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@ -28,63 +28,66 @@ SOFTWARE.
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#include "protocol/triple_buffered_object.h"
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#define NUM_SLAVES 8
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#define LOCAL_OBJECT_EXTRA 16
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typedef struct {
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uint16_t element_size;
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uint16_t buffer_size;
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uint8_t is_master;
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uint8_t buffer[] __attribute__((aligned(4)));
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} remote_object_t;
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// master -> slave = 1 local(target all), 1 remote object
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// slave -> master = 1 local(target 0), multiple remote objects
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// master -> single slave (multiple local, target id), 1 remote object
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typedef enum {
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MASTER_TO_ALL_SLAVES,
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MASTER_TO_SINGLE_SLAVE,
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SLAVE_TO_MASTER,
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} remote_object_type;
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typedef struct {
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uint16_t element_size;
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uint8_t destination;
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remote_object_type object_type;
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uint16_t object_size;
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uint8_t buffer[] __attribute__((aligned(4)));
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} local_object_t;
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} remote_object_t;
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#define REMOTE_OBJECT_BUFFER(id, type) \
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typedef struct { \
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triple_buffer_object_t object; \
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type buffer[3]; \
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} remote_object_buffer_##id##_t;
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#define REMOTE_OBJECT_SIZE(objectsize) \
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(sizeof(triple_buffer_object_t) + objectsize * 3)
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#define LOCAL_OBJECT_SIZE(objectsize) \
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(sizeof(triple_buffer_object_t) + (objectsize + LOCAL_OBJECT_EXTRA) * 3)
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#define MASTER_REMOTE_OBJECT(id, type) \
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REMOTE_OBJECT_BUFFER(id, type) \
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#define REMOTE_OBJECT_HELPER(name, type, num_local, num_remote) \
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typedef struct { \
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remote_object_t object; \
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remote_object_buffer_##id##_t buffer; \
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} master_remote_object_##id##_t; \
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master_remote_object_##id##_t remote_object_##id = { \
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uint8_t buffer[ \
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num_remote * REMOTE_OBJECT_SIZE(sizeof(type)) + \
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num_local * LOCAL_OBJECT_SIZE(sizeof(type))]; \
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} remote_object_##name##_t;
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#define MASTER_TO_ALL_SLAVES_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, 1, 1) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.element_size = sizeof(type), \
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.buffer_size = sizeof(remote_object_buffer_##id##_t), \
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.is_master = true \
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}};
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#define SLAVE_REMOTE_OBJECT(id, type) \
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REMOTE_OBJECT_BUFFER(id, type) \
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typedef struct { \
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remote_object_t object; \
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remote_object_buffer_##id##_t buffer[NUM_SLAVES];\
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} slave_remote_object_##id##_t; \
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slave_remote_object_##id##_t remote_object_##id = { \
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.object_type = MASTER_TO_ALL_SLAVES, \
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.object_size = sizeof(type), \
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} \
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};
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#define MASTER_TO_SINGLE_SLAVE_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, NUM_SLAVES, 1) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.element_size = sizeof(type), \
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.buffer_size = sizeof(remote_object_buffer_##id##_t), \
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.is_master = true \
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}};
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#define LOCAL_OBJECT(id, type) \
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typedef struct { \
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uint32_t element_size; \
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uint8_t buffer[NUM_SLAVES][sizeof(type) + 16][3]; \
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} remote_object_##id##_t; \
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remote_object_##id##_t remote_object_##id = {.element_size = sizeof(type) + 16};
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#define REMOTE_OBJECT(id) (remote_object_t*)&remote_object_##id
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.object_type = MASTER_TO_SINGLE_SLAVE, \
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.object_size = sizeof(type), \
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} \
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};
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#define SLAVE_TO_MASTER_OBJECT(name, type) \
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REMOTE_OBJECT_HELPER(name, type, 1, NUM_SLAVES) \
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remote_object_##name##_t remote_object_##name = { \
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.object = { \
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.object_type = SLAVE_TO_MASTER, \
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.object_size = sizeof(type), \
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} \
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};
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#define REMOTE_OBJECT(name) (remote_object_t*)&remote_object_##name
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void init_transport(void);
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void init_transport(remote_object_t* remote_objects, uint32_t num_remote_objects);
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void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size);
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uint32_t transport_send_frame(uint8_t to, uint8_t* data, uint16_t size);
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