added new sources and includes

.gitignore

@@ -103,3 +103,4 @@ local.properties
 .cache-main
 .scala_dependencies
 .worksheet
+/Release/

ArduinoConfig.h

@@ -0,0 +1,37 @@
+#ifndef ARDUINOCONFIG_H_
+#define ARDUINOCONFIG_H_
+
+static const uint8_t COMMAND_TRANSFER_SPI = 1;
+
+// Can be set to one for additional programming information from the primary
+// serial port which is usually also used to flash the Arduino
+// Can be disabled if this output interferes with the usual
+// serial communication logic
+#define PROGRAMMING_OUTPUT          1
+
+#define BAUD_RATE               115200
+#define SERIAL_RX_BUFFER_SIZE   256
+#define RING_BUFFER_SIZE        100
+#define MAX_PACKET_LENGTH       100
+#define RING_BUFFER_CHECK_INTVL 1000
+
+// Define which port to use for the SPI Chip Select by using the register
+// definitions. The data direction register is assigned as well.
+// The ports can be looked up on the official Arduino pinout schematics.
+#ifdef ARDUINO_AVR_MEGA2560
+// Defines for the Arduino Mega
+#define CS_PORT PORTK
+#define CS_DDR DDRK
+#elif defined(ARDUINO_AVR_UNO)
+#define CS_PORT PORTD
+#define CS_DDR DDRD
+#elif defined(__SAM3X8E__)
+// Define for the Arduino Due
+#define CS_PORT PORTC
+#define CS_DDR DDRC
+#else
+#define CS_PORT PORTC
+#define CS_DDR DDRC
+#endif
+
+#endif /* ARDUINOCONFIG_H_ */

IOBoard.cpp

@@ -0,0 +1,172 @@
+#include "IOBoard.h"
+#include <SPI.h>
+#include "ArduinoConfig.h"
+#include "helper/SimpleRingBuffer.h"
+#include "helper/DleEncoder.h"
+#include "helper/crc_ccitt.h"
+
+SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
+
+uint8_t rawData[2 * RING_BUFFER_SIZE];
+size_t rawDataSize = 0;
+
+#define PACKET_COMMAND_LENGTH       1
+#define PACKET_ADDRESS_LENGTH       1
+#define PACKET_SIZE_FIELD_LENGTH    2
+
+#define PACKET_HEADER_LENGTH        4
+
+namespace IOBoard {
+
+void handleNewData() {
+    ringBuffer.readData(rawData, sizeof(rawData), true, &rawDataSize);
+
+    if (rawDataSize == 0) {
+        return;
+    }
+
+    //look for STX
+    size_t firstSTXinRawData = 0;
+    while ((firstSTXinRawData < rawDataSize)
+            && (rawData[firstSTXinRawData] != DleEncoder::STX)) {
+        Serial.println(rawData[firstSTXinRawData]);
+        firstSTXinRawData++;
+    }
+
+    if (rawData[firstSTXinRawData] != DleEncoder::STX) {
+        //there is no STX in our data, throw it away...
+        Serial.println("NO STX");
+        ringBuffer.deleteData(rawDataSize);
+        return;
+    }
+
+    uint8_t packet[MAX_PACKET_LENGTH];
+    size_t packetLen;
+
+    size_t readSize;
+
+    ReturnValue_t result = DleEncoder::decode(rawData + firstSTXinRawData,
+            rawDataSize - firstSTXinRawData, &readSize, packet, sizeof(packet),
+            &packetLen);
+
+    size_t toDelete = firstSTXinRawData;
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        handlePacket(packet, packetLen);
+
+        // after handling the packet, we can delete it from the raw stream,
+        // it has been copied to packet
+        toDelete += readSize;
+    }
+
+    //remove Data which was processed
+    ringBuffer.deleteData(toDelete);
+
+}
+
+void handlePacket(uint8_t *packet, size_t packetLen) {
+    /* Paket layout is:
+      ------------------------------
+     |byte     |  field             |
+     |         |                    |
+     |------------------------------|
+     |1        | 8 bit command      |
+     |------------------------------|
+     |1        | 8 bit address      |
+     |------------------------------|
+     |2        | 16bit length       |
+     |------------------------------|
+     |length   | <length> byte data |
+     |------------------------------|
+     |2        | 16 bit crc         |
+     |------------------------------|
+      ------------------------------
+    */
+
+    uint16_t crc = Calculate_CRC(packet, packetLen);
+
+    if (crc != 0) {
+        Serial.println("-AI- Invalid packet checksum detected!");
+        return;
+    }
+
+    uint16_t payloadLen = (packet[2] << 8) | packet[3];
+
+    if (payloadLen != packetLen - 6) {
+        Serial.println("-AI- Invalid packet length detected!");
+        return;
+    }
+
+    uint8_t command = packet[0];
+    uint8_t address = packet[1];
+
+    switch (command) {
+    case COMMAND_TRANSFER_SPI:
+        transferSPI(address, packet + PACKET_HEADER_LENGTH, payloadLen);
+        //echo the data back, no need to change the header fields, they are the same
+        //checksum will be written by sendReply()
+        //check reply:
+        Serial.println("Data response check: ");
+        for(size_t i =0; i< packetLen; i++){
+            Serial.print("packet nr ");Serial.print(i);Serial.print(" ");
+            Serial.println(packet[i]);
+        }
+        sendReply(packet, packetLen);
+        break;
+    default:
+        Serial.println("invalid command");
+        break;
+    }
+
+}
+
+void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
+    SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE3));
+    // The specified address is the bit where the last bit is port 0
+    // and the first bit is port 7. It is inverted because the SPI protocol
+    // requires the slave select to be driven low.
+    CS_PORT = ~address;
+    SPI.transfer(data, datalen);
+    delay(100);
+    // Pull the slave select high again.
+    CS_PORT = 0xff;
+    SPI.endTransaction();
+}
+
+/**
+ * Encode and send the data, last two bytes of data are assumed to be for the checksum
+ * and will be overwritten with it
+ */
+void sendReply(uint8_t *data, size_t len) {
+    uint16_t crc = Calculate_CRC(data, len - 2);
+    data[len - 2] = crc >> 8;
+    data[len - 1] = crc;
+    //we're being conservative here
+    //TODO move this to global so other protocols can use it too
+    uint8_t buffer[2 * len + 2];
+    buffer[0] = DleEncoder::STX;
+    size_t writtenLen;
+    ReturnValue_t result = DleEncoder::encode(data, len, buffer, sizeof(buffer),
+            &writtenLen, true);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return;
+    }
+    Serial.write(buffer, writtenLen);
+}
+
+
+//TODO check if this is thread safe by arduino
+// I think it is, see HardwareSerial::available()
+void serialEvent() {
+    //Serial.println(ringBuffer.availableWriteSpace());
+    //uint8_t i = 0;
+
+    while (Serial.available()>0) {
+        uint8_t byte = Serial.read();
+        ringBuffer.writeData(&byte, 1);
+    }
+    //Serial.println(ringBuffer.availableWriteSpace());
+}
+}
+
+
+

IOBoard.h

@@ -0,0 +1,17 @@
+#ifndef IOBOARD_H_
+#define IOBOARD_H_
+
+#include <Arduino.h>
+
+namespace IOBoard {
+
+void handleNewData();
+void handlePacket(uint8_t *packet, size_t packetLen);
+void transferSPI(uint8_t address, uint8_t *data, size_t datalen);
+void sendReply(uint8_t *data, size_t len);
+
+}
+
+
+
+#endif /* IOBOARD_H_ */

Makefile

@@ -1,12 +1,19 @@
 TARGET = ArduinoIO
+
 # The C source files
 SRC = 
+
 # The C++ source files
 PSRC += main.cpp
+PSRC += IOBoard.cpp
 PSRC += $(wildcard helper/*.cpp) 
 PSRC += arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.cpp
+
 # extra Arduino libraries
 ARDLIBS = 				
 
+EXTRAINCDIRS += arduino_core/ArduinoCore-avr/libraries/SPI/src
+EXTRAINCDIRS += arduino_core/src
+
 # this line includes the Makefile.base
 include arduino_core/arduino-base.mk

main.cpp

@@ -1,172 +1,47 @@
 #include <Arduino.h>
 
-#include "helper/SimpleRingBuffer.h"
-#include "helper/DleEncoder.h"
-#include "helper/crc_ccitt.h"
+#include "IOBoard.h"
+#include "ArduinoConfig.h"
 
+// TODO: Copy this header into arduino_core, so it can be used without
+// Eclipse Sloeber as well.
+#include <arduino-timer.h>
 #include <avr/io.h>
 
 //SPI is formally a library, so it is not part of the objects compiled
 //from the core and we need to include it explicitly
-#include "arduino_core/ArduinoCore-avr/libraries/SPI/src/SPI.h"
+#include <SPI.h>
 
-//Define which port to use for the SPI Chip Select
-#define CS_PORT PORTC
-#define CS_DDR DDRC
-
-#define RING_BUFFER_SIZE 100
-#define MAX_PACKET_LENGTH 100
-#define SERIAL_RX_BUFFER_SIZE 256
-
-static const uint8_t COMMAND_TRANSFER_SPI = 1;
-
-SimpleRingBuffer ringBuffer(RING_BUFFER_SIZE, true);
-
-uint8_t rawData[2 * RING_BUFFER_SIZE];
-size_t rawDataSize = 0;
-
-/**
- * Encode and send the data, last two bytes of data are assumed to be for the checksum
- * and will be overwritten with it
- */
-void sendData(uint8_t *data, size_t len) {
-	uint16_t crc = Calculate_CRC(data, len - 2);
-	data[len - 2] = crc >> 8;
-	data[len - 1] = crc;
-	//we're being conservative here
-	//TODO move this to global so other protocols can use it too
-	uint8_t buffer[2 * len + 2];
-	buffer[0] = DleEncoder::STX;
-	size_t writtenLen;
-	ReturnValue_t result = DleEncoder::encode(data, len, buffer, sizeof(buffer),
-			&writtenLen, true);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return;
-	}
-	Serial.write(buffer, writtenLen);
-}
-
-void transferSPI(uint8_t address, uint8_t *data, size_t datalen) {
-	SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE3));
-	CS_PORT = ~address;
-	SPI.transfer(data, datalen);
-	delay(100);
-	CS_PORT = 0xff;
-	SPI.endTransaction();
-
-}
-
-void handlePacket(uint8_t *packet, size_t packetLen) {
-	//Paket layout is:
-	// 8 bit command | 8 bit address | 16bit length | <length> byte data | 16 bit crc
-
-
-
-
-	uint16_t crc = Calculate_CRC(packet, packetLen);
-
-
-	if (crc != 0) {
-		Serial.println("invalid Checksum");
-		return;
-	}
-
-	uint16_t payloadLen = (packet[2] << 8) | packet[3];
-
-	if (payloadLen != packetLen - 6) {
-		Serial.println("invalid len");
-		return;
-	}
-
-	uint8_t command = packet[0];
-	uint8_t address = packet[1];
-
-
-
-	switch (command) {
-	case COMMAND_TRANSFER_SPI:
-		transferSPI(address, packet + 4, payloadLen);
-		//echo the data back, no need to change the header fields, they are the same
-		//checksum will be written by sendData()
-		//check reply:
-		Serial.println("Data response check: ");
-		for(size_t i =0; i< packetLen; i++){
-			Serial.print("packet nr ");Serial.print(i);Serial.print(" ");Serial.println(packet[i]);
-		}
-		sendData(packet, packetLen);
-		break;
-	default:
-		Serial.println("invalid command");
-		break;
-	}
-
-}
-
-void handleNewData() {
-	ringBuffer.readData(rawData, sizeof(rawData), true, &rawDataSize);
-
-	if (rawDataSize == 0) {
-		return;
-	}
-
-	//look for STX
-	size_t firstSTXinRawData = 0;
-	while ((firstSTXinRawData < rawDataSize)
-			&& (rawData[firstSTXinRawData] != DleEncoder::STX)) {
-		Serial.println(rawData[firstSTXinRawData]);
-		firstSTXinRawData++;
-	}
-
-	if (rawData[firstSTXinRawData] != DleEncoder::STX) {
-		//there is no STX in our data, throw it away...
-		Serial.println("NO STX");
-		ringBuffer.deleteData(rawDataSize);
-		return;
-	}
-
-	uint8_t packet[MAX_PACKET_LENGTH];
-	size_t packetLen;
-
-	size_t readSize;
-
-	ReturnValue_t result = DleEncoder::decode(rawData + firstSTXinRawData,
-			rawDataSize - firstSTXinRawData, &readSize, packet, sizeof(packet),
-			&packetLen);
-
-	size_t toDelete = firstSTXinRawData;
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		handlePacket(packet, packetLen);
-
-		//after handling the packet, we can delete it from the raw stream, it has been copied to packet
-		toDelete += readSize;
-	}
-
-	//remove Data which was processed
-	ringBuffer.deleteData(toDelete);
-
-}
-
-//TODO check if this is thread safe by arduino
-void serialEvent() {
-	//Serial.println(ringBuffer.availableWriteSpace());
-	uint8_t i = 0;
-
-	while (Serial.available()>0) {
-		uint8_t byte = Serial.read();
-		ringBuffer.writeData(&byte, 1);
-	}
-	//Serial.println(ringBuffer.availableWriteSpace());
-}
+auto timer = timer_create_default();
 
 void setup() {
-	CS_DDR = 0xff;
-	CS_PORT = 0xff;
-	Serial.begin(9600);
-	SPI.begin();
+    // Set data direction of selected port to output.
+    CS_DDR = 0xff;
+    // Drive all the slave selects high as required for the SPI protocol
+    // if no transfer is going on.
+    CS_PORT = 0xff;
+    Serial.begin(BAUD_RATE);
+#if PROGRAMMING_OUTPUT == 1
+    Serial.println("-AI- Setting up Arduino IO interface board.");
+    Serial.print("-AI- Configured baud rate for serial communication: ");
+    Serial.println(BAUD_RATE, DEC);
+    Serial.print("-AI- Size of serial receiver buffer: ");
+    Serial.print(SERIAL_RX_BUFFER_SIZE, DEC);
+    Serial.println(" bytes");
+#endif
+    SPI.begin();
+}
+
+bool periodicHandler1(void* args) {
+    if(args) {};
+    IOBoard::handleNewData();
+    return false;
 }
 
 void loop() {
-;
-	handleNewData();
-	delay(1000);
+    timer.tick();
+    timer.every(RING_BUFFER_CHECK_INTVL, periodicHandler1);
+    //delay(1000);
 }
+
+