_buffer outbuf; + if (!PyArg_ParseTuple(args, "bbbIw*w*", &prio, &dest, &port, &timeout, &outbuf, &inbuf)) { + return NULL; // TypeError is thrown + } + + int result = csp_transaction(prio, dest, port, timeout, + outbuf.buf, outbuf.len, + inbuf.buf, inbuf.len); + + return Py_BuildValue("i", result); +} + +/* int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t *packet, uint32_t timeout); */ +static PyObject* pycsp_sendto(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t dport; + uint8_t src_port; + uint32_t opts; + PyObject* packet_capsule; + uint32_t timeout; + if (!PyArg_ParseTuple(args, "bbbbIOI", &prio, &dest, &dport, &src_port, &opts, &packet_capsule, &timeout)) { + Py_RETURN_NONE; + } + + void* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + if (packet == NULL) { + Py_RETURN_NONE; + } + + return Py_BuildValue("i", csp_sendto(prio, + dest, + dport, + src_port, + opts, + (csp_packet_t*)packet, + timeout)); +} + + +/* + * int csp_sendto_reply(csp_packet_t * request_packet, + * csp_packet_t * reply_packet, + * uint32_t opts, uint32_t timeout); + */ +static PyObject* pycsp_sendto_reply(PyObject *self, PyObject *args) { + PyObject* request_packet_capsule; + PyObject* reply_packet_capsule; + uint32_t opts = CSP_O_NONE; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "OO|II", &request_packet_capsule, &reply_packet_capsule, &opts, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(request_packet_capsule, "csp_packet_t") || + !is_capsule_of_type(reply_packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + void* request_packet = PyCapsule_GetPointer(request_packet_capsule, "csp_packet_t"); + void* reply_packet = PyCapsule_GetPointer(reply_packet_capsule, "csp_packet_t"); + + return Py_BuildValue("i", csp_sendto_reply((csp_packet_t*)request_packet, + (csp_packet_t*)reply_packet, + opts, + timeout)); +} + +/* + * csp_conn_t *csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts); + */ +static PyObject* pycsp_connect(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t dport; + uint32_t timeout; + uint32_t opts; + if (!PyArg_ParseTuple(args, "bbbII", &prio, &dest, &dport, &timeout, &opts)) { + return NULL; // TypeError is thrown + } + + csp_conn_t *conn = csp_connect(prio, dest, dport, timeout,opts); + + return PyCapsule_New(conn, "csp_conn_t", NULL); +} + +/* + * int csp_close(csp_conn_t *conn); + */ +static PyObject* pycsp_close(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void *conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_close((csp_conn_t*)conn)); +} + +/* + * int csp_conn_dport(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_dport(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_dport((csp_conn_t*)conn)); +} + +/* + * int csp_conn_sport(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_sport(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_sport((csp_conn_t*)conn)); +} + +/* int csp_conn_dst(csp_conn_t *conn); */ +static PyObject* pycsp_conn_dst(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_dst((csp_conn_t*)conn)); +} + +/* + * int csp_conn_src(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_src(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_src((csp_conn_t*)conn)); +} + +/* int csp_listen(csp_socket_t *socket, size_t conn_queue_length); */ +static PyObject* pycsp_listen(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + size_t conn_queue_len = 10; + if (!PyArg_ParseTuple(args, "O|n", &socket_capsule, &conn_queue_len)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* sock = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + return Py_BuildValue("i", csp_listen((csp_socket_t*)sock, conn_queue_len)); +} + +/* int csp_bind(csp_socket_t *socket, uint8_t port); */ +static PyObject* pycsp_bind(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + uint8_t port; + if (!PyArg_ParseTuple(args, "Ob", &socket_capsule, &port)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* sock = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + return Py_BuildValue("i", csp_bind((csp_socket_t*)sock, port)); +} + +/* int csp_route_start_task(unsigned int task_stack_size, unsigned int priority); */ +static PyObject* pycsp_route_start_task(PyObject *self, PyObject *args) { + unsigned int priority = CSP_PRIO_NORM; + if (!PyArg_ParseTuple(args, "|I", &priority)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_route_start_task(0, priority)); +} + +/* + * int csp_ping(uint8_t node, uint32_t timeout, + * unsigned int size, uint8_t conn_options); + */ +static PyObject* pycsp_ping(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + unsigned int size = 100; + uint8_t conn_options = CSP_O_NONE; + if (!PyArg_ParseTuple(args, "b|IIb", &node, &timeout, &size, &conn_options)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_ping(node, timeout, size, conn_options)); +} + +/* + * void csp_reboot(uint8_t node); + */ +static PyObject* pycsp_reboot(PyObject *self, PyObject *args) { + uint8_t node; + if (!PyArg_ParseTuple(args, "b", &node)) { + return NULL; // TypeError is thrown + } + + csp_reboot(node); + Py_RETURN_NONE; +} + +/* + * void csp_shutdown(uint8_t node); + */ +static PyObject* pycsp_shutdown(PyObject *self, PyObject *args) { + uint8_t node; + if (!PyArg_ParseTuple(args, "b", &node)) { + return NULL; // TypeError is thrown + } + + csp_shutdown(node); + Py_RETURN_NONE; +} + +/* + * void csp_rdp_set_opt(unsigned int window_size, + * unsigned int conn_timeout_ms, + * unsigned int packet_timeout_ms, + * unsigned int delayed_acks, + * unsigned int ack_timeout, + * unsigned int ack_delay_count); + */ +static PyObject* pycsp_rdp_set_opt(PyObject *self, PyObject *args) { + unsigned int window_size; + unsigned int conn_timeout_ms; + unsigned int packet_timeout_ms; + unsigned int delayed_acks; + unsigned int ack_timeout; + unsigned int ack_delay_count; + if (!PyArg_ParseTuple(args, "IIIIII", &window_size, &conn_timeout_ms, + &packet_timeout_ms, &delayed_acks, + &ack_timeout, &ack_delay_count)) { + return NULL; // TypeError is thrown + } +#ifdef CSP_USE_RDP + csp_rdp_set_opt(window_size, conn_timeout_ms, packet_timeout_ms, + delayed_acks, ack_timeout, ack_delay_count); +#endif + Py_RETURN_NONE; +} + +/* + * void csp_rdp_get_opt(unsigned int *window_size, + * unsigned int *conn_timeout_ms, + * unsigned int *packet_timeout_ms, + * unsigned int *delayed_acks, + * unsigned int *ack_timeout, + * unsigned int *ack_delay_count); + */ +static PyObject* pycsp_rdp_get_opt(PyObject *self, PyObject *args) { + + unsigned int window_size = 0; + unsigned int conn_timeout_ms = 0; + unsigned int packet_timeout_ms = 0; + unsigned int delayed_acks = 0; + unsigned int ack_timeout = 0; + unsigned int ack_delay_count = 0; +#ifdef CSP_USE_RDP + csp_rdp_get_opt(&window_size, + &conn_timeout_ms, + &packet_timeout_ms, + &delayed_acks, + &ack_timeout, + &ack_delay_count); +#endif + return Py_BuildValue("IIIIII", + window_size, + conn_timeout_ms, + packet_timeout_ms, + delayed_acks, + ack_timeout, + ack_delay_count); +} + + +/* + * + * int csp_xtea_set_key(char *key, uint32_t keylen); + */ +static PyObject* pycsp_xtea_set_key(PyObject *self, PyObject *args) { + char* key; + uint32_t keylen; + if (!PyArg_ParseTuple(args, "si", &key, &keylen)) { + return NULL; // TypeError is thrown + } + return Py_BuildValue("i", csp_xtea_set_key(key, keylen)); +} +/** + * csp/csp_rtable.h + */ + +/* + * int csp_rtable_set(uint8_t node, uint8_t mask, + * csp_iface_t *ifc, uint8_t mac); + */ +static PyObject* pycsp_rtable_set(PyObject *self, PyObject *args) { + uint8_t node; + uint8_t mask; + char* interface_name; + uint8_t mac = CSP_NODE_MAC; + if (!PyArg_ParseTuple(args, "bbs|b", &node, &mask, &interface_name, &mac)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_rtable_set(node, + mask, + csp_iflist_get_by_name(interface_name), + mac)); +} + +/* + * void csp_rtable_clear(void); + */ +static PyObject* pycsp_rtable_clear(PyObject *self, PyObject *args) { + csp_rtable_clear(); + Py_RETURN_NONE; +} + +/* +* int csp_rtable_check(const char * buffer) +*/ +static PyObject* pycsp_rtable_check(PyObject *self, PyObject *args) { + char* buffer; + if (!PyArg_ParseTuple(args, "s", &buffer)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_rtable_check(buffer)); +} + +/* +* void csp_rtable_load(const char * buffer) +*/ +static PyObject* pycsp_rtable_load(PyObject *self, PyObject *args) { + char* buffer; + if (!PyArg_ParseTuple(args, "s", &buffer)) { + return NULL; // TypeError is thrown + } + + csp_rtable_load(buffer); + Py_RETURN_NONE; +} + +/** + * csp/csp_buffer.h + */ + +/* + * int csp_buffer_init(int count, int size); + */ +static PyObject* pycsp_buffer_init(PyObject *self, PyObject *args) { + int count; + int size; + if (!PyArg_ParseTuple(args, "ii", &count, &size)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_buffer_init(count, size)); +} + +/* + * void * csp_buffer_get(size_t size); + */ +static PyObject* pycsp_buffer_get(PyObject *self, PyObject *args) { + size_t size; + if (!PyArg_ParseTuple(args, "n", &size)) { + return NULL; // TypeError is thrown + } + + void* packet = csp_buffer_get(size); + if (packet == NULL) { + Py_RETURN_NONE; + } + + return PyCapsule_New(packet, "csp_packet_t", NULL); +} +/* + * void csp_buffer_free(void *packet); + */ +static PyObject* pycsp_buffer_free(PyObject *self, PyObject *args) { + PyObject* packet_capsule; + if (!PyArg_ParseTuple(args, "O", &packet_capsule)) { + return NULL; // TypeError is thrown + } + + + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_buffer_free(PyCapsule_GetPointer(packet_capsule, "csp_packet_t")); + Py_RETURN_NONE; +} + +/* + * int csp_buffer_remaining(void); + */ +static PyObject* pycsp_buffer_remaining(PyObject *self, PyObject *args) { + return Py_BuildValue("i", csp_buffer_remaining()); +} + +/** + * csp/csp_cmp.h + */ + +/* + * static inline int csp_cmp_ident(uint8_t node, uint32_t timeout, + * struct csp_cmp_message *msg) + */ +static PyObject* pycsp_cmp_ident(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "b|i", &node, &timeout)) { + return NULL; // TypeError is thrown + } + + struct csp_cmp_message msg; + int rc = csp_cmp_ident(node, timeout, &msg); + return Py_BuildValue("isssss", + rc, + msg.ident.hostname, + msg.ident.model, + msg.ident.revision, + msg.ident.date, + msg.ident.time); +} + +/* + * static inline int csp_cmp_route_set(uint8_t node, uint32_t timeout, + * struct csp_cmp_message *msg) + */ +static PyObject* pycsp_cmp_route_set(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + uint8_t addr; + uint8_t mac; + char* ifstr; + if (!PyArg_ParseTuple(args, "bibbs", &node, &timeout, &addr, &mac, &ifstr)) { + return NULL; // TypeError is thrown + } + + struct csp_cmp_message msg; + msg.route_set.dest_node = addr; + msg.route_set.next_hop_mac = mac; + strncpy(msg.route_set.interface, ifstr, CSP_CMP_ROUTE_IFACE_LEN); + int rc = csp_cmp_route_set(node, timeout, &msg); + return Py_BuildValue("i", + rc); +} + +/* static inline int pycsp_cmp_peek(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_peek(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint8_t len; + uint32_t addr; + Py_buffer outbuf; + + if (!PyArg_ParseTuple(args, "biibw*", &node, &timeout, &addr, &len, &outbuf)) { + Py_RETURN_NONE; + } + + if (len > CSP_CMP_PEEK_MAX_LEN) { + len = CSP_CMP_PEEK_MAX_LEN; + } + struct csp_cmp_message msg; + msg.peek.addr = csp_hton32(addr); + msg.peek.len = len; + int rc = csp_cmp_peek(node, timeout, &msg); + if (rc != CSP_ERR_NONE) { + Py_RETURN_NONE; + } + memcpy(outbuf.buf, msg.peek.data, len); + outbuf.len = len; + + return Py_BuildValue("i", rc); +} + +/* static inline int pycsp_cmp_poke(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_poke(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint8_t len; + uint32_t addr; + Py_buffer inbuf; + + if (!PyArg_ParseTuple(args, "biibw*", &node, &timeout, &addr, &len, &inbuf)) { + Py_RETURN_NONE; + } + + if (len > CSP_CMP_POKE_MAX_LEN) { + len = CSP_CMP_POKE_MAX_LEN; + } + struct csp_cmp_message msg; + msg.poke.addr = csp_hton32(addr); + msg.poke.len = len; + memcpy(msg.poke.data, inbuf.buf, len); + int rc = csp_cmp_poke(node, timeout, &msg); + if (rc != CSP_ERR_NONE) { + Py_RETURN_NONE; + } + + return Py_BuildValue("i", rc); +} + +/* static inline int csp_cmp_clock(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_clock(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint32_t sec; + uint32_t nsec; + if (!PyArg_ParseTuple(args, "bIII", &node, &timeout, &sec, &nsec)) { + Py_RETURN_NONE; + } + + struct csp_cmp_message msg; + msg.clock.tv_sec = csp_hton32(sec); + msg.clock.tv_nsec = csp_hton32(nsec); + return Py_BuildValue("i", csp_cmp_clock(node, timeout, &msg)); +} + +/** + * csp/interfaces/csp_if_zmqhub.h + */ + +/* + * int csp_zmqhub_init(char addr, char * host); + */ +static PyObject* pycsp_zmqhub_init(PyObject *self, PyObject *args) { + char addr; + char* host; + if (!PyArg_ParseTuple(args, "bs", &addr, &host)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_zmqhub_init(addr, host)); +} + +/** + * csp/drivers/can_socketcan.h + */ + +/* + * csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc); + */ +static PyObject* pycsp_can_socketcan_init(PyObject *self, PyObject *args) +{ + char* ifc; + int bitrate = 1000000; + int promisc = 0; + + if (!PyArg_ParseTuple(args, "s|ii", &ifc, &bitrate, &promisc)) + { + return NULL; + } + + csp_can_socketcan_init(ifc, bitrate, promisc); + Py_RETURN_NONE; +} + + +/** + * csp/interfaces/csp_if_kiss.h + */ + +/* + * int csp_kiss_init(char addr, char * host); + */ +static PyObject* pycsp_kiss_init(PyObject *self, PyObject *args) { + char* device; + uint32_t baudrate = 500000; + uint32_t mtu = 512; + const char* if_name = "KISS"; + if (!PyArg_ParseTuple(args, "s|IIs", &device, &baudrate, &mtu, &if_name)) { + return NULL; // TypeError is thrown + } + + static csp_iface_t csp_if_kiss; + static csp_kiss_handle_t csp_kiss_driver; + csp_if_kiss.mtu = (uint16_t) mtu; + struct usart_conf conf = {.device = device, .baudrate = baudrate}; + csp_kiss_init(&csp_if_kiss, &csp_kiss_driver, usart_putc, usart_insert, if_name); + usart_init(&conf); + + void my_usart_rx(uint8_t * buf, int len, void * pxTaskWoken) { + csp_kiss_rx(&csp_if_kiss, buf, len, pxTaskWoken); + } + usart_set_callback(my_usart_rx); + + Py_RETURN_NONE; +} + +/** + * Helpers - accessing csp_packet_t members + */ +static PyObject* pycsp_packet_set_data(PyObject *self, PyObject *args) { + PyObject* packet_capsule; + Py_buffer data; + if (!PyArg_ParseTuple(args, "Ow*", &packet_capsule, &data)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + + memcpy((char *)packet->data, data.buf, data.len); + packet->length = data.len; + + Py_RETURN_NONE; +} +static PyObject* pycsp_packet_get_data(PyObject *self, PyObject *packet_capsule) { + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); +#ifdef IS_PY3 + return Py_BuildValue("y#", packet->data, packet->length); +#else + return Py_BuildValue("s#", packet->data, packet->length); +#endif +} + +static PyObject* pycsp_packet_get_length(PyObject *self, PyObject *packet_capsule) { + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + return Py_BuildValue("H", packet->length); +} + +static PyMethodDef methods[] = { + + /* csp/csp.h */ + {"service_handler", pycsp_service_handler, METH_VARARGS, ""}, + {"init", pycsp_init, METH_VARARGS, ""}, + {"set_hostname", pycsp_set_hostname, METH_VARARGS, ""}, + {"get_hostname", pycsp_get_hostname, METH_NOARGS, ""}, + {"set_model", pycsp_set_model, METH_VARARGS, ""}, + {"get_model", pycsp_get_model, METH_NOARGS, ""}, + {"set_revision", pycsp_set_revision, METH_VARARGS, ""}, + {"get_revision", pycsp_get_revision, METH_NOARGS, ""}, + {"socket", pycsp_socket, METH_VARARGS, ""}, + {"accept", pycsp_accept, METH_VARARGS, ""}, + {"read", pycsp_read, METH_VARARGS, ""}, + {"send", pycsp_send, METH_VARARGS, ""}, + {"transaction", pycsp_transaction, METH_VARARGS, ""}, + {"sendto_reply", pycsp_sendto_reply, METH_VARARGS, ""}, + {"sendto", pycsp_sendto, METH_VARARGS, ""}, + {"connect", pycsp_connect, METH_VARARGS, ""}, + {"close", pycsp_close, METH_O, ""}, + {"conn_dport", pycsp_conn_dport, METH_O, ""}, + {"conn_sport", pycsp_conn_sport, METH_O, ""}, + {"conn_dst", pycsp_conn_dst, METH_O, ""}, + {"conn_src", pycsp_conn_src, METH_O, ""}, + {"listen", pycsp_listen, METH_VARARGS, ""}, + {"bind", pycsp_bind, METH_VARARGS, ""}, + {"route_start_task", pycsp_route_start_task, METH_VARARGS, ""}, + {"ping", pycsp_ping, METH_VARARGS, ""}, + {"reboot", pycsp_reboot, METH_VARARGS, ""}, + {"shutdown", pycsp_shutdown, METH_VARARGS, ""}, + {"rdp_set_opt", pycsp_rdp_set_opt, METH_VARARGS, ""}, + {"rdp_get_opt", pycsp_rdp_get_opt, METH_NOARGS, ""}, + {"xtea_set_key", pycsp_xtea_set_key, METH_VARARGS, ""}, + + /* csp/csp_rtable.h */ + {"rtable_set", pycsp_rtable_set, METH_VARARGS, ""}, + {"rtable_clear", pycsp_rtable_clear, METH_NOARGS, ""}, + {"rtable_check", pycsp_rtable_check, METH_VARARGS, ""}, + {"rtable_load", pycsp_rtable_load, METH_VARARGS, ""}, + + /* csp/csp_buffer.h */ + {"buffer_init", pycsp_buffer_init, METH_VARARGS, ""}, + {"buffer_free", pycsp_buffer_free, METH_VARARGS, ""}, + {"buffer_get", pycsp_buffer_get, METH_VARARGS, ""}, + {"buffer_remaining", pycsp_buffer_remaining, METH_NOARGS, ""}, + + /* csp/csp_cmp.h */ + {"cmp_ident", pycsp_cmp_ident, METH_VARARGS, ""}, + {"cmp_route_set", pycsp_cmp_route_set, METH_VARARGS, ""}, + {"cmp_peek", pycsp_cmp_peek, METH_VARARGS, ""}, + {"cmp_poke", pycsp_cmp_poke, METH_VARARGS, ""}, + {"cmp_clock", pycsp_cmp_clock, METH_VARARGS, ""}, + + + /* csp/interfaces/csp_if_zmqhub.h */ + {"zmqhub_init", pycsp_zmqhub_init, METH_VARARGS, ""}, + {"kiss_init", pycsp_kiss_init, METH_VARARGS, ""}, + + /* csp/drivers/can_socketcan.h */ + {"can_socketcan_init", pycsp_can_socketcan_init, METH_VARARGS, ""}, + + /* helpers */ + {"packet_get_length", pycsp_packet_get_length, METH_O, ""}, + {"packet_get_data", pycsp_packet_get_data, METH_O, ""}, + {"packet_set_data", pycsp_packet_set_data, METH_VARARGS, ""}, + + /* sentinel */ + {NULL, NULL, 0, NULL} +}; + +#ifdef IS_PY3 +static struct PyModuleDef moduledef = { + PyModuleDef_HEAD_INIT, + "libcsp_py3", + NULL, + -1, + methods, + NULL, + NULL, + NULL, + NULL +}; +#endif + +#ifdef IS_PY3 +PyMODINIT_FUNC PyInit_libcsp_py3(void) { +#else + PyMODINIT_FUNC initlibcsp_py2(void) { +#endif + + PyObject* m; + +#ifdef IS_PY3 + m = PyModule_Create(&moduledef); +#else + m = Py_InitModule("libcsp_py2", methods); +#endif + /** + * csp/csp_types.h + */ + + /* RESERVED PORTS */ + PyModule_AddIntConstant(m, "CSP_CMP", CSP_CMP); + PyModule_AddIntConstant(m, "CSP_PING", CSP_PING); + PyModule_AddIntConstant(m, "CSP_PS", CSP_PS); + PyModule_AddIntConstant(m, "CSP_MEMFREE", CSP_MEMFREE); + PyModule_AddIntConstant(m, "CSP_REBOOT", CSP_REBOOT); + PyModule_AddIntConstant(m, "CSP_BUF_FREE", CSP_BUF_FREE); + PyModule_AddIntConstant(m, "CSP_UPTIME", CSP_UPTIME); + PyModule_AddIntConstant(m, "CSP_ANY", CSP_MAX_BIND_PORT + 1); + PyModule_AddIntConstant(m, "CSP_PROMISC", CSP_MAX_BIND_PORT + 2); + + /* PRIORITIES */ + PyModule_AddIntConstant(m, "CSP_PRIO_CRITICAL", CSP_PRIO_CRITICAL); + PyModule_AddIntConstant(m, "CSP_PRIO_HIGH", CSP_PRIO_HIGH); + PyModule_AddIntConstant(m, "CSP_PRIO_NORM", CSP_PRIO_NORM); + PyModule_AddIntConstant(m, "CSP_PRIO_LOW", CSP_PRIO_LOW); + + /* FLAGS */ + PyModule_AddIntConstant(m, "CSP_FFRAG", CSP_FFRAG); + PyModule_AddIntConstant(m, "CSP_FHMAC", CSP_FHMAC); + PyModule_AddIntConstant(m, "CSP_FXTEA", CSP_FXTEA); + PyModule_AddIntConstant(m, "CSP_FRDP", CSP_FRDP); + PyModule_AddIntConstant(m, "CSP_FCRC32", CSP_FCRC32); + + /* SOCKET OPTIONS */ + PyModule_AddIntConstant(m, "CSP_SO_NONE", CSP_SO_NONE); + PyModule_AddIntConstant(m, "CSP_SO_RDPREQ", CSP_SO_RDPREQ); + PyModule_AddIntConstant(m, "CSP_SO_RDPPROHIB", CSP_SO_RDPPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_HMACREQ", CSP_SO_HMACREQ); + PyModule_AddIntConstant(m, "CSP_SO_HMACPROHIB", CSP_SO_HMACPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_XTEAREQ", CSP_SO_XTEAREQ); + PyModule_AddIntConstant(m, "CSP_SO_XTEAPROHIB", CSP_SO_XTEAPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_CRC32REQ", CSP_SO_CRC32REQ); + PyModule_AddIntConstant(m, "CSP_SO_CRC32PROHIB", CSP_SO_CRC32PROHIB); + PyModule_AddIntConstant(m, "CSP_SO_CONN_LESS", CSP_SO_CONN_LESS); + + /* CONNECT OPTIONS */ + PyModule_AddIntConstant(m, "CSP_O_NONE", CSP_O_NONE); + PyModule_AddIntConstant(m, "CSP_O_RDP", CSP_O_RDP); + PyModule_AddIntConstant(m, "CSP_O_NORDP", CSP_O_NORDP); + PyModule_AddIntConstant(m, "CSP_O_HMAC", CSP_O_HMAC); + PyModule_AddIntConstant(m, "CSP_O_NOHMAC", CSP_O_NOHMAC); + PyModule_AddIntConstant(m, "CSP_O_XTEA", CSP_O_XTEA); + PyModule_AddIntConstant(m, "CSP_O_NOXTEA", CSP_O_NOXTEA); + PyModule_AddIntConstant(m, "CSP_O_CRC32", CSP_O_CRC32); + PyModule_AddIntConstant(m, "CSP_O_NOCRC32", CSP_O_NOCRC32); + + + /** + * csp/csp_error.h + */ + + PyModule_AddIntConstant(m, "CSP_ERR_NONE", CSP_ERR_NONE); + PyModule_AddIntConstant(m, "CSP_ERR_NOMEM", CSP_ERR_NOMEM); + PyModule_AddIntConstant(m, "CSP_ERR_INVAL", CSP_ERR_INVAL); + PyModule_AddIntConstant(m, "CSP_ERR_TIMEDOUT", CSP_ERR_TIMEDOUT); + PyModule_AddIntConstant(m, "CSP_ERR_USED", CSP_ERR_USED); + PyModule_AddIntConstant(m, "CSP_ERR_NOTSUP", CSP_ERR_NOTSUP); + PyModule_AddIntConstant(m, "CSP_ERR_BUSY", CSP_ERR_BUSY); + PyModule_AddIntConstant(m, "CSP_ERR_ALREADY", CSP_ERR_ALREADY); + PyModule_AddIntConstant(m, "CSP_ERR_RESET", CSP_ERR_RESET); + PyModule_AddIntConstant(m, "CSP_ERR_NOBUFS", CSP_ERR_NOBUFS); + PyModule_AddIntConstant(m, "CSP_ERR_TX", CSP_ERR_TX); + PyModule_AddIntConstant(m, "CSP_ERR_DRIVER", CSP_ERR_DRIVER); + PyModule_AddIntConstant(m, "CSP_ERR_AGAIN", CSP_ERR_AGAIN); + PyModule_AddIntConstant(m, "CSP_ERR_HMAC", CSP_ERR_HMAC); + PyModule_AddIntConstant(m, "CSP_ERR_XTEA", CSP_ERR_XTEA); + PyModule_AddIntConstant(m, "CSP_ERR_CRC32", CSP_ERR_CRC32); + + /** + * csp/rtable.h + */ + PyModule_AddIntConstant(m, "CSP_NODE_MAC", CSP_NODE_MAC); + +#ifdef IS_PY3 + return m; +#endif + } + diff --git a/libcsp/src/crypto/csp_hmac.c b/libcsp/src/crypto/csp_hmac.c new file mode 100644 index 00000000..ae7fbb00 --- /dev/null +++ b/libcsp/src/crypto/csp_hmac.c @@ -0,0 +1,202 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Hash-based Message Authentication Code - based on code from libtom.org */ + +#include +#include +#include + +/* CSP includes */ +#include + +#include +#include + +#ifdef CSP_USE_HMAC + +#define HMAC_KEY_LENGTH 16 + +/* HMAC key */ +static uint8_t csp_hmac_key[HMAC_KEY_LENGTH]; + +/* HMAC state structure */ +typedef struct { + csp_sha1_state md; + uint8_t key[SHA1_BLOCKSIZE]; +} hmac_state; + +static int csp_hmac_init(hmac_state * hmac, const uint8_t * key, uint32_t keylen) { + uint32_t i; + uint8_t buf[SHA1_BLOCKSIZE]; + + /* NULL pointer and key check */ + if (!hmac || !key || keylen < 1) + return CSP_ERR_INVAL; + + /* Make sure we have a large enough key */ + if(keylen > SHA1_BLOCKSIZE) { + csp_sha1_memory(key, keylen, hmac->key); + if(SHA1_DIGESTSIZE < SHA1_BLOCKSIZE) + memset((hmac->key) + SHA1_DIGESTSIZE, 0, (size_t)(SHA1_BLOCKSIZE - SHA1_DIGESTSIZE)); + } else { + memcpy(hmac->key, key, (size_t)keylen); + if(keylen < SHA1_BLOCKSIZE) + memset((hmac->key) + keylen, 0, (size_t)(SHA1_BLOCKSIZE - keylen)); + } + + /* Create the initial vector */ + for(i = 0; i < SHA1_BLOCKSIZE; i++) + buf[i] = hmac->key[i] ^ 0x36; + + /* Prepend to the hash data */ + csp_sha1_init(&hmac->md); + csp_sha1_process(&hmac->md, buf, SHA1_BLOCKSIZE); + + return CSP_ERR_NONE; +} + +static int csp_hmac_process(hmac_state * hmac, const uint8_t * in, uint32_t inlen) { + + /* NULL pointer check */ + if (!hmac || !in) + return CSP_ERR_INVAL; + + /* Process data */ + csp_sha1_process(&hmac->md, in, inlen); + + return CSP_ERR_NONE; +} + +static int csp_hmac_done(hmac_state * hmac, uint8_t * out) { + + uint32_t i; + uint8_t buf[SHA1_BLOCKSIZE]; + uint8_t isha[SHA1_DIGESTSIZE]; + + if (!hmac || !out) + return CSP_ERR_INVAL; + + /* Get the hash of the first HMAC vector plus the data */ + csp_sha1_done(&hmac->md, isha); + + /* Create the second HMAC vector vector */ + for(i = 0; i < SHA1_BLOCKSIZE; i++) + buf[i] = hmac->key[i] ^ 0x5C; + + /* Now calculate the outer hash */ + csp_sha1_init(&hmac->md); + csp_sha1_process(&hmac->md, buf, SHA1_BLOCKSIZE); + csp_sha1_process(&hmac->md, isha, SHA1_DIGESTSIZE); + csp_sha1_done(&hmac->md, buf); + + /* Copy to output */ + for (i = 0; i < SHA1_DIGESTSIZE; i++) + out[i] = buf[i]; + + return CSP_ERR_NONE; +} + +int csp_hmac_memory(const uint8_t * key, uint32_t keylen, const uint8_t * data, uint32_t datalen, uint8_t * hmac) { + hmac_state state; + + /* NULL pointer check */ + if (!key || !data || !hmac) + return CSP_ERR_INVAL; + + /* Init HMAC state */ + if (csp_hmac_init(&state, key, keylen) != 0) + return CSP_ERR_INVAL; + + /* Process data */ + if (csp_hmac_process(&state, data, datalen) != 0) + return CSP_ERR_INVAL; + + /* Output HMAC */ + if (csp_hmac_done(&state, hmac) != 0) + return CSP_ERR_INVAL; + + return CSP_ERR_NONE; +} + +int csp_hmac_set_key(char * key, uint32_t keylen) { + + /* Use SHA1 as KDF */ + uint8_t hash[SHA1_DIGESTSIZE]; + csp_sha1_memory((uint8_t *)key, keylen, hash); + + /* Copy key */ + memcpy(csp_hmac_key, hash, HMAC_KEY_LENGTH); + + return CSP_ERR_NONE; + +} + +int csp_hmac_append(csp_packet_t * packet, bool include_header) { + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + uint8_t hmac[SHA1_DIGESTSIZE]; + + /* Calculate HMAC */ + if (include_header) { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, (uint8_t *) &packet->id, packet->length + sizeof(packet->id), hmac); + } else { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, packet->data, packet->length, hmac); + } + + /* Truncate hash and copy to packet */ + memcpy(&packet->data[packet->length], hmac, CSP_HMAC_LENGTH); + packet->length += CSP_HMAC_LENGTH; + + return CSP_ERR_NONE; + +} + +int csp_hmac_verify(csp_packet_t * packet, bool include_header) { + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + uint8_t hmac[SHA1_DIGESTSIZE]; + + /* Calculate HMAC */ + if (include_header) { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, (uint8_t *) &packet->id, packet->length + sizeof(packet->id) - CSP_HMAC_LENGTH, hmac); + } else { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, packet->data, packet->length - CSP_HMAC_LENGTH, hmac); + } + + /* Compare calculated HMAC with packet header */ + if (memcmp(&packet->data[packet->length] - CSP_HMAC_LENGTH, hmac, CSP_HMAC_LENGTH) != 0) { + /* HMAC failed */ + return CSP_ERR_HMAC; + } else { + /* Strip HMAC */ + packet->length -= CSP_HMAC_LENGTH; + return CSP_ERR_NONE; + } + +} + +#endif // CSP_USE_HMAC diff --git a/libcsp/src/crypto/csp_sha1.c b/libcsp/src/crypto/csp_sha1.c new file mode 100644 index 00000000..6c3920e9 --- /dev/null +++ b/libcsp/src/crypto/csp_sha1.c @@ -0,0 +1,217 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Code originally from Python's SHA1 Module, who based it on libtom.org */ + +#include +#include + +/* CSP includes */ +#include + +#include + +#if defined(CSP_USE_HMAC) || defined(CSP_USE_XTEA) + +/* Rotate left macro */ +#define ROL(x,y) (((x) << (y)) | ((x) >> (32-y))) + +/* Endian Neutral macros that work on all platforms */ +#define STORE32H(x, y) do { (y)[0] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[3] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define LOAD32H(x, y) do { (x) = ((uint32_t)((y)[0] & 0xff) << 24) | \ + ((uint32_t)((y)[1] & 0xff) << 16) | \ + ((uint32_t)((y)[2] & 0xff) << 8) | \ + ((uint32_t)((y)[3] & 0xff) << 0); } while (0) + +#define STORE64H(x, y) do { (y)[0] = (uint8_t)(((x) >> 56) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 48) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 40) & 0xff); \ + (y)[3] = (uint8_t)(((x) >> 32) & 0xff); \ + (y)[4] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[5] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[6] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[7] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define MIN(x, y) (((x) < (y)) ? (x) : (y)) + +/* SHA1 macros */ +#define F0(x,y,z) (z ^ (x & (y ^ z))) +#define F1(x,y,z) (x ^ y ^ z) +#define F2(x,y,z) ((x & y) | (z & (x | y))) +#define F3(x,y,z) (x ^ y ^ z) + +#define FF_0(a, b, c, d, e, i) do {e = (ROL(a, 5) + F0(b,c,d) + e + W[i] + 0x5a827999UL); b = ROL(b, 30);} while (0) +#define FF_1(a, b, c, d, e, i) do {e = (ROL(a, 5) + F1(b,c,d) + e + W[i] + 0x6ed9eba1UL); b = ROL(b, 30);} while (0) +#define FF_2(a, b, c, d, e, i) do {e = (ROL(a, 5) + F2(b,c,d) + e + W[i] + 0x8f1bbcdcUL); b = ROL(b, 30);} while (0) +#define FF_3(a, b, c, d, e, i) do {e = (ROL(a, 5) + F3(b,c,d) + e + W[i] + 0xca62c1d6UL); b = ROL(b, 30);} while (0) + +static void csp_sha1_compress(csp_sha1_state * sha1, const uint8_t * buf) { + + uint32_t a, b, c, d, e, W[80], i; + + /* Copy the state into 512-bits into W[0..15] */ + for (i = 0; i < 16; i++) + LOAD32H(W[i], buf + (4*i)); + + /* Copy state */ + a = sha1->state[0]; + b = sha1->state[1]; + c = sha1->state[2]; + d = sha1->state[3]; + e = sha1->state[4]; + + /* Expand it */ + for (i = 16; i < 80; i++) + W[i] = ROL(W[i-3] ^ W[i-8] ^ W[i-14] ^ W[i-16], 1); + + /* Compress */ + i = 0; + + /* Round one */ + for (; i < 20;) { + FF_0(a, b, c, d, e, i++); + FF_0(e, a, b, c, d, i++); + FF_0(d, e, a, b, c, i++); + FF_0(c, d, e, a, b, i++); + FF_0(b, c, d, e, a, i++); + } + + /* Round two */ + for (; i < 40;) { + FF_1(a, b, c, d, e, i++); + FF_1(e, a, b, c, d, i++); + FF_1(d, e, a, b, c, i++); + FF_1(c, d, e, a, b, i++); + FF_1(b, c, d, e, a, i++); + } + + /* Round three */ + for (; i < 60;) { + FF_2(a, b, c, d, e, i++); + FF_2(e, a, b, c, d, i++); + FF_2(d, e, a, b, c, i++); + FF_2(c, d, e, a, b, i++); + FF_2(b, c, d, e, a, i++); + } + + /* Round four */ + for (; i < 80;) { + FF_3(a, b, c, d, e, i++); + FF_3(e, a, b, c, d, i++); + FF_3(d, e, a, b, c, i++); + FF_3(c, d, e, a, b, i++); + FF_3(b, c, d, e, a, i++); + } + + /* Store */ + sha1->state[0] += a; + sha1->state[1] += b; + sha1->state[2] += c; + sha1->state[3] += d; + sha1->state[4] += e; + +} + +void csp_sha1_init(csp_sha1_state * sha1) { + + sha1->state[0] = 0x67452301UL; + sha1->state[1] = 0xefcdab89UL; + sha1->state[2] = 0x98badcfeUL; + sha1->state[3] = 0x10325476UL; + sha1->state[4] = 0xc3d2e1f0UL; + sha1->curlen = 0; + sha1->length = 0; + +} + +void csp_sha1_process(csp_sha1_state * sha1, const uint8_t * in, uint32_t inlen) { + + uint32_t n; + while (inlen > 0) { + if (sha1->curlen == 0 && inlen >= SHA1_BLOCKSIZE) { + csp_sha1_compress(sha1, in); + sha1->length += SHA1_BLOCKSIZE * 8; + in += SHA1_BLOCKSIZE; + inlen -= SHA1_BLOCKSIZE; + } else { + n = MIN(inlen, (SHA1_BLOCKSIZE - sha1->curlen)); + memcpy(sha1->buf + sha1->curlen, in, (size_t)n); + sha1->curlen += n; + in += n; + inlen -= n; + if (sha1->curlen == SHA1_BLOCKSIZE) { + csp_sha1_compress(sha1, sha1->buf); + sha1->length += 8*SHA1_BLOCKSIZE; + sha1->curlen = 0; + } + } + } + +} + +void csp_sha1_done(csp_sha1_state * sha1, uint8_t * out) { + + uint32_t i; + + /* Increase the length of the message */ + sha1->length += sha1->curlen * 8; + + /* Append the '1' bit */ + sha1->buf[sha1->curlen++] = 0x80; + + /* If the length is currently above 56 bytes we append zeros + * then compress. Then we can fall back to padding zeros and length + * encoding like normal. + */ + if (sha1->curlen > 56) { + while (sha1->curlen < 64) + sha1->buf[sha1->curlen++] = 0; + csp_sha1_compress(sha1, sha1->buf); + sha1->curlen = 0; + } + + /* Pad up to 56 bytes of zeroes */ + while (sha1->curlen < 56) + sha1->buf[sha1->curlen++] = 0; + + /* Store length */ + STORE64H(sha1->length, sha1->buf + 56); + csp_sha1_compress(sha1, sha1->buf); + + /* Copy output */ + for (i = 0; i < 5; i++) + STORE32H(sha1->state[i], out + (4 * i)); + +} + +void csp_sha1_memory(const uint8_t * msg, uint32_t len, uint8_t * hash) { + + csp_sha1_state md; + csp_sha1_init(&md); + csp_sha1_process(&md, msg, len); + csp_sha1_done(&md, hash); + +} + +#endif // CSP_USE_HMAC diff --git a/libcsp/src/crypto/csp_xtea.c b/libcsp/src/crypto/csp_xtea.c new file mode 100644 index 00000000..718824d1 --- /dev/null +++ b/libcsp/src/crypto/csp_xtea.c @@ -0,0 +1,134 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Simple implementation of XTEA in CTR mode */ + +#include +#include + +/* CSP includes */ +#include +#include +#include +#include + +#ifdef CSP_USE_XTEA + +#define XTEA_BLOCKSIZE 8 +#define XTEA_ROUNDS 32 +#define XTEA_KEY_LENGTH 16 + +/* XTEA key */ +static uint32_t csp_xtea_key[XTEA_KEY_LENGTH/sizeof(uint32_t)] __attribute__ ((aligned(sizeof(uint32_t)))); + +#define STORE32L(x, y) do { (y)[3] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[0] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define LOAD32L(x, y) do { (x) = ((uint32_t)((y)[3] & 0xff) << 24) | \ + ((uint32_t)((y)[2] & 0xff) << 16) | \ + ((uint32_t)((y)[1] & 0xff) << 8) | \ + ((uint32_t)((y)[0] & 0xff) << 0); } while (0) + +/* This function takes 64 bits of data in block and the 128 bits key in key */ +static inline void csp_xtea_encrypt_block(uint8_t *block, uint8_t const *key) { + + uint32_t i, v0, v1, delta = 0x9E3779B9, sum = 0, k[4]; + + LOAD32L(k[0], &key[0]); + LOAD32L(k[1], &key[4]); + LOAD32L(k[2], &key[8]); + LOAD32L(k[3], &key[12]); + + LOAD32L(v0, &block[0]); + LOAD32L(v1, &block[4]); + + for (i = 0; i < XTEA_ROUNDS; i++) { + v0 += (((v1 << 4) ^ (v1 >> 5)) + v1) ^ (sum + k[sum & 3]); + sum += delta; + v1 += (((v0 << 4) ^ (v0 >> 5)) + v0) ^ (sum + k[(sum >> 11) & 3]); + } + + STORE32L(v0, &block[0]); + STORE32L(v1, &block[4]); + +} + +static inline void csp_xtea_xor_byte(uint8_t * dst, uint8_t * src, uint32_t len) { + + unsigned int i; + for (i = 0; i < len; i++) + dst[i] ^= src[i]; + +} + +int csp_xtea_set_key(char * key, uint32_t keylen) { + + /* Use SHA1 as KDF */ + uint8_t hash[SHA1_DIGESTSIZE]; + csp_sha1_memory((uint8_t *)key, keylen, hash); + + /* Copy key */ + memcpy(csp_xtea_key, hash, XTEA_KEY_LENGTH); + + return CSP_ERR_NONE; + +} + +int csp_xtea_encrypt(uint8_t * plain, const uint32_t len, uint32_t iv[2]) { + + unsigned int i; + uint32_t stream[2]; + + uint32_t blocks = (len + XTEA_BLOCKSIZE - 1)/ XTEA_BLOCKSIZE; + uint32_t remain; + + /* Initialize stream */ + stream[0] = csp_htobe32(iv[0]); + stream[1] = csp_htobe32(iv[1]); + + for (i = 0; i < blocks; i++) { + /* Create stream */ + csp_xtea_encrypt_block((uint8_t *)stream, (uint8_t *)csp_xtea_key); + + /* Calculate remaining bytes */ + remain = len - i * XTEA_BLOCKSIZE; + + /* XOR plain text with stream to generate cipher text */ + csp_xtea_xor_byte(&plain[len - remain], (uint8_t *)stream, remain < XTEA_BLOCKSIZE ? remain : XTEA_BLOCKSIZE); + + /* Increment counter */ + stream[0] = csp_htobe32(iv[0]); + stream[1] = csp_htobe32(iv[1]++); + } + + return CSP_ERR_NONE; + +} + +int csp_xtea_decrypt(uint8_t * cipher, const uint32_t len, uint32_t iv[2]) { + + /* Since we use counter mode, we can reuse the encryption function */ + return csp_xtea_encrypt(cipher, len, iv); + +} + +#endif // CSP_USE_XTEA diff --git a/libcsp/src/csp_bridge.c b/libcsp/src/csp_bridge.c new file mode 100644 index 00000000..1c579a9f --- /dev/null +++ b/libcsp/src/csp_bridge.c @@ -0,0 +1,94 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include "csp_route.h" +#include "csp_qfifo.h" +#include "csp_io.h" +#include "csp_promisc.h" + +static csp_iface_t* if_a = NULL; +static csp_iface_t* if_b = NULL; + +static CSP_DEFINE_TASK(csp_bridge) { + + csp_qfifo_t input; + csp_packet_t * packet; + + /* Here there be bridging */ + while (1) { + + /* Get next packet to route */ + if (csp_qfifo_read(&input) != CSP_ERR_NONE) + continue; + + packet = input.packet; + + csp_log_packet("Input: Src %u, Dst %u, Dport %u, Sport %u, Pri %u, Flags 0x%02X, Size %"PRIu16, + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length); + + /* Here there be promiscuous mode */ +#ifdef CSP_USE_PROMISC + csp_promisc_add(packet); +#endif + + /* Find the opposing interface */ + csp_iface_t * ifout; + if (input.interface == if_a) { + ifout = if_b; + } else { + ifout = if_a; + } + + /* Send to the interface directly, no hassle */ + if (csp_send_direct(packet->id, packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_warn("Router failed to send"); + csp_buffer_free(packet); + } + + /* Next message, please */ + continue; + + } + + return CSP_TASK_RETURN; + +} + +int csp_bridge_start(unsigned int task_stack_size, unsigned int task_priority, csp_iface_t * _if_a, csp_iface_t * _if_b) { + + /* Set static references to A/B side of bridge */ + if_a = _if_a; + if_b = _if_b; + + static csp_thread_handle_t handle; + int ret = csp_thread_create(csp_bridge, "BRIDGE", task_stack_size, NULL, task_priority, &handle); + + if (ret != 0) { + csp_log_error("Failed to start task"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} diff --git a/libcsp/src/csp_buffer.c b/libcsp/src/csp_buffer.c new file mode 100644 index 00000000..8947f337 --- /dev/null +++ b/libcsp/src/csp_buffer.c @@ -0,0 +1,224 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include + +#ifndef CSP_BUFFER_ALIGN +#define CSP_BUFFER_ALIGN (sizeof(int *)) +#endif + +typedef struct csp_skbf_s { + unsigned int refcount; + void * skbf_addr; + char skbf_data[]; +} csp_skbf_t; + +static csp_queue_handle_t csp_buffers; +static char * csp_buffer_pool; +static unsigned int count, size; + +CSP_DEFINE_CRITICAL(csp_critical_lock); + +int csp_buffer_init(int buf_count, int buf_size) { + + unsigned int i; + csp_skbf_t * buf; + + count = buf_count; + size = buf_size + CSP_BUFFER_PACKET_OVERHEAD; + unsigned int skbfsize = (sizeof(csp_skbf_t) + size); + skbfsize = CSP_BUFFER_ALIGN * ((skbfsize + CSP_BUFFER_ALIGN - 1) / CSP_BUFFER_ALIGN); + unsigned int poolsize = count * skbfsize; + + csp_buffer_pool = csp_malloc(poolsize); + if (csp_buffer_pool == NULL) + goto fail_malloc; + + csp_buffers = csp_queue_create(count, sizeof(void *)); + if (!csp_buffers) + goto fail_queue; + + if (CSP_INIT_CRITICAL(csp_critical_lock) != CSP_ERR_NONE) + goto fail_critical; + + memset(csp_buffer_pool, 0, poolsize); + + for (i = 0; i < count; i++) { + + /* We have already taken care of pointer alignment since + * skbfsize is an integer multiple of sizeof(int *) + * but the explicit cast to a void * is still necessary + * to tell the compiler so. + */ + buf = (void *) &csp_buffer_pool[i * skbfsize]; + buf->refcount = 0; + buf->skbf_addr = buf; + + csp_queue_enqueue(csp_buffers, &buf, 0); + + } + + return CSP_ERR_NONE; + +fail_critical: + csp_queue_remove(csp_buffers); +fail_queue: + csp_free(csp_buffer_pool); +fail_malloc: + return CSP_ERR_NOMEM; + +} + +void *csp_buffer_get_isr(size_t buf_size) { + + csp_skbf_t * buffer = NULL; + CSP_BASE_TYPE task_woken = 0; + + if (buf_size + CSP_BUFFER_PACKET_OVERHEAD > size) + return NULL; + + csp_queue_dequeue_isr(csp_buffers, &buffer, &task_woken); + if (buffer == NULL) + return NULL; + + if (buffer != buffer->skbf_addr) + return NULL; + + buffer->refcount++; + return buffer->skbf_data; + +} + +void *csp_buffer_get(size_t buf_size) { + + csp_skbf_t * buffer = NULL; + + if (buf_size + CSP_BUFFER_PACKET_OVERHEAD > size) { + csp_log_error("Attempt to allocate too large block %u", buf_size); + return NULL; + } + + csp_queue_dequeue(csp_buffers, &buffer, 0); + if (buffer == NULL) { + csp_log_error("Out of buffers"); + return NULL; + } + + csp_log_buffer("GET: %p %p", buffer, buffer->skbf_addr); + + if (buffer != buffer->skbf_addr) { + csp_log_error("Corrupt CSP buffer"); + return NULL; + } + + buffer->refcount++; + return buffer->skbf_data; +} + +void csp_buffer_free_isr(void *packet) { + CSP_BASE_TYPE task_woken = 0; + if (!packet) + return; + + csp_skbf_t * buf = packet - sizeof(csp_skbf_t); + + if (((uintptr_t) buf % CSP_BUFFER_ALIGN) > 0) + return; + + if (buf->skbf_addr != buf) + return; + + if (buf->refcount == 0) { + return; + } else if (buf->refcount > 1) { + buf->refcount--; + return; + } else { + buf->refcount = 0; + csp_queue_enqueue_isr(csp_buffers, &buf, &task_woken); + } + +} + +void csp_buffer_free(void *packet) { + if (!packet) { + csp_log_error("Attempt to free null pointer"); + return; + } + + csp_skbf_t * buf = packet - sizeof(csp_skbf_t); + + if (((uintptr_t) buf % CSP_BUFFER_ALIGN) > 0) { + csp_log_error("FREE: Unaligned CSP buffer pointer %p", packet); + return; + } + + if (buf->skbf_addr != buf) { + csp_log_error("FREE: Invalid CSP buffer pointer %p", packet); + return; + } + + if (buf->refcount == 0) { + csp_log_error("FREE: Buffer already free %p", buf); + return; + } else if (buf->refcount > 1) { + buf->refcount--; + csp_log_error("FREE: Buffer %p in use by %u users", buf, buf->refcount); + return; + } else { + buf->refcount = 0; + csp_log_buffer("FREE: %p", buf); + csp_queue_enqueue(csp_buffers, &buf, 0); + } + +} + +void *csp_buffer_clone(void *buffer) { + + csp_packet_t *packet = (csp_packet_t *) buffer; + + if (!packet) + return NULL; + + csp_packet_t *clone = csp_buffer_get(packet->length); + + if (clone) + memcpy(clone, packet, size); + + return clone; + +} + +int csp_buffer_remaining(void) { + return csp_queue_size(csp_buffers); +} + +int csp_buffer_size(void) { + return size; +} diff --git a/libcsp/src/csp_conn.c b/libcsp/src/csp_conn.c new file mode 100644 index 00000000..7daa569d --- /dev/null +++ b/libcsp/src/csp_conn.c @@ -0,0 +1,498 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include + +#include +#include +#include +#include +#include + +#include "csp_conn.h" +#include "transport/csp_transport.h" + +/* Static connection pool */ +static csp_conn_t arr_conn[CSP_CONN_MAX]; + +/* Connection pool lock */ +static csp_bin_sem_handle_t conn_lock; + +/* Source port */ +static uint8_t sport; + +/* Source port lock */ +static csp_bin_sem_handle_t sport_lock; + +void csp_conn_check_timeouts(void) { +#ifdef CSP_USE_RDP + int i; + for (i = 0; i < CSP_CONN_MAX; i++) + if (arr_conn[i].state == CONN_OPEN) + if (arr_conn[i].idin.flags & CSP_FRDP) + csp_rdp_check_timeouts(&arr_conn[i]); +#endif +} + +int csp_conn_get_rxq(int prio) { + +#ifdef CSP_USE_QOS + return prio; +#else + return 0; +#endif + +} + +int csp_conn_lock(csp_conn_t * conn, uint32_t timeout) { + + if (csp_mutex_lock(&conn->lock, timeout) != CSP_MUTEX_OK) + return CSP_ERR_TIMEDOUT; + + return CSP_ERR_NONE; + +} + +int csp_conn_unlock(csp_conn_t * conn) { + + csp_mutex_unlock(&conn->lock); + + return CSP_ERR_NONE; + +} + +int csp_conn_enqueue_packet(csp_conn_t * conn, csp_packet_t * packet) { + + if (!conn) + return CSP_ERR_INVAL; + + int rxq; + if (packet != NULL) { + rxq = csp_conn_get_rxq(packet->id.pri); + } else { + rxq = CSP_RX_QUEUES - 1; + } + + if (csp_queue_enqueue(conn->rx_queue[rxq], &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("RX queue %p full with %u items", conn->rx_queue[rxq], csp_queue_size(conn->rx_queue[rxq])); + return CSP_ERR_NOMEM; + } + +#ifdef CSP_USE_QOS + int event = 0; + if (csp_queue_enqueue(conn->rx_event, &event, 0) != CSP_QUEUE_OK) { + csp_log_error("QOS event queue full"); + return CSP_ERR_NOMEM; + } +#endif + + return CSP_ERR_NONE; +} + +int csp_conn_init(void) { + + /* Initialize source port */ + srand(csp_get_ms()); + sport = (rand() % (CSP_ID_PORT_MAX - CSP_MAX_BIND_PORT)) + (CSP_MAX_BIND_PORT + 1); + + if (csp_bin_sem_create(&sport_lock) != CSP_SEMAPHORE_OK) { + csp_log_error("No more memory for sport semaphore"); + return CSP_ERR_NOMEM; + } + + int i, prio; + for (i = 0; i < CSP_CONN_MAX; i++) { + for (prio = 0; prio < CSP_RX_QUEUES; prio++) + arr_conn[i].rx_queue[prio] = csp_queue_create(CSP_RX_QUEUE_LENGTH, sizeof(csp_packet_t *)); + +#ifdef CSP_USE_QOS + arr_conn[i].rx_event = csp_queue_create(CSP_CONN_QUEUE_LENGTH, sizeof(int)); +#endif + arr_conn[i].state = CONN_CLOSED; + + if (csp_mutex_create(&arr_conn[i].lock) != CSP_MUTEX_OK) { + csp_log_error("Failed to create connection lock"); + return CSP_ERR_NOMEM; + } + +#ifdef CSP_USE_RDP + if (csp_rdp_allocate(&arr_conn[i]) != CSP_ERR_NONE) { + csp_log_error("Failed to create queues for RDP in csp_conn_init"); + return CSP_ERR_NOMEM; + } +#endif + } + + if (csp_bin_sem_create(&conn_lock) != CSP_SEMAPHORE_OK) { + csp_log_error("No more memory for conn semaphore"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} + +csp_conn_t * csp_conn_find(uint32_t id, uint32_t mask) { + + /* Search for matching connection */ + int i; + csp_conn_t * conn; + id = (id & mask); + for (i = 0; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + if ((conn->state != CONN_CLOSED) && (conn->type == CONN_CLIENT) && ((conn->idin.ext & mask) == id)) + return conn; + } + + return NULL; + +} + +static int csp_conn_flush_rx_queue(csp_conn_t * conn) { + + csp_packet_t * packet; + + int prio; + + /* Flush packet queues */ + for (prio = 0; prio < CSP_RX_QUEUES; prio++) { + while (csp_queue_dequeue(conn->rx_queue[prio], &packet, 0) == CSP_QUEUE_OK) + if (packet != NULL) + csp_buffer_free(packet); + } + + /* Flush event queue */ +#ifdef CSP_USE_QOS + int event; + while (csp_queue_dequeue(conn->rx_event, &event, 0) == CSP_QUEUE_OK); +#endif + + return CSP_ERR_NONE; + +} + +csp_conn_t * csp_conn_allocate(csp_conn_type_t type) { + + int i, j; + static uint8_t csp_conn_last_given = 0; + csp_conn_t * conn; + + if (csp_bin_sem_wait(&conn_lock, 100) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to lock conn array"); + return NULL; + } + + /* Search for free connection */ + i = csp_conn_last_given; + i = (i + 1) % CSP_CONN_MAX; + + for (j = 0; j < CSP_CONN_MAX; j++) { + conn = &arr_conn[i]; + if (conn->state == CONN_CLOSED) + break; + i = (i + 1) % CSP_CONN_MAX; + } + + if (conn->state == CONN_OPEN) { + csp_log_error("No more free connections"); + csp_bin_sem_post(&conn_lock); + return NULL; + } + + conn->idin.ext = 0; + conn->idout.ext = 0; + conn->socket = NULL; + conn->timestamp = 0; + conn->type = type; + conn->state = CONN_OPEN; + + csp_conn_last_given = i; + csp_bin_sem_post(&conn_lock); + + return conn; + +} + +csp_conn_t * csp_conn_new(csp_id_t idin, csp_id_t idout) { + + /* Allocate connection structure */ + csp_conn_t * conn = csp_conn_allocate(CONN_CLIENT); + + if (conn) { + /* No lock is needed here, because nobody else * + * has a reference to this connection yet. */ + conn->idin.ext = idin.ext; + conn->idout.ext = idout.ext; + conn->timestamp = csp_get_ms(); + + /* Ensure connection queue is empty */ + csp_conn_flush_rx_queue(conn); + } + + return conn; + +} + +int csp_close(csp_conn_t * conn) { + + if (conn == NULL) { + csp_log_error("NULL Pointer given to csp_close"); + return CSP_ERR_INVAL; + } + + if (conn->state == CONN_CLOSED) { + csp_log_protocol("Conn already closed"); + return CSP_ERR_NONE; + } + +#ifdef CSP_USE_RDP + /* Ensure RDP knows this connection is closing */ + if (conn->idin.flags & CSP_FRDP || conn->idout.flags & CSP_FRDP) + if (csp_rdp_close(conn) == CSP_ERR_AGAIN) + return CSP_ERR_NONE; +#endif + + /* Lock connection array while closing connection */ + if (csp_bin_sem_wait(&conn_lock, 100) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to lock conn array"); + return CSP_ERR_TIMEDOUT; + } + + /* Set to closed */ + conn->state = CONN_CLOSED; + + /* Ensure connection queue is empty */ + csp_conn_flush_rx_queue(conn); + + if (conn->socket && (conn->type == CONN_SERVER) && (conn->opts & (CSP_SO_CONN_LESS | CSP_SO_INTERNAL_LISTEN))) { + csp_queue_remove(conn->socket); + conn->socket = NULL; + } + + /* Reset RDP state */ +#ifdef CSP_USE_RDP + if (conn->idin.flags & CSP_FRDP) + csp_rdp_flush_all(conn); +#endif + + /* Unlock connection array */ + csp_bin_sem_post(&conn_lock); + + return CSP_ERR_NONE; +} + +csp_conn_t * csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts) { + + /* Force options on all connections */ + opts |= CSP_CONNECTION_SO; + + /* Generate identifier */ + csp_id_t incoming_id, outgoing_id; + incoming_id.pri = prio; + incoming_id.dst = csp_get_address(); + incoming_id.src = dest; + incoming_id.sport = dport; + incoming_id.flags = 0; + outgoing_id.pri = prio; + outgoing_id.dst = dest; + outgoing_id.src = csp_get_address(); + outgoing_id.dport = dport; + outgoing_id.flags = 0; + + /* Set connection options */ + if (opts & CSP_O_NOCRC32) { + opts &= ~CSP_O_CRC32; + } + + if (opts & CSP_O_RDP) { +#ifdef CSP_USE_RDP + incoming_id.flags |= CSP_FRDP; + outgoing_id.flags |= CSP_FRDP; +#else + csp_log_error("Attempt to create RDP connection, but CSP was compiled without RDP support"); + return NULL; +#endif + } + + if (opts & CSP_O_HMAC) { +#ifdef CSP_USE_HMAC + outgoing_id.flags |= CSP_FHMAC; + incoming_id.flags |= CSP_FHMAC; +#else + csp_log_error("Attempt to create HMAC authenticated connection, but CSP was compiled without HMAC support"); + return NULL; +#endif + } + + if (opts & CSP_O_XTEA) { +#ifdef CSP_USE_XTEA + outgoing_id.flags |= CSP_FXTEA; + incoming_id.flags |= CSP_FXTEA; +#else + csp_log_error("Attempt to create XTEA encrypted connection, but CSP was compiled without XTEA support"); + return NULL; +#endif + } + + if (opts & CSP_O_CRC32) { +#ifdef CSP_USE_CRC32 + outgoing_id.flags |= CSP_FCRC32; + incoming_id.flags |= CSP_FCRC32; +#else + csp_log_error("Attempt to create CRC32 validated connection, but CSP was compiled without CRC32 support"); + return NULL; +#endif + } + + /* Find an unused ephemeral port */ + csp_conn_t * conn = NULL; + + /* Wait for sport lock - note that csp_conn_new(..) is called inside the lock! */ + if (csp_bin_sem_wait(&sport_lock, 1000) != CSP_SEMAPHORE_OK) + return NULL; + + const uint8_t start = sport; + while (++sport != start) { + if (sport > CSP_ID_PORT_MAX) + sport = CSP_MAX_BIND_PORT + 1; + + outgoing_id.sport = sport; + incoming_id.dport = sport; + + /* Match on destination port of _incoming_ identifier */ + if (csp_conn_find(incoming_id.ext, CSP_ID_DPORT_MASK) == NULL) { + /* Break - we found an unused ephemeral port + allocate connection while locked to mark port in use */ + conn = csp_conn_new(incoming_id, outgoing_id); + break; + } + } + + /* Post sport lock */ + csp_bin_sem_post(&sport_lock); + + if (conn == NULL) + return NULL; + + /* Set connection options */ + conn->opts = opts; + +#ifdef CSP_USE_RDP + /* Call Transport Layer connect */ + if (outgoing_id.flags & CSP_FRDP) { + /* If the transport layer has failed to connect + * deallocate connection structure again and return NULL */ + if (csp_rdp_connect(conn, timeout) != CSP_ERR_NONE) { + csp_close(conn); + return NULL; + } + } +#endif + + /* We have a successful connection */ + return conn; + +} + +inline int csp_conn_dport(csp_conn_t * conn) { + + return conn->idin.dport; + +} + +inline int csp_conn_sport(csp_conn_t * conn) { + + return conn->idin.sport; + +} + +inline int csp_conn_dst(csp_conn_t * conn) { + + return conn->idin.dst; + +} + +inline int csp_conn_src(csp_conn_t * conn) { + + return conn->idin.src; + +} + +inline int csp_conn_flags(csp_conn_t * conn) { + + return conn->idin.flags; + +} + +#ifdef CSP_DEBUG +void csp_conn_print_table(void) { + + int i; + csp_conn_t * conn; + + for (i = 0; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + printf("[%02u %p] S:%u, %u -> %u, %u -> %u, sock: %p\r\n", + i, conn, conn->state, conn->idin.src, conn->idin.dst, + conn->idin.dport, conn->idin.sport, conn->socket); +#ifdef CSP_USE_RDP + if (conn->idin.flags & CSP_FRDP) + csp_rdp_conn_print(conn); +#endif + } +} + +int csp_conn_print_table_str(char * str_buf, int str_size) { + + int i, start = 0; + csp_conn_t * conn; + char buf[100]; + + /* Display up to 10 connections */ + if (CSP_CONN_MAX - 10 > 0) + start = CSP_CONN_MAX - 10; + + for (i = start; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + snprintf(buf, sizeof(buf), "[%02u %p] S:%u, %u -> %u, %u -> %u, sock: %p\n", + i, conn, conn->state, conn->idin.src, conn->idin.dst, + conn->idin.dport, conn->idin.sport, conn->socket); + + strncat(str_buf, buf, str_size); + if ((str_size -= strlen(buf)) <= 0) + break; + } + + return CSP_ERR_NONE; +} +#endif + +const csp_conn_t * csp_conn_get_array(size_t * size) +{ + *size = CSP_CONN_MAX; + return arr_conn; +} diff --git a/libcsp/src/csp_conn.h b/libcsp/src/csp_conn.h new file mode 100644 index 00000000..3fa0ff52 --- /dev/null +++ b/libcsp/src/csp_conn.h @@ -0,0 +1,112 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CONN_H_ +#define _CSP_CONN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +#include +#include + +/** @brief Connection states */ +typedef enum { + CONN_CLOSED = 0, + CONN_OPEN = 1, +} csp_conn_state_t; + +/** @brief Connection types */ +typedef enum { + CONN_CLIENT = 0, + CONN_SERVER = 1, +} csp_conn_type_t; + +typedef enum { + RDP_CLOSED = 0, + RDP_SYN_SENT, + RDP_SYN_RCVD, + RDP_OPEN, + RDP_CLOSE_WAIT, +} csp_rdp_state_t; + +/** @brief RDP Connection header + * @note Do not try to pack this struct, the posix sem handle will stop working */ +typedef struct { + csp_rdp_state_t state; /**< Connection state */ + uint16_t snd_nxt; /**< The sequence number of the next segment that is to be sent */ + uint16_t snd_una; /**< The sequence number of the oldest unacknowledged segment */ + uint16_t snd_iss; /**< The initial send sequence number */ + uint16_t rcv_cur; /**< The sequence number of the last segment received correctly and in sequence */ + uint16_t rcv_irs; /**< The initial receive sequence number */ + uint16_t rcv_lsa; /**< The last sequence number acknowledged by the receiver */ + uint32_t window_size; + uint32_t conn_timeout; + uint32_t packet_timeout; + uint32_t delayed_acks; + uint32_t ack_timeout; + uint32_t ack_delay_count; + uint32_t ack_timestamp; + csp_bin_sem_handle_t tx_wait; + csp_queue_handle_t tx_queue; + csp_queue_handle_t rx_queue; +} csp_rdp_t; + +/** @brief Connection struct */ +struct csp_conn_s { + csp_conn_type_t type; /* Connection type (CONN_CLIENT or CONN_SERVER) */ + csp_conn_state_t state; /* Connection state (CONN_OPEN or CONN_CLOSED) */ + csp_mutex_t lock; /* Connection structure lock */ + csp_id_t idin; /* Identifier received */ + csp_id_t idout; /* Identifier transmitted */ +#ifdef CSP_USE_QOS + csp_queue_handle_t rx_event; /* Event queue for RX packets */ +#endif + csp_queue_handle_t rx_queue[CSP_RX_QUEUES]; /* Queue for RX packets */ + csp_queue_handle_t socket; /* Socket to be "woken" when first packet is ready */ + uint32_t timestamp; /* Time the connection was opened */ + uint32_t opts; /* Connection or socket options */ +#ifdef CSP_USE_RDP + csp_rdp_t rdp; /* RDP state */ +#endif +}; + +int csp_conn_lock(csp_conn_t * conn, uint32_t timeout); +int csp_conn_unlock(csp_conn_t * conn); +int csp_conn_enqueue_packet(csp_conn_t * conn, csp_packet_t * packet); +int csp_conn_init(void); +csp_conn_t * csp_conn_allocate(csp_conn_type_t type); +csp_conn_t * csp_conn_find(uint32_t id, uint32_t mask); +csp_conn_t * csp_conn_new(csp_id_t idin, csp_id_t idout); +void csp_conn_check_timeouts(void); +int csp_conn_get_rxq(int prio); + +const csp_conn_t * csp_conn_get_array(size_t * size); // for test purposes only! + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CONN_H_ diff --git a/libcsp/src/csp_crc32.c b/libcsp/src/csp_crc32.c new file mode 100644 index 00000000..8bf2145f --- /dev/null +++ b/libcsp/src/csp_crc32.c @@ -0,0 +1,140 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +#ifdef CSP_USE_CRC32 + +#ifdef __AVR__ +#include +static const uint32_t crc_tab[256] PROGMEM = { +#else +static const uint32_t crc_tab[256] = { +#endif + 0x00000000, 0xF26B8303, 0xE13B70F7, 0x1350F3F4, 0xC79A971F, 0x35F1141C, 0x26A1E7E8, 0xD4CA64EB, + 0x8AD958CF, 0x78B2DBCC, 0x6BE22838, 0x9989AB3B, 0x4D43CFD0, 0xBF284CD3, 0xAC78BF27, 0x5E133C24, + 0x105EC76F, 0xE235446C, 0xF165B798, 0x030E349B, 0xD7C45070, 0x25AFD373, 0x36FF2087, 0xC494A384, + 0x9A879FA0, 0x68EC1CA3, 0x7BBCEF57, 0x89D76C54, 0x5D1D08BF, 0xAF768BBC, 0xBC267848, 0x4E4DFB4B, + 0x20BD8EDE, 0xD2D60DDD, 0xC186FE29, 0x33ED7D2A, 0xE72719C1, 0x154C9AC2, 0x061C6936, 0xF477EA35, + 0xAA64D611, 0x580F5512, 0x4B5FA6E6, 0xB93425E5, 0x6DFE410E, 0x9F95C20D, 0x8CC531F9, 0x7EAEB2FA, + 0x30E349B1, 0xC288CAB2, 0xD1D83946, 0x23B3BA45, 0xF779DEAE, 0x05125DAD, 0x1642AE59, 0xE4292D5A, + 0xBA3A117E, 0x4851927D, 0x5B016189, 0xA96AE28A, 0x7DA08661, 0x8FCB0562, 0x9C9BF696, 0x6EF07595, + 0x417B1DBC, 0xB3109EBF, 0xA0406D4B, 0x522BEE48, 0x86E18AA3, 0x748A09A0, 0x67DAFA54, 0x95B17957, + 0xCBA24573, 0x39C9C670, 0x2A993584, 0xD8F2B687, 0x0C38D26C, 0xFE53516F, 0xED03A29B, 0x1F682198, + 0x5125DAD3, 0xA34E59D0, 0xB01EAA24, 0x42752927, 0x96BF4DCC, 0x64D4CECF, 0x77843D3B, 0x85EFBE38, + 0xDBFC821C, 0x2997011F, 0x3AC7F2EB, 0xC8AC71E8, 0x1C661503, 0xEE0D9600, 0xFD5D65F4, 0x0F36E6F7, + 0x61C69362, 0x93AD1061, 0x80FDE395, 0x72966096, 0xA65C047D, 0x5437877E, 0x4767748A, 0xB50CF789, + 0xEB1FCBAD, 0x197448AE, 0x0A24BB5A, 0xF84F3859, 0x2C855CB2, 0xDEEEDFB1, 0xCDBE2C45, 0x3FD5AF46, + 0x7198540D, 0x83F3D70E, 0x90A324FA, 0x62C8A7F9, 0xB602C312, 0x44694011, 0x5739B3E5, 0xA55230E6, + 0xFB410CC2, 0x092A8FC1, 0x1A7A7C35, 0xE811FF36, 0x3CDB9BDD, 0xCEB018DE, 0xDDE0EB2A, 0x2F8B6829, + 0x82F63B78, 0x709DB87B, 0x63CD4B8F, 0x91A6C88C, 0x456CAC67, 0xB7072F64, 0xA457DC90, 0x563C5F93, + 0x082F63B7, 0xFA44E0B4, 0xE9141340, 0x1B7F9043, 0xCFB5F4A8, 0x3DDE77AB, 0x2E8E845F, 0xDCE5075C, + 0x92A8FC17, 0x60C37F14, 0x73938CE0, 0x81F80FE3, 0x55326B08, 0xA759E80B, 0xB4091BFF, 0x466298FC, + 0x1871A4D8, 0xEA1A27DB, 0xF94AD42F, 0x0B21572C, 0xDFEB33C7, 0x2D80B0C4, 0x3ED04330, 0xCCBBC033, + 0xA24BB5A6, 0x502036A5, 0x4370C551, 0xB11B4652, 0x65D122B9, 0x97BAA1BA, 0x84EA524E, 0x7681D14D, + 0x2892ED69, 0xDAF96E6A, 0xC9A99D9E, 0x3BC21E9D, 0xEF087A76, 0x1D63F975, 0x0E330A81, 0xFC588982, + 0xB21572C9, 0x407EF1CA, 0x532E023E, 0xA145813D, 0x758FE5D6, 0x87E466D5, 0x94B49521, 0x66DF1622, + 0x38CC2A06, 0xCAA7A905, 0xD9F75AF1, 0x2B9CD9F2, 0xFF56BD19, 0x0D3D3E1A, 0x1E6DCDEE, 0xEC064EED, + 0xC38D26C4, 0x31E6A5C7, 0x22B65633, 0xD0DDD530, 0x0417B1DB, 0xF67C32D8, 0xE52CC12C, 0x1747422F, + 0x49547E0B, 0xBB3FFD08, 0xA86F0EFC, 0x5A048DFF, 0x8ECEE914, 0x7CA56A17, 0x6FF599E3, 0x9D9E1AE0, + 0xD3D3E1AB, 0x21B862A8, 0x32E8915C, 0xC083125F, 0x144976B4, 0xE622F5B7, 0xF5720643, 0x07198540, + 0x590AB964, 0xAB613A67, 0xB831C993, 0x4A5A4A90, 0x9E902E7B, 0x6CFBAD78, 0x7FAB5E8C, 0x8DC0DD8F, + 0xE330A81A, 0x115B2B19, 0x020BD8ED, 0xF0605BEE, 0x24AA3F05, 0xD6C1BC06, 0xC5914FF2, 0x37FACCF1, + 0x69E9F0D5, 0x9B8273D6, 0x88D28022, 0x7AB90321, 0xAE7367CA, 0x5C18E4C9, 0x4F48173D, 0xBD23943E, + 0xF36E6F75, 0x0105EC76, 0x12551F82, 0xE03E9C81, 0x34F4F86A, 0xC69F7B69, 0xD5CF889D, 0x27A40B9E, + 0x79B737BA, 0x8BDCB4B9, 0x988C474D, 0x6AE7C44E, 0xBE2DA0A5, 0x4C4623A6, 0x5F16D052, 0xAD7D5351 }; + +uint32_t csp_crc32_memory(const uint8_t * data, uint32_t length) { + uint32_t crc; + + crc = 0xFFFFFFFF; + while (length--) +#ifdef __AVR__ + crc = pgm_read_dword(&crc_tab[(crc ^ *data++) & 0xFFL]) ^ (crc >> 8); +#else + crc = crc_tab[(crc ^ *data++) & 0xFFL] ^ (crc >> 8); +#endif + + return (crc ^ 0xFFFFFFFF); +} + +int csp_crc32_append(csp_packet_t * packet, bool include_header) { + + uint32_t crc; + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + /* Calculate CRC32, convert to network byte order */ + if (include_header) { + crc = csp_crc32_memory((uint8_t *) &packet->id, packet->length + sizeof(packet->id)); + } else { + crc = csp_crc32_memory(packet->data, packet->length); + } + crc = csp_hton32(crc); + + /* Copy checksum to packet */ + memcpy(&packet->data[packet->length], &crc, sizeof(uint32_t)); + packet->length += sizeof(uint32_t); + + return CSP_ERR_NONE; + +} + +int csp_crc32_verify(csp_packet_t * packet, bool include_header) { + + uint32_t crc; + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + if (packet->length < sizeof(uint32_t)) + return CSP_ERR_INVAL; + + /* Calculate CRC32, convert to network byte order */ + if (include_header) { + crc = csp_crc32_memory((uint8_t *) &packet->id, packet->length + sizeof(packet->id) - sizeof(uint32_t)); + } else { + crc = csp_crc32_memory(packet->data, packet->length - sizeof(uint32_t)); + } + crc = csp_hton32(crc); + + /* Compare calculated checksum with packet header */ + if (memcmp(&packet->data[packet->length] - sizeof(uint32_t), &crc, sizeof(uint32_t)) != 0) { + /* CRC32 failed */ + return CSP_ERR_INVAL; + } else { + /* Strip CRC32 */ + packet->length -= sizeof(uint32_t); + return CSP_ERR_NONE; + } + +} + +#endif // CSP_USE_CRC32 diff --git a/libcsp/src/csp_debug.c b/libcsp/src/csp_debug.c new file mode 100644 index 00000000..2e710cb3 --- /dev/null +++ b/libcsp/src/csp_debug.c @@ -0,0 +1,133 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#ifdef __AVR__ +#include +#endif + +/* CSP includes */ +#include + +#include + +/* Custom debug function */ +csp_debug_hook_func_t csp_debug_hook_func = NULL; + +/* Debug levels */ +static bool csp_debug_level_enabled[] = { + [CSP_ERROR] = true, + [CSP_WARN] = true, + [CSP_INFO] = false, + [CSP_BUFFER] = false, + [CSP_PACKET] = false, + [CSP_PROTOCOL] = false, + [CSP_LOCK] = false, +}; + +/* Some compilers do not support weak symbols, so this function + * can be used instead to set a custom debug hook */ +void csp_debug_hook_set(csp_debug_hook_func_t f) +{ + csp_debug_hook_func = f; +} + +void do_csp_debug(csp_debug_level_t level, const char *format, ...) +{ + int color = COLOR_RESET; + va_list args; + + /* Don't print anything if log level is disabled */ + if (level > CSP_LOCK || !csp_debug_level_enabled[level]) + return; + + switch(level) { + case CSP_INFO: + color = COLOR_GREEN | COLOR_BOLD; + break; + case CSP_ERROR: + color = COLOR_RED | COLOR_BOLD; + break; + case CSP_WARN: + color = COLOR_YELLOW | COLOR_BOLD; + break; + case CSP_BUFFER: + color = COLOR_MAGENTA; + break; + case CSP_PACKET: + color = COLOR_GREEN; + break; + case CSP_PROTOCOL: + color = COLOR_BLUE; + break; + case CSP_LOCK: + color = COLOR_CYAN; + break; + default: + return; + } + + va_start(args, format); + + /* If csp_debug_hook symbol is defined, pass on the message. + * Otherwise, just print with pretty colors ... */ + if (csp_debug_hook_func) { + csp_debug_hook_func(level, format, args); + } else { + csp_sys_set_color(color); +#ifdef __AVR__ + vfprintf_P(stdout, format, args); +#else + vprintf(format, args); +#endif + printf("\r\n"); + csp_sys_set_color(COLOR_RESET); + } + + va_end(args); +} + +void csp_debug_set_level(csp_debug_level_t level, bool value) +{ + if (level > CSP_LOCK) + return; + csp_debug_level_enabled[level] = value; +} + +int csp_debug_get_level(csp_debug_level_t level) +{ + if (level > CSP_LOCK) + return 0; + return csp_debug_level_enabled[level]; +} + +void csp_debug_toggle_level(csp_debug_level_t level) +{ + if (level > CSP_LOCK) { + printf("Max level is 6\r\n"); + return; + } + csp_debug_level_enabled[level] = (csp_debug_level_enabled[level]) ? false : true; + printf("Level %u: value %u\r\n", level, csp_debug_level_enabled[level]); +} diff --git a/libcsp/src/csp_dedup.c b/libcsp/src/csp_dedup.c new file mode 100644 index 00000000..d263c7a4 --- /dev/null +++ b/libcsp/src/csp_dedup.c @@ -0,0 +1,66 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include +#include + +#include "csp_dedup.h" + +/* Check the last CSP_DEDUP_COUNT packets for duplicates */ +#define CSP_DEDUP_COUNT 16 + +/* Only consider packet a duplicate if received under CSP_DEDUP_WINDOW_MS ago */ +#define CSP_DEDUP_WINDOW_MS 1000 + +/* Store packet CRC's in a ringbuffer */ +static uint32_t csp_dedup_array[CSP_DEDUP_COUNT] = {}; +static uint32_t csp_dedup_timestamp[CSP_DEDUP_COUNT] = {}; +static int csp_dedup_in = 0; + +bool csp_dedup_is_duplicate(csp_packet_t *packet) +{ + /* Calculate CRC32 for packet */ + uint32_t crc = csp_crc32_memory((const uint8_t *) &packet->id, packet->length + sizeof(packet->id)); + + /* Check if we have received this packet before */ + for (int i = 0; i < CSP_DEDUP_COUNT; i++) { + + /* Check for match */ + if (crc == csp_dedup_array[i]) { + + /* Check the timestamp */ + if (csp_get_ms() < csp_dedup_timestamp[i] + CSP_DEDUP_WINDOW_MS) + return true; + } + } + + /* If not, insert packet into duplicate list */ + csp_dedup_array[csp_dedup_in] = crc; + csp_dedup_timestamp[csp_dedup_in] = csp_get_ms(); + csp_dedup_in = (csp_dedup_in + 1) % CSP_DEDUP_COUNT; + + return false; +} diff --git a/libcsp/src/csp_dedup.h b/libcsp/src/csp_dedup.h new file mode 100644 index 00000000..75a3f124 --- /dev/null +++ b/libcsp/src/csp_dedup.h @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_DEDUP_H_ +#define CSP_DEDUP_H_ + +/** + * Check for a duplicate packet + * @param packet pointer to packet + * @return false if not a duplicate, true if duplicate + */ +bool csp_dedup_is_duplicate(csp_packet_t *packet); + +#endif /* CSP_DEDUP_H_ */ diff --git a/libcsp/src/csp_endian.c b/libcsp/src/csp_endian.c new file mode 100644 index 00000000..6d0ef226 --- /dev/null +++ b/libcsp/src/csp_endian.c @@ -0,0 +1,204 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* CSP includes */ +#include +#include + +/* Convert 16-bit number from host byte order to network byte order */ +inline uint16_t __attribute__ ((__const__)) csp_hton16(uint16_t h16) { +#ifdef CSP_BIG_ENDIAN + return h16; +#else + return (((h16 & 0xff00) >> 8) | + ((h16 & 0x00ff) << 8)); +#endif +} + +/* Convert 16-bit number from network byte order to host byte order */ +inline uint16_t __attribute__ ((__const__)) csp_ntoh16(uint16_t n16) { + return csp_hton16(n16); +} + +/* Convert 32-bit number from host byte order to network byte order */ +inline uint32_t __attribute__ ((__const__)) csp_hton32(uint32_t h32) { +#ifdef CSP_BIG_ENDIAN + return h32; +#else + return (((h32 & 0xff000000) >> 24) | + ((h32 & 0x000000ff) << 24) | + ((h32 & 0x0000ff00) << 8) | + ((h32 & 0x00ff0000) >> 8)); +#endif +} + +/* Convert 32-bit number from network byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_ntoh32(uint32_t n32) { + return csp_hton32(n32); +} + +/* Convert 64-bit number from host byte order to network byte order */ +inline uint64_t __attribute__ ((__const__)) csp_hton64(uint64_t h64) { +#ifdef CSP_BIG_ENDIAN + return h64; +#else + return (((h64 & 0xff00000000000000LL) >> 56) | + ((h64 & 0x00000000000000ffLL) << 56) | + ((h64 & 0x00ff000000000000LL) >> 40) | + ((h64 & 0x000000000000ff00LL) << 40) | + ((h64 & 0x0000ff0000000000LL) >> 24) | + ((h64 & 0x0000000000ff0000LL) << 24) | + ((h64 & 0x000000ff00000000LL) >> 8) | + ((h64 & 0x00000000ff000000LL) << 8)); +#endif +} + +/* Convert 64-bit number from host byte order to network byte order */ +inline uint64_t __attribute__ ((__const__)) csp_ntoh64(uint64_t n64) { + return csp_hton64(n64); +} + +/* Convert 16-bit number from host byte order to big endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_htobe16(uint16_t h16) { + return csp_hton16(h16); +} + +/* Convert 16-bit number from host byte order to little endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_htole16(uint16_t h16) { +#ifdef CSP_LITTLE_ENDIAN + return h16; +#else + return (((h16 & 0xff00) >> 8) | + ((h16 & 0x00ff) << 8)); +#endif +} + +/* Convert 16-bit number from big endian byte order to little endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_betoh16(uint16_t be16) { + return csp_ntoh16(be16); +} + +/* Convert 16-bit number from little endian byte order to host byte order */ +inline uint16_t __attribute__ ((__const__)) csp_letoh16(uint16_t le16) { + return csp_htole16(le16); +} + +/* Convert 32-bit number from host byte order to big endian byte order */ +inline uint32_t __attribute__ ((__const__)) csp_htobe32(uint32_t h32) { + return csp_hton32(h32); +} + +/* Convert 32-bit number from little endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_htole32(uint32_t h32) { +#ifdef CSP_LITTLE_ENDIAN + return h32; +#else + return (((h32 & 0xff000000) >> 24) | + ((h32 & 0x000000ff) << 24) | + ((h32 & 0x0000ff00) << 8) | + ((h32 & 0x00ff0000) >> 8)); +#endif +} + +/* Convert 32-bit number from big endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_betoh32(uint32_t be32) { + return csp_ntoh32(be32); +} + +/* Convert 32-bit number from little endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_letoh32(uint32_t le32) { + return csp_htole32(le32); +} + +/* Convert 64-bit number from host byte order to big endian byte order */ +inline uint64_t __attribute__ ((__const__)) csp_htobe64(uint64_t h64) { + return csp_hton64(h64); +} + +/* Convert 64-bit number from host byte order to little endian byte order */ +inline uint64_t __attribute__ ((__const__)) csp_htole64(uint64_t h64) { +#ifdef CSP_LITTLE_ENDIAN + return h64; +#else + return (((h64 & 0xff00000000000000LL) >> 56) | + ((h64 & 0x00000000000000ffLL) << 56) | + ((h64 & 0x00ff000000000000LL) >> 40) | + ((h64 & 0x000000000000ff00LL) << 40) | + ((h64 & 0x0000ff0000000000LL) >> 24) | + ((h64 & 0x0000000000ff0000LL) << 24) | + ((h64 & 0x000000ff00000000LL) >> 8) | + ((h64 & 0x00000000ff000000LL) << 8)); +#endif +} + +/* Convert 64-bit number from big endian byte order to host byte order */ +inline uint64_t __attribute__ ((__const__)) csp_betoh64(uint64_t be64) { + return csp_ntoh64(be64); +} + +/* Convert 64-bit number from little endian byte order to host byte order */ +inline uint64_t __attribute__ ((__const__)) csp_letoh64(uint64_t le64) { + return csp_htole64(le64); +} + + +/* Convert float from host byte order to network byte order */ +inline float __attribute__ ((__const__)) csp_htonflt(float f) { +#ifdef CSP_BIG_ENDIAN + return f; +#else + union v { + float f; + uint32_t i; + }; + union v val; + val.f = f; + val.i = csp_hton32(val.i); + return val.f; +#endif +} + +/* Convert float from host byte order to network byte order */ +inline float __attribute__ ((__const__)) csp_ntohflt(float f) { + return csp_htonflt(f); +} + +/* Convert double from host byte order to network byte order */ +inline double __attribute__ ((__const__)) csp_htondbl(double d) { +#ifdef CSP_BIG_ENDIAN + return d; +#else + union v { + double d; + uint64_t i; + }; + union v val; + val.d = d; + val.i = csp_hton64(val.i); + return val.d; +#endif +} + +/* Convert float from host byte order to network byte order */ +inline double __attribute__ ((__const__)) csp_ntohdbl(double d) { + return csp_htondbl(d); +} diff --git a/libcsp/src/csp_hex_dump.c b/libcsp/src/csp_hex_dump.c new file mode 100644 index 00000000..af0a2660 --- /dev/null +++ b/libcsp/src/csp_hex_dump.c @@ -0,0 +1,55 @@ +#include +#include + +void csp_hex_dump (const char *desc, void *addr, int len) +{ + int i; + unsigned char buff[17]; + unsigned char *pc = (unsigned char*)addr; + + // Output description if given. + if (desc != NULL) + printf ("%s:\r\n", desc); + + if (len == 0) { + printf(" ZERO LENGTH\r\n"); + return; + } + if (len < 0) { + printf(" NEGATIVE LENGTH: %i\r\n",len); + return; + } + + // Process every byte in the data. + for (i = 0; i < len; i++) { + // Multiple of 16 means new line (with line offset). + + if ((i % 16) == 0) { + // Just don't print ASCII for the zeroth line. + if (i != 0) + printf (" %s\r\n", buff); + + // Output the offset. + printf (" %p ", addr + i); + } + + // Now the hex code for the specific character. + printf (" %02x", pc[i]); + + // And store a printable ASCII character for later. + if ((pc[i] < 0x20) || (pc[i] > 0x7e)) + buff[i % 16] = '.'; + else + buff[i % 16] = pc[i]; + buff[(i % 16) + 1] = '\0'; + } + + // Pad out last line if not exactly 16 characters. + while ((i % 16) != 0) { + printf (" "); + i++; + } + + // And print the final ASCII bit. + printf (" %s\r\n", buff); +} diff --git a/libcsp/src/csp_iflist.c b/libcsp/src/csp_iflist.c new file mode 100644 index 00000000..2bfef422 --- /dev/null +++ b/libcsp/src/csp_iflist.c @@ -0,0 +1,100 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* Interfaces are stored in a linked list*/ +static csp_iface_t * interfaces = NULL; + +csp_iface_t * csp_iflist_get_by_name(const char *name) { + csp_iface_t *ifc = interfaces; + while(ifc) { + if (strncmp(ifc->name, name, 10) == 0) + break; + ifc = ifc->next; + } + return ifc; +} + +void csp_iflist_add(csp_iface_t *ifc) { + + /* Add interface to pool */ + if (interfaces == NULL) { + /* This is the first interface to be added */ + interfaces = ifc; + ifc->next = NULL; + } else { + /* One or more interfaces were already added */ + csp_iface_t * i = interfaces; + while (i != ifc && i->next) + i = i->next; + + /* Insert interface last if not already in pool */ + if (i != ifc && i->next == NULL) { + i->next = ifc; + ifc->next = NULL; + } + } + +} + +csp_iface_t * csp_iflist_get(void) +{ + return interfaces; +} + +#ifdef CSP_DEBUG +static int csp_bytesize(char *buf, int len, unsigned long int n) { + char postfix; + double size; + + if (n >= 1048576) { + size = n/1048576.0; + postfix = 'M'; + } else if (n >= 1024) { + size = n/1024.; + postfix = 'K'; + } else { + size = n; + postfix = 'B'; + } + + return snprintf(buf, len, "%.1f%c", size, postfix); +} + +void csp_iflist_print(void) { + csp_iface_t * i = interfaces; + char txbuf[25], rxbuf[25]; + + while (i) { + csp_bytesize(txbuf, 25, i->txbytes); + csp_bytesize(rxbuf, 25, i->rxbytes); + printf("%-5s tx: %05"PRIu32" rx: %05"PRIu32" txe: %05"PRIu32" rxe: %05"PRIu32"\r\n" + " drop: %05"PRIu32" autherr: %05"PRIu32 " frame: %05"PRIu32"\r\n" + " txb: %"PRIu32" (%s) rxb: %"PRIu32" (%s)\r\n\r\n", + i->name, i->tx, i->rx, i->tx_error, i->rx_error, i->drop, + i->autherr, i->frame, i->txbytes, txbuf, i->rxbytes, rxbuf); + i = i->next; + } + +} +#endif + diff --git a/libcsp/src/csp_io.c b/libcsp/src/csp_io.c new file mode 100644 index 00000000..3d7f614a --- /dev/null +++ b/libcsp/src/csp_io.c @@ -0,0 +1,502 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "csp_io.h" +#include "csp_port.h" +#include "csp_conn.h" +#include "csp_route.h" +#include "csp_promisc.h" +#include "csp_qfifo.h" +#include "transport/csp_transport.h" + +/** CSP address of this node */ +static uint8_t csp_my_address; + +/* Hostname, model and build revision */ +static const char *csp_hostname = NULL; +static const char *csp_model = NULL; +static const char *csp_revision = GIT_REV; + +#ifdef CSP_USE_PROMISC +extern csp_queue_handle_t csp_promisc_queue; +#endif + +void csp_set_address(uint8_t addr) +{ + csp_my_address = addr; +} + +uint8_t csp_get_address(void) +{ + return csp_my_address; +} + +void csp_set_hostname(const char *hostname) +{ + csp_hostname = hostname; +} + +const char *csp_get_hostname(void) +{ + return csp_hostname; +} + +void csp_set_model(const char *model) +{ + csp_model = model; +} + +const char *csp_get_model(void) +{ + return csp_model; +} + +void csp_set_revision(const char *revision) +{ + csp_revision = revision; +} + +const char *csp_get_revision(void) +{ + return csp_revision; +} + +int csp_init(unsigned char address) { + + int ret; + + /* Initialize CSP */ + csp_set_address(address); + + ret = csp_conn_init(); + if (ret != CSP_ERR_NONE) + return ret; + + ret = csp_port_init(); + if (ret != CSP_ERR_NONE) + return ret; + + ret = csp_qfifo_init(); + if (ret != CSP_ERR_NONE) + return ret; + + /* Loopback */ + csp_iflist_add(&csp_if_lo); + + /* Register loopback route */ + csp_route_set(csp_get_address(), &csp_if_lo, CSP_NODE_MAC); + + /* Also register loopback as default, until user redefines default route */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC); + + return CSP_ERR_NONE; + +} + +csp_socket_t * csp_socket(uint32_t opts) { + + /* Validate socket options */ +#ifndef CSP_USE_RDP + if (opts & CSP_SO_RDPREQ) { + csp_log_error("Attempt to create socket that requires RDP, but CSP was compiled without RDP support"); + return NULL; + } +#endif + +#ifndef CSP_USE_XTEA + if (opts & CSP_SO_XTEAREQ) { + csp_log_error("Attempt to create socket that requires XTEA, but CSP was compiled without XTEA support"); + return NULL; + } +#endif + +#ifndef CSP_USE_HMAC + if (opts & CSP_SO_HMACREQ) { + csp_log_error("Attempt to create socket that requires HMAC, but CSP was compiled without HMAC support"); + return NULL; + } +#endif + +#ifndef CSP_USE_CRC32 + if (opts & CSP_SO_CRC32REQ) { + csp_log_error("Attempt to create socket that requires CRC32, but CSP was compiled without CRC32 support"); + return NULL; + } +#endif + + /* Drop packet if reserved flags are set */ + if (opts & ~(CSP_SO_RDPREQ | CSP_SO_XTEAREQ | CSP_SO_HMACREQ | CSP_SO_CRC32REQ | CSP_SO_CONN_LESS)) { + csp_log_error("Invalid socket option"); + return NULL; + } + + /* Use CSP buffers instead? */ + csp_socket_t * sock = csp_conn_allocate(CONN_SERVER); + if (sock == NULL) + return NULL; + + /* If connectionless, init the queue to a pre-defined size + * if not, the user must init the queue using csp_listen */ + if (opts & CSP_SO_CONN_LESS) { + sock->socket = csp_queue_create(CSP_CONN_QUEUE_LENGTH, sizeof(csp_packet_t *)); + if (sock->socket == NULL) { + csp_close(sock); + return NULL; + } + } else { + sock->socket = NULL; + } + sock->opts = opts; + + return sock; + +} + +csp_conn_t * csp_accept(csp_socket_t * sock, uint32_t timeout) { + + if (sock == NULL) + return NULL; + + if (sock->socket == NULL) + return NULL; + + csp_conn_t * conn; + if (csp_queue_dequeue(sock->socket, &conn, timeout) == CSP_QUEUE_OK) + return conn; + + return NULL; + +} + +csp_packet_t * csp_read(csp_conn_t * conn, uint32_t timeout) { + + csp_packet_t * packet = NULL; + + if (conn == NULL || conn->state != CONN_OPEN) + return NULL; + +#ifdef CSP_USE_QOS + int prio, event; + if (csp_queue_dequeue(conn->rx_event, &event, timeout) != CSP_QUEUE_OK) + return NULL; + + for (prio = 0; prio < CSP_RX_QUEUES; prio++) + if (csp_queue_dequeue(conn->rx_queue[prio], &packet, 0) == CSP_QUEUE_OK) + break; +#else + if (csp_queue_dequeue(conn->rx_queue[0], &packet, timeout) != CSP_QUEUE_OK) + return NULL; +#endif + +#ifdef CSP_USE_RDP + /* Packet read could trigger ACK transmission */ + if (conn->idin.flags & CSP_FRDP && conn->rdp.delayed_acks) + csp_rdp_check_ack(conn); + +#endif + + return packet; + +} + +int csp_send_direct(csp_id_t idout, csp_packet_t * packet, csp_iface_t * ifout, uint32_t timeout) { + + if (packet == NULL) { + csp_log_error("csp_send_direct called with NULL packet"); + goto err; + } + + if ((ifout == NULL) || (ifout->nexthop == NULL)) { + csp_log_error("No route to host: %#08x", idout.ext); + goto err; + } + + csp_log_packet("OUT: S %u, D %u, Dp %u, Sp %u, Pr %u, Fl 0x%02X, Sz %u VIA: %s", + idout.src, idout.dst, idout.dport, idout.sport, idout.pri, idout.flags, packet->length, ifout->name); + + /* Copy identifier to packet (before crc, xtea and hmac) */ + packet->id.ext = idout.ext; + +#ifdef CSP_USE_PROMISC + /* Loopback traffic is added to promisc queue by the router */ + if (idout.dst != csp_get_address() && idout.src == csp_get_address()) { + packet->id.ext = idout.ext; + csp_promisc_add(packet); + } +#endif + + /* Only encrypt packets from the current node */ + if (idout.src == csp_get_address()) { + /* Append HMAC */ + if (idout.flags & CSP_FHMAC) { +#ifdef CSP_USE_HMAC + /* Calculate and add HMAC (does not include header for backwards compatability with csp1.x) */ + if (csp_hmac_append(packet, false) != 0) { + /* HMAC append failed */ + csp_log_warn("HMAC append failed!"); + goto tx_err; + } +#else + csp_log_warn("Attempt to send packet with HMAC, but CSP was compiled without HMAC support. Discarding packet"); + goto tx_err; +#endif + } + + /* Append CRC32 */ + if (idout.flags & CSP_FCRC32) { +#ifdef CSP_USE_CRC32 + /* Calculate and add CRC32 (does not include header for backwards compatability with csp1.x) */ + if (csp_crc32_append(packet, false) != 0) { + /* CRC32 append failed */ + csp_log_warn("CRC32 append failed!"); + goto tx_err; + } +#else + csp_log_warn("Attempt to send packet with CRC32, but CSP was compiled without CRC32 support. Sending without CRC32r"); + idout.flags &= ~(CSP_FCRC32); +#endif + } + + if (idout.flags & CSP_FXTEA) { +#ifdef CSP_USE_XTEA + /* Create nonce */ + uint32_t nonce, nonce_n; + nonce = (uint32_t)rand(); + nonce_n = csp_hton32(nonce); + memcpy(&packet->data[packet->length], &nonce_n, sizeof(nonce_n)); + + /* Create initialization vector */ + uint32_t iv[2] = {nonce, 1}; + + /* Encrypt data */ + if (csp_xtea_encrypt(packet->data, packet->length, iv) != 0) { + /* Encryption failed */ + csp_log_warn("Encryption failed! Discarding packet"); + goto tx_err; + } + + packet->length += sizeof(nonce_n); +#else + csp_log_warn("Attempt to send XTEA encrypted packet, but CSP was compiled without XTEA support. Discarding packet"); + goto tx_err; +#endif + } + } + + /* Store length before passing to interface */ + uint16_t bytes = packet->length; + uint16_t mtu = ifout->mtu; + + if (mtu > 0 && bytes > mtu) + goto tx_err; + + if ((*ifout->nexthop)(ifout, packet, timeout) != CSP_ERR_NONE) + goto tx_err; + + ifout->tx++; + ifout->txbytes += bytes; + return CSP_ERR_NONE; + +tx_err: + ifout->tx_error++; +err: + return CSP_ERR_TX; + +} + +int csp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + + int ret; + + if ((conn == NULL) || (packet == NULL) || (conn->state != CONN_OPEN)) { + csp_log_error("Invalid call to csp_send"); + return 0; + } + +#ifdef CSP_USE_RDP + if (conn->idout.flags & CSP_FRDP) { + if (csp_rdp_send(conn, packet, timeout) != CSP_ERR_NONE) { + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + if (ifout != NULL) + ifout->tx_error++; + csp_log_warn("RDP send failed!"); + return 0; + } + } +#endif + + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + ret = csp_send_direct(conn->idout, packet, ifout, timeout); + + return (ret == CSP_ERR_NONE) ? 1 : 0; + +} + +int csp_send_prio(uint8_t prio, csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + conn->idout.pri = prio; + return csp_send(conn, packet, timeout); +} + +int csp_transaction_persistent(csp_conn_t * conn, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen) { + + int size = (inlen > outlen) ? inlen : outlen; + csp_packet_t * packet = csp_buffer_get(size); + if (packet == NULL) + return 0; + + /* Copy the request */ + if (outlen > 0 && outbuf != NULL) + memcpy(packet->data, outbuf, outlen); + packet->length = outlen; + + if (!csp_send(conn, packet, timeout)) { + csp_buffer_free(packet); + return 0; + } + + /* If no reply is expected, return now */ + if (inlen == 0) + return 1; + + packet = csp_read(conn, timeout); + if (packet == NULL) + return 0; + + if ((inlen != -1) && ((int)packet->length != inlen)) { + csp_log_error("Reply length %u expected %u", packet->length, inlen); + csp_buffer_free(packet); + return 0; + } + + memcpy(inbuf, packet->data, packet->length); + int length = packet->length; + csp_buffer_free(packet); + return length; + +} + +int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen) { + return csp_transaction2(prio, dest, port, timeout, outbuf, outlen, inbuf, inlen, 0); +} + +int csp_transaction2(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen, uint32_t opts) { + + csp_conn_t * conn = csp_connect(prio, dest, port, 0, opts); + if (conn == NULL) + return 0; + + int status = csp_transaction_persistent(conn, timeout, outbuf, outlen, inbuf, inlen); + + csp_close(conn); + + return status; + +} + +csp_packet_t * csp_recvfrom(csp_socket_t * socket, uint32_t timeout) { + + if ((socket == NULL) || (!(socket->opts & CSP_SO_CONN_LESS))) + return NULL; + + csp_packet_t * packet = NULL; + csp_queue_dequeue(socket->socket, &packet, timeout); + + return packet; + +} + +int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t * packet, uint32_t timeout) { + + packet->id.flags = 0; + + if (opts & CSP_O_RDP) { + csp_log_error("Attempt to create RDP packet on connection-less socket"); + return CSP_ERR_INVAL; + } + + if (opts & CSP_O_HMAC) { +#ifdef CSP_USE_HMAC + packet->id.flags |= CSP_FHMAC; +#else + csp_log_error("Attempt to create HMAC authenticated packet, but CSP was compiled without HMAC support"); + return CSP_ERR_NOTSUP; +#endif + } + + if (opts & CSP_O_XTEA) { +#ifdef CSP_USE_XTEA + packet->id.flags |= CSP_FXTEA; +#else + csp_log_error("Attempt to create XTEA encrypted packet, but CSP was compiled without XTEA support"); + return CSP_ERR_NOTSUP; +#endif + } + + if (opts & CSP_O_CRC32) { +#ifdef CSP_USE_CRC32 + packet->id.flags |= CSP_FCRC32; +#else + csp_log_error("Attempt to create CRC32 validated packet, but CSP was compiled without CRC32 support"); + return CSP_ERR_NOTSUP; +#endif + } + + packet->id.dst = dest; + packet->id.dport = dport; + packet->id.src = csp_get_address(); + packet->id.sport = src_port; + packet->id.pri = prio; + + csp_iface_t * ifout = csp_rtable_find_iface(dest); + if (csp_send_direct(packet->id, packet, ifout, timeout) != CSP_ERR_NONE) + return CSP_ERR_NOTSUP; + + return CSP_ERR_NONE; + +} + +int csp_sendto_reply(csp_packet_t * request_packet, csp_packet_t * reply_packet, uint32_t opts, uint32_t timeout) { + if (request_packet == NULL) + return CSP_ERR_INVAL; + + return csp_sendto(request_packet->id.pri, request_packet->id.src, request_packet->id.sport, request_packet->id.dport, opts, reply_packet, timeout); +} diff --git a/libcsp/src/csp_io.h b/libcsp/src/csp_io.h new file mode 100644 index 00000000..6ea8dfec --- /dev/null +++ b/libcsp/src/csp_io.h @@ -0,0 +1,47 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IO_H_ +#define _CSP_IO_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/** + * Function to transmit a frame without an existing connection structure. + * This function is used for stateless transmissions + * @param idout 32bit CSP identifier + * @param packet pointer to packet, + * @param ifout pointer to output interface + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send_direct(csp_id_t idout, csp_packet_t * packet, csp_iface_t * ifout, uint32_t timeout); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_IO_H_ diff --git a/libcsp/src/csp_port.c b/libcsp/src/csp_port.c new file mode 100644 index 00000000..2a4ac2a9 --- /dev/null +++ b/libcsp/src/csp_port.c @@ -0,0 +1,105 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include + +#include +#include +#include + +#include "csp_port.h" +#include "csp_conn.h" + +/* Allocation of ports */ +static csp_port_t ports[CSP_MAX_BIND_PORT + 2]; + +csp_socket_t * csp_port_get_socket(unsigned int port) { + + csp_socket_t * ret = NULL; + + if (port >= CSP_ANY) + return NULL; + + /* Match dport to socket or local "catch all" port number */ + if (ports[port].state == PORT_OPEN) + ret = ports[port].socket; + else if (ports[CSP_ANY].state == PORT_OPEN) + ret = ports[CSP_ANY].socket; + + return ret; + +} + +int csp_port_init(void) { + + memset(ports, PORT_CLOSED, sizeof(csp_port_t) * (CSP_MAX_BIND_PORT + 2)); + + return CSP_ERR_NONE; + +} + +int csp_listen(csp_socket_t * socket, size_t conn_queue_length) { + + if (socket == NULL) + return CSP_ERR_INVAL; + + socket->socket = csp_queue_create(conn_queue_length, sizeof(csp_conn_t *)); + if (socket->socket == NULL) + return CSP_ERR_NOMEM; + + socket->opts |= CSP_SO_INTERNAL_LISTEN; + + return CSP_ERR_NONE; + +} + +int csp_bind(csp_socket_t * socket, uint8_t port) { + + if (socket == NULL) + return CSP_ERR_INVAL; + + if (port > CSP_ANY) { + csp_log_error("Only ports from 0-%u (and CSP_ANY for default) are available for incoming ports", CSP_ANY); + return CSP_ERR_INVAL; + } + + /* Check if port number is valid */ + if (ports[port].state != PORT_CLOSED) { + csp_log_error("Port %d is already in use", port); + return CSP_ERR_USED; + } + + csp_log_info("Binding socket %p to port %u", socket, port); + + /* Save listener */ + ports[port].socket = socket; + ports[port].state = PORT_OPEN; + + return CSP_ERR_NONE; + +} + + diff --git a/libcsp/src/csp_port.h b/libcsp/src/csp_port.h new file mode 100644 index 00000000..d2ec06e9 --- /dev/null +++ b/libcsp/src/csp_port.h @@ -0,0 +1,55 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_PORT_H_ +#define _CSP_PORT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/** @brief Port states */ +typedef enum { + PORT_CLOSED = 0, + PORT_OPEN = 1, +} csp_port_state_t; + +/** @brief Port struct */ +typedef struct { + csp_port_state_t state; // Port state + csp_socket_t * socket; // New connections are added to this socket's conn queue +} csp_port_t; + +/** + * Init ports array + */ +int csp_port_init(void); + +csp_socket_t * csp_port_get_socket(unsigned int dport); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_PORT_H_ diff --git a/libcsp/src/csp_promisc.c b/libcsp/src/csp_promisc.c new file mode 100644 index 00000000..5f156c33 --- /dev/null +++ b/libcsp/src/csp_promisc.c @@ -0,0 +1,82 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +#ifdef CSP_USE_PROMISC + +static csp_queue_handle_t csp_promisc_queue = NULL; +static int csp_promisc_enabled = 0; + +int csp_promisc_enable(unsigned int buf_size) { + + /* If queue already initialised */ + if (csp_promisc_queue != NULL) { + csp_promisc_enabled = 1; + return CSP_ERR_NONE; + } + + /* Create packet queue */ + csp_promisc_queue = csp_queue_create(buf_size, sizeof(csp_packet_t *)); + + if (csp_promisc_queue == NULL) + return CSP_ERR_INVAL; + + csp_promisc_enabled = 1; + return CSP_ERR_NONE; + +} + +void csp_promisc_disable(void) { + csp_promisc_enabled = 0; +} + +csp_packet_t * csp_promisc_read(uint32_t timeout) { + + if (csp_promisc_queue == NULL) + return NULL; + + csp_packet_t * packet = NULL; + csp_queue_dequeue(csp_promisc_queue, &packet, timeout); + + return packet; + +} + +void csp_promisc_add(csp_packet_t * packet) { + + if (csp_promisc_enabled == 0) + return; + + if (csp_promisc_queue != NULL) { + /* Make a copy of the message and queue it to the promiscuous task */ + csp_packet_t *packet_copy = csp_buffer_clone(packet); + if (packet_copy != NULL) { + if (csp_queue_enqueue(csp_promisc_queue, &packet_copy, 0) != CSP_QUEUE_OK) { + csp_log_error("Promiscuous mode input queue full"); + csp_buffer_free(packet_copy); + } + } + } + +} + +#endif diff --git a/libcsp/src/csp_promisc.h b/libcsp/src/csp_promisc.h new file mode 100644 index 00000000..be62edda --- /dev/null +++ b/libcsp/src/csp_promisc.h @@ -0,0 +1,30 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_PROMISC_H_ +#define CSP_PROMISC_H_ + +/** + * Add packet to promiscuous mode packet queue + * @param packet Packet to add to the queue + */ +void csp_promisc_add(csp_packet_t * packet); + +#endif /* CSP_PROMISC_H_ */ diff --git a/libcsp/src/csp_qfifo.c b/libcsp/src/csp_qfifo.c new file mode 100644 index 00000000..9329b2ca --- /dev/null +++ b/libcsp/src/csp_qfifo.c @@ -0,0 +1,149 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include "csp_qfifo.h" + +static csp_queue_handle_t qfifo[CSP_ROUTE_FIFOS]; +#ifdef CSP_USE_QOS +static csp_queue_handle_t qfifo_events; +#endif + +int csp_qfifo_init(void) { + int prio; + + /* Create router fifos for each priority */ + for (prio = 0; prio < CSP_ROUTE_FIFOS; prio++) { + if (qfifo[prio] == NULL) { + qfifo[prio] = csp_queue_create(CSP_FIFO_INPUT, sizeof(csp_qfifo_t)); + if (!qfifo[prio]) + return CSP_ERR_NOMEM; + } + } + +#ifdef CSP_USE_QOS + /* Create QoS fifo notification queue */ + qfifo_events = csp_queue_create(CSP_FIFO_INPUT, sizeof(int)); + if (!qfifo_events) + return CSP_ERR_NOMEM; +#endif + + return CSP_ERR_NONE; + +} + +int csp_qfifo_read(csp_qfifo_t * input) { + +#ifdef CSP_USE_QOS + int prio, found, event; + + /* Wait for packet in any queue */ + if (csp_queue_dequeue(qfifo_events, &event, FIFO_TIMEOUT) != CSP_QUEUE_OK) + return CSP_ERR_TIMEDOUT; + + /* Find packet with highest priority */ + found = 0; + for (prio = 0; prio < CSP_ROUTE_FIFOS; prio++) { + if (csp_queue_dequeue(qfifo[prio], input, 0) == CSP_QUEUE_OK) { + found = 1; + break; + } + } + + if (!found) { + csp_log_warn("Spurious wakeup: No packet found"); + return CSP_ERR_TIMEDOUT; + } +#else + if (csp_queue_dequeue(qfifo[0], input, FIFO_TIMEOUT) != CSP_QUEUE_OK) + return CSP_ERR_TIMEDOUT; +#endif + + return CSP_ERR_NONE; + +} + +void csp_qfifo_write(csp_packet_t * packet, csp_iface_t * interface, CSP_BASE_TYPE * pxTaskWoken) { + + int result; + + if (packet == NULL) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("csp_new packet called with NULL packet"); + } + return; + } else if (interface == NULL) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("csp_new packet called with NULL interface"); + } + if (pxTaskWoken == NULL) + csp_buffer_free(packet); + else + csp_buffer_free_isr(packet); + return; + } + + csp_qfifo_t queue_element; + queue_element.interface = interface; + queue_element.packet = packet; + +#ifdef CSP_USE_QOS + int fifo = packet->id.pri; +#else + int fifo = 0; +#endif + + if (pxTaskWoken == NULL) + result = csp_queue_enqueue(qfifo[fifo], &queue_element, 0); + else + result = csp_queue_enqueue_isr(qfifo[fifo], &queue_element, pxTaskWoken); + +#ifdef CSP_USE_QOS + static int event = 0; + + if (result == CSP_QUEUE_OK) { + if (pxTaskWoken == NULL) + csp_queue_enqueue(qfifo_events, &event, 0); + else + csp_queue_enqueue_isr(qfifo_events, &event, pxTaskWoken); + } +#endif + + if (result != CSP_QUEUE_OK) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("ERROR: Routing input FIFO is FULL. Dropping packet."); + } + interface->drop++; + if (pxTaskWoken == NULL) + csp_buffer_free(packet); + else + csp_buffer_free_isr(packet); + } + +} + +void csp_qfifo_wake_up(void) { + csp_qfifo_t queue_element; + queue_element.interface = NULL; + queue_element.packet = NULL; + csp_queue_enqueue(qfifo[0], &queue_element, 0); +} diff --git a/libcsp/src/csp_qfifo.h b/libcsp/src/csp_qfifo.h new file mode 100644 index 00000000..2910c48d --- /dev/null +++ b/libcsp/src/csp_qfifo.h @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_QFIFO_H_ +#define CSP_QFIFO_H_ + +#ifdef CSP_USE_RDP +#define FIFO_TIMEOUT 100 //! If RDP is enabled, the router needs to awake some times to check timeouts +#else +#define FIFO_TIMEOUT CSP_MAX_DELAY //! If no RDP, the router can sleep untill data arrives +#endif + +/** + * Init FIFO/QOS queues + * @return CSP_ERR type + */ +int csp_qfifo_init(void); + +typedef struct { + csp_iface_t * interface; + csp_packet_t * packet; +} csp_qfifo_t; + +/** + * Read next packet from router input queue + * @param input pointer to router queue item element + * @return CSP_ERR type + */ +int csp_qfifo_read(csp_qfifo_t * input); + +/** + * Wake up any task (e.g. router) waiting on messages. + * For testing. + */ +void csp_qfifo_wake_up(void); + +#endif /* CSP_QFIFO_H_ */ diff --git a/libcsp/src/csp_route.c b/libcsp/src/csp_route.c new file mode 100644 index 00000000..bc843577 --- /dev/null +++ b/libcsp/src/csp_route.c @@ -0,0 +1,346 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include + +#include +#include + +#include +#include + +#include "csp_port.h" +#include "csp_conn.h" +#include "csp_io.h" +#include "csp_promisc.h" +#include "csp_qfifo.h" +#include "csp_dedup.h" +#include "transport/csp_transport.h" + +/** + * Check supported packet options + * @param interface pointer to incoming interface + * @param packet pointer to packet + * @return CSP_ERR_NONE is all options are supported, CSP_ERR_NOTSUP if not + */ +static int csp_route_check_options(csp_iface_t *interface, csp_packet_t *packet) +{ +#ifndef CSP_USE_XTEA + /* Drop XTEA packets */ + if (packet->id.flags & CSP_FXTEA) { + csp_log_error("Received XTEA encrypted packet, but CSP was compiled without XTEA support. Discarding packet"); + interface->autherr++; + return CSP_ERR_NOTSUP; + } +#endif + +#ifndef CSP_USE_HMAC + /* Drop HMAC packets */ + if (packet->id.flags & CSP_FHMAC) { + csp_log_error("Received packet with HMAC, but CSP was compiled without HMAC support. Discarding packet"); + interface->autherr++; + return CSP_ERR_NOTSUP; + } +#endif + +#ifndef CSP_USE_RDP + /* Drop RDP packets */ + if (packet->id.flags & CSP_FRDP) { + csp_log_error("Received RDP packet, but CSP was compiled without RDP support. Discarding packet"); + interface->rx_error++; + return CSP_ERR_NOTSUP; + } +#endif + return CSP_ERR_NONE; +} + +/** + * Helper function to decrypt, check auth and CRC32 + * @param security_opts either socket_opts or conn_opts + * @param interface pointer to incoming interface + * @param packet pointer to packet + * @return -1 Missing feature, -2 XTEA error, -3 CRC error, -4 HMAC error, 0 = OK. + */ +static int csp_route_security_check(uint32_t security_opts, csp_iface_t * interface, csp_packet_t * packet) { + +#ifdef CSP_USE_XTEA + /* XTEA encrypted packet */ + if (packet->id.flags & CSP_FXTEA) { + /* Read nonce */ + uint32_t nonce; + memcpy(&nonce, &packet->data[packet->length - sizeof(nonce)], sizeof(nonce)); + nonce = csp_ntoh32(nonce); + packet->length -= sizeof(nonce); + + /* Create initialization vector */ + uint32_t iv[2] = {nonce, 1}; + + /* Decrypt data */ + if (csp_xtea_decrypt(packet->data, packet->length, iv) != 0) { + /* Decryption failed */ + csp_log_error("Decryption failed! Discarding packet"); + interface->autherr++; + return CSP_ERR_XTEA; + } + } else if (security_opts & CSP_SO_XTEAREQ) { + csp_log_warn("Received packet without XTEA encryption. Discarding packet"); + interface->autherr++; + return CSP_ERR_XTEA; + } +#endif + + /* CRC32 verified packet */ + if (packet->id.flags & CSP_FCRC32) { +#ifdef CSP_USE_CRC32 + if (packet->length < 4) + csp_log_error("Too short packet for CRC32, %u", packet->length); + /* Verify CRC32 (does not include header for backwards compatability with csp1.x) */ + if (csp_crc32_verify(packet, false) != 0) { + /* Checksum failed */ + csp_log_error("CRC32 verification error! Discarding packet"); + interface->rx_error++; + return CSP_ERR_CRC32; + } + } else if (security_opts & CSP_SO_CRC32REQ) { + csp_log_warn("Received packet without CRC32. Accepting packet"); +#else + /* Strip CRC32 field and accept the packet */ + csp_log_warn("Received packet with CRC32, but CSP was compiled without CRC32 support. Accepting packet"); + packet->length -= sizeof(uint32_t); +#endif + } + +#ifdef CSP_USE_HMAC + /* HMAC authenticated packet */ + if (packet->id.flags & CSP_FHMAC) { + /* Verify HMAC (does not include header for backwards compatability with csp1.x) */ + if (csp_hmac_verify(packet, false) != 0) { + /* HMAC failed */ + csp_log_error("HMAC verification error! Discarding packet"); + interface->autherr++; + return CSP_ERR_HMAC; + } + } else if (security_opts & CSP_SO_HMACREQ) { + csp_log_warn("Received packet without HMAC. Discarding packet"); + interface->autherr++; + return CSP_ERR_HMAC; + } +#endif + +#ifdef CSP_USE_RDP + /* RDP packet */ + if (!(packet->id.flags & CSP_FRDP)) { + if (security_opts & CSP_SO_RDPREQ) { + csp_log_warn("Received packet without RDP header. Discarding packet"); + interface->rx_error++; + return CSP_ERR_INVAL; + } + } +#endif + + return CSP_ERR_NONE; + +} + +int csp_route_work(uint32_t timeout) { + + csp_qfifo_t input; + csp_packet_t * packet; + csp_conn_t * conn; + csp_socket_t * socket; + +#ifdef CSP_USE_RDP + /* Check connection timeouts (currently only for RDP) */ + csp_conn_check_timeouts(); +#endif + + /* Get next packet to route */ + if (csp_qfifo_read(&input) != CSP_ERR_NONE) + return -1; + + packet = input.packet; + if (!packet) + return -1; + + csp_log_packet("INP: S %u, D %u, Dp %u, Sp %u, Pr %u, Fl 0x%02X, Sz %"PRIu16" VIA: %s", + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length, input.interface->name); + + /* Here there be promiscuous mode */ +#ifdef CSP_USE_PROMISC + csp_promisc_add(packet); +#endif + +#ifdef CSP_USE_DEDUP + /* Check for duplicates */ + if (csp_dedup_is_duplicate(packet)) { + /* Discard packet */ + csp_log_packet("Duplicate packet discarded"); + input.interface->drop++; + csp_buffer_free(packet); + return 0; + } +#endif + + /* Now we count the message (since its deduplicated) */ + input.interface->rx++; + input.interface->rxbytes += packet->length; + + /* If the message is not to me, route the message to the correct interface */ + if ((packet->id.dst != csp_get_address()) && (packet->id.dst != CSP_BROADCAST_ADDR)) { + + /* Find the destination interface */ + csp_iface_t * dstif = csp_rtable_find_iface(packet->id.dst); + + /* If the message resolves to the input interface, don't loop it back out */ + if ((dstif == NULL) || ((dstif == input.interface) && (input.interface->split_horizon_off == 0))) { + csp_buffer_free(packet); + return 0; + } + + /* Otherwise, actually send the message */ + if (csp_send_direct(packet->id, packet, dstif, 0) != CSP_ERR_NONE) { + csp_log_warn("Router failed to send"); + csp_buffer_free(packet); + } + + /* Next message, please */ + return 0; + } + + /* Discard packets with unsupported options */ + if (csp_route_check_options(input.interface, packet) != CSP_ERR_NONE) { + csp_buffer_free(packet); + return 0; + } + + /* The message is to me, search for incoming socket */ + socket = csp_port_get_socket(packet->id.dport); + + /* If the socket is connection-less, deliver now */ + if (socket && (socket->opts & CSP_SO_CONN_LESS)) { + if (csp_route_security_check(socket->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + if (csp_queue_enqueue(socket->socket, &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("Conn-less socket queue full"); + csp_buffer_free(packet); + return 0; + } + return 0; + } + + /* Search for an existing connection */ + conn = csp_conn_find(packet->id.ext, CSP_ID_CONN_MASK); + + /* If this is an incoming packet on a new connection */ + if (conn == NULL) { + + /* Reject packet if no matching socket is found */ + if (!socket) { + csp_buffer_free(packet); + return 0; + } + + /* Run security check on incoming packet */ + if (csp_route_security_check(socket->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + + /* New incoming connection accepted */ + csp_id_t idout; + idout.pri = packet->id.pri; + idout.src = csp_get_address(); + + idout.dst = packet->id.src; + idout.dport = packet->id.sport; + idout.sport = packet->id.dport; + idout.flags = packet->id.flags; + + /* Create connection */ + conn = csp_conn_new(packet->id, idout); + + if (!conn) { + csp_log_error("No more connections available"); + csp_buffer_free(packet); + return 0; + } + + /* Store the socket queue and options */ + conn->socket = socket->socket; + conn->opts = socket->opts; + + /* Packet to existing connection */ + } else { + + /* Run security check on incoming packet */ + if (csp_route_security_check(conn->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + + } + +#ifdef CSP_USE_RDP + /* Pass packet to RDP module */ + if (packet->id.flags & CSP_FRDP) { + csp_rdp_new_packet(conn, packet); + return 0; + } +#endif + + /* Pass packet to UDP module */ + csp_udp_new_packet(conn, packet); + return 0; +} + +static CSP_DEFINE_TASK(csp_task_router) { + + /* Here there be routing */ + while (1) { + csp_route_work(FIFO_TIMEOUT); + } + + return CSP_TASK_RETURN; + +} + +int csp_route_start_task(unsigned int task_stack_size, unsigned int priority) { + + static csp_thread_handle_t handle_router; + int ret = csp_thread_create(csp_task_router, "RTE", task_stack_size, NULL, priority, &handle_router); + + if (ret != 0) { + csp_log_error("Failed to start router task"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} diff --git a/libcsp/src/csp_route.h b/libcsp/src/csp_route.h new file mode 100644 index 00000000..2a20f49f --- /dev/null +++ b/libcsp/src/csp_route.h @@ -0,0 +1,24 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ROUTE_H_ +#define _CSP_ROUTE_H_ + +#endif // _CSP_ROUTE_H_ diff --git a/libcsp/src/csp_service_handler.c b/libcsp/src/csp_service_handler.c new file mode 100644 index 00000000..0090afc1 --- /dev/null +++ b/libcsp/src/csp_service_handler.c @@ -0,0 +1,334 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include "csp_route.h" + +#define CSP_RPS_MTU 196 + +/** + * The CSP CMP mempy function is used to, override the function used to + * read/write memory by peek and poke. + */ +#ifdef __AVR__ +static uint32_t wrap_32bit_memcpy(uint32_t to, const uint32_t from, size_t size) { + return (uint32_t) (uintptr_t) memcpy((void *) (uintptr_t) to, (const void *) (uintptr_t) from, size); +} +static csp_memcpy_fnc_t csp_cmp_memcpy_fnc = wrap_32bit_memcpy; +#else +static csp_memcpy_fnc_t csp_cmp_memcpy_fnc = (csp_memcpy_fnc_t) memcpy; +#endif + + +void csp_cmp_set_memcpy(csp_memcpy_fnc_t fnc) { + csp_cmp_memcpy_fnc = fnc; +} + +static int do_cmp_ident(struct csp_cmp_message *cmp) { + + /* Copy revision */ + strncpy(cmp->ident.revision, csp_get_revision(), CSP_CMP_IDENT_REV_LEN); + cmp->ident.revision[CSP_CMP_IDENT_REV_LEN - 1] = '\0'; + + /* Copy compilation date */ + strncpy(cmp->ident.date, __DATE__, CSP_CMP_IDENT_DATE_LEN); + cmp->ident.date[CSP_CMP_IDENT_DATE_LEN - 1] = '\0'; + + /* Copy compilation time */ + strncpy(cmp->ident.time, __TIME__, CSP_CMP_IDENT_TIME_LEN); + cmp->ident.time[CSP_CMP_IDENT_TIME_LEN - 1] = '\0'; + + /* Copy hostname */ + strncpy(cmp->ident.hostname, csp_get_hostname(), CSP_HOSTNAME_LEN); + cmp->ident.hostname[CSP_HOSTNAME_LEN - 1] = '\0'; + + /* Copy model name */ + strncpy(cmp->ident.model, csp_get_model(), CSP_MODEL_LEN); + cmp->ident.model[CSP_MODEL_LEN - 1] = '\0'; + + return CSP_ERR_NONE; + +} + +static int do_cmp_route_set(struct csp_cmp_message *cmp) { + + csp_iface_t *ifc = csp_iflist_get_by_name(cmp->route_set.interface); + if (ifc == NULL) + return CSP_ERR_INVAL; + + if (csp_route_set(cmp->route_set.dest_node, ifc, cmp->route_set.next_hop_mac) != CSP_ERR_NONE) + return CSP_ERR_INVAL; + + return CSP_ERR_NONE; + +} + +static int do_cmp_if_stats(struct csp_cmp_message *cmp) { + + csp_iface_t *ifc = csp_iflist_get_by_name(cmp->if_stats.interface); + if (ifc == NULL) + return CSP_ERR_INVAL; + + cmp->if_stats.tx = csp_hton32(ifc->tx); + cmp->if_stats.rx = csp_hton32(ifc->rx); + cmp->if_stats.tx_error = csp_hton32(ifc->tx_error); + cmp->if_stats.rx_error = csp_hton32(ifc->rx_error); + cmp->if_stats.drop = csp_hton32(ifc->drop); + cmp->if_stats.autherr = csp_hton32(ifc->autherr); + cmp->if_stats.frame = csp_hton32(ifc->frame); + cmp->if_stats.txbytes = csp_hton32(ifc->txbytes); + cmp->if_stats.rxbytes = csp_hton32(ifc->rxbytes); + cmp->if_stats.irq = csp_hton32(ifc->irq); + + return CSP_ERR_NONE; +} + +static int do_cmp_peek(struct csp_cmp_message *cmp) { + + cmp->peek.addr = csp_hton32(cmp->peek.addr); + if (cmp->peek.len > CSP_CMP_PEEK_MAX_LEN) + return CSP_ERR_INVAL; + + /* Dangerous, you better know what you are doing */ + csp_cmp_memcpy_fnc((csp_memptr_t) (uintptr_t) cmp->peek.data, (csp_memptr_t) (unsigned long) cmp->peek.addr, cmp->peek.len); + + return CSP_ERR_NONE; + +} + +static int do_cmp_poke(struct csp_cmp_message *cmp) { + + cmp->poke.addr = csp_hton32(cmp->poke.addr); + if (cmp->poke.len > CSP_CMP_POKE_MAX_LEN) + return CSP_ERR_INVAL; + + /* Extremely dangerous, you better know what you are doing */ + csp_cmp_memcpy_fnc((csp_memptr_t) (unsigned long) cmp->poke.addr, (csp_memptr_t) (uintptr_t) cmp->poke.data, cmp->poke.len); + + return CSP_ERR_NONE; + +} + +static int do_cmp_clock(struct csp_cmp_message *cmp) { + + cmp->clock.tv_sec = csp_ntoh32(cmp->clock.tv_sec); + cmp->clock.tv_nsec = csp_ntoh32(cmp->clock.tv_nsec); + + if ((cmp->clock.tv_sec != 0) && (clock_set_time != NULL)) { + clock_set_time(&cmp->clock); + } + + if (clock_get_time != NULL) { + clock_get_time(&cmp->clock); + } + + cmp->clock.tv_sec = csp_hton32(cmp->clock.tv_sec); + cmp->clock.tv_nsec = csp_hton32(cmp->clock.tv_nsec); + return CSP_ERR_NONE; + +} + +/* CSP Management Protocol handler */ +static int csp_cmp_handler(csp_conn_t * conn, csp_packet_t * packet) { + + int ret = CSP_ERR_INVAL; + struct csp_cmp_message * cmp = (struct csp_cmp_message *) packet->data; + + /* Ignore everything but requests */ + if (cmp->type != CSP_CMP_REQUEST) + return ret; + + switch (cmp->code) { + case CSP_CMP_IDENT: + ret = do_cmp_ident(cmp); + packet->length = CMP_SIZE(ident); + break; + + case CSP_CMP_ROUTE_SET: + ret = do_cmp_route_set(cmp); + packet->length = CMP_SIZE(route_set); + break; + + case CSP_CMP_IF_STATS: + ret = do_cmp_if_stats(cmp); + packet->length = CMP_SIZE(if_stats); + break; + + case CSP_CMP_PEEK: + ret = do_cmp_peek(cmp); + break; + + case CSP_CMP_POKE: + ret = do_cmp_poke(cmp); + break; + + case CSP_CMP_CLOCK: + ret = do_cmp_clock(cmp); + break; + + default: + ret = CSP_ERR_INVAL; + break; + } + + cmp->type = CSP_CMP_REPLY; + + return ret; +} + +void csp_service_handler(csp_conn_t * conn, csp_packet_t * packet) { + + switch (csp_conn_dport(conn)) { + + case CSP_CMP: + /* Pass to CMP handler */ + if (csp_cmp_handler(conn, packet) != CSP_ERR_NONE) { + csp_buffer_free(packet); + return; + } + break; + + case CSP_PING: + /* A ping means, just echo the packet, so no changes */ + csp_log_info("SERVICE: Ping received"); + break; + + case CSP_PS: { + /* Sanity check on request */ + if ((packet->length != 1) || (packet->data[0] != 0x55)) { + /* Sanity check failed */ + csp_buffer_free(packet); + /* Clear the packet, it has been freed */ + packet = NULL; + break; + } + /* Start by allocating just the right amount of memory */ + int task_list_size = csp_sys_tasklist_size(); + char * pslist = csp_malloc(task_list_size); + /* Check for malloc fail */ + if (pslist == NULL) { + /* Send out the data */ + strcpy((char *)packet->data, "Not enough memory"); + packet->length = strlen((char *)packet->data); + /* Break and let the default handling send packet */ + break; + } + + /* Retrieve the tasklist */ + csp_sys_tasklist(pslist); + int pslen = strnlen(pslist, task_list_size); + + /* Split the potentially very long string into packets */ + int i = 0; + while(i < pslen) { + + /* Allocate packet buffer, if need be */ + if (packet == NULL) + packet = csp_buffer_get(CSP_RPS_MTU); + if (packet == NULL) + break; + + /* Calculate length, either full MTU or the remainder */ + packet->length = (pslen - i > CSP_RPS_MTU) ? CSP_RPS_MTU : (pslen - i); + + /* Send out the data */ + memcpy(packet->data, &pslist[i], packet->length); + i += packet->length; + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + + /* Clear the packet reference when sent */ + packet = NULL; + + } + csp_free(pslist); + break; + } + + case CSP_MEMFREE: { + uint32_t total = csp_sys_memfree(); + + total = csp_hton32(total); + memcpy(packet->data, &total, sizeof(total)); + packet->length = sizeof(total); + + break; + } + + case CSP_REBOOT: { + uint32_t magic_word; + memcpy(&magic_word, packet->data, sizeof(magic_word)); + + magic_word = csp_ntoh32(magic_word); + + /* If the magic word is valid, reboot */ + if (magic_word == CSP_REBOOT_MAGIC) { + csp_sys_reboot(); + } else if (magic_word == CSP_REBOOT_SHUTDOWN_MAGIC) { + csp_sys_shutdown(); + } + + + + csp_buffer_free(packet); + return; + } + + case CSP_BUF_FREE: { + uint32_t size = csp_buffer_remaining(); + size = csp_hton32(size); + memcpy(packet->data, &size, sizeof(size)); + packet->length = sizeof(size); + break; + } + + case CSP_UPTIME: { + uint32_t time = csp_get_s(); + time = csp_hton32(time); + memcpy(packet->data, &time, sizeof(time)); + packet->length = sizeof(time); + break; + } + + default: + csp_buffer_free(packet); + return; + } + + if (packet != NULL) { + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + } + +} diff --git a/libcsp/src/csp_services.c b/libcsp/src/csp_services.c new file mode 100644 index 00000000..5392cb82 --- /dev/null +++ b/libcsp/src/csp_services.c @@ -0,0 +1,233 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include +#include + +#include + +int csp_ping(uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options) { + + unsigned int i; + uint32_t start, time, status = 0; + + /* Counter */ + start = csp_get_ms(); + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, timeout, conn_options); + if (conn == NULL) + return -1; + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(size); + if (packet == NULL) + goto out; + + /* Set data to increasing numbers */ + packet->length = size; + for (i = 0; i < size; i++) + packet->data[i] = i; + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + goto out; + + /* Read incoming frame */ + packet = csp_read(conn, timeout); + if (packet == NULL) + goto out; + + /* Ensure that the data was actually echoed */ + for (i = 0; i < size; i++) + if (packet->data[i] != i % (0xff + 1)) + goto out; + + status = 1; + +out: + /* Clean up */ + if (packet != NULL) + csp_buffer_free(packet); + csp_close(conn); + + /* We have a reply */ + time = (csp_get_ms() - start); + + if (status) { + return time; + } else { + return -1; + } + +} + +void csp_ping_noreply(uint8_t node) { + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(1); + + /* Check malloc */ + if (packet == NULL) + return; + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, 0, 0); + if (conn == NULL) { + csp_buffer_free(packet); + return; + } + + packet->data[0] = 0x55; + packet->length = 1; + + printf("Ping ignore reply node %u.\r\n", (unsigned int) node); + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + + csp_close(conn); + +} + +void csp_reboot(uint8_t node) { + uint32_t magic_word = csp_hton32(CSP_REBOOT_MAGIC); + csp_transaction(CSP_PRIO_NORM, node, CSP_REBOOT, 0, &magic_word, sizeof(magic_word), NULL, 0); +} + +void csp_shutdown(uint8_t node) { + uint32_t magic_word = csp_hton32(CSP_REBOOT_SHUTDOWN_MAGIC); + csp_transaction(CSP_PRIO_NORM, node, CSP_REBOOT, 0, &magic_word, sizeof(magic_word), NULL, 0); +} + +void csp_ps(uint8_t node, uint32_t timeout) { + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PS, 0, 0); + if (conn == NULL) + return; + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(95); + + /* Check malloc */ + if (packet == NULL) + goto out; + + packet->data[0] = 0x55; + packet->length = 1; + + printf("PS node %u: \r\n", (unsigned int) node); + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + goto out; + + while(1) { + + /* Read incoming frame */ + packet = csp_read(conn, timeout); + if (packet == NULL) + break; + + /* We have a reply, add our own NULL char */ + packet->data[packet->length] = 0; + printf("%s", packet->data); + + /* Each packet from csp_read must to be freed by user */ + csp_buffer_free(packet); + } + + printf("\r\n"); + + /* Clean up */ +out: + if (packet != NULL) + csp_buffer_free(packet); + csp_close(conn); + +} + +void csp_memfree(uint8_t node, uint32_t timeout) { + + uint32_t memfree; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_MEMFREE, timeout, NULL, 0, &memfree, sizeof(memfree)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + + /* Convert from network to host order */ + memfree = csp_ntoh32(memfree); + + printf("Free Memory at node %u is %"PRIu32" bytes\r\n", (unsigned int) node, memfree); + +} + +void csp_buf_free(uint8_t node, uint32_t timeout) { + + uint32_t size = 0; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_BUF_FREE, timeout, NULL, 0, &size, sizeof(size)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + size = csp_ntoh32(size); + printf("Free buffers at node %u is %"PRIu32"\r\n", (unsigned int) node, size); + +} + +void csp_uptime(uint8_t node, uint32_t timeout) { + + uint32_t uptime = 0; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_UPTIME, timeout, NULL, 0, &uptime, sizeof(uptime)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + uptime = csp_ntoh32(uptime); + printf("Uptime of node %u is %"PRIu32" s\r\n", (unsigned int) node, uptime); + +} + +int csp_cmp(uint8_t node, uint32_t timeout, uint8_t code, int membsize, struct csp_cmp_message * msg) { + msg->type = CSP_CMP_REQUEST; + msg->code = code; + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_CMP, timeout, msg, membsize, msg, membsize); + if (status == 0) + return CSP_ERR_TIMEDOUT; + + return CSP_ERR_NONE; +} + diff --git a/libcsp/src/csp_sfp.c b/libcsp/src/csp_sfp.c new file mode 100644 index 00000000..96ef36e1 --- /dev/null +++ b/libcsp/src/csp_sfp.c @@ -0,0 +1,170 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include "csp_conn.h" + +typedef struct __attribute__((__packed__)) { + uint32_t offset; + uint32_t totalsize; +} sfp_header_t; + +/** + * SFP Headers: + * The following functions are helper functions that handles the extra SFP + * information that needs to be appended to all data packets. + */ +static sfp_header_t * csp_sfp_header_add(csp_packet_t * packet) { + sfp_header_t * header = (sfp_header_t *) &packet->data[packet->length]; + packet->length += sizeof(sfp_header_t); + memset(header, 0, sizeof(sfp_header_t)); + return header; +} + +static sfp_header_t * csp_sfp_header_remove(csp_packet_t * packet) { + sfp_header_t * header = (sfp_header_t *) &packet->data[packet->length-sizeof(sfp_header_t)]; + packet->length -= sizeof(sfp_header_t); + return header; +} + +int csp_sfp_send_own_memcpy(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout, void * (*memcpyfcn)(void *, const void *, size_t)) { + + int count = 0; + while(count < totalsize) { + + /* Allocate packet */ + csp_packet_t * packet = csp_buffer_get(mtu); + if (packet == NULL) + return -1; + + /* Calculate sending size */ + int size = totalsize - count; + if (size > mtu) + size = mtu; + + /* Print debug */ + csp_debug(CSP_PROTOCOL, "Sending SFP at %x size %u", data + count, size); + + /* Copy data */ + (*memcpyfcn)(packet->data, data + count, size); + packet->length = size; + + /* Set fragment flag */ + conn->idout.flags |= CSP_FFRAG; + + /* Add SFP header */ + sfp_header_t * sfp_header = csp_sfp_header_add(packet); + sfp_header->totalsize = csp_hton32(totalsize); + sfp_header->offset = csp_hton32(count); + + /* Send data */ + if (!csp_send(conn, packet, timeout)) { + csp_buffer_free(packet); + return -1; + } + + /* Increment count */ + count += size; + + } + + return 0; + +} + +int csp_sfp_send(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout) { + return csp_sfp_send_own_memcpy(conn, data, totalsize, mtu, timeout, &memcpy); +} + +int csp_sfp_recv_fp(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout, csp_packet_t * first_packet) { + + unsigned int last_byte = 0; + + *dataout = NULL; /* Allow caller to assume csp_free() can always be called when dataout is non-NULL */ + + /* Get first packet from user, or from connection */ + csp_packet_t * packet = NULL; + if (first_packet == NULL) { + packet = csp_read(conn, timeout); + if (packet == NULL) + return -1; + } else { + packet = first_packet; + } + + do { + + /* Check that SFP header is present */ + if ((packet->id.flags & CSP_FFRAG) == 0) { + csp_debug(CSP_ERROR, "Missing SFP header"); + csp_buffer_free(packet); + return -1; + } + + /* Read SFP header */ + sfp_header_t * sfp_header = csp_sfp_header_remove(packet); + sfp_header->offset = csp_ntoh32(sfp_header->offset); + sfp_header->totalsize = csp_ntoh32(sfp_header->totalsize); + + csp_debug(CSP_PROTOCOL, "SFP fragment %u/%u", sfp_header->offset + packet->length, sfp_header->totalsize); + + if (sfp_header->offset > last_byte + 1) { + csp_debug(CSP_ERROR, "SFP missing %u bytes", sfp_header->offset - last_byte); + csp_buffer_free(packet); + return -1; + } else { + last_byte = sfp_header->offset + packet->length; + } + + /* Allocate memory */ + if (*dataout == NULL) + *dataout = csp_malloc(sfp_header->totalsize); + if (*dataout == NULL) { + csp_debug(CSP_ERROR, "No dyn-memory for SFP fragment"); + csp_buffer_free(packet); + return -1; + } + + /* Copy data to output */ + *datasize = sfp_header->totalsize; + memcpy(*dataout + sfp_header->offset, packet->data, packet->length); + + if (sfp_header->offset + packet->length >= sfp_header->totalsize) { + csp_debug(CSP_PROTOCOL, "SFP complete"); + csp_buffer_free(packet); + return 0; + } else { + csp_buffer_free(packet); + } + + } while((packet = csp_read(conn, timeout)) != NULL); + + return -1; + +} + +int csp_sfp_recv(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout) { + return csp_sfp_recv_fp(conn, dataout, datasize, timeout, NULL); +} + diff --git a/libcsp/src/drivers/can/can_socketcan.c b/libcsp/src/drivers/can/can_socketcan.c new file mode 100644 index 00000000..7d12f184 --- /dev/null +++ b/libcsp/src/drivers/can/can_socketcan.c @@ -0,0 +1,201 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* SocketCAN driver */ +#include + +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#ifdef CSP_HAVE_LIBSOCKETCAN +#include +#endif + +static struct can_socketcan_s { + int socket; + csp_iface_t interface; +} socketcan[1] = { + { + .interface = { + .name = "CAN", + .nexthop = csp_can_tx, + .mtu = CSP_CAN_MTU, + .driver = &socketcan[0], + }, + }, +}; + +static void * socketcan_rx_thread(void * parameters) +{ + struct can_frame frame; + int nbytes; + + while (1) { + /* Read CAN frame */ + nbytes = read(socketcan[0].socket, &frame, sizeof(frame)); + if (nbytes < 0) { + csp_log_error("read: %s", strerror(errno)); + continue; + } + + if (nbytes != sizeof(frame)) { + csp_log_warn("Read incomplete CAN frame"); + continue; + } + + /* Frame type */ + if (frame.can_id & (CAN_ERR_FLAG | CAN_RTR_FLAG) || !(frame.can_id & CAN_EFF_FLAG)) { + /* Drop error and remote frames */ + csp_log_warn("Discarding ERR/RTR/SFF frame"); + continue; + } + + /* Strip flags */ + frame.can_id &= CAN_EFF_MASK; + + /* Call RX callbacsp_can_rx_frameck */ + csp_can_rx(&socketcan[0].interface, frame.can_id, frame.data, frame.can_dlc, NULL); + } + + /* We should never reach this point */ + pthread_exit(NULL); +} + + +int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc) +{ + struct can_frame frame; + int i, tries = 0; + memset(&frame, 0, sizeof(frame)); + if (dlc > 8) + return -1; + + /* Copy identifier */ + frame.can_id = id | CAN_EFF_FLAG; + + /* Copy data to frame */ + for (i = 0; i < dlc; i++) + frame.data[i] = data[i]; + + /* Set DLC */ + frame.can_dlc = dlc; + + /* Send frame */ + while (write(socketcan[0].socket, &frame, sizeof(frame)) != sizeof(frame)) { + if (++tries < 1000 && errno == ENOBUFS) { + /* Wait 10 ms and try again */ + usleep(10000); + } else { + csp_log_error("write: %s", strerror(errno)); + break; + } + } + + return 0; +} + +csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc) +{ + struct ifreq ifr; + struct sockaddr_can addr; + pthread_t rx_thread; + + printf("Init can interface %s\n", ifc); + +#ifdef CSP_HAVE_LIBSOCKETCAN + /* Set interface up */ + if (bitrate > 0) { + can_do_stop(ifc); + can_set_bitrate(ifc, bitrate); + can_set_restart_ms(ifc, 100); + can_do_start(ifc); + } +#endif + + /* Create socket */ + if ((socketcan[0].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { + csp_log_error("socket: %s", strerror(errno)); + return NULL; + } + + /* Locate interface */ + strncpy(ifr.ifr_name, ifc, IFNAMSIZ - 1); + if (ioctl(socketcan[0].socket, SIOCGIFINDEX, &ifr) < 0) { + csp_log_error("ioctl: %s", strerror(errno)); + return NULL; + } + memset(&addr, 0, sizeof(addr)); + /* Bind the socket to CAN interface */ + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + if (bind(socketcan[0].socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + csp_log_error("bind: %s", strerror(errno)); + return NULL; + } + + /* Set filter mode */ + if (promisc == 0) { + + struct can_filter filter; + filter.can_id = CFP_MAKE_DST(csp_get_address()); + filter.can_mask = CFP_MAKE_DST((1 << CFP_HOST_SIZE) - 1); + + if (setsockopt(socketcan[0].socket, SOL_CAN_RAW, CAN_RAW_FILTER, &filter, sizeof(filter)) < 0) { + csp_log_error("setsockopt: %s", strerror(errno)); + return NULL; + } + + } + + /* Create receive thread */ + if (pthread_create(&rx_thread, NULL, socketcan_rx_thread, NULL) != 0) { + csp_log_error("pthread_create: %s", strerror(errno)); + return NULL; + } + + csp_iflist_add(&socketcan[0].interface); + + return &socketcan[0].interface; +} diff --git a/libcsp/src/drivers/usart/usart_linux.c b/libcsp/src/drivers/usart/usart_linux.c new file mode 100644 index 00000000..c4ceeb27 --- /dev/null +++ b/libcsp/src/drivers/usart/usart_linux.c @@ -0,0 +1,254 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +int fd; +usart_callback_t usart_callback = NULL; + +static void *serial_rx_thread(void *vptr_args); + +int getbaud(int ifd) { + struct termios termAttr; + int inputSpeed = -1; + speed_t baudRate; + tcgetattr(ifd, &termAttr); + /* Get the input speed. */ + baudRate = cfgetispeed(&termAttr); + switch (baudRate) { + case B0: + inputSpeed = 0; + break; + case B50: + inputSpeed = 50; + break; + case B110: + inputSpeed = 110; + break; + case B134: + inputSpeed = 134; + break; + case B150: + inputSpeed = 150; + break; + case B200: + inputSpeed = 200; + break; + case B300: + inputSpeed = 300; + break; + case B600: + inputSpeed = 600; + break; + case B1200: + inputSpeed = 1200; + break; + case B1800: + inputSpeed = 1800; + break; + case B2400: + inputSpeed = 2400; + break; + case B4800: + inputSpeed = 4800; + break; + case B9600: + inputSpeed = 9600; + break; + case B19200: + inputSpeed = 19200; + break; + case B38400: + inputSpeed = 38400; + break; + case B57600: + inputSpeed = 57600; + break; + case B115200: + inputSpeed = 115200; + break; + case B230400: + inputSpeed = 230400; + break; +#ifndef CSP_MACOSX + case B460800: + inputSpeed = 460800; + break; + case B500000: + inputSpeed = 500000; + break; + case B576000: + inputSpeed = 576000; + break; + case B921600: + inputSpeed = 921600; + break; + case B1000000: + inputSpeed = 1000000; + break; + case B1152000: + inputSpeed = 1152000; + break; + case B1500000: + inputSpeed = 1500000; + break; + case B2000000: + inputSpeed = 2000000; + break; + case B2500000: + inputSpeed = 2500000; + break; + case B3000000: + inputSpeed = 3000000; + break; + case B3500000: + inputSpeed = 3500000; + break; + case B4000000: + inputSpeed = 4000000; + break; +#endif + } + + return inputSpeed; + +} + +void usart_init(struct usart_conf * conf) { + + struct termios options; + pthread_t rx_thread; + + fd = open(conf->device, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd < 0) { + printf("Failed to open %s: %s\r\n", conf->device, strerror(errno)); + return; + } + + int brate = 0; + switch(conf->baudrate) { + case 4800: brate=B4800; break; + case 9600: brate=B9600; break; + case 19200: brate=B19200; break; + case 38400: brate=B38400; break; + case 57600: brate=B57600; break; + case 115200: brate=B115200; break; + case 230400: brate=B230400; break; +#ifndef CSP_MACOSX + case 460800: brate=B460800; break; + case 500000: brate=B500000; break; + case 576000: brate=B576000; break; + case 921600: brate=B921600; break; + case 1000000: brate=B1000000; break; + case 1152000: brate=B1152000; break; + case 1500000: brate=B1500000; break; + case 2000000: brate=B2000000; break; + case 2500000: brate=B2500000; break; + case 3000000: brate=B3000000; break; + case 3500000: brate=B3500000; break; + case 4000000: brate=B4000000; break; +#endif + default: + printf("Unsupported baudrate requested, defaulting to 500000, requested baudrate=%u\n", conf->baudrate); + brate=B500000; + break; + } + + tcgetattr(fd, &options); + cfsetispeed(&options, brate); + cfsetospeed(&options, brate); + options.c_cflag |= (CLOCAL | CREAD); + options.c_cflag &= ~PARENB; + options.c_cflag &= ~CSTOPB; + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; + options.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + options.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + options.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST); + options.c_cc[VTIME] = 0; + options.c_cc[VMIN] = 1; + tcsetattr(fd, TCSANOW, &options); + if (tcgetattr(fd, &options) == -1) + perror("error setting options"); + fcntl(fd, F_SETFL, 0); + + /* Flush old transmissions */ + if (tcflush(fd, TCIOFLUSH) == -1) + printf("Error flushing serial port - %s(%d).\n", strerror(errno), errno); + + if (pthread_create(&rx_thread, NULL, serial_rx_thread, NULL) != 0) + return; + +} + +void usart_set_callback(usart_callback_t callback) { + usart_callback = callback; +} + +void usart_insert(char c, void * pxTaskWoken) { + printf("%c", c); +} + +void usart_putstr(char * buf, int len) { + if (write(fd, buf, len) != len) + return; +} + +void usart_putc(char c) { + if (write(fd, &c, 1) != 1) + return; +} + +char usart_getc(void) { + char c; + if (read(fd, &c, 1) != 1) return 0; + return c; +} + +static void *serial_rx_thread(void *vptr_args) { + unsigned int length; + uint8_t * cbuf = malloc(100000); + + // Receive loop + while (1) { + length = read(fd, cbuf, 300); + if (length <= 0) { + perror("Error: "); + exit(1); + } + if (usart_callback) + usart_callback(cbuf, length, NULL); + } + return NULL; +} diff --git a/libcsp/src/drivers/usart/usart_windows.c b/libcsp/src/drivers/usart/usart_windows.c new file mode 100644 index 00000000..91ffe87d --- /dev/null +++ b/libcsp/src/drivers/usart/usart_windows.c @@ -0,0 +1,230 @@ +#include +#include +#include + +#include +#include + +static HANDLE portHandle = INVALID_HANDLE_VALUE; +static HANDLE rxThread = INVALID_HANDLE_VALUE; +static CRITICAL_SECTION txSection; +static LONG isListening = 0; +static usart_callback_t usart_callback = NULL; + +static void prvSendData(char *buf, int bufsz); +static int prvTryOpenPort(const char* intf); +static int prvTryConfigurePort(const struct usart_conf*); +static int prvTrySetPortTimeouts(void); +static const char* prvParityToStr(BYTE paritySetting); + +#ifdef CSP_DEBUG +static void prvPrintError(void) { + char *messageBuffer = NULL; + DWORD errorCode = GetLastError(); + DWORD formatMessageRet; + formatMessageRet = FormatMessageA( + FORMAT_MESSAGE_ALLOCATE_BUFFER | + FORMAT_MESSAGE_FROM_SYSTEM, + NULL, + errorCode, + MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), + (char*)&messageBuffer, + 0, + NULL); + + if( !formatMessageRet ) { + csp_log_error("FormatMessage error, code: %lu", GetLastError()); + return; + } + csp_log_error("%s", messageBuffer); + LocalFree(messageBuffer); +} +#endif + +#ifdef CSP_DEBUG +#define printError() prvPrintError() +#else +#define printError() do {} while(0) +#endif + +static int prvTryOpenPort(const char *intf) { + portHandle = CreateFileA( + intf, + GENERIC_READ|GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + + if( portHandle == INVALID_HANDLE_VALUE ) { + DWORD errorCode = GetLastError(); + if( errorCode == ERROR_FILE_NOT_FOUND ) { + csp_log_error("Could not open serial port, because it didn't exist!"); + } + else + csp_log_error("Failure opening serial port! Code: %lu", errorCode); + return 1; + } + return 0; +} + +static int prvTryConfigurePort(const struct usart_conf * conf) { + DCB portSettings = {0}; + portSettings.DCBlength = sizeof(DCB); + if(!GetCommState(portHandle, &portSettings) ) { + csp_log_error("Could not get default settings for open COM port! Code: %lu", GetLastError()); + return -1; + } + portSettings.BaudRate = conf->baudrate; + portSettings.Parity = conf->paritysetting; + portSettings.StopBits = conf->stopbits; + portSettings.fParity = conf->checkparity; + portSettings.fBinary = TRUE; + portSettings.ByteSize = conf->databits; + if( !SetCommState(portHandle, &portSettings) ) { + csp_log_error("Error when setting COM port settings! Code:%lu", GetLastError()); + return 1; + } + + GetCommState(portHandle, &portSettings); + + csp_log_info("Port: %s, Baudrate: %lu, Data bits: %d, Stop bits: %d, Parity: %s", + conf->device, conf->baudrate, conf->databits, conf->stopbits, prvParityToStr(conf->paritysetting)); + return 0; +} + +static const char* prvParityToStr(BYTE paritySetting) { + static const char *parityStr[] = { + "None", + "Odd", + "Even", + "N/A" + }; + char const *resultStr = NULL; + + switch(paritySetting) { + case NOPARITY: + resultStr = parityStr[0]; + break; + case ODDPARITY: + resultStr = parityStr[1]; + break; + case EVENPARITY: + resultStr = parityStr[2]; + break; + default: + resultStr = parityStr[3]; + }; + return resultStr; +} + +static int prvTrySetPortTimeouts(void) { + COMMTIMEOUTS timeouts = {0}; + + if( !GetCommTimeouts(portHandle, &timeouts) ) { + csp_log_error("Error gettings current timeout settings"); + return 1; + } + + timeouts.ReadIntervalTimeout = 5; + timeouts.ReadTotalTimeoutMultiplier = 1; + timeouts.ReadTotalTimeoutConstant = 5; + timeouts.WriteTotalTimeoutMultiplier = 1; + timeouts.WriteTotalTimeoutConstant = 5; + + if(!SetCommTimeouts(portHandle, &timeouts)) { + csp_log_error("Error setting timeouts!"); + return 1; + } + + return 0; +} + +unsigned WINAPI prvRxTask(void* params) { + DWORD bytesRead; + DWORD eventStatus; + uint8_t recvBuffer[24]; + SetCommMask(portHandle, EV_RXCHAR); + + while(isListening) { + WaitCommEvent(portHandle, &eventStatus, NULL); + if( !(eventStatus & EV_RXCHAR) ) { + continue; + } + if( !ReadFile(portHandle, recvBuffer, 24, &bytesRead, NULL)) { + csp_log_warn("Error receiving data! Code: %lu", GetLastError()); + continue; + } + if( usart_callback != NULL ) + usart_callback(recvBuffer, (size_t)bytesRead, NULL); + } + return 0; +} + +static void prvSendData(char *buf, int bufsz) { + DWORD bytesTotal = 0; + DWORD bytesActual; + if( !WriteFile(portHandle, buf, bufsz-bytesTotal, &bytesActual, NULL) ) { + csp_log_error("Could not write data. Code: %lu", GetLastError()); + return; + } + if( !FlushFileBuffers(portHandle) ) { + csp_log_warn("Could not flush write buffer. Code: %lu", GetLastError()); + } +} + +void usart_shutdown(void) { + InterlockedExchange(&isListening, 0); + CloseHandle(portHandle); + portHandle = INVALID_HANDLE_VALUE; + if( rxThread != INVALID_HANDLE_VALUE ) { + WaitForSingleObject(rxThread, INFINITE); + rxThread = INVALID_HANDLE_VALUE; + } + DeleteCriticalSection(&txSection); +} + +void usart_listen(void) { + InterlockedExchange(&isListening, 1); + rxThread = (HANDLE)_beginthreadex(NULL, 0, &prvRxTask, NULL, 0, NULL); +} + +void usart_putstr(char* buf, int bufsz) { + EnterCriticalSection(&txSection); + prvSendData(buf, bufsz); + LeaveCriticalSection(&txSection); +} + +void usart_insert(char c, void *pxTaskWoken) { + /* redirect debug output to stdout */ + printf("%c", c); +} + +void usart_set_callback(usart_callback_t callback) { + usart_callback = callback; +} + +void usart_init(struct usart_conf * conf) { + if( prvTryOpenPort(conf->device) ) { + printError(); + return; + } + + if( prvTryConfigurePort(conf) ) { + printError(); + return; + } + + if( prvTrySetPortTimeouts() ) { + printError(); + return; + } + + InitializeCriticalSection(&txSection); + + /* Start receiver thread */ + usart_listen(); +} + + diff --git a/libcsp/src/interfaces/csp_if_can.c b/libcsp/src/interfaces/csp_if_can.c new file mode 100644 index 00000000..5add8334 --- /dev/null +++ b/libcsp/src/interfaces/csp_if_can.c @@ -0,0 +1,279 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* CAN frames contains at most 8 bytes of data, so in order to transmit CSP + * packets larger than this, a fragmentation protocol is required. The CAN + * Fragmentation Protocol (CFP) header is designed to match the 29 bit CAN + * identifier. + * + * The CAN identifier is divided in these fields: + * src: 5 bits + * dst: 5 bits + * type: 1 bit + * remain: 8 bits + * identifier: 10 bits + * + * Source and Destination addresses must match the CSP packet. The type field + * is used to distinguish the first and subsequent frames in a fragmented CSP + * packet. Type is BEGIN (0) for the first fragment and MORE (1) for all other + * fragments. Remain indicates number of remaining fragments, and must be + * decremented by one for each fragment sent. The identifier field serves the + * same purpose as in the Internet Protocol, and should be an auto incrementing + * integer to uniquely separate sessions. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "csp_if_can_pbuf.h" + +/* CFP Frame Types */ +enum cfp_frame_t { + CFP_BEGIN = 0, + CFP_MORE = 1 +}; + +int csp_can_rx(csp_iface_t *interface, uint32_t id, const uint8_t *data, uint8_t dlc, CSP_BASE_TYPE *task_woken) +{ + csp_can_pbuf_element_t *buf; + uint8_t offset; + + /* Random packet loss */ +#if 0 + int random = rand(); + if (random < RAND_MAX * 0.00005) { + csp_log_warn("Dropping frame"); + return; + } +#endif + + /* Bind incoming frame to a packet buffer */ + buf = csp_can_pbuf_find(id, CFP_ID_CONN_MASK); + + /* Check returned buffer */ + if (buf == NULL) { + if (CFP_TYPE(id) == CFP_BEGIN) { + buf = csp_can_pbuf_new(id, task_woken); + if (buf == NULL) { + //csp_log_warn("No available packet buffer for CAN"); + interface->rx_error++; + return CSP_ERR_NOMEM; + } + } else { + //csp_log_warn("Out of order id 0x%X remain %u", CFP_ID(id), CFP_REMAIN(id)); + interface->frame++; + return CSP_ERR_INVAL; + } + } + + /* Reset frame data offset */ + offset = 0; + + switch (CFP_TYPE(id)) { + + case CFP_BEGIN: + + /* Discard packet if DLC is less than CSP id + CSP length fields */ + if (dlc < sizeof(csp_id_t) + sizeof(uint16_t)) { + //csp_log_warn("Short BEGIN frame received"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + + /* Check for incomplete frame */ + if (buf->packet != NULL) { + /* Reuse the buffer */ + //csp_log_warn("Incomplete frame"); + interface->frame++; + } else { + /* Allocate memory for frame */ + if (task_woken == NULL) { + buf->packet = csp_buffer_get(interface->mtu); + } else { + buf->packet = csp_buffer_get_isr(interface->mtu); + } + if (buf->packet == NULL) { + //csp_log_error("Failed to get buffer for CSP_BEGIN packet"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + } + + /* Copy CSP identifier and length*/ + memcpy(&(buf->packet->id), data, sizeof(csp_id_t)); + buf->packet->id.ext = csp_ntoh32(buf->packet->id.ext); + memcpy(&(buf->packet->length), data + sizeof(csp_id_t), sizeof(uint16_t)); + buf->packet->length = csp_ntoh16(buf->packet->length); + + /* Reset RX count */ + buf->rx_count = 0; + + /* Set offset to prevent CSP header from being copied to CSP data */ + offset = sizeof(csp_id_t) + sizeof(uint16_t); + + /* Set remain field - increment to include begin packet */ + buf->remain = CFP_REMAIN(id) + 1; + + /* FALLTHROUGH */ + + case CFP_MORE: + + /* Check 'remain' field match */ + if (CFP_REMAIN(id) != buf->remain - 1) { + //csp_log_error("CAN frame lost in CSP packet"); + csp_can_pbuf_free(buf, task_woken); + interface->frame++; + break; + } + + /* Decrement remaining frames */ + buf->remain--; + + /* Check for overflow */ + if ((buf->rx_count + dlc - offset) > buf->packet->length) { + //csp_log_error("RX buffer overflow"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + + /* Copy dlc bytes into buffer */ + memcpy(&buf->packet->data[buf->rx_count], data + offset, dlc - offset); + buf->rx_count += dlc - offset; + + /* Check if more data is expected */ + if (buf->rx_count != buf->packet->length) + break; + + /* Data is available */ + csp_qfifo_write(buf->packet, interface, task_woken); + + /* Drop packet buffer reference */ + buf->packet = NULL; + + /* Free packet buffer */ + csp_can_pbuf_free(buf, task_woken); + + break; + + default: + //csp_log_warn("Received unknown CFP message type"); + csp_can_pbuf_free(buf, task_woken); + break; + + } + + return CSP_ERR_NONE; +} + +int csp_can_tx(csp_iface_t *interface, csp_packet_t *packet, uint32_t timeout) +{ + + /* CFP Identification number */ + static volatile int csp_can_frame_id = 0; + + /* Get local copy of the static frameid */ + int ident = csp_can_frame_id++; + + uint16_t tx_count; + uint8_t bytes, overhead, avail, dest; + uint8_t frame_buf[8]; + + /* Calculate overhead */ + overhead = sizeof(csp_id_t) + sizeof(uint16_t); + + /* Insert destination node mac address into the CFP destination field */ + dest = csp_rtable_find_mac(packet->id.dst); + if (dest == CSP_NODE_MAC) + dest = packet->id.dst; + + /* Create CAN identifier */ + uint32_t id = 0; + id |= CFP_MAKE_SRC(packet->id.src); + id |= CFP_MAKE_DST(dest); + id |= CFP_MAKE_ID(ident); + id |= CFP_MAKE_TYPE(CFP_BEGIN); + id |= CFP_MAKE_REMAIN((packet->length + overhead - 1) / 8); + + /* Calculate first frame data bytes */ + avail = 8 - overhead; + bytes = (packet->length <= avail) ? packet->length : avail; + + /* Copy CSP headers and data */ + uint32_t csp_id_be = csp_hton32(packet->id.ext); + uint16_t csp_length_be = csp_hton16(packet->length); + + memcpy(frame_buf, &csp_id_be, sizeof(csp_id_be)); + memcpy(frame_buf + sizeof(csp_id_be), &csp_length_be, sizeof(csp_length_be)); + memcpy(frame_buf + overhead, packet->data, bytes); + + /* Increment tx counter */ + tx_count = bytes; + + /* Send first frame */ + if (csp_can_tx_frame(interface, id, frame_buf, overhead + bytes)) { + //csp_log_warn("Failed to send CAN frame in csp_tx_can"); + interface->tx_error++; + return CSP_ERR_DRIVER; + } + + /* Send next frames if not complete */ + while (tx_count < packet->length) { + /* Calculate frame data bytes */ + bytes = (packet->length - tx_count >= 8) ? 8 : packet->length - tx_count; + + /* Prepare identifier */ + id = 0; + id |= CFP_MAKE_SRC(packet->id.src); + id |= CFP_MAKE_DST(dest); + id |= CFP_MAKE_ID(ident); + id |= CFP_MAKE_TYPE(CFP_MORE); + id |= CFP_MAKE_REMAIN((packet->length - tx_count - bytes + 7) / 8); + + /* Increment tx counter */ + tx_count += bytes; + + /* Send frame */ + if (csp_can_tx_frame(interface, id, packet->data + tx_count - bytes, bytes)) { + //csp_log_warn("Failed to send CAN frame in Tx callback"); + interface->tx_error++; + return CSP_ERR_DRIVER; + } + } + + csp_buffer_free(packet); + + return CSP_ERR_NONE; +} diff --git a/libcsp/src/interfaces/csp_if_can_pbuf.c b/libcsp/src/interfaces/csp_if_can_pbuf.c new file mode 100644 index 00000000..65f18de9 --- /dev/null +++ b/libcsp/src/interfaces/csp_if_can_pbuf.c @@ -0,0 +1,77 @@ +/* + * csp_if_can_pbuf.c + * + * Created on: Feb 3, 2017 + * Author: johan + */ + +#include +#include "csp_if_can_pbuf.h" + +/* Number of packet buffer elements */ +#define PBUF_ELEMENTS CSP_CONN_MAX + +/* Buffer element timeout in ms */ +#define PBUF_TIMEOUT_MS 1000 + +static csp_can_pbuf_element_t csp_can_pbuf[PBUF_ELEMENTS] = {}; + +int csp_can_pbuf_free(csp_can_pbuf_element_t *buf, CSP_BASE_TYPE *task_woken) +{ + /* Free CSP packet */ + if (buf->packet != NULL) { + if (task_woken == NULL) { + csp_buffer_free(buf->packet); + } else { + csp_buffer_free_isr(buf->packet); + } + } + + /* Mark buffer element free */ + buf->packet = NULL; + buf->rx_count = 0; + buf->cfpid = 0; + buf->last_used = 0; + buf->remain = 0; + buf->state = BUF_FREE; + + return CSP_ERR_NONE; +} + +csp_can_pbuf_element_t *csp_can_pbuf_new(uint32_t id, CSP_BASE_TYPE *task_woken) +{ + uint32_t now = csp_get_ms(); + + for (int i = 0; i < PBUF_ELEMENTS; i++) { + + /* Perform cleanup in used pbufs */ + if (csp_can_pbuf[i].state == BUF_USED) { + if (now - csp_can_pbuf[i].last_used > PBUF_TIMEOUT_MS) + csp_can_pbuf_free(&csp_can_pbuf[i], task_woken); + } + + if (csp_can_pbuf[i].state == BUF_FREE) { + csp_can_pbuf[i].state = BUF_USED; + csp_can_pbuf[i].cfpid = id; + csp_can_pbuf[i].remain = 0; + csp_can_pbuf[i].last_used = now; + return &csp_can_pbuf[i]; + } + + } + + return NULL; + +} + +csp_can_pbuf_element_t *csp_can_pbuf_find(uint32_t id, uint32_t mask) +{ + for (int i = 0; i < PBUF_ELEMENTS; i++) { + if ((csp_can_pbuf[i].state == BUF_USED) && ((csp_can_pbuf[i].cfpid & mask) == (id & mask))) { + csp_can_pbuf[i].last_used = csp_get_ms(); + return &csp_can_pbuf[i]; + } + } + return NULL; +} + diff --git a/libcsp/src/interfaces/csp_if_can_pbuf.h b/libcsp/src/interfaces/csp_if_can_pbuf.h new file mode 100644 index 00000000..3e71c26c --- /dev/null +++ b/libcsp/src/interfaces/csp_if_can_pbuf.h @@ -0,0 +1,31 @@ +/* + * csp_if_can_pbuf.h + * + * Created on: Feb 3, 2017 + * Author: johan + */ + +#ifndef LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ +#define LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ + +/* Packet buffers */ +typedef enum { + BUF_FREE = 0, /* Buffer element free */ + BUF_USED = 1, /* Buffer element used */ +} csp_can_pbuf_state_t; + +typedef struct { + uint16_t rx_count; /* Received bytes */ + uint32_t remain; /* Remaining packets */ + uint32_t cfpid; /* Connection CFP identification number */ + csp_packet_t *packet; /* Pointer to packet buffer */ + csp_can_pbuf_state_t state; /* Element state */ + uint32_t last_used; /* Timestamp in ms for last use of buffer */ +} csp_can_pbuf_element_t; + +int csp_can_pbuf_free(csp_can_pbuf_element_t *buf, CSP_BASE_TYPE *task_woken); +csp_can_pbuf_element_t *csp_can_pbuf_new(uint32_t id, CSP_BASE_TYPE *task_woken); +csp_can_pbuf_element_t *csp_can_pbuf_find(uint32_t id, uint32_t mask); +void csp_can_pbuf_cleanup(CSP_BASE_TYPE *task_woken); + +#endif /* LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ */ diff --git a/libcsp/src/interfaces/csp_if_i2c.c b/libcsp/src/interfaces/csp_if_i2c.c new file mode 100644 index 00000000..c5d105df --- /dev/null +++ b/libcsp/src/interfaces/csp_if_i2c.c @@ -0,0 +1,116 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +#include +#include +#include +#include +#include +#include + +static int csp_i2c_handle = 0; + +int csp_i2c_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + /* Cast the CSP packet buffer into an i2c frame */ + i2c_frame_t * frame = (i2c_frame_t *) packet; + + /* Insert destination node into the i2c destination field */ + if (csp_rtable_find_mac(packet->id.dst) == CSP_NODE_MAC) { + frame->dest = packet->id.dst; + } else { + frame->dest = csp_rtable_find_mac(packet->id.dst); + } + + /* Save the outgoing id in the buffer */ + packet->id.ext = csp_hton32(packet->id.ext); + + /* Add the CSP header to the I2C length field */ + frame->len += sizeof(packet->id); + frame->len_rx = 0; + + /* Some I2C drivers support X number of retries + * CSP don't care about this. If it doesn't work the first + * time, don'y use time on it. + */ + frame->retries = 0; + + /* enqueue the frame */ + if (i2c_send(csp_i2c_handle, frame, timeout) != E_NO_ERR) + return CSP_ERR_DRIVER; + + return CSP_ERR_NONE; + +} + +/** + * When a frame is received, cast it to a csp_packet + * and send it directly to the CSP new packet function. + * Context: ISR only + * @param frame + */ +void csp_i2c_rx(i2c_frame_t * frame, void * pxTaskWoken) { + + static csp_packet_t * packet; + + /* Validate input */ + if (frame == NULL) + return; + + if ((frame->len < 4) || (frame->len > I2C_MTU)) { + csp_if_i2c.frame++; + csp_buffer_free_isr(frame); + return; + } + + /* Strip the CSP header off the length field before converting to CSP packet */ + frame->len -= sizeof(csp_id_t); + + /* Convert the packet from network to host order */ + packet = (csp_packet_t *) frame; + packet->id.ext = csp_ntoh32(packet->id.ext); + + /* Receive the packet in CSP */ + csp_qfifo_write(packet, &csp_if_i2c, pxTaskWoken); + +} + +int csp_i2c_init(uint8_t addr, int handle, int speed) { + + /* Create i2c_handle */ + csp_i2c_handle = handle; + if (i2c_init(csp_i2c_handle, I2C_MASTER, addr, speed, 10, 10, csp_i2c_rx) != E_NO_ERR) + return CSP_ERR_DRIVER; + + /* Register interface */ + csp_iflist_add(&csp_if_i2c); + + return CSP_ERR_NONE; + +} + +/** Interface definition */ +csp_iface_t csp_if_i2c = { + .name = "I2C", + .nexthop = csp_i2c_tx, +}; diff --git a/libcsp/src/interfaces/csp_if_kiss.c b/libcsp/src/interfaces/csp_if_kiss.c new file mode 100644 index 00000000..fe5707f6 --- /dev/null +++ b/libcsp/src/interfaces/csp_if_kiss.c @@ -0,0 +1,260 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#define KISS_MTU 256 + +#define FEND 0xC0 +#define FESC 0xDB +#define TFEND 0xDC +#define TFESC 0xDD + +#define TNC_DATA 0x00 +#define TNC_SET_HARDWARE 0x06 +#define TNC_RETURN 0xFF + +static int kiss_lock_init = 0; +static csp_bin_sem_handle_t kiss_lock; + +/* Send a CSP packet over the KISS RS232 protocol */ +static int csp_kiss_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + if (interface == NULL || interface->driver == NULL) + return CSP_ERR_DRIVER; + + /* Add CRC32 checksum */ + csp_crc32_append(packet, false); + + /* Save the outgoing id in the buffer */ + packet->id.ext = csp_hton32(packet->id.ext); + packet->length += sizeof(packet->id.ext); + + /* Lock */ + csp_bin_sem_wait(&kiss_lock, 1000); + + /* Transmit data */ + csp_kiss_handle_t * driver = interface->driver; + driver->kiss_putc(FEND); + driver->kiss_putc(TNC_DATA); + for (unsigned int i = 0; i < packet->length; i++) { + if (((unsigned char *) &packet->id.ext)[i] == FEND) { + ((unsigned char *) &packet->id.ext)[i] = TFEND; + driver->kiss_putc(FESC); + } else if (((unsigned char *) &packet->id.ext)[i] == FESC) { + ((unsigned char *) &packet->id.ext)[i] = TFESC; + driver->kiss_putc(FESC); + } + driver->kiss_putc(((unsigned char *) &packet->id.ext)[i]); + } + driver->kiss_putc(FEND); + + /* Free data */ + csp_buffer_free(packet); + + /* Unlock */ + csp_bin_sem_post(&kiss_lock); + + return CSP_ERR_NONE; +} + +/** + * When a frame is received, decode the kiss-stuff + * and eventually send it directly to the CSP new packet function. + */ +void csp_kiss_rx(csp_iface_t * interface, uint8_t * buf, int len, void * pxTaskWoken) { + + /* Driver handle */ + csp_kiss_handle_t * driver = interface->driver; + + while (len--) { + + /* Input */ + unsigned char inputbyte = *buf++; + + /* If packet was too long */ + if (driver->rx_length > interface->mtu) { + //csp_log_warn("KISS RX overflow"); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + driver->rx_length = 0; + } + + switch (driver->rx_mode) { + + case KISS_MODE_NOT_STARTED: + + /* Send normal chars back to usart driver */ + if (inputbyte != FEND) { + if (driver->kiss_discard != NULL) + driver->kiss_discard(inputbyte, pxTaskWoken); + break; + } + + /* Try to allocate new buffer */ + if (driver->rx_packet == NULL) { + if (pxTaskWoken == NULL) { + driver->rx_packet = csp_buffer_get(interface->mtu); + } else { + driver->rx_packet = csp_buffer_get_isr(interface->mtu); + } + } + + /* If no more memory, skip frame */ + if (driver->rx_packet == NULL) { + driver->rx_mode = KISS_MODE_SKIP_FRAME; + break; + } + + /* Start transfer */ + driver->rx_length = 0; + driver->rx_mode = KISS_MODE_STARTED; + driver->rx_first = 1; + break; + + case KISS_MODE_STARTED: + + /* Escape char */ + if (inputbyte == FESC) { + driver->rx_mode = KISS_MODE_ESCAPED; + break; + } + + /* End Char */ + if (inputbyte == FEND) { + + /* Accept message */ + if (driver->rx_length > 0) { + + /* Check for valid length */ + if (driver->rx_length < CSP_HEADER_LENGTH + sizeof(uint32_t)) { + //csp_log_warn("KISS short frame skipped, len: %u", driver->rx_length); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + } + + /* Count received frame */ + interface->frame++; + + /* The CSP packet length is without the header */ + driver->rx_packet->length = driver->rx_length - CSP_HEADER_LENGTH; + + /* Convert the packet from network to host order */ + driver->rx_packet->id.ext = csp_ntoh32(driver->rx_packet->id.ext); + + /* Validate CRC */ + if (csp_crc32_verify(driver->rx_packet, false) != CSP_ERR_NONE) { + //csp_log_warn("KISS invalid crc frame skipped, len: %u", driver->rx_packet->length); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + } + + /* Send back into CSP, notice calling from task so last argument must be NULL! */ + csp_qfifo_write(driver->rx_packet, interface, pxTaskWoken); + driver->rx_packet = NULL; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + + } + + /* Break after the end char */ + break; + } + + /* Skip the first char after FEND which is TNC_DATA (0x00) */ + if (driver->rx_first) { + driver->rx_first = 0; + break; + } + + /* Valid data char */ + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = inputbyte; + + break; + + case KISS_MODE_ESCAPED: + + /* Escaped escape char */ + if (inputbyte == TFESC) + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = FESC; + + /* Escaped fend char */ + if (inputbyte == TFEND) + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = FEND; + + /* Go back to started mode */ + driver->rx_mode = KISS_MODE_STARTED; + break; + + case KISS_MODE_SKIP_FRAME: + + /* Just wait for end char */ + if (inputbyte == FEND) + driver->rx_mode = KISS_MODE_NOT_STARTED; + + break; + + } + + } + +} + +void csp_kiss_init(csp_iface_t * csp_iface, csp_kiss_handle_t * csp_kiss_handle, csp_kiss_putc_f kiss_putc_f, csp_kiss_discard_f kiss_discard_f, const char * name) { + + /* Init lock only once */ + if (kiss_lock_init == 0) { + csp_bin_sem_create(&kiss_lock); + kiss_lock_init = 1; + } + + /* Register device handle as member of interface */ + csp_iface->driver = csp_kiss_handle; + csp_kiss_handle->kiss_discard = kiss_discard_f; + csp_kiss_handle->kiss_putc = kiss_putc_f; + csp_kiss_handle->rx_packet = NULL; + csp_kiss_handle->rx_mode = KISS_MODE_NOT_STARTED; + + /* Set default MTU if not given */ + if (csp_iface->mtu == 0) { + csp_iface->mtu = KISS_MTU; + } + + /* Setup other mandatories */ + csp_iface->nexthop = csp_kiss_tx; + csp_iface->name = name; + + /* Regsiter interface */ + csp_iflist_add(csp_iface); + +} diff --git a/libcsp/src/interfaces/csp_if_lo.c b/libcsp/src/interfaces/csp_if_lo.c new file mode 100644 index 00000000..f3e81b15 --- /dev/null +++ b/libcsp/src/interfaces/csp_if_lo.c @@ -0,0 +1,61 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* CSP includes */ +#include +#include +#include +#include + +#include +#include + +#include "../csp_route.h" + +/** + * Loopback interface transmit function + * @param packet Packet to transmit + * @param timeout Timout in ms + * @return 1 if packet was successfully transmitted, 0 on error + */ +static int csp_lo_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + /* Drop packet silently if not destined for us. This allows + * blackhole routing addresses by setting their nexthop to + * the loopback interface. + */ + if (packet->id.dst != csp_get_address()) { + /* Consume and drop packet */ + csp_buffer_free(packet); + return CSP_ERR_NONE; + } + + /* Send back into CSP, notice calling from task so last argument must be NULL! */ + csp_qfifo_write(packet, &csp_if_lo, NULL); + + return CSP_ERR_NONE; + +} + +/* Interface definition */ +csp_iface_t csp_if_lo = { + .name = "LOOP", + .nexthop = csp_lo_tx, +}; diff --git a/libcsp/src/rtable/csp_rtable_cidr.c b/libcsp/src/rtable/csp_rtable_cidr.c new file mode 100644 index 00000000..5758dc3c --- /dev/null +++ b/libcsp/src/rtable/csp_rtable_cidr.c @@ -0,0 +1,233 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include + +/* Local typedef for routing table */ +typedef struct __attribute__((__packed__)) csp_rtable_s { + uint8_t address; + uint8_t netmask; + uint8_t mac; + csp_iface_t * interface; + struct csp_rtable_s * next; +} csp_rtable_t; + +/* Routing entries are stored in a linked list*/ +static csp_rtable_t * rtable = NULL; + +static csp_rtable_t * csp_rtable_find(uint8_t addr, uint8_t netmask, uint8_t exact) { + + /* Remember best result */ + csp_rtable_t * best_result = NULL; + uint8_t best_result_mask = 0; + + /* Start search */ + csp_rtable_t * i = rtable; + while(i) { + + /* Look for exact match */ + if (i->address == addr && i->netmask == netmask) { + best_result = i; + break; + } + + /* Try a CIDR netmask match */ + if (!exact) { + uint8_t hostbits = (1 << (CSP_ID_HOST_SIZE - i->netmask)) - 1; + uint8_t netbits = ~hostbits; + //printf("Netbits %x Hostbits %x\r\n", netbits, hostbits); + + /* Match network addresses */ + uint8_t net_a = i->address & netbits; + uint8_t net_b = addr & netbits; + //printf("A: %hhx, B: %hhx\r\n", net_a, net_b); + + /* We have a match */ + if (net_a == net_b) { + if (i->netmask >= best_result_mask) { + //printf("Match best result %u %u\r\n", best_result_mask, i->netmask); + best_result = i; + best_result_mask = i->netmask; + } + } + + } + + i = i->next; + + } + +#if 0 + if (best_result) + csp_debug(CSP_PACKET, "Using routing entry: %u/%u dev %s m:%u\r\n", best_result->address, best_result->netmask, best_result->interface->name, best_result->mac); +#endif + + return best_result; + +} + +void csp_rtable_clear(void) { + for (csp_rtable_t * i = rtable; (i);) { + void * freeme = i; + i = i->next; + csp_free(freeme); + } + rtable = NULL; + + /* Set loopback up again */ + csp_rtable_set(csp_get_address(), CSP_ID_HOST_SIZE, &csp_if_lo, CSP_NODE_MAC); + +} + +static int csp_rtable_parse(const char * buffer, int dry_run) { + + int valid_entries = 0; + + /* Copy string before running strtok */ + char * str = alloca(strlen(buffer) + 1); + memcpy(str, buffer, strlen(buffer) + 1); + + /* Get first token */ + str = strtok(str, ","); + + while ((str) && (strlen(str) > 1)) { + int address = 0, netmask = 0, mac = 255; + char name[10] = {}; + if (sscanf(str, "%u/%u %s %u", &address, &netmask, name, &mac) != 4) { + if (sscanf(str, "%u/%u %s", &address, &netmask, name) != 3) { + csp_log_error("Parse error %s", str); + return -1; + } + } + //printf("Parsed %u/%u %u %s\r\n", address, netmask, mac, name); + csp_iface_t * ifc = csp_iflist_get_by_name(name); + if (ifc) { + if (dry_run == 0) + csp_rtable_set(address, netmask, ifc, mac); + } else { + csp_log_error("Unknown interface %s", name); + return -1; + } + valid_entries++; + str = strtok(NULL, ","); + } + + return valid_entries; +} + +void csp_rtable_load(const char * buffer) { + csp_rtable_parse(buffer, 0); +} + +int csp_rtable_check(const char * buffer) { + return csp_rtable_parse(buffer, 1); +} + +int csp_rtable_save(char * buffer, int maxlen) { + int len = 0; + for (csp_rtable_t * i = rtable; (i); i = i->next) { + if (i->mac != CSP_NODE_MAC) { + len += snprintf(buffer + len, maxlen - len, "%u/%u %s %u, ", i->address, i->netmask, i->interface->name, i->mac); + } else { + len += snprintf(buffer + len, maxlen - len, "%u/%u %s, ", i->address, i->netmask, i->interface->name); + } + } + return len; +} + +csp_iface_t * csp_rtable_find_iface(uint8_t id) { + csp_rtable_t * entry = csp_rtable_find(id, CSP_ID_HOST_SIZE, 0); + if (entry == NULL) + return NULL; + return entry->interface; +} + +uint8_t csp_rtable_find_mac(uint8_t id) { + csp_rtable_t * entry = csp_rtable_find(id, CSP_ID_HOST_SIZE, 0); + if (entry == NULL) + return 255; + return entry->mac; +} + +int csp_rtable_set(uint8_t _address, uint8_t _netmask, csp_iface_t *ifc, uint8_t mac) { + + if (ifc == NULL) + return CSP_ERR_INVAL; + + /* Set default route in the old way */ + int address, netmask; + if (_address == CSP_DEFAULT_ROUTE) { + netmask = 0; + address = 0; + } else { + netmask = _netmask; + address = _address; + } + + /* Fist see if the entry exists */ + csp_rtable_t * entry = csp_rtable_find(address, netmask, 1); + + /* If not, create a new one */ + if (!entry) { + entry = csp_malloc(sizeof(csp_rtable_t)); + if (entry == NULL) + return CSP_ERR_NOMEM; + + entry->next = NULL; + /* Add entry to linked-list */ + if (rtable == NULL) { + /* This is the first interface to be added */ + rtable = entry; + } else { + /* One or more interfaces were already added */ + csp_rtable_t * i = rtable; + while (i->next) + i = i->next; + i->next = entry; + } + } + + /* Fill in the data */ + entry->address = address; + entry->netmask = netmask; + entry->interface = ifc; + entry->mac = mac; + + return CSP_ERR_NONE; +} + +#ifdef CSP_DEBUG +void csp_rtable_print(void) { + + for (csp_rtable_t * i = rtable; (i); i = i->next) { + if (i->mac == 255) { + printf("%u/%u %s\r\n", i->address, i->netmask, i->interface->name); + } else { + printf("%u/%u %s %u\r\n", i->address, i->netmask, i->interface->name, i->mac); + } + } + +} +#endif diff --git a/libcsp/src/rtable/csp_rtable_static.c b/libcsp/src/rtable/csp_rtable_static.c new file mode 100644 index 00000000..ea993027 --- /dev/null +++ b/libcsp/src/rtable/csp_rtable_static.c @@ -0,0 +1,128 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* Local typedef for routing table */ +typedef struct __attribute__((__packed__)) csp_rtable_s { + csp_iface_t * interface; + uint8_t mac; +} csp_rtable_t; + +/* Static storage context for routing table */ +static csp_rtable_t routes[CSP_ROUTE_COUNT] = {}; + +/** + * Find entry in static routing table + * This is done by table lookup with fallback to the default route + * The reason why the csp_rtable_t struct is not returned directly + * is that we wish to hide the storage format, mainly because of + * the alternative routing table storage (cidr). + * @param id Node + * @return pointer to found routing entry + */ +static csp_rtable_t * csp_rtable_find(uint8_t id) { + + if (routes[id].interface != NULL) { + return &routes[id]; + } else if (routes[CSP_DEFAULT_ROUTE].interface != NULL) { + return &routes[CSP_DEFAULT_ROUTE]; + } + return NULL; + +} + +csp_iface_t * csp_rtable_find_iface(uint8_t id) { + csp_rtable_t * route = csp_rtable_find(id); + if (route == NULL) + return NULL; + return route->interface; +} + +uint8_t csp_rtable_find_mac(uint8_t id) { + csp_rtable_t * route = csp_rtable_find(id); + if (route == NULL) + return 255; + return route->mac; +} + +void csp_rtable_clear(void) { + memset(routes, 0, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +void csp_route_table_load(uint8_t route_table_in[CSP_ROUTE_TABLE_SIZE]) { + memcpy(routes, route_table_in, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +void csp_route_table_save(uint8_t route_table_out[CSP_ROUTE_TABLE_SIZE]) { + memcpy(route_table_out, routes, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +int csp_rtable_set(uint8_t node, uint8_t mask, csp_iface_t *ifc, uint8_t mac) { + + /* Don't add nothing */ + if (ifc == NULL) + return CSP_ERR_INVAL; + + /** + * Check if the interface has been added. + * + * NOTE: For future implementations, interfaces should call + * csp_route_add_if in its csp_if__init function, instead + * of registering at first route_set, in order to make the interface + * available to network based (CMP) route configuration. + */ + csp_iflist_add(ifc); + + /* Set route */ + if (node <= CSP_DEFAULT_ROUTE) { + routes[node].interface = ifc; + routes[node].mac = mac; + } else { + csp_log_error("Failed to set route: invalid node id %u", node); + return CSP_ERR_INVAL; + } + + return CSP_ERR_NONE; + +} + +void csp_rtable_load(const char * buffer) { +} + +int csp_rtable_check(const char * buffer) { + return -1; +} + +#ifdef CSP_DEBUG +void csp_rtable_print(void) { + int i; + printf("Node Interface Address\r\n"); + for (i = 0; i < CSP_DEFAULT_ROUTE; i++) + if (routes[i].interface != NULL) + printf("%4u %-9s %u\r\n", i, + routes[i].interface->name, + routes[i].mac == CSP_NODE_MAC ? i : routes[i].mac); + printf(" * %-9s %u\r\n", routes[CSP_DEFAULT_ROUTE].interface->name, routes[CSP_DEFAULT_ROUTE].mac); + +} +#endif diff --git a/libcsp/src/transport/csp_rdp.c b/libcsp/src/transport/csp_rdp.c new file mode 100644 index 00000000..e19968e2 --- /dev/null +++ b/libcsp/src/transport/csp_rdp.c @@ -0,0 +1,1102 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* + * This is a implementation of the seq/ack handling taken from the Reliable Datagram Protocol (RDP) + * For more information read RFC 908/1151. The implementation has been extended to include support for + * delayed acknowledgments, to improve performance over half-duplex links. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include "../csp_port.h" +#include "../csp_conn.h" +#include "../csp_io.h" +#include "csp_transport.h" + +#ifdef CSP_USE_RDP + +#define RDP_SYN 0x01 +#define RDP_ACK 0x02 +#define RDP_EAK 0x04 +#define RDP_RST 0x08 + +static uint32_t csp_rdp_window_size = 4; +static uint32_t csp_rdp_conn_timeout = 10000; +static uint32_t csp_rdp_packet_timeout = 1000; +static uint32_t csp_rdp_delayed_acks = 1; +static uint32_t csp_rdp_ack_timeout = 1000 / 4; +static uint32_t csp_rdp_ack_delay_count = 4 / 2; + +/* Used for queue calls */ +static CSP_BASE_TYPE pdTrue = 1; + +typedef struct __attribute__((__packed__)) { + /* The timestamp is placed in the padding bytes */ + uint8_t padding[CSP_PADDING_BYTES - 2 * sizeof(uint32_t)]; + uint32_t quarantine; // EACK quarantine period + uint32_t timestamp; // Time the message was sent + uint16_t length; // Length field must be just before CSP ID + csp_id_t id; // CSP id must be just before data + uint8_t data[]; // This just points to the rest of the buffer, without a size indication. +} rdp_packet_t; + +typedef struct __attribute__((__packed__)) { + union __attribute__((__packed__)) { + uint8_t flags; + struct __attribute__((__packed__)) { +#if defined(CSP_BIG_ENDIAN) && !defined(CSP_LITTLE_ENDIAN) + unsigned int res : 4; + unsigned int syn : 1; + unsigned int ack : 1; + unsigned int eak : 1; + unsigned int rst : 1; +#elif defined(CSP_LITTLE_ENDIAN) && !defined(CSP_BIG_ENDIAN) + unsigned int rst : 1; + unsigned int eak : 1; + unsigned int ack : 1; + unsigned int syn : 1; + unsigned int res : 4; +#else + #error "Must define one of CSP_BIG_ENDIAN or CSP_LITTLE_ENDIAN in csp_platform.h" +#endif + }; + }; + uint16_t seq_nr; + uint16_t ack_nr; +} rdp_header_t; + +/** + * RDP Headers: + * The following functions are helper functions that handles the extra RDP + * information that needs to be appended to all data packets. + */ +static rdp_header_t * csp_rdp_header_add(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length]; + packet->length += sizeof(rdp_header_t); + memset(header, 0, sizeof(rdp_header_t)); + return header; +} + +static rdp_header_t * csp_rdp_header_remove(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length-sizeof(rdp_header_t)]; + packet->length -= sizeof(rdp_header_t); + return header; +} + +static rdp_header_t * csp_rdp_header_ref(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length-sizeof(rdp_header_t)]; + return header; +} + +/* Functions for comparing wrapping sequence numbers and timestamps */ + +/* Return 1 if seq is between start and end (both inclusive) */ +static inline int csp_rdp_seq_between(uint16_t seq, uint16_t start, uint16_t end) { + return (uint16_t)(end - start) >= (uint16_t)(seq - start); +} + +/* Return 1 if seq is before cmp */ +static inline int csp_rdp_seq_before(uint16_t seq, uint16_t cmp) { + return (int16_t)(seq - cmp) < 0; +} + +/* Return 1 if seq is after cmp */ +static inline int csp_rdp_seq_after(uint16_t seq, uint16_t cmp) { + return csp_rdp_seq_before(cmp, seq); +} + +/* Return 1 if time is between start and end (both inclusive) */ +static inline int csp_rdp_time_between(uint32_t time, uint32_t start, uint32_t end) { + return (uint32_t)(end - start) >= (uint32_t)(time - start); +} + +/* Return 1 if time is before cmp */ +static inline int csp_rdp_time_before(uint32_t time, uint32_t cmp) { + return (int32_t)(time - cmp) < 0; +} + +/* Return 1 if time is after cmp */ +static inline int csp_rdp_time_after(uint32_t time, uint32_t cmp) { + return csp_rdp_time_before(cmp, time); +} + +/** + * CONTROL MESSAGES + * The following function is used to send empty messages, + * with ACK, SYN or RST flag. + */ +static int csp_rdp_send_cmp(csp_conn_t * conn, csp_packet_t * packet, int flags, int seq_nr, int ack_nr) { + + csp_id_t idout; + + /* Generate message */ + if (!packet) { + packet = csp_buffer_get(20); + if (!packet) + return CSP_ERR_NOMEM; + packet->length = 0; + } + + /* Add RDP header */ + rdp_header_t * header = csp_rdp_header_add(packet); + header->seq_nr = csp_hton16(seq_nr); + header->ack_nr = csp_hton16(ack_nr); + header->ack = (flags & RDP_ACK) ? 1 : 0; + header->eak = (flags & RDP_EAK) ? 1 : 0; + header->syn = (flags & RDP_SYN) ? 1 : 0; + header->rst = (flags & RDP_RST) ? 1 : 0; + + /* Send copy to tx_queue, before sending packet to IF */ + if (flags & RDP_SYN) { + rdp_packet_t * rdp_packet = csp_buffer_clone(packet); + if (rdp_packet == NULL) return CSP_ERR_NOMEM; + rdp_packet->timestamp = csp_get_ms(); + if (csp_queue_enqueue(conn->rdp.tx_queue, &rdp_packet, 0) != CSP_QUEUE_OK) + csp_buffer_free(rdp_packet); + } + + /* Send control messages with high priority */ + idout = conn->idout; + idout.pri = conn->idout.pri < CSP_PRIO_HIGH ? conn->idout.pri : CSP_PRIO_HIGH; + + /* Send packet to IF */ + csp_iface_t * ifout = csp_rtable_find_iface(idout.dst); + if (csp_send_direct(idout, packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_error("INTERFACE ERROR: not possible to send"); + csp_buffer_free(packet); + return CSP_ERR_BUSY; + } + + /* Update last ACK time stamp */ + if (flags & RDP_ACK) { + conn->rdp.rcv_lsa = ack_nr; + conn->rdp.ack_timestamp = csp_get_ms(); + } + + return CSP_ERR_NONE; + +} + +/** + * EXTENDED ACKNOWLEDGEMENTS + * The following function sends an extended ACK packet + */ +static int csp_rdp_send_eack(csp_conn_t * conn) { + + /* Allocate message */ + csp_packet_t * packet_eack = csp_buffer_get(100); + if (packet_eack == NULL) return CSP_ERR_NOMEM; + packet_eack->length = 0; + + /* Loop through RX queue */ + int i, count; + csp_packet_t * packet; + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue deliver"); + break; + } + + /* Add seq nr to EACK packet */ + rdp_header_t * header = csp_rdp_header_ref(packet); + packet_eack->data16[packet_eack->length/sizeof(uint16_t)] = csp_hton16(header->seq_nr); + packet_eack->length += sizeof(uint16_t); + csp_log_protocol("Added EACK nr %u", header->seq_nr); + + /* Requeue */ + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + + } + + return csp_rdp_send_cmp(conn, packet_eack, RDP_ACK | RDP_EAK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + +} + + +/** + * SYN Packet + * The following function sends a SYN packet + */ +static int csp_rdp_send_syn(csp_conn_t * conn) { + + /* Allocate message */ + csp_packet_t * packet = csp_buffer_get(100); + if (packet == NULL) return CSP_ERR_NOMEM; + + /* Generate contents */ + packet->data32[0] = csp_hton32(csp_rdp_window_size); + packet->data32[1] = csp_hton32(csp_rdp_conn_timeout); + packet->data32[2] = csp_hton32(csp_rdp_packet_timeout); + packet->data32[3] = csp_hton32(csp_rdp_delayed_acks); + packet->data32[4] = csp_hton32(csp_rdp_ack_timeout); + packet->data32[5] = csp_hton32(csp_rdp_ack_delay_count); + packet->length = 6 * sizeof(uint32_t); + + return csp_rdp_send_cmp(conn, packet, RDP_SYN, conn->rdp.snd_iss, 0); + +} + +static inline int csp_rdp_receive_data(csp_conn_t * conn, csp_packet_t * packet) { + + /* Remove RDP header before passing to userspace */ + csp_rdp_header_remove(packet); + + /* Enqueue data */ + if (csp_conn_enqueue_packet(conn, packet) < 0) { + csp_log_warn("Conn RX buffer full"); + return CSP_ERR_NOBUFS; + } + + return CSP_ERR_NONE; + +} + +static inline void csp_rdp_rx_queue_flush(csp_conn_t * conn) { + + /* Loop through RX queue */ + int i, count; + csp_packet_t * packet; + +front: + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue deliver"); + break; + } + + rdp_header_t * header = csp_rdp_header_ref(packet); + csp_log_protocol("RX Queue deliver matching Element, seq %u", header->seq_nr); + + /* If the matching packet was found: */ + if (header->seq_nr == (uint16_t)(conn->rdp.rcv_cur + 1)) { + csp_log_protocol("Deliver seq %u", header->seq_nr); + csp_rdp_receive_data(conn, packet); + conn->rdp.rcv_cur++; + /* Loop from first element again */ + goto front; + + /* Otherwise, requeue */ + } else { + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + } + + } + +} + +static inline bool csp_rdp_seq_in_rx_queue(csp_conn_t * conn, uint16_t seq_nr) { + + /* Loop through RX queue */ + int i, count; + rdp_packet_t * packet; + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue exists"); + break; + } + + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + csp_log_protocol("RX Queue exists matching Element, seq %u", header->seq_nr); + + /* If the matching packet was found, deliver */ + if (header->seq_nr == seq_nr) { + csp_log_protocol("We have a match"); + return true; + } + + } + + return false; + +} + +static inline int csp_rdp_rx_queue_add(csp_conn_t * conn, csp_packet_t * packet, uint16_t seq_nr) { + + if (csp_rdp_seq_in_rx_queue(conn, seq_nr)) + return CSP_QUEUE_ERROR; + return csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + +} + +static void csp_rdp_flush_eack(csp_conn_t * conn, csp_packet_t * eack_packet) { + + /* Loop through TX queue */ + int i, j, count; + rdp_packet_t * packet; + count = csp_queue_size(conn->rdp.tx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue(conn->rdp.tx_queue, &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from tx_queue in flush EACK"); + break; + } + + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + csp_log_protocol("EACK compare element, time %u, seq %u", packet->timestamp, csp_ntoh16(header->seq_nr)); + + /* Look for this element in EACKs */ + int match = 0; + for (j = 0; j < (int)((eack_packet->length - sizeof(rdp_header_t)) / sizeof(uint16_t)); j++) { + if (csp_ntoh16(eack_packet->data16[j]) == csp_ntoh16(header->seq_nr)) + match = 1; + + /* Enable this if you want EACK's to trigger retransmission */ + if (csp_ntoh16(eack_packet->data16[j]) > csp_ntoh16(header->seq_nr)) { + uint32_t time_now = csp_get_ms(); + if (csp_rdp_time_after(time_now, packet->quarantine)) { + packet->timestamp = time_now - conn->rdp.packet_timeout - 1; + packet->quarantine = time_now + conn->rdp.packet_timeout / 2; + } + } + } + + if (match == 0) { + /* If not found, put back on tx queue */ + csp_queue_enqueue(conn->rdp.tx_queue, &packet, 0); + } else { + /* Found, free */ + csp_log_protocol("TX Element %u freed", csp_ntoh16(header->seq_nr)); + csp_buffer_free(packet); + } + + } + +} + +static inline bool csp_rdp_should_ack(csp_conn_t * conn) { + + /* If delayed ACKs are not used, always ACK */ + if (!conn->rdp.delayed_acks) { + return true; + } + + /* ACK if time since last ACK is greater than ACK timeout */ + uint32_t time_now = csp_get_ms(); + if (csp_rdp_time_after(time_now, conn->rdp.ack_timestamp + conn->rdp.ack_timeout)) + return true; + + /* ACK if number of unacknowledged packets is greater than delay count */ + if (csp_rdp_seq_after(conn->rdp.rcv_cur, conn->rdp.rcv_lsa + conn->rdp.ack_delay_count)) + return true; + + return false; + +} + +void csp_rdp_flush_all(csp_conn_t * conn) { + + if ((conn == NULL) || conn->rdp.tx_queue == NULL) { + csp_log_error("Null pointer passed to rdp flush all"); + return; + } + + rdp_packet_t * packet; + + /* Empty TX queue */ + while (csp_queue_dequeue_isr(conn->rdp.tx_queue, &packet, &pdTrue) == CSP_QUEUE_OK) { + if (packet != NULL) { + csp_log_protocol("RDP %p: Flush TX Element, time %u, seq %u", conn, packet->timestamp, csp_ntoh16(csp_rdp_header_ref((csp_packet_t *) packet)->seq_nr)); + csp_buffer_free(packet); + } + } + + /* Empty RX queue */ + while (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) == CSP_QUEUE_OK) { + if (packet != NULL) { + csp_log_protocol("RDP %p: Flush RX Element, time %u, seq %u", conn, packet->timestamp, csp_ntoh16(csp_rdp_header_ref((csp_packet_t *) packet)->seq_nr)); + csp_buffer_free(packet); + } + } + +} + + +int csp_rdp_check_ack(csp_conn_t * conn) { + + /* Check all RX queues for spare capacity */ + int prio, avail = 1; + for (prio = 0; prio < CSP_RX_QUEUES; prio++) { + if (CSP_RX_QUEUE_LENGTH - csp_queue_size(conn->rx_queue[prio]) <= 2 * (int32_t)conn->rdp.window_size) { + avail = 0; + break; + } + } + + /* If more space available, only send after ack timeout or immediately if delay_acks is zero */ + if (avail && csp_rdp_should_ack(conn)) + csp_rdp_send_cmp(conn, NULL, RDP_ACK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + return CSP_ERR_NONE; + +} + +static inline bool csp_rdp_is_conn_ready_for_tx(csp_conn_t * conn) +{ + // Check Tx window (messages waiting for acks) + if (csp_rdp_seq_after(conn->rdp.snd_nxt, conn->rdp.snd_una + conn->rdp.window_size - 1)) { + return false; + } + return true; +} + +/** + * This function must be called with regular intervals for the + * RDP protocol to work as expected. This takes care of closing + * stale connections and retransmitting traffic. A good place to + * call this function is from the CSP router task. + */ +void csp_rdp_check_timeouts(csp_conn_t * conn) { + + rdp_packet_t * packet; + + /** + * CONNECTION TIMEOUT: + * Check that connection has not timed out inside the network stack + * */ + uint32_t time_now = csp_get_ms(); + if (conn->socket != NULL) { + if (csp_rdp_time_after(time_now, conn->timestamp + conn->rdp.conn_timeout)) { + csp_log_warn("RDP %p: Found a lost connection (now: %u, ts: %u, to: %u), closing now", + conn, time_now, conn->timestamp, conn->rdp.conn_timeout); + csp_close(conn); + return; + } + } + + /** + * CLOSE-WAIT TIMEOUT: + * After waiting a while in CLOSE-WAIT, the connection should be closed. + */ + if (conn->rdp.state == RDP_CLOSE_WAIT) { + if (csp_rdp_time_after(time_now, conn->timestamp + conn->rdp.conn_timeout)) { + csp_log_protocol("RDP %p: CLOSE_WAIT timeout", conn); + csp_close(conn); + } + return; + } + + /** + * MESSAGE TIMEOUT: + * Check each outgoing message for TX timeout + */ + int i, count; + count = csp_queue_size(conn->rdp.tx_queue); + for (i = 0; i < count; i++) { + + if ((csp_queue_dequeue_isr(conn->rdp.tx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) || packet == NULL) { + csp_log_warn("Cannot dequeue from tx_queue in check timeout"); + break; + } + + /* Get header */ + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + + /* If acked, do not retransmit */ + if (csp_rdp_seq_before(csp_ntoh16(header->seq_nr), conn->rdp.snd_una)) { + csp_log_protocol("TX Element Free, time %u, seq %u, una %u", packet->timestamp, csp_ntoh16(header->seq_nr), conn->rdp.snd_una); + csp_buffer_free(packet); + continue; + } + + /* Check timestamp and retransmit if needed */ + if (csp_rdp_time_after(time_now, packet->timestamp + conn->rdp.packet_timeout)) { + csp_log_protocol("TX Element timed out, retransmitting seq %u", csp_ntoh16(header->seq_nr)); + + /* Update to latest outgoing ACK */ + header->ack_nr = csp_hton16(conn->rdp.rcv_cur); + + /* Send copy to tx_queue */ + packet->timestamp = csp_get_ms(); + csp_packet_t * new_packet = csp_buffer_clone(packet); + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + if (csp_send_direct(conn->idout, new_packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_warn("Retransmission failed"); + csp_buffer_free(new_packet); + } + + } + + /* Requeue the TX element */ + csp_queue_enqueue_isr(conn->rdp.tx_queue, &packet, &pdTrue); + + } + + /** + * ACK TIMEOUT: + * Check ACK timeouts, if we have unacknowledged segments + */ + if (conn->rdp.delayed_acks) { + csp_rdp_check_ack(conn); + } + + /* Wake user task if connection is open and additional Tx can be done */ + if ((conn->rdp.state == RDP_OPEN) && csp_rdp_is_conn_ready_for_tx(conn)) { + csp_log_protocol("RDP %p: Wake Tx task (check timeouts)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + } +} + +void csp_rdp_new_packet(csp_conn_t * conn, csp_packet_t * packet) { + + /* Get RX header and convert to host byte-order */ + rdp_header_t * rx_header = csp_rdp_header_ref(packet); + rx_header->ack_nr = csp_ntoh16(rx_header->ack_nr); + rx_header->seq_nr = csp_ntoh16(rx_header->seq_nr); + + csp_log_protocol("RDP %p: Received in S %u: syn %u, ack %u, eack %u, " + "rst %u, seq_nr %5u, ack_nr %5u, packet_len %u (%u)", + conn, conn->rdp.state, rx_header->syn, rx_header->ack, rx_header->eak, + rx_header->rst, rx_header->seq_nr, rx_header->ack_nr, + packet->length, packet->length - sizeof(rdp_header_t)); + + /* If a RESET was received. */ + if (rx_header->rst) { + + if (rx_header->ack) { + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + } + + if (conn->rdp.state == RDP_CLOSE_WAIT || conn->rdp.state == RDP_CLOSED) { + csp_log_protocol("RDP %p: RST received in CLOSE_WAIT or CLOSED. Now closing connection", conn); + goto discard_close; + } else { + csp_log_protocol("RDP %p: Got RESET in state %u", conn, conn->rdp.state); + + if (rx_header->seq_nr == (uint16_t)(conn->rdp.rcv_cur + 1)) { + csp_log_protocol("RDP %p: RESET in sequence, no more data incoming, reply with RESET", conn); + conn->rdp.state = RDP_CLOSE_WAIT; + conn->timestamp = csp_get_ms(); + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + goto discard_close; + } else { + csp_log_protocol("RDP %p: RESET out of sequence, keep connection open", conn); + goto discard_open; + } + } + } + + /* The BIG FAT switch (state-machine) */ + switch(conn->rdp.state) { + + /** + * STATE == CLOSED + */ + case RDP_CLOSED: { + + /* No SYN flag set while in closed. Inform by sending back RST */ + if (!rx_header->syn) { + csp_log_protocol("Not SYN received in CLOSED state. Discarding packet"); + csp_rdp_send_cmp(conn, NULL, RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + goto discard_close; + } + + csp_log_protocol("RDP: SYN-Received"); + + /* Setup TX seq. */ + conn->rdp.snd_iss = (uint16_t)rand(); + conn->rdp.snd_nxt = conn->rdp.snd_iss + 1; + conn->rdp.snd_una = conn->rdp.snd_iss; + + /* Store RX seq. */ + conn->rdp.rcv_cur = rx_header->seq_nr; + conn->rdp.rcv_irs = rx_header->seq_nr; + conn->rdp.rcv_lsa = rx_header->seq_nr; + + /* Store RDP options */ + conn->rdp.window_size = csp_ntoh32(packet->data32[0]); + conn->rdp.conn_timeout = csp_ntoh32(packet->data32[1]); + conn->rdp.packet_timeout = csp_ntoh32(packet->data32[2]); + conn->rdp.delayed_acks = csp_ntoh32(packet->data32[3]); + conn->rdp.ack_timeout = csp_ntoh32(packet->data32[4]); + conn->rdp.ack_delay_count = csp_ntoh32(packet->data32[5]); + csp_log_protocol("RDP: Window Size %u, conn timeout %u, packet timeout %u", + conn->rdp.window_size, conn->rdp.conn_timeout, conn->rdp.packet_timeout); + csp_log_protocol("RDP: Delayed acks: %u, ack timeout %u, ack each %u packet", + conn->rdp.delayed_acks, conn->rdp.ack_timeout, conn->rdp.ack_delay_count); + + /* Connection accepted */ + conn->rdp.state = RDP_SYN_RCVD; + + /* Send SYN/ACK */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_SYN, conn->rdp.snd_iss, conn->rdp.rcv_irs); + + goto discard_open; + + } + break; + + /** + * STATE == SYN-SENT + */ + case RDP_SYN_SENT: { + + /* First check SYN/ACK */ + if (rx_header->syn && rx_header->ack) { + + conn->rdp.rcv_cur = rx_header->seq_nr; + conn->rdp.rcv_irs = rx_header->seq_nr; + conn->rdp.rcv_lsa = rx_header->seq_nr - 1; + conn->rdp.snd_una = rx_header->ack_nr + 1; + conn->rdp.ack_timestamp = csp_get_ms(); + conn->rdp.state = RDP_OPEN; + + csp_log_protocol("RDP: NP: Connection OPEN"); + + /* Send ACK */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + /* Wake TX task */ + csp_log_protocol("RDP %p: Wake Tx task (ack)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + + goto discard_open; + } + + /* If there was no SYN in the reply, our SYN message hit an already open connection + * This is handled by sending a RST. + * Normally this would be followed up by a new connection attempt, however + * we don't have a method for signaling this to the user space. + */ + if (rx_header->ack) { + csp_log_error("Half-open connection found, sending RST"); + csp_rdp_send_cmp(conn, NULL, RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + csp_log_protocol("RDP %p: Wake Tx task (rst)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + + goto discard_open; + } + + /* Otherwise we have an invalid command, such as a SYN reply to a SYN command, + * indicating simultaneous connections, which is not possible in the way CSP + * reserves some ports for server and some for clients. + */ + csp_log_error("Invalid reply to SYN request"); + goto discard_close; + + } + break; + + /** + * STATE == OPEN + */ + case RDP_SYN_RCVD: + case RDP_OPEN: + { + + /* SYN or !ACK is invalid */ + if (rx_header->syn || !rx_header->ack) { + if (rx_header->seq_nr != conn->rdp.rcv_irs) { + csp_log_error("Invalid SYN or no ACK, resetting!"); + goto discard_close; + } else { + csp_log_protocol("Ignoring duplicate SYN packet!"); + goto discard_open; + } + } + + /* Check sequence number */ + if (!csp_rdp_seq_between(rx_header->seq_nr, conn->rdp.rcv_cur + 1, conn->rdp.rcv_cur + conn->rdp.window_size * 2)) { + csp_log_protocol("Invalid sequence number! %"PRIu16" not between %"PRIu16" and %"PRIu16, + rx_header->seq_nr, conn->rdp.rcv_cur + 1, conn->rdp.rcv_cur + 1 + conn->rdp.window_size * 2); + /* If duplicate SYN received, send another SYN/ACK */ + if (conn->rdp.state == RDP_SYN_RCVD) + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_SYN, conn->rdp.snd_iss, conn->rdp.rcv_irs); + /* If duplicate data packet received, send EACK back */ + if (conn->rdp.state == RDP_OPEN) + csp_rdp_send_eack(conn); + + goto discard_open; + } + + /* Check ACK number */ + if (!csp_rdp_seq_between(rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1)) { + csp_log_error("Invalid ACK number! %u not between %u and %u", + rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1); + goto discard_open; + } + + /* Check SYN_RCVD ACK */ + if (conn->rdp.state == RDP_SYN_RCVD) { + if (rx_header->ack_nr != conn->rdp.snd_iss) { + csp_log_error("SYN-RCVD: Wrong ACK number"); + goto discard_close; + } + csp_log_protocol("RDP: NC: Connection OPEN"); + conn->rdp.state = RDP_OPEN; + + /* If a socket is set, this message is the first in a new connection + * so the connection must be queued to the socket. */ + if (conn->socket != NULL) { + + /* Try queueing */ + if (csp_queue_enqueue(conn->socket, &conn, 0) == CSP_QUEUE_FULL) { + csp_log_error("ERROR socket cannot accept more connections"); + goto discard_close; + } + + /* Ensure that this connection will not be posted to this socket again + * and remember that the connection handle has been passed to userspace + * by setting the socket = NULL */ + conn->socket = NULL; + } + + } + + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + + /* We have an EACK */ + if (rx_header->eak) { + if (packet->length > sizeof(rdp_header_t)) + csp_rdp_flush_eack(conn, packet); + goto discard_open; + } + + /* If no data, return here */ + if (packet->length <= sizeof(rdp_header_t)) + goto discard_open; + + /* If message is not in sequence, send EACK and store packet */ + if (rx_header->seq_nr != (uint16_t)(conn->rdp.rcv_cur + 1)) { + if (csp_rdp_rx_queue_add(conn, packet, rx_header->seq_nr) != CSP_QUEUE_OK) { + csp_log_protocol("Duplicate sequence number"); + csp_rdp_check_ack(conn); + goto discard_open; + } + csp_rdp_send_eack(conn); + goto accepted_open; + } + + /* Store sequence number before stripping RDP header */ + uint16_t seq_nr = rx_header->seq_nr; + + /* Receive data */ + if (csp_rdp_receive_data(conn, packet) != CSP_ERR_NONE) + goto discard_open; + + /* Update last received packet */ + conn->rdp.rcv_cur = seq_nr; + + /* Only ACK the message if there is room for a full window in the RX buffer. + * Unacknowledged segments are ACKed by csp_rdp_check_timeouts when the buffer is + * no longer full. */ + csp_rdp_check_ack(conn); + + /* Flush RX queue */ + csp_rdp_rx_queue_flush(conn); + + goto accepted_open; + + } + break; + + case RDP_CLOSE_WAIT: + + /* Ignore SYN or !ACK */ + if (rx_header->syn || !rx_header->ack) { + csp_log_protocol("Invalid SYN or no ACK in CLOSE-WAIT"); + goto discard_open; + } + + /* Check ACK number */ + if (!csp_rdp_seq_between(rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1)) { + csp_log_error("Invalid ACK number! %u not between %u and %u", + rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1); + goto discard_open; + } + + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + + /* Send back a reset */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + goto discard_open; + + default: + csp_log_error("RDP: ERROR default state!"); + goto discard_close; + } + +discard_close: + /* If user-space has received the connection handle, wake it up, + * by sending a NULL pointer, user-space should close connection */ + if (conn->socket == NULL) { + csp_log_protocol("RDP %p: Waiting for userspace to close", conn); + csp_conn_enqueue_packet(conn, NULL); + } else { + csp_close(conn); + } + +discard_open: + csp_buffer_free(packet); +accepted_open: + return; + +} + +int csp_rdp_connect(csp_conn_t * conn, uint32_t timeout) { + + int retry = 1; + + conn->rdp.window_size = csp_rdp_window_size; + conn->rdp.conn_timeout = csp_rdp_conn_timeout; + conn->rdp.packet_timeout = csp_rdp_packet_timeout; + conn->rdp.delayed_acks = csp_rdp_delayed_acks; + conn->rdp.ack_timeout = csp_rdp_ack_timeout; + conn->rdp.ack_delay_count = csp_rdp_ack_delay_count; + conn->rdp.ack_timestamp = csp_get_ms(); + +retry: + csp_log_protocol("RDP %p: Active connect, conn state %u", conn, conn->rdp.state); + + if (conn->rdp.state == RDP_OPEN) { + csp_log_error("RDP %p: Connection already open", conn); + return CSP_ERR_ALREADY; + } + + /* Randomize ISS */ + conn->rdp.snd_iss = (uint16_t)rand(); + + conn->rdp.snd_nxt = conn->rdp.snd_iss + 1; + conn->rdp.snd_una = conn->rdp.snd_iss; + + csp_log_protocol("RDP %p: AC: Sending SYN", conn); + + /* Ensure semaphore is busy, so router task can release it */ + csp_bin_sem_wait(&conn->rdp.tx_wait, 0); + + /* Send SYN message */ + conn->rdp.state = RDP_SYN_SENT; + if (csp_rdp_send_syn(conn) != CSP_ERR_NONE) + goto error; + + /* Wait for router task to release semaphore */ + csp_log_protocol("RDP %p: AC: Waiting for SYN/ACK reply...", conn); + int result = csp_bin_sem_wait(&conn->rdp.tx_wait, conn->rdp.conn_timeout); + + if (result == CSP_SEMAPHORE_OK) { + if (conn->rdp.state == RDP_OPEN) { + csp_log_protocol("RDP %p: AC: Connection OPEN", conn); + return CSP_ERR_NONE; + } else if(conn->rdp.state == RDP_SYN_SENT) { + if (retry) { + csp_log_warn("RDP %p: Half-open connection detected, RST sent, now retrying", conn); + csp_rdp_flush_all(conn); + retry = 0; + goto retry; + } else { + csp_log_error("RDP %p: Connection stayed half-open, even after RST and retry!", conn); + goto error; + } + } + } else { + csp_log_protocol("RDP %p: AC: Connection Failed", conn); + goto error; + } + +error: + conn->rdp.state = RDP_CLOSE_WAIT; + return CSP_ERR_TIMEDOUT; + +} + +int csp_rdp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + + if (conn->rdp.state != RDP_OPEN) { + csp_log_error("RDP: ERROR cannot send, connection reset"); + return CSP_ERR_RESET; + } + + while ((conn->rdp.state == RDP_OPEN) && (csp_rdp_is_conn_ready_for_tx(conn) == false)) { + csp_log_protocol("RDP %p: Waiting for window update before sending seq %u", conn, conn->rdp.snd_nxt); + if ((csp_bin_sem_wait(&conn->rdp.tx_wait, conn->rdp.conn_timeout)) != CSP_SEMAPHORE_OK) { + csp_log_error("RDP %p: Timeout during send", conn); + return CSP_ERR_TIMEDOUT; + } + } + + if (conn->rdp.state != RDP_OPEN) { + csp_log_error("RDP: ERROR cannot send, connection reset"); + return CSP_ERR_RESET; + } + + /* Add RDP header */ + rdp_header_t * tx_header = csp_rdp_header_add(packet); + tx_header->ack_nr = csp_hton16(conn->rdp.rcv_cur); + tx_header->seq_nr = csp_hton16(conn->rdp.snd_nxt); + tx_header->ack = 1; + + /* Send copy to tx_queue */ + rdp_packet_t * rdp_packet = csp_buffer_clone(packet); + if (rdp_packet == NULL) { + csp_log_error("Failed to allocate packet buffer"); + return CSP_ERR_NOMEM; + } + + rdp_packet->timestamp = csp_get_ms(); + rdp_packet->quarantine = 0; + if (csp_queue_enqueue(conn->rdp.tx_queue, &rdp_packet, 0) != CSP_QUEUE_OK) { + csp_log_error("No more space in RDP retransmit queue"); + csp_buffer_free(rdp_packet); + return CSP_ERR_NOBUFS; + } + + csp_log_protocol("RDP: Sending in S %u: syn %u, ack %u, eack %u, " + "rst %u, seq_nr %5u, ack_nr %5u, packet_len %u (%u)", + conn->rdp.state, tx_header->syn, tx_header->ack, tx_header->eak, + tx_header->rst, csp_ntoh16(tx_header->seq_nr), csp_ntoh16(tx_header->ack_nr), + packet->length, packet->length - sizeof(rdp_header_t)); + + conn->rdp.snd_nxt++; + return CSP_ERR_NONE; + +} + +int csp_rdp_allocate(csp_conn_t * conn) { + + csp_log_protocol("RDP: Creating RDP queues for conn %p", conn); + + /* Set initial state */ + conn->rdp.state = RDP_CLOSED; + conn->rdp.conn_timeout = csp_rdp_conn_timeout; + conn->rdp.packet_timeout = csp_rdp_packet_timeout; + + /* Create a binary semaphore to wait on for tasks */ + if (csp_bin_sem_create(&conn->rdp.tx_wait) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to initialize semaphore"); + return CSP_ERR_NOMEM; + } + + /* Create TX queue */ + conn->rdp.tx_queue = csp_queue_create(CSP_RDP_MAX_WINDOW, sizeof(csp_packet_t *)); + if (conn->rdp.tx_queue == NULL) { + csp_log_error("Failed to create TX queue for conn"); + csp_bin_sem_remove(&conn->rdp.tx_wait); + return CSP_ERR_NOMEM; + } + + /* Create RX queue */ + conn->rdp.rx_queue = csp_queue_create(CSP_RDP_MAX_WINDOW * 2, sizeof(csp_packet_t *)); + if (conn->rdp.rx_queue == NULL) { + csp_log_error("Failed to create RX queue for conn"); + csp_bin_sem_remove(&conn->rdp.tx_wait); + csp_queue_remove(conn->rdp.tx_queue); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} + +/** + * @note This function may only be called from csp_close, and is therefore + * without any checks for null pointers. + */ +int csp_rdp_close(csp_conn_t * conn) { + + if (conn->rdp.state == RDP_CLOSED) + return CSP_ERR_NONE; + + /* If message is open, send reset */ + if (conn->rdp.state != RDP_CLOSE_WAIT) { + conn->rdp.state = RDP_CLOSE_WAIT; + conn->timestamp = csp_get_ms(); + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + csp_log_protocol("RDP %p: Close, sent RST", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); // wake up any pendng Tx + return CSP_ERR_AGAIN; + } + + csp_log_protocol("RDP %p: Close in CLOSE_WAIT, now closing", conn); + conn->rdp.state = RDP_CLOSED; + return CSP_ERR_NONE; + +} + +/** + * RDP Set socket options + * Controls important parameters of the RDP protocol. + * These settings will be applied to all new outgoing connections. + * The settings are global, so be sure no other task are conflicting with your settings. + */ +void csp_rdp_set_opt(unsigned int window_size, unsigned int conn_timeout_ms, + unsigned int packet_timeout_ms, unsigned int delayed_acks, + unsigned int ack_timeout, unsigned int ack_delay_count) { + csp_rdp_window_size = window_size; + csp_rdp_conn_timeout = conn_timeout_ms; + csp_rdp_packet_timeout = packet_timeout_ms; + csp_rdp_delayed_acks = delayed_acks; + csp_rdp_ack_timeout = ack_timeout; + csp_rdp_ack_delay_count = ack_delay_count; +} + +void csp_rdp_get_opt(unsigned int * window_size, unsigned int * conn_timeout_ms, + unsigned int * packet_timeout_ms, unsigned int * delayed_acks, + unsigned int * ack_timeout, unsigned int * ack_delay_count) { + + if (window_size) + *window_size = csp_rdp_window_size; + if (conn_timeout_ms) + *conn_timeout_ms = csp_rdp_conn_timeout; + if (packet_timeout_ms) + *packet_timeout_ms = csp_rdp_packet_timeout; + if (delayed_acks) + *delayed_acks = csp_rdp_delayed_acks; + if (ack_timeout) + *ack_timeout = csp_rdp_ack_timeout; + if (ack_delay_count) + *ack_delay_count = csp_rdp_ack_delay_count; +} + +#ifdef CSP_DEBUG +void csp_rdp_conn_print(csp_conn_t * conn) { + + if (conn == NULL) + return; + + printf("\tRDP: State %"PRIu16", rcv %"PRIu16", snd %"PRIu16", win %"PRIu32"\r\n", + conn->rdp.state, conn->rdp.rcv_cur, conn->rdp.snd_una, conn->rdp.window_size); + +} +#endif + +#endif diff --git a/libcsp/src/transport/csp_transport.h b/libcsp/src/transport/csp_transport.h new file mode 100644 index 00000000..7fcda3dc --- /dev/null +++ b/libcsp/src/transport/csp_transport.h @@ -0,0 +1,46 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_TRANSPORT_H_ +#define _CSP_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** ARRIVING SEGMENT */ +void csp_udp_new_packet(csp_conn_t * conn, csp_packet_t * packet); +void csp_rdp_new_packet(csp_conn_t * conn, csp_packet_t * packet); + +/** RDP: USER REQUESTS */ +int csp_rdp_connect(csp_conn_t * conn, uint32_t timeout); +int csp_rdp_allocate(csp_conn_t * conn); +int csp_rdp_close(csp_conn_t * conn); +void csp_rdp_conn_print(csp_conn_t * conn); +int csp_rdp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout); +int csp_rdp_check_ack(csp_conn_t * conn); +void csp_rdp_check_timeouts(csp_conn_t * conn); +void csp_rdp_flush_all(csp_conn_t * conn); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_TRANSPORT_H_ */ diff --git a/libcsp/src/transport/csp_udp.c b/libcsp/src/transport/csp_udp.c new file mode 100644 index 00000000..61732703 --- /dev/null +++ b/libcsp/src/transport/csp_udp.c @@ -0,0 +1,49 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include "../csp_port.h" +#include "../csp_conn.h" +#include "csp_transport.h" + +void csp_udp_new_packet(csp_conn_t * conn, csp_packet_t * packet) { + + /* Enqueue */ + if (csp_conn_enqueue_packet(conn, packet) < 0) { + csp_log_error("Connection buffer queue full!"); + csp_buffer_free(packet); + return; + } + + /* Try to queue up the new connection pointer */ + if (conn->socket != NULL) { + if (csp_queue_enqueue(conn->socket, &conn, 0) != CSP_QUEUE_OK) { + csp_log_warn("Warning socket connection queue full"); + csp_close(conn); + return; + } + + /* Ensure that this connection will not be posted to this socket again */ + conn->socket = NULL; + } + +} + diff --git a/libcsp/utils/cfpsplit.py b/libcsp/utils/cfpsplit.py new file mode 100644 index 00000000..9a350e3e --- /dev/null +++ b/libcsp/utils/cfpsplit.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +# Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +# Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +# Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License, or (at your option) any later version. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +# Split CFP header in protocol fields + +import sys + +def usage(): + print("usage: cfpsplit.py HEADER") + +def main(): + try: + hdr = sys.argv[1] + except: + usage() + sys.exit(-1) + + try: + hdrhex = int(hdr, 16) + except: + print("HEADER must be in hexadecimal format") + sys.exit(-1) + + if hdrhex > 0x1fffffff: + print("HEADER is not a valid CFP header") + sys.exit(-1) + + print("Source: {0}".format((hdrhex >> 24) & 0x1f)) + print("Destination: {0}".format((hdrhex >> 19) & 0x1f)) + print("Type: {0}".format("MORE" if ((hdrhex >> 18) & 0x01) else "BEGIN")) + print("Remain: {0}".format((hdrhex >> 10) & 0xff)) + print("Identifier: {0}".format((hdrhex >> 0) & 0x3ff)) + +if __name__ == "__main__": + main() diff --git a/libcsp/utils/cspsplit.py b/libcsp/utils/cspsplit.py new file mode 100644 index 00000000..f4ed942f --- /dev/null +++ b/libcsp/utils/cspsplit.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +# Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +# Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +# Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License, or (at your option) any later version. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +# Split CSP header in protocol fields + +import sys + +def usage(): + print("usage: cspsplit.py HEADER") + +def main(): + try: + hdr = sys.argv[1] + except: + usage() + sys.exit(-1) + + try: + hdrhex = int(hdr, 16) + except: + print("HEADER must be in hexadecimal format") + sys.exit(-1) + + print("Priotity: {0}".format((hdrhex >> 30) & 0x03)) + print("Source: {0}".format((hdrhex >> 25) & 0x1f)) + print("Destination: {0}".format((hdrhex >> 20) & 0x1f)) + print("Destination port: {0}".format((hdrhex >> 14) & 0x3f)) + print("Source port: {0}".format((hdrhex >> 8) & 0x3f)) + print("HMAC: {0}".format("Yes" if ((hdrhex >> 3) & 0x01) else "No")) + print("XTEA: {0}".format("Yes" if ((hdrhex >> 2) & 0x01) else "No")) + print("RDP: {0}".format("Yes" if ((hdrhex >> 1) & 0x01) else "No")) + print("CRC32: {0}".format("Yes" if ((hdrhex >> 0) & 0x01) else "No")) + +if __name__ == "__main__": + main() diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index be0d65e5..24572218 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -2,6 +2,8 @@ #include #include #include +#include +#include #include #include @@ -9,6 +11,7 @@ #include #include #include +#include #include #include #include @@ -18,7 +21,14 @@ #include #include #include +#include +#include +#include "mission/devices/GomspaceDeviceHandler.h" +#include "mission/devices/devicedefinitions/GomspaceDefinitions.h" +#if ADD_TEST_CODE == 1 +//#include +#endif void ObjectFactory::produceGenericObjects() { /* Framework objects */ @@ -61,6 +71,8 @@ void ObjectFactory::produceGenericObjects() { apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20); new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10); + new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, + apid::EIVE_OBSW, pus::PUS_SERVICE_3); new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50); new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, @@ -72,8 +84,35 @@ void ObjectFactory::produceGenericObjects() { new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_200); + /* Cookies */ + CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, + addresses::P60DOCK); + CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, + addresses::PDU1); + CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, + addresses::PDU2); + CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, + addresses::ACU); + + /* Communication interfaces */ + new CspComIF(objects::CSP_COM_IF); + + /* Device Handler */ + new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, + p60DockCspCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS, + P60Dock::MAX_HKTABLE_ADDRESS); + new GomspaceDeviceHandler(objects::PDU1_HANDLER, objects::CSP_COM_IF, + pdu1CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS, + PDU::MAX_HKTABLE_ADDRESS); + new GomspaceDeviceHandler(objects::PDU2_HANDLER, objects::CSP_COM_IF, + pdu2CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS, + PDU::MAX_HKTABLE_ADDRESS); + new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, + acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS, + ACU::MAX_HKTABLE_ADDRESS); + /* Test Device Handler */ -#if OBSW_ADD_TEST_CODE == 1 - new TestTask(objects::TEST_TASK); +#if ADD_TEST_CODE == 1 +// new TestTask(objects::TEST_TASK); #endif } diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp new file mode 100644 index 00000000..cd37abb8 --- /dev/null +++ b/mission/devices/GomspaceDeviceHandler.cpp @@ -0,0 +1,339 @@ +#include +#include + +GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie, uint16_t maxConfigTableAddress, + uint16_t maxHkTableAddress) : + DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress( + maxConfigTableAddress), maxHkTableAddress(maxHkTableAddress) { + mode = MODE_NORMAL; + if (comCookie == NULL) { + sif::error << "GomspaceDeviceHandler invalid com cookie" << std::endl; + } +} + +GomspaceDeviceHandler::~GomspaceDeviceHandler() { +} + + +void GomspaceDeviceHandler::doStartUp(){ +} + +void GomspaceDeviceHandler::doShutDown(){ + +} + +ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + ReturnValue_t result; + switch(deviceCommand) { + case(PING): { + result = generatePingCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + break; + } + case(REBOOT): { + generateRebootCommand(); + break; + } + case(PARAM_SET):{ + result = generateSetParamCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + case(PARAM_GET):{ + result = generateGetParamCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + case(GNDWDT_RESET): { + result = generateResetWatchdogCmd(); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + } + default: + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::fillCommandAndReplyMap(){ + this->insertInCommandAndReplyMap(PING, 3); + this->insertInCommandMap(REBOOT); + this->insertInCommandAndReplyMap(PARAM_SET, 3); + this->insertInCommandAndReplyMap(PARAM_GET, 3); + this->insertInCommandMap(GNDWDT_RESET); +} + +ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + switch(rememberCommandId) { + case(PING): + *foundId = PING; + *foundLen = PING_REPLY_SIZE; + rememberCommandId = NONE; + break; + case(PARAM_GET): { + *foundId = PARAM_GET; + *foundLen = rememberRequestedSize + CspGetParamReply::GS_HDR_LENGTH; + rememberCommandId = NONE; + break; + } + case(PARAM_SET): { + *foundId = PARAM_SET; + *foundLen = rememberRequestedSize; + rememberCommandId = NONE; + break; + } + default: + return IGNORE_REPLY_DATA; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + switch(id) { + case(PING): { + SerializeElement replyTime = *packet; + handleDeviceTM(&replyTime, id, true); + break; + } + case(PARAM_GET): { + // -2 to subtract address size from gomspace parameter reply packet + uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2; + if(payloadLength > sizeof(uint32_t)){ + sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload " + << "size in reply" << std::endl; + return INVALID_PAYLOAD_SIZE; + } + uint8_t tempPayloadBuffer[payloadLength]; + /* Extract information from received data */ + CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength); + size_t size = CspGetParamReply::GS_HDR_LENGTH + payloadLength; + ReturnValue_t result = cspGetParamReply.deSerialize(&packet, &size, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter" + << "reply" << std::endl; + return result; + } + uint8_t action = cspGetParamReply.getAction(); + uint8_t tableId = cspGetParamReply.getTableId(); + uint16_t address = cspGetParamReply.getAddress(); + /* Pack relevant information into a tm packet */ + ParamReply paramReply(action, tableId, address, payloadLength, + tempPayloadBuffer); + handleDeviceTM(¶mReply, id, true); + break; + } + case(PARAM_SET): { + /* When setting a parameter, the p60dock sends back the state of the + * operation */ + if(*packet != PARAM_SET_OK){ + return HasReturnvaluesIF::RETURN_FAILED; + } + break; + } + default: + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid(){ + +} + +ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand( + const uint8_t * commandData, size_t commandDataLen) { + SetParamMessageUnpacker setParamMessageUnpacker; + ReturnValue_t result = setParamMessageUnpacker.deSerialize(&commandData, + &commandDataLen, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter " + "message" << std::endl; + return result; + } + /* Get and check address */ + uint16_t address = setParamMessageUnpacker.getAddress(); + if(address > maxConfigTableAddress){ + sif::error << "GomspaceDeviceHandler: Invalid address for set parameter " + << "action" << std::endl; + return INVALID_ADDRESS; + } + uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM; + uint16_t seq = 0; + uint16_t total = 0; + /* CSP reply only contains the transaction state */ + uint16_t querySize = 1; + const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter(); + uint8_t parameterSize = setParamMessageUnpacker.getParameterSize(); + uint16_t payloadlength = sizeof(address) + parameterSize; + + /* Generate command for CspComIF */ + CspSetParamCommand setParamCmd(querySize, payloadlength, checksum, seq, + total, address, parameterPtr, parameterSize); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket), + SerializeIF::Endianness::BIG); + + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize command for " + << "CspComIF" << std::endl; + return result; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Invalid length of set parameter " + "command" << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = querySize; + rememberCommandId = PARAM_SET; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand( + const uint8_t * commandData, size_t commandDataLen){ + ReturnValue_t result; + /* Unpack the received action message */ + GetParamMessageUnpacker getParamMessage; + result = getParamMessage.deSerialize(&commandData, &commandDataLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Failed to deserialize message to extract information " + "from get parameter message" << std::endl; + return result; + } + /* Get an check table id to read from */ + uint8_t tableId = getParamMessage.getTableId(); + if(tableId != CONFIG_TABLE_ID && tableId != HK_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid table id in get parameter" + " message" << std::endl; + return INVALID_TABLE_ID; + } + /* Get and check address */ + uint16_t address = getParamMessage.getAddress(); + if(address > maxHkTableAddress && tableId == HK_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from " + << "housekeeping table" << std::endl; + return INVALID_ADDRESS; + } + if(address > maxConfigTableAddress && tableId == CONFIG_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from " + << "configuration table" << std::endl; + return INVALID_ADDRESS; + } + uint16_t length = sizeof(address); + uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM; + uint16_t seq = 0; + uint16_t total = 0; + uint8_t parameterSize = getParamMessage.getParameterSize(); + if(parameterSize > sizeof(uint32_t)) { + sif::error << "GomspaceDeviceHandler: GET_PARAM: Invalid parameter " + << "size" << std::endl; + return INVALID_PARAM_SIZE; + } + uint16_t querySize = parameterSize + CspGetParamCommand::GS_HDR_LENGTH; + + /* Generate the CSP command to send to the P60 Dock */ + CspGetParamCommand getParamCmd(querySize, tableId, length, + checksum, seq, total, address); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket), + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize command to " + << "get parameter" << std::endl; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Received invalid get parameter " + "command" << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = querySize; + rememberCommandId = PARAM_GET; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::generatePingCommand( + const uint8_t * commandData, size_t commandDataLen) { + CspPingCommand cspPingCommand(commandData, commandDataLen); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, + sizeof(cspPacket), + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" + << std::endl; + return result; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Received invalid ping message" + << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberCommandId = PING; + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::generateRebootCommand(){ + uint8_t cspPort = GOMSPACE::REBOOT_PORT; + uint16_t querySize = 0; + *cspPacket = GOMSPACE::REBOOT_PORT; + *(cspPacket + 1) = querySize; + size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen); + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; +} + +ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd(){ + WatchdogResetCommand watchdogResetCommand; + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + ReturnValue_t result = watchdogResetCommand.serialize(&buffer, + &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset " + << "command" << std::endl; + return result; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = 0; // No bytes will be queried with the ground + // watchdog command. + rememberCommandId = GNDWDT_RESET; + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, + Mode_t modeTo) { + return 0; +} diff --git a/mission/devices/GomspaceDeviceHandler.h b/mission/devices/GomspaceDeviceHandler.h new file mode 100644 index 00000000..d8ac4e25 --- /dev/null +++ b/mission/devices/GomspaceDeviceHandler.h @@ -0,0 +1,109 @@ +#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ +#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ + +#include + +/** + * @brief This is the device handler class for all gomspace devices. + * + * @details All gomspace devices are similar with respect to commanding. Thus + * most of the functionality to command a gomspace device can be + * accommodated in one class. For device specific functions, a new + * class could be created by inheriting from the GomspaceDeviceHandler. + */ +class GomspaceDeviceHandler: public DeviceHandlerBase { +public: + + static const ReturnValue_t PACKET_TOO_LONG = MAKE_RETURN_CODE(0xE0); + static const ReturnValue_t INVALID_TABLE_ID = MAKE_RETURN_CODE(0xE1); + static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE2); + static const ReturnValue_t INVALID_PARAM_SIZE = MAKE_RETURN_CODE(0xE3); + static const ReturnValue_t INVALID_PAYLOAD_SIZE = MAKE_RETURN_CODE(0xE4); + + /** + * @brief Constructor + * + * @param maxConfigTableAddress The maximum memory address of the configu- + * ration table of a gomspace device. + * @param maxHkTableAddress The maximum memory address of a value in the + * houskeeping (telemetry) table of a gomspace + * device. + */ + GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie, uint16_t maxConfigTableAddress, + uint16_t maxHkTableAddress); + virtual ~GomspaceDeviceHandler(); + +protected: + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override; + void fillCommandAndReplyMap() override; + ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData,size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + +private: + + static const uint8_t MAX_PACKET_LEN = 36; + static const uint8_t PARAM_SET_OK = 1; + static const uint8_t PING_REPLY_SIZE = 2; + static const uint8_t CONFIG_TABLE_ID = 1; + static const uint8_t HK_TABLE_ID = 4; + /* Device commands are derived from the rparam.h of the gomspace lib */ + static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending + static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND] + + uint8_t rememberRequestedSize = 0; + uint8_t rememberCommandId = NONE; + uint8_t cspPacket[MAX_PACKET_LEN]; + + uint16_t maxConfigTableAddress; + uint16_t maxHkTableAddress; + + /** + * @brief Function to generate the command to set a parameter. Command + * will be sent to the ComIF over the rawPacket buffer. + */ + ReturnValue_t generateSetParamCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the command to get a parameter from a + * gomspace device. Command will be sent to the ComIF over the + * rawPacket buffer. + */ + ReturnValue_t generateGetParamCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the ping command for the ComIF. + */ + ReturnValue_t generatePingCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the command to reboot a gomspace device + * via the ComIF. + */ + void generateRebootCommand(); + + /** + * @brief Function to generate the command to force a ground watchdog + * reset in a gomspace device. + */ + ReturnValue_t generateResetWatchdogCmd(); + +}; + +#endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/GomSpacePackets.h b/mission/devices/devicedefinitions/GomSpacePackets.h new file mode 100644 index 00000000..6c3509f8 --- /dev/null +++ b/mission/devices/devicedefinitions/GomSpacePackets.h @@ -0,0 +1,362 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ + +#include "fsfw/serialize/SerialBufferAdapter.h" +#include "fsfw/serialize/SerializeElement.h" +#include "fsfw/serialize/SerialLinkedListAdapter.h" +#include "fsfw/serialize/SerialFixedArrayListAdapter.h" + +namespace GOMSPACE{ + static const uint16_t IGNORE_CHECKSUM = 0xbb0; + /* CSP port to ping gomspace devices. */ + static const uint8_t PING_PORT = 1; + static const uint8_t REBOOT_PORT = 4; + /* CSP port of gomspace devices to request or set parameters */ + static const uint8_t PARAM_PORT = 7; + static const uint8_t P60_PORT_GNDWDT_RESET = 9; +} + + +/** + * @brief This class can be used to generated the command for the CspComIF + * to reset the watchdog in a gomspace device. + */ +class WatchdogResetCommand : public SerialLinkedListAdapter { +public: + + WatchdogResetCommand() { + setLinks(); + } + +private: + WatchdogResetCommand(const WatchdogResetCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&magic); + } + SerializeElement cspPort = GOMSPACE::P60_PORT_GNDWDT_RESET; + SerializeElement querySize = 1; + /* Sending 0x78 to port 9 of a gomspace device resets the ground watchdog */ + SerializeElement magic = 0x78; +}; + + +/** + * @brief A serial linked list adapter implementation to generate ping + * commands for devices supporting the CSP protocol. This command can + * be sent to the CspComIF which will send out the ping request. + * + * @details A ping request simply sends back the received data provided by the + * data buffer. cspPort and querySize are only informations required + * by the CspComI and other than the data array not physically + * transmitted to the target device. + */ +class CspPingCommand : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param querySize_ The size of bytes replied by the ping request. + * Amounts to the number of bytes send. + * @param data_ Pointer to data which should be sent to the device. + * All data will be sent back by the ping target. + */ + CspPingCommand(const uint8_t* data_, uint16_t querySize_) : + querySize(querySize_), data(data_, querySize_) { + setLinks(); + } + +private: + CspPingCommand(const CspPingCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&data); + } + SerializeElement cspPort = GOMSPACE::PING_PORT; + SerializeElement querySize; + SerializeElement> data; +}; + + +/** + * @brief A serial linked list adapter implementation of the gs_rparam_query_t + * struct defined in rparam.h. Can be used to build the message to set + * a parameter in gomspace devices. + * + * @note cspPort and querySize will not be sent with the CSP packet to the + * gomspace device but are required for the CspComIF to get the port + * and the size to query. + */ +class CspSetParamCommand : public SerialLinkedListAdapter { +public: + + static const uint8_t GS_HDR_LENGTH = 12; + + CspSetParamCommand(uint16_t querySize_, uint16_t payloadlength_, + uint16_t checksum_, uint16_t seq_, uint16_t total_, uint16_t addr_, + const uint8_t* parameter_, uint8_t parameterCount_) : + querySize(querySize_), payloadlength( + payloadlength_), checksum(checksum_), seq(seq_), total( + total_), addr(addr_), parameter(parameter_, parameterCount_) { + setLinks(); + } + +private: + CspSetParamCommand(const CspSetParamCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&action); + action.setNext(&tableId); + tableId.setNext(&payloadlength); + payloadlength.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + addr.setNext(¶meter); + } + SerializeElement cspPort = GOMSPACE::PARAM_PORT; + /* Only a parameter will be set. No data will be queried with this command */ + SerializeElement querySize; + SerializeElement action = 0xFF; // param set + /* We will never set a parameter in a table other than the configuration + * table */ + SerializeElement tableId = 1; + SerializeElement payloadlength; + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; + SerializeElement> parameter; +}; + + +/** + * @brief This class can be used to generate a get param command for the + * gomspace devices which will be sent to the device communication + * interface object. + * + * @note cspPort and querySize only serve as information for the CspComIF + * and will not be transmitted physically to the target device. + */ +class CspGetParamCommand : public SerialLinkedListAdapter { +public: + /* The size of the header of a gomspace CSP packet. */ + static const uint8_t GS_HDR_LENGTH = 12; + + CspGetParamCommand(uint16_t querySize_, uint8_t tableId_, + uint16_t addresslength_, uint16_t checksum_, uint16_t seq_, + uint16_t total_, uint16_t addr_) : + querySize(querySize_), tableId(tableId_), addresslength( + addresslength_), checksum(checksum_), seq(seq_), total( + total_), addr(addr_) { + fixedValuesInit(); + setLinks(); + } + +private: + CspGetParamCommand(const CspGetParamCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&action); + action.setNext(&tableId); + tableId.setNext(&addresslength); + addresslength.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + } + void fixedValuesInit(){ + cspPort.entry = GOMSPACE::PARAM_PORT; + } + SerializeElement cspPort; + SerializeElement querySize; // size of bytes to query + /* Following information will also be physically transmitted to the target + * device*/ + SerializeElement action = 0x00; // get param + SerializeElement tableId; + SerializeElement addresslength; // size of address + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; +}; + + +/** + * @brief This class can be used to deserialize replies from gomspace devices + * and extract the relevant data. + */ +class CspGetParamReply : public SerialLinkedListAdapter { +public: + /* The size of the header of a gomspace CSP packet. */ + static const uint8_t GS_HDR_LENGTH = 12; + /** + * @brief Constructor + * + * @param payloadBuffer Pointer to a buffer to store the payload data of + * the CSP packet. + * @param payloadBufferSz The size of the payload buffer where the payload + * data will be stored. + */ + CspGetParamReply(uint8_t* payloadBuffer_, uint8_t payloadBufferSz_) : + payload(payloadBuffer_, payloadBufferSz_) { + setLinks(); + } + + uint8_t getAction(){ + return action; + } + + uint8_t getTableId(){ + return tableId; + } + + uint16_t getLength(){ + return length; + } + + uint16_t getAddress(){ + return addr; + } + +private: + CspGetParamReply(const CspGetParamReply &reply); + void setLinks() { + setStart(&action); + action.setNext(&tableId); + tableId.setNext(&length); + length.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + addr.setNext(&payload); + } + + SerializeElement action; + SerializeElement tableId; + SerializeElement length; //length of address field + payload data + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; + SerializeElement> payload; +}; + + +/** + * @brief This class generates telemetry packets containing data from + * CSP get-parameter-replies. + */ +class ParamReply : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param payloadBuffer Pointer to a buffer to store the payload data of + * the CSP packet. + * @param payloadBufferSz The size of the payload buffer where the payload + * data will be stored. + */ + ParamReply(uint8_t action_, uint8_t tableId_, uint16_t addr_, + uint16_t payloadLength_, uint8_t* payloadBuffer_) : + action(action_), tableId(tableId_), addr(addr_), payloadLength( + payloadLength_), payload(payloadBuffer_, payloadLength) { + setLinks(); + } + +private: + ParamReply(const CspGetParamReply &reply); + void setLinks() { + setStart(&action); + action.setNext(&tableId); + tableId.setNext(&addr); + addr.setNext(&payloadLength); + payloadLength.setNext(&payload); + } + SerializeElement action; + SerializeElement tableId; + SerializeElement addr; + SerializeElement payloadLength; + SerializeElement> payload; +}; + +/** + * @brief This class helps to unpack information from an action message + * to set a parameter in gomspace devices. The action message can be + * for example received from the PUS Service 8. + */ +class SetParamMessageUnpacker: public SerialLinkedListAdapter { +public: + /* Largest parameter is a uint32_t */ + static const uint32_t MAX_SIZE = 4; + + SetParamMessageUnpacker() { + setLinks(); + } + + uint16_t getAddress() { + return address; + } + + uint8_t* getParameter() { + return parameter->front(); + } + + uint8_t getParameterSize(){ + return parameter->size; + } + +private: + void setLinks() { + setStart(&address); + address.setNext(¶meter); + } + SetParamMessageUnpacker(const SetParamMessageUnpacker &message); + SerializeElement address; + SerializeElement> parameter; +}; + + +/** + * @brief This class helps to unpack information from an action message + * to get a parameter from gomspace devices. The action message can be + * for example received from the PUS Service 8. + */ +class GetParamMessageUnpacker: public SerialLinkedListAdapter { +public: + + GetParamMessageUnpacker() { + setLinks(); + } + + uint8_t getTableId() { + return tableId; + } + + uint16_t getAddress() { + return address; + } + + uint8_t getParameterSize(){ + return parameterSize; + } + + +private: + GetParamMessageUnpacker(const GetParamMessageUnpacker &message); + void setLinks() { + setStart(&tableId); + tableId.setNext(&address); + address.setNext(¶meterSize); + } + SerializeElement tableId; + SerializeElement address; //The memory address offset within the table + /* The size of the requested value (e.g. temperature is a uint16_t value) */ + SerializeElement parameterSize; +}; + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ */ diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h new file mode 100644 index 00000000..a0c0cacd --- /dev/null +++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h @@ -0,0 +1,39 @@ +/* + * GomspaceDefinitions.h + * + * @brief This file holds all definitions specific for devices from gomspace. + * @date 20.12.2020 + * @author J. Meier + */ + +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ + + +namespace P60Dock{ + /* The maximum size of a reply from the P60 dock. Maximum size is reached + * when retrieving the full parameter configuration table. 412 bytes of + * payload data and 12 bytes of CSP header data. */ + static const uint16_t MAX_REPLY_LENGTH = 424; + + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408; + static const uint16_t MAX_HKTABLE_ADDRESS = 187; +} + + +namespace PDU{ + /* When retrieving full configuration parameter table */ + static const uint16_t MAX_REPLY_LENGTH = 318; + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316; + static const uint16_t MAX_HKTABLE_ADDRESS = 140; +} + + +namespace ACU{ + /* When receiving full houskeeping (telemetry) table */ + static const uint16_t MAX_REPLY_LENGTH = 124; + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26; + static const uint16_t MAX_HKTABLE_ADDRESS = 120; +} + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ */ diff --git a/tmtc b/tmtc index 07b6a9df..b1dc449c 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 07b6a9df18baff999ca52c2f2781f8f77f8dcb65 +Subproject commit b1dc449ccfd7de558a87ebc7aae77b1eaf32c934