Start implement router

8 files changed, 238 insertions, 112 deletions

diff --git a/serial_link/protocol/byte_stuffer.c b/serial_link/protocol/byte_stuffer.c
index 05b7aa6f80..8b529667fd 100644
--- a/serial_link/protocol/byte_stuffer.c
+++ b/serial_link/protocol/byte_stuffer.c
@@ -56,7 +56,7 @@ void init_byte_stuffer(void) {
     }
 }
 
-void recv_byte(uint8_t link, uint8_t data) {
+void byte_stuffer_recv_byte(uint8_t link, uint8_t data) {
     byte_stuffer_state_t* state = &states[link];
     // Start of a new frame
     if (state->next_zero == 0) {
@@ -112,7 +112,7 @@ static void send_block(uint8_t link, uint8_t* start, uint8_t* end, uint8_t num_n
     }
 }
 
-void send_frame(uint8_t link, uint8_t* data, uint16_t size) {
+void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
     const uint8_t zero = 0;
     if (size > 0) {
         uint16_t num_non_zero = 1;
diff --git a/serial_link/protocol/byte_stuffer.h b/serial_link/protocol/byte_stuffer.h
index cd94b45828..839a876fe8 100644
--- a/serial_link/protocol/byte_stuffer.h
+++ b/serial_link/protocol/byte_stuffer.h
@@ -23,5 +23,5 @@ SOFTWARE.
 */
 
 void init_byte_stuffer(void);
-void recv_byte(uint8_t link, uint8_t data);
-void send_frame(uint8_t link, uint8_t* data, uint16_t size);
+void byte_stuffer_recv_byte(uint8_t link, uint8_t data);
+void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size);
diff --git a/serial_link/protocol/frame_router.c b/serial_link/protocol/frame_router.c
new file mode 100644
index 0000000000..db6223a8d7
--- /dev/null
+++ b/serial_link/protocol/frame_router.c
@@ -0,0 +1,33 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "protocol/frame_router.h"
+
+void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size){
+    validator_send_frame(DOWN_LINK, data, size);
+}
+
+void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
+    validator_send_frame(DOWN_LINK, data, size);
+}
diff --git a/serial_link/protocol/frame_router.h b/serial_link/protocol/frame_router.h
index 3906b06c71..a0238079e8 100644
--- a/serial_link/protocol/frame_router.h
+++ b/serial_link/protocol/frame_router.h
@@ -22,4 +22,8 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
+#define UP_LINK 0
+#define DOWN_LINK 1
+
 void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size);
+void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size);
diff --git a/serial_link/protocol/frame_validator.c b/serial_link/protocol/frame_validator.c
index 80e662b2e8..a3face6506 100644
--- a/serial_link/protocol/frame_validator.c
+++ b/serial_link/protocol/frame_validator.c
@@ -116,5 +116,5 @@ void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
 void validator_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
     uint32_t crc = crc32_byte(data, size);
     memcpy(data + size, &crc, 4);
-    send_frame(link, data, size + 4);
+    byte_stuffer_send_frame(link, data, size + 4);
 }
diff --git a/serial_link/tests/byte_stuffer_tests.c b/serial_link/tests/byte_stuffer_tests.c
index 0f58479cb9..912c4d3211 100644
--- a/serial_link/tests/byte_stuffer_tests.c
+++ b/serial_link/tests/byte_stuffer_tests.c
@@ -50,23 +50,23 @@ void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
 
 Ensure(ByteStuffer, receives_no_frame_for_a_single_zero_byte) {
     never_expect(validator_recv_frame);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_no_frame_for_a_single_FF_byte) {
     never_expect(validator_recv_frame);
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
 }
 
 Ensure(ByteStuffer, receives_no_frame_for_a_single_random_byte) {
     never_expect(validator_recv_frame);
-    recv_byte(0, 0x4A);
+    byte_stuffer_recv_byte(0, 0x4A);
 }
 
 Ensure(ByteStuffer, receives_no_frame_for_a_zero_length_frame) {
     never_expect(validator_recv_frame);
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_single_byte_valid_frame) {
@@ -75,9 +75,9 @@ Ensure(ByteStuffer, receives_single_byte_valid_frame) {
         when(size, is_equal_to(1)),
         when(data, is_equal_to_contents_of(expected, 1))
     );
-    recv_byte(0, 2);
-    recv_byte(0, 0x37);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 0x37);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_three_bytes_valid_frame) {
@@ -86,11 +86,11 @@ Ensure(ByteStuffer, receives_three_bytes_valid_frame) {
         when(size, is_equal_to(3)),
         when(data, is_equal_to_contents_of(expected, 3))
     );
-    recv_byte(0, 4);
-    recv_byte(0, 0x37);
-    recv_byte(0, 0x99);
-    recv_byte(0, 0xFF);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 4);
+    byte_stuffer_recv_byte(0, 0x37);
+    byte_stuffer_recv_byte(0, 0x99);
+    byte_stuffer_recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_single_zero_valid_frame) {
@@ -99,9 +99,9 @@ Ensure(ByteStuffer, receives_single_zero_valid_frame) {
         when(size, is_equal_to(1)),
         when(data, is_equal_to_contents_of(expected, 1))
     );
-    recv_byte(0, 1);
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_valid_frame_with_zeroes) {
@@ -110,12 +110,12 @@ Ensure(ByteStuffer, receives_valid_frame_with_zeroes) {
         when(size, is_equal_to(4)),
         when(data, is_equal_to_contents_of(expected, 4))
     );
-    recv_byte(0, 2);
-    recv_byte(0, 5);
-    recv_byte(0, 2);
-    recv_byte(0, 3);
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 5);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 3);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_two_valid_frames) {
@@ -129,13 +129,13 @@ Ensure(ByteStuffer, receives_two_valid_frames) {
         when(size, is_equal_to(1)),
         when(data, is_equal_to_contents_of(expected2, 1))
     );
-    recv_byte(1, 2);
-    recv_byte(1, 5);
-    recv_byte(1, 1);
-    recv_byte(1, 0);
-    recv_byte(1, 2);
-    recv_byte(1, 3);
-    recv_byte(1, 0);
+    byte_stuffer_recv_byte(1, 2);
+    byte_stuffer_recv_byte(1, 5);
+    byte_stuffer_recv_byte(1, 1);
+    byte_stuffer_recv_byte(1, 0);
+    byte_stuffer_recv_byte(1, 2);
+    byte_stuffer_recv_byte(1, 3);
+    byte_stuffer_recv_byte(1, 0);
 }
 
 Ensure(ByteStuffer, receives_valid_frame_after_unexpected_zero) {
@@ -144,13 +144,13 @@ Ensure(ByteStuffer, receives_valid_frame_after_unexpected_zero) {
         when(size, is_equal_to(2)),
         when(data, is_equal_to_contents_of(expected, 2))
     );
-    recv_byte(1, 3);
-    recv_byte(1, 1);
-    recv_byte(1, 0);
-    recv_byte(1, 3);
-    recv_byte(1, 5);
-    recv_byte(1, 7);
-    recv_byte(1, 0);
+    byte_stuffer_recv_byte(1, 3);
+    byte_stuffer_recv_byte(1, 1);
+    byte_stuffer_recv_byte(1, 0);
+    byte_stuffer_recv_byte(1, 3);
+    byte_stuffer_recv_byte(1, 5);
+    byte_stuffer_recv_byte(1, 7);
+    byte_stuffer_recv_byte(1, 0);
 }
 
 Ensure(ByteStuffer, receives_valid_frame_after_unexpected_non_zero) {
@@ -159,14 +159,14 @@ Ensure(ByteStuffer, receives_valid_frame_after_unexpected_non_zero) {
         when(size, is_equal_to(2)),
         when(data, is_equal_to_contents_of(expected, 2))
     );
-    recv_byte(0, 2);
-    recv_byte(0, 9);
-    recv_byte(0, 4); // This should have been zero
-    recv_byte(0, 0);
-    recv_byte(0, 3);
-    recv_byte(0, 5);
-    recv_byte(0, 7);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 9);
+    byte_stuffer_recv_byte(0, 4); // This should have been zero
+    byte_stuffer_recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 3);
+    byte_stuffer_recv_byte(0, 5);
+    byte_stuffer_recv_byte(0, 7);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_and_then_end_of_frame) {
@@ -179,11 +179,11 @@ Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_and_then_end_
         when(size, is_equal_to(254)),
         when(data, is_equal_to_contents_of(expected, 254))
     );
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
     for (i=0;i<254;i++) {
-        recv_byte(0, i+1);
+        byte_stuffer_recv_byte(0, i+1);
     }
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_non_zero) {
@@ -197,13 +197,13 @@ Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_
         when(size, is_equal_to(255)),
         when(data, is_equal_to_contents_of(expected, 255))
     );
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
     for (i=0;i<254;i++) {
-        recv_byte(0, i+1);
+        byte_stuffer_recv_byte(0, i+1);
     }
-    recv_byte(0, 2);
-    recv_byte(0, 7);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 7);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_zero) {
@@ -217,13 +217,13 @@ Ensure(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_
         when(size, is_equal_to(255)),
         when(data, is_equal_to_contents_of(expected, 255))
     );
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
     for (i=0;i<254;i++) {
-        recv_byte(0, i+1);
+        byte_stuffer_recv_byte(0, i+1);
     }
-    recv_byte(0, 1);
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_two_long_frames_and_some_more) {
@@ -242,23 +242,23 @@ Ensure(ByteStuffer, receives_two_long_frames_and_some_more) {
         when(size, is_equal_to(515)),
         when(data, is_equal_to_contents_of(expected, 510))
     );
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
     for (i=0;i<254;i++) {
-        recv_byte(0, i+1);
+        byte_stuffer_recv_byte(0, i+1);
     }
-    recv_byte(0, 0xFF);
+    byte_stuffer_recv_byte(0, 0xFF);
     for (i=0;i<254;i++) {
-        recv_byte(0, i+1);
+        byte_stuffer_recv_byte(0, i+1);
     }
-    recv_byte(0, 8);
-    recv_byte(0, 1);
-    recv_byte(0, 2);
-    recv_byte(0, 3);
-    recv_byte(0, 4);
-    recv_byte(0, 5);
-    recv_byte(0, 6);
-    recv_byte(0, 7);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 8);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 3);
+    byte_stuffer_recv_byte(0, 4);
+    byte_stuffer_recv_byte(0, 5);
+    byte_stuffer_recv_byte(0, 6);
+    byte_stuffer_recv_byte(0, 7);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, receives_an_all_zeros_frame_that_is_maximum_size) {
@@ -268,23 +268,23 @@ Ensure(ByteStuffer, receives_an_all_zeros_frame_that_is_maximum_size) {
         when(data, is_equal_to_contents_of(expected, MAX_FRAME_SIZE))
     );
     int i;
-    recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 1);
     for(i=0;i<MAX_FRAME_SIZE;i++) {
-       recv_byte(0, 1);
+       byte_stuffer_recv_byte(0, 1);
     }
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, doesnt_recv_a_frame_thats_too_long_all_zeroes) {
     uint8_t expected[1] = {0};
     never_expect(validator_recv_frame);
     int i;
-    recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 1);
     for(i=0;i<MAX_FRAME_SIZE;i++) {
-       recv_byte(0, 1);
+       byte_stuffer_recv_byte(0, 1);
     }
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, received_frame_is_aborted_when_its_too_long) {
@@ -294,23 +294,23 @@ Ensure(ByteStuffer, received_frame_is_aborted_when_its_too_long) {
         when(data, is_equal_to_contents_of(expected, 1))
     );
     int i;
-    recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 1);
     for(i=0;i<MAX_FRAME_SIZE;i++) {
-       recv_byte(0, 1);
+       byte_stuffer_recv_byte(0, 1);
     }
-    recv_byte(0, 2);
-    recv_byte(0, 1);
-    recv_byte(0, 0);
+    byte_stuffer_recv_byte(0, 2);
+    byte_stuffer_recv_byte(0, 1);
+    byte_stuffer_recv_byte(0, 0);
 }
 
 Ensure(ByteStuffer, does_nothing_when_sending_zero_size_frame) {
     assert_that(sent_data_size, is_equal_to(0));
-    send_frame(0, NULL, 0);
+    byte_stuffer_send_frame(0, NULL, 0);
 }
 
 Ensure(ByteStuffer, send_one_byte_frame) {
     uint8_t data[] = {5};
-    send_frame(1, data, 1);
+    byte_stuffer_send_frame(1, data, 1);
     uint8_t expected[] = {2, 5, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -318,7 +318,7 @@ Ensure(ByteStuffer, send_one_byte_frame) {
 
 Ensure(ByteStuffer, sends_two_byte_frame) {
     uint8_t data[] = {5, 0x77};
-    send_frame(0, data, 2);
+    byte_stuffer_send_frame(0, data, 2);
     uint8_t expected[] = {3, 5, 0x77, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -326,7 +326,7 @@ Ensure(ByteStuffer, sends_two_byte_frame) {
 
 Ensure(ByteStuffer, sends_one_byte_frame_with_zero) {
     uint8_t data[] = {0};
-    send_frame(0, data, 1);
+    byte_stuffer_send_frame(0, data, 1);
     uint8_t expected[] = {1, 1, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -334,7 +334,7 @@ Ensure(ByteStuffer, sends_one_byte_frame_with_zero) {
 
 Ensure(ByteStuffer, sends_two_byte_frame_starting_with_zero) {
     uint8_t data[] = {0, 9};
-    send_frame(1, data, 2);
+    byte_stuffer_send_frame(1, data, 2);
     uint8_t expected[] = {1, 2, 9, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -342,7 +342,7 @@ Ensure(ByteStuffer, sends_two_byte_frame_starting_with_zero) {
 
 Ensure(ByteStuffer, sends_two_byte_frame_starting_with_non_zero) {
     uint8_t data[] = {9, 0};
-    send_frame(1, data, 2);
+    byte_stuffer_send_frame(1, data, 2);
     uint8_t expected[] = {2, 9, 1, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -350,7 +350,7 @@ Ensure(ByteStuffer, sends_two_byte_frame_starting_with_non_zero) {
 
 Ensure(ByteStuffer, sends_three_byte_frame_zero_in_the_middle) {
     uint8_t data[] = {9, 0, 0x68};
-    send_frame(0, data, 3);
+    byte_stuffer_send_frame(0, data, 3);
     uint8_t expected[] = {2, 9, 2, 0x68, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -358,7 +358,7 @@ Ensure(ByteStuffer, sends_three_byte_frame_zero_in_the_middle) {
 
 Ensure(ByteStuffer, sends_three_byte_frame_data_in_the_middle) {
     uint8_t data[] = {0, 0x55, 0};
-    send_frame(0, data, 3);
+    byte_stuffer_send_frame(0, data, 3);
     uint8_t expected[] = {1, 2, 0x55, 1, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -366,7 +366,7 @@ Ensure(ByteStuffer, sends_three_byte_frame_data_in_the_middle) {
 
 Ensure(ByteStuffer, sends_three_byte_frame_with_all_zeroes) {
     uint8_t data[] = {0, 0, 0};
-    send_frame(0, data, 3);
+    byte_stuffer_send_frame(0, data, 3);
     uint8_t expected[] = {1, 1, 1, 1, 0};
     assert_that(sent_data_size, is_equal_to(sizeof(expected)));
     assert_that(sent_data, is_equal_to_contents_of(expected, sizeof(expected)));
@@ -378,7 +378,7 @@ Ensure(ByteStuffer, sends_frame_with_254_non_zeroes) {
     for(i=0;i<254;i++) {
         data[i] = i + 1;
     }
-    send_frame(0, data, 254);
+    byte_stuffer_send_frame(0, data, 254);
     uint8_t expected[256];
     expected[0] = 0xFF;
     for(i=1;i<255;i++) {
@@ -395,7 +395,7 @@ Ensure(ByteStuffer, sends_frame_with_255_non_zeroes) {
     for(i=0;i<255;i++) {
         data[i] = i + 1;
     }
-    send_frame(0, data, 255);
+    byte_stuffer_send_frame(0, data, 255);
     uint8_t expected[258];
     expected[0] = 0xFF;
     for(i=1;i<255;i++) {
@@ -415,7 +415,7 @@ Ensure(ByteStuffer, sends_frame_with_254_non_zeroes_followed_by_zero) {
         data[i] = i + 1;
     }
     data[255] = 0;
-    send_frame(0, data, 255);
+    byte_stuffer_send_frame(0, data, 255);
     uint8_t expected[258];
     expected[0] = 0xFF;
     for(i=1;i<255;i++) {
@@ -430,27 +430,27 @@ Ensure(ByteStuffer, sends_frame_with_254_non_zeroes_followed_by_zero) {
 
 Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet) {
     uint8_t original_data[] = { 1, 2, 3};
-    send_frame(0, original_data, sizeof(original_data));
+    byte_stuffer_send_frame(0, original_data, sizeof(original_data));
     expect(validator_recv_frame,
         when(size, is_equal_to(sizeof(original_data))),
         when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
     );
     int i;
     for(i=0;i<sent_data_size;i++) {
-       recv_byte(1, sent_data[i]);
+       byte_stuffer_recv_byte(1, sent_data[i]);
     }
 }
 
 Ensure(ByteStuffer, sends_and_receives_full_roundtrip_small_packet_with_zeros) {
     uint8_t original_data[] = { 1, 0, 3, 0, 0, 9};
-    send_frame(1, original_data, sizeof(original_data));
+    byte_stuffer_send_frame(1, original_data, sizeof(original_data));
     expect(validator_recv_frame,
         when(size, is_equal_to(sizeof(original_data))),
         when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
     );
     int i;
     for(i=0;i<sent_data_size;i++) {
-       recv_byte(0, sent_data[i]);
+       byte_stuffer_recv_byte(0, sent_data[i]);
     }
 }
 
@@ -460,13 +460,13 @@ Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes) {
     for(i=0;i<254;i++) {
         original_data[i] = i + 1;
     }
-    send_frame(0, original_data, sizeof(original_data));
+    byte_stuffer_send_frame(0, original_data, sizeof(original_data));
     expect(validator_recv_frame,
         when(size, is_equal_to(sizeof(original_data))),
         when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
     );
     for(i=0;i<sent_data_size;i++) {
-       recv_byte(1, sent_data[i]);
+       byte_stuffer_recv_byte(1, sent_data[i]);
     }
 }
 
@@ -478,13 +478,13 @@ Ensure(ByteStuffer, sends_and_receives_full_roundtrip_256_bytes) {
     }
     original_data[254] = 22;
     original_data[255] = 23;
-    send_frame(0, original_data, sizeof(original_data));
+    byte_stuffer_send_frame(0, original_data, sizeof(original_data));
     expect(validator_recv_frame,
         when(size, is_equal_to(sizeof(original_data))),
         when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
     );
     for(i=0;i<sent_data_size;i++) {
-       recv_byte(1, sent_data[i]);
+       byte_stuffer_recv_byte(1, sent_data[i]);
     }
 }
 
@@ -495,12 +495,12 @@ Ensure(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes_and_then_zero) {
         original_data[i] = i + 1;
     }
     original_data[254] = 0;
-    send_frame(0, original_data, sizeof(original_data));
+    byte_stuffer_send_frame(0, original_data, sizeof(original_data));
     expect(validator_recv_frame,
         when(size, is_equal_to(sizeof(original_data))),
         when(data, is_equal_to_contents_of(original_data, sizeof(original_data)))
     );
     for(i=0;i<sent_data_size;i++) {
-       recv_byte(1, sent_data[i]);
+       byte_stuffer_recv_byte(1, sent_data[i]);
     }
 }
diff --git a/serial_link/tests/frame_router_tests.c b/serial_link/tests/frame_router_tests.c
new file mode 100644
index 0000000000..5ce6c9c0f5
--- /dev/null
+++ b/serial_link/tests/frame_router_tests.c
@@ -0,0 +1,89 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include <cgreen/cgreen.h>
+#include <cgreen/mocks.h>
+#include "protocol/byte_stuffer.c"
+#include "protocol/frame_validator.c"
+#include "protocol/frame_router.c"
+
+static uint8_t received_data[256];
+static uint16_t received_data_size;
+
+typedef struct {
+    uint8_t received_data[256];
+    uint16_t sent_data_size;
+} receive_buffer_t;
+
+typedef struct {
+    receive_buffer_t send_buffers[2];
+} router_buffer_t;
+
+router_buffer_t router_buffers[8];
+
+router_buffer_t* current_router_buffer;
+
+
+Describe(ByteStuffer);
+BeforeEach(ByteStuffer) {
+    init_byte_stuffer();
+    memset(router_buffers, 0, sizeof(router_buffers));
+    current_router_buffer = 0;
+}
+AfterEach(ByteStuffer) {}
+
+typedef struct {
+    uint32_t data;
+    uint8_t extra[16];
+} frame_buffer_t;
+
+
+void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+    receive_buffer_t* buffer = &current_router_buffer->send_buffers[link];
+    memcpy(buffer->received_data + buffer->sent_data_size, data, size);
+    buffer->sent_data_size += size;
+}
+
+static void receive_data(uint8_t link, uint8_t* data, uint16_t size) {
+    int i;
+    for(i=0;i<size;i++) {
+        byte_stuffer_recv_byte(link, data[i]);
+    }
+}
+
+
+Ensure(ByteStuffer, master_broadcast_is_received_by_everyone) {
+    frame_buffer_t data;
+    data.data = 0xAB7055BB;
+    current_router_buffer = router_buffers + 0;
+    router_send_frame(0xFF, (uint8_t*)&data, 4);
+    assert_that(router_buffers[0].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+    assert_that(router_buffers[0].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+
+    current_router_buffer = router_buffers + 1;
+    receive_data(UP_LINK, router_buffers[0].send_buffers[DOWN_LINK].received_data,
+            router_buffers[0].send_buffers[DOWN_LINK].sent_data_size);
+    assert_that(router_buffers[1].send_buffers[DOWN_LINK].sent_data_size, is_greater_than(0));
+    assert_that(router_buffers[1].send_buffers[UP_LINK].sent_data_size, is_equal_to(0));
+}
diff --git a/serial_link/tests/frame_validator_tests.c b/serial_link/tests/frame_validator_tests.c
index 49c61d1e4d..f4abd14d1b 100644
--- a/serial_link/tests/frame_validator_tests.c
+++ b/serial_link/tests/frame_validator_tests.c
@@ -30,7 +30,7 @@ void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size) {
     mock(data, size);
 }
 
-void send_frame(uint8_t link, uint8_t* data, uint16_t size) {
+void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
     mock(data, size);
 }
 
@@ -83,7 +83,7 @@ Ensure(FrameValidator, validates_five_byte_frame_with_correct_crc) {
 Ensure(FrameValidator, sends_one_byte_with_correct_crc) {
     uint8_t original[] = {0x44, 0, 0, 0, 0};
     uint8_t expected[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
-    expect(send_frame,
+    expect(byte_stuffer_send_frame,
         when(size, is_equal_to(sizeof(expected))),
         when(data, is_equal_to_contents_of(expected, sizeof(expected)))
     );
@@ -93,7 +93,7 @@ Ensure(FrameValidator, sends_one_byte_with_correct_crc) {
 Ensure(FrameValidator, sends_five_bytes_with_correct_crc) {
     uint8_t original[] = {1, 2, 3, 4, 5, 0, 0, 0, 0};
     uint8_t expected[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
-    expect(send_frame,
+    expect(byte_stuffer_send_frame,
         when(size, is_equal_to(sizeof(expected))),
         when(data, is_equal_to_contents_of(expected, sizeof(expected)))
     );