Add link parameter

6 files changed, 52 insertions, 43 deletions

diff --git a/serial_link/protocol/byte_stuffer.c b/serial_link/protocol/byte_stuffer.c
index e5a26c2c2e..05b7aa6f80 100644
--- a/serial_link/protocol/byte_stuffer.c
+++ b/serial_link/protocol/byte_stuffer.c
@@ -32,6 +32,7 @@ SOFTWARE.
 // http://www.stuartcheshire.org/papers/COBSforToN.pdf
 
 #define MAX_FRAME_SIZE 1024
+#define NUM_LINKS 2
 
 typedef struct byte_stuffer_state {
     uint16_t next_zero;
@@ -40,70 +41,78 @@ typedef struct byte_stuffer_state {
     uint8_t data[MAX_FRAME_SIZE];
 }byte_stuffer_state_t;
 
-static byte_stuffer_state_t state;
+static byte_stuffer_state_t states[NUM_LINKS];
+
+void init_byte_stuffer_state(byte_stuffer_state_t* state) {
+    state->next_zero = 0;
+    state->data_pos = 0;
+    state->long_frame = false;
+}
 
 void init_byte_stuffer(void) {
-    state.next_zero = 0;
-    state.data_pos = 0;
-    state.long_frame = false;
+    int i;
+    for (i=0;i<NUM_LINKS;i++) {
+        init_byte_stuffer_state(&states[i]);
+    }
 }
 
-void recv_byte(uint8_t data) {
+void 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) {
-        state.next_zero = data;
-        state.long_frame = data == 0xFF;
-        state.data_pos = 0;
+    if (state->next_zero == 0) {
+        state->next_zero = data;
+        state->long_frame = data == 0xFF;
+        state->data_pos = 0;
         return;
     }
 
-    state.next_zero--;
+    state->next_zero--;
     if (data == 0) {
-        if (state.next_zero == 0) {
+        if (state->next_zero == 0) {
             // The frame is completed
-            if (state.data_pos > 0) {
-                validator_recv_frame(state.data, state.data_pos);
+            if (state->data_pos > 0) {
+                validator_recv_frame(link, state->data, state->data_pos);
             }
         }
         else {
             // The frame is invalid, so reset
-            init_byte_stuffer();
+            init_byte_stuffer_state(state);
         }
     }
     else {
-        if (state.data_pos == MAX_FRAME_SIZE) {
+        if (state->data_pos == MAX_FRAME_SIZE) {
             // We exceeded our maximum frame size
             // therefore there's nothing else to do than reset to a new frame
-            state.next_zero = data;
-            state.long_frame = data == 0xFF;
-            state.data_pos = 0;
+            state->next_zero = data;
+            state->long_frame = data == 0xFF;
+            state->data_pos = 0;
         }
-        else if (state.next_zero == 0) {
-            if (state.long_frame) {
+        else if (state->next_zero == 0) {
+            if (state->long_frame) {
                 // This is part of a long frame, so continue
-                state.next_zero = data;
-                state.long_frame = data == 0xFF;
+                state->next_zero = data;
+                state->long_frame = data == 0xFF;
             }
             else {
                 // Special case for zeroes
-                state.next_zero = data;
-                state.data[state.data_pos++] = 0;
+                state->next_zero = data;
+                state->data[state->data_pos++] = 0;
             }
         }
         else {
-            state.data[state.data_pos++] = data;
+            state->data[state->data_pos++] = data;
         }
     }
 }
 
-static void send_block(uint8_t* start, uint8_t* end, uint8_t num_non_zero) {
-    send_data(&num_non_zero, 1);
+static void send_block(uint8_t link, uint8_t* start, uint8_t* end, uint8_t num_non_zero) {
+    send_data(link, &num_non_zero, 1);
     if (end > start) {
-        send_data(start, end-start);
+        send_data(link, start, end-start);
     }
 }
 
-void send_frame(uint8_t* data, uint16_t size) {
+void 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;
@@ -113,14 +122,14 @@ void send_frame(uint8_t* data, uint16_t size) {
             if (num_non_zero == 0xFF) {
                 // There's more data after big non-zero block
                 // So send it, and start a new block
-                send_block(start, data, num_non_zero);
+                send_block(link, start, data, num_non_zero);
                 start = data;
                 num_non_zero = 1;
             }
             else {
                 if (*data == 0) {
                     // A zero encountered, so send the block
-                    send_block(start, data, num_non_zero);
+                    send_block(link, start, data, num_non_zero);
                     start = data + 1;
                     num_non_zero = 1;
                 }
@@ -130,7 +139,7 @@ void send_frame(uint8_t* data, uint16_t size) {
                 ++data;
             }
         }
-        send_block(start, data, num_non_zero);
-        send_data(&zero, 1);
+        send_block(link, start, data, num_non_zero);
+        send_data(link, &zero, 1);
     }
 }
diff --git a/serial_link/protocol/byte_stuffer.h b/serial_link/protocol/byte_stuffer.h
index 4dcdd24c11..cd94b45828 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 data);
-void send_frame(uint8_t* data, uint16_t size);
+void recv_byte(uint8_t link, uint8_t data);
+void send_frame(uint8_t link, uint8_t* data, uint16_t size);
diff --git a/serial_link/protocol/frame_router.h b/serial_link/protocol/frame_router.h
index dd1bfb1230..3906b06c71 100644
--- a/serial_link/protocol/frame_router.h
+++ b/serial_link/protocol/frame_router.h
@@ -22,4 +22,4 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-void route_incoming_frame(uint8_t* data, uint16_t size);
+void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size);
diff --git a/serial_link/protocol/frame_validator.c b/serial_link/protocol/frame_validator.c
index f326097ffa..80e662b2e8 100644
--- a/serial_link/protocol/frame_validator.c
+++ b/serial_link/protocol/frame_validator.c
@@ -102,19 +102,19 @@ static uint32_t crc32_byte(uint8_t *p, uint32_t bytelength)
     return (crc ^ 0xffffffff);
 }
 
-void validator_recv_frame(uint8_t* data, uint16_t size) {
+void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
     if (size > 4) {
         uint32_t frame_crc;
         memcpy(&frame_crc, data + size -4, 4);
         uint32_t expected_crc = crc32_byte(data, size - 4);
         if (frame_crc == expected_crc) {
-            route_incoming_frame(data, size-4);
+            route_incoming_frame(link, data, size-4);
         }
     }
 }
 
-void validator_send_frame(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(data, size + 4);
+    send_frame(link, data, size + 4);
 }
diff --git a/serial_link/protocol/frame_validator.h b/serial_link/protocol/frame_validator.h
index 2e518894fb..c35fc27260 100644
--- a/serial_link/protocol/frame_validator.h
+++ b/serial_link/protocol/frame_validator.h
@@ -22,6 +22,6 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-void validator_recv_frame(uint8_t* data, uint16_t size);
+void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size);
 // The buffer pointed to by the data needs 4 additional bytes
-void validator_send_frame(uint8_t* data, uint16_t size);
+void validator_send_frame(uint8_t link, uint8_t* data, uint16_t size);
diff --git a/serial_link/protocol/physical.h b/serial_link/protocol/physical.h
index 73a7855dfb..ee5883d36b 100644
--- a/serial_link/protocol/physical.h
+++ b/serial_link/protocol/physical.h
@@ -22,4 +22,4 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-void send_data(const uint8_t* data, uint16_t size);
+void send_data(uint8_t link, const uint8_t* data, uint16_t size);