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Arduino-Development

/*
  Copyright (c) 2013 Arduino LLC. All right reserved.
  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 St, Fifth Floor, Boston, MA 02110-1301 USA
*/

#include "Bridge.h"

BridgeClass::BridgeClass(Stream &_stream) :
  index(0), stream(_stream), started(false), max_retries(0) {
  // Empty
}

void BridgeClass::begin() {
  if (started)
    return;
  started = true;

  // Wait for U-boot to finish startup
  do {
    dropAll();
    delay(1000);
  } while (stream.available() > 0);

  while (true) {
    // Bridge interrupt:
    // - Ask the bridge to close itself
    uint8_t quit_cmd[] = {'X', 'X', 'X', 'X', 'X'};
    max_retries = 1;
    transfer(quit_cmd, 5);

    // Bridge startup:
    // - If the bridge is not running starts it safely
    stream.print(CTRL_C);
    delay(250);
    stream.print(F("\n"));
    delay(250);
    stream.print(F("\n"));
    delay(500);
    // Wait for OpenWRT message
    // "Press enter to activate console"
    stream.print(F("run-bridge\n"));
    delay(500);
    dropAll();

    // Reset the brigde to check if it is running
    uint8_t cmd[] = {'X', 'X', '1', '0', '0'};
    uint8_t res[4];
    max_retries = 50;
    uint16_t l = transfer(cmd, 5, res, 4);
    if (l == TRANSFER_TIMEOUT) {
      // Bridge didn't start...
      // Maybe the board is starting-up?

      // Wait and retry
      delay(1000);
      continue;
    }
    if (res[0] != 0)
      while (true);

    // Detect bridge version
    if (l == 4) {
      bridgeVersion = (res[1]-'0')*100 + (res[2]-'0')*10 + (res[3]-'0');
    } else {
      // Bridge v1.0.0 didn't send any version info
      bridgeVersion = 100;
    }

    max_retries = 50;
    return;
  }
}

void BridgeClass::end() {

  while (true) {
    // Bridge interrupt:
    // - Ask the bridge to close itself
    uint8_t quit_cmd[] = {'X', 'X', 'X', 'X', 'X'};
    max_retries = 1;
    transfer(quit_cmd, 5);
    delay(100);
    stream.print(CTRL_C);
    delay(250);
    stream.print(F("cd \n"));
    //expect a shell
    bool done = false;
    delay(100);
    while (stream.available()) {
      char c = stream.read();
      if (c == '#') {
        done = true;
        break;
      }
    }
    if (done) {
      stream.print(F("reset\n"));
      break;
    }
  }
  delay(100);
  dropAll();
}

void BridgeClass::put(const char *key, const char *value) {
  // TODO: do it in a more efficient way
  String cmd = "D";
  uint8_t res[1];
  cmd += key;
  cmd += "\xFE";
  cmd += value;
  transfer((uint8_t*)cmd.c_str(), cmd.length(), res, 1);
}

unsigned int BridgeClass::get(const char *key, uint8_t *value, unsigned int maxlen) {
  uint8_t cmd[] = {'d'};
  unsigned int l = transfer(cmd, 1, (uint8_t *)key, strlen(key), value, maxlen);
  if (l < maxlen)
    value[l] = 0; // Zero-terminate string
  return l;
}

#if defined(ARDUINO_ARCH_AVR)
// AVR use an optimized implementation of CRC
#include <util/crc16.h>
#else
// Generic implementation for non-AVR architectures
uint16_t _crc_ccitt_update(uint16_t crc, uint8_t data)
{
  data ^= crc & 0xff;
  data ^= data << 4;
  return ((((uint16_t)data << 8) | ((crc >> 8) & 0xff)) ^
          (uint8_t)(data >> 4) ^
          ((uint16_t)data << 3));
}
#endif

void BridgeClass::crcUpdate(uint8_t c) {
  CRC = _crc_ccitt_update(CRC, c);
}

void BridgeClass::crcReset() {
  CRC = 0xFFFF;
}

void BridgeClass::crcWrite() {
  stream.write((char)(CRC >> 8));
  stream.write((char)(CRC & 0xFF));
}

bool BridgeClass::crcCheck(uint16_t _CRC) {
  return CRC == _CRC;
}

uint16_t BridgeClass::transfer(const uint8_t *buff1, uint16_t len1,
                               const uint8_t *buff2, uint16_t len2,
                               const uint8_t *buff3, uint16_t len3,
                               uint8_t *rxbuff, uint16_t rxlen)
{
  uint16_t len = len1 + len2 + len3;
  uint8_t retries = 0;
  for ( ; retries < max_retries; retries++, delay(100), dropAll() /* Delay for retransmission */) {
    // Send packet
    crcReset();
    stream.write((char)0xFF);                // Start of packet (0xFF)
    crcUpdate(0xFF);
    stream.write((char)index);               // Message index
    crcUpdate(index);
    stream.write((char)((len >> 8) & 0xFF)); // Message length (hi)
    crcUpdate((len >> 8) & 0xFF);
    stream.write((char)(len & 0xFF));        // Message length (lo)
    crcUpdate(len & 0xFF);
    for (uint16_t i = 0; i < len1; i++) { // Payload
      stream.write((char)buff1[i]);
      crcUpdate(buff1[i]);
    }
    for (uint16_t i = 0; i < len2; i++) { // Payload
      stream.write((char)buff2[i]);
      crcUpdate(buff2[i]);
    }
    for (uint16_t i = 0; i < len3; i++) { // Payload
      stream.write((char)buff3[i]);
      crcUpdate(buff3[i]);
    }
    crcWrite();                     // CRC

    // Wait for ACK in 200ms
    if (timedRead(200) != 0xFF)
      continue;
    crcReset();
    crcUpdate(0xFF);

    // Check packet index
    if (timedRead(5) != index)
      continue;
    crcUpdate(index);

    // Recv len
    int lh = timedRead(10);
    if (lh < 0)
      continue;
    crcUpdate(lh);
    int ll = timedRead(10);
    if (ll < 0)
      continue;
    crcUpdate(ll);
    uint16_t l = lh;
    l <<= 8;
    l += ll;

    // Recv data
    for (uint16_t i = 0; i < l; i++) {
      // Cut received data if rxbuffer is too small
      if (i >= rxlen)
          break;
      int c = timedRead(5);
      if (c < 0)
        continue;
      rxbuff[i] = c;
      crcUpdate(c);
    }

    // Check CRC
    int crc_hi = timedRead(5);
    if (crc_hi < 0)
      continue;
    int crc_lo = timedRead(5);
    if (crc_lo < 0)
      continue;
    if (!crcCheck((crc_hi << 8) + crc_lo))
      continue;

    // Increase index
    index++;

    // Return bytes received
    if (l > rxlen)
      return rxlen;
    return l;
  }

  // Max retries exceeded
  return TRANSFER_TIMEOUT;
}

int BridgeClass::timedRead(unsigned int timeout) {
  int c;
  unsigned long _startMillis = millis();
  do {
    c = stream.read();
    if (c >= 0) return c;
  } while (millis() - _startMillis < timeout);
  return -1;     // -1 indicates timeout
}

void BridgeClass::dropAll() {
  while (stream.available() > 0) {
    stream.read();
  }
}

#if defined(ARDUINO_ARCH_SAM)
#include <Reset.h>
#endif

#if defined(ARDUINO_ARCH_SAM)
void checkForRemoteSketchUpdate(uint8_t pin) {
  // The host force pin LOW to signal that a new sketch is coming
  pinMode(pin, INPUT_PULLUP);
  delay(50);
  if (digitalRead(pin) == LOW) {
    initiateReset(1);
    while (true)
      ; // Wait for reset to SAM-BA
  }

  // Restore in standard state
  pinMode(pin, INPUT);
}
#else
void checkForRemoteSketchUpdate(uint8_t /* pin */) {
  // Empty, bootloader is enough.
}
#endif

// Bridge instance
#if defined(SERIAL_PORT_LINUXBRIDGE)
SerialBridgeClass Bridge(SERIAL_PORT_LINUXBRIDGE);
#elif defined(SERIAL_PORT_HARDWARE)
SerialBridgeClass Bridge(SERIAL_PORT_HARDWARE);
#elif defined(SERIAL_PORT_HARDWARE_OPEN)
SerialBridgeClass Bridge(SERIAL_PORT_HARDWARE_OPEN);
#elif defined(__AVR_ATmega32U4__) // Legacy fallback
// Leonardo variants (where HardwareSerial is Serial1)
SerialBridgeClass Bridge(Serial1);
#else
SerialBridgeClass Bridge(Serial);
#endif

	/*
	Copyright (c) 2013 Arduino LLC. All right reserved.

	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 St, Fifth Floor, Boston, MA 02110-1301 USA
	*/

	#include "Bridge.h"

	BridgeClass::BridgeClass(Stream &_stream) :
	index(0), stream(_stream), started(false), max_retries(0) {
	// Empty
	}

	void BridgeClass::begin() {
	if (started)
	return;
	started = true;

	// Wait for U-boot to finish startup
	do {
	dropAll();
	delay(1000);
	} while (stream.available() > 0);

	while (true) {
	// Bridge interrupt:
	// - Ask the bridge to close itself
	uint8_t quit_cmd[] = {'X', 'X', 'X', 'X', 'X'};
	max_retries = 1;
	transfer(quit_cmd, 5);

	// Bridge startup:
	// - If the bridge is not running starts it safely
	stream.print(CTRL_C);
	delay(250);
	stream.print(F("\n"));
	delay(250);
	stream.print(F("\n"));
	delay(500);
	// Wait for OpenWRT message
	// "Press enter to activate console"
	stream.print(F("run-bridge\n"));
	delay(500);
	dropAll();

	// Reset the brigde to check if it is running
	uint8_t cmd[] = {'X', 'X', '1', '0', '0'};
	uint8_t res[4];
	max_retries = 50;
	uint16_t l = transfer(cmd, 5, res, 4);
	if (l == TRANSFER_TIMEOUT) {
	// Bridge didn't start...
	// Maybe the board is starting-up?

	// Wait and retry
	delay(1000);
	continue;
	}
	if (res[0] != 0)
	while (true);

	// Detect bridge version
	if (l == 4) {
	bridgeVersion = (res[1]-'0')100 + (res[2]-'0')10 + (res[3]-'0');
	} else {
	// Bridge v1.0.0 didn't send any version info
	bridgeVersion = 100;
	}

	max_retries = 50;
	return;
	}
	}

	void BridgeClass::end() {

	while (true) {
	// Bridge interrupt:
	// - Ask the bridge to close itself
	uint8_t quit_cmd[] = {'X', 'X', 'X', 'X', 'X'};
	max_retries = 1;
	transfer(quit_cmd, 5);
	delay(100);
	stream.print(CTRL_C);
	delay(250);
	stream.print(F("cd \n"));
	//expect a shell
	bool done = false;
	delay(100);
	while (stream.available()) {
	char c = stream.read();
	if (c == '#') {
	done = true;
	break;
	}
	}
	if (done) {
	stream.print(F("reset\n"));
	break;
	}
	}
	delay(100);
	dropAll();
	}

	void BridgeClass::put(const char key, const char value) {
	// TODO: do it in a more efficient way
	String cmd = "D";
	uint8_t res[1];
	cmd += key;
	cmd += "\xFE";
	cmd += value;
	transfer((uint8_t*)cmd.c_str(), cmd.length(), res, 1);
	}

	unsigned int BridgeClass::get(const char key, uint8_t value, unsigned int maxlen) {
	uint8_t cmd[] = {'d'};
	unsigned int l = transfer(cmd, 1, (uint8_t *)key, strlen(key), value, maxlen);
	if (l < maxlen)
	value[l] = 0; // Zero-terminate string
	return l;
	}

	#if defined(ARDUINO_ARCH_AVR)
	// AVR use an optimized implementation of CRC
	#include <util/crc16.h>
	#else
	// Generic implementation for non-AVR architectures
	uint16_t _crc_ccitt_update(uint16_t crc, uint8_t data)
	{
	data ^= crc & 0xff;
	data ^= data << 4;
	return ((((uint16_t)data << 8) \| ((crc >> 8) & 0xff)) ^
	(uint8_t)(data >> 4) ^
	((uint16_t)data << 3));
	}
	#endif

	void BridgeClass::crcUpdate(uint8_t c) {
	CRC = _crc_ccitt_update(CRC, c);
	}

	void BridgeClass::crcReset() {
	CRC = 0xFFFF;
	}

	void BridgeClass::crcWrite() {
	stream.write((char)(CRC >> 8));
	stream.write((char)(CRC & 0xFF));
	}

	bool BridgeClass::crcCheck(uint16_t _CRC) {
	return CRC == _CRC;
	}

	uint16_t BridgeClass::transfer(const uint8_t *buff1, uint16_t len1,
	const uint8_t *buff2, uint16_t len2,
	const uint8_t *buff3, uint16_t len3,
	uint8_t *rxbuff, uint16_t rxlen)
	{
	uint16_t len = len1 + len2 + len3;
	uint8_t retries = 0;
	for ( ; retries < max_retries; retries++, delay(100), dropAll() /* Delay for retransmission */) {
	// Send packet
	crcReset();
	stream.write((char)0xFF); // Start of packet (0xFF)
	crcUpdate(0xFF);
	stream.write((char)index); // Message index
	crcUpdate(index);
	stream.write((char)((len >> 8) & 0xFF)); // Message length (hi)
	crcUpdate((len >> 8) & 0xFF);
	stream.write((char)(len & 0xFF)); // Message length (lo)
	crcUpdate(len & 0xFF);
	for (uint16_t i = 0; i < len1; i++) { // Payload
	stream.write((char)buff1[i]);
	crcUpdate(buff1[i]);
	}
	for (uint16_t i = 0; i < len2; i++) { // Payload
	stream.write((char)buff2[i]);
	crcUpdate(buff2[i]);
	}
	for (uint16_t i = 0; i < len3; i++) { // Payload
	stream.write((char)buff3[i]);
	crcUpdate(buff3[i]);
	}
	crcWrite(); // CRC

	// Wait for ACK in 200ms
	if (timedRead(200) != 0xFF)
	continue;
	crcReset();
	crcUpdate(0xFF);

	// Check packet index
	if (timedRead(5) != index)
	continue;
	crcUpdate(index);

	// Recv len
	int lh = timedRead(10);
	if (lh < 0)
	continue;
	crcUpdate(lh);
	int ll = timedRead(10);
	if (ll < 0)
	continue;
	crcUpdate(ll);
	uint16_t l = lh;
	l <<= 8;
	l += ll;

	// Recv data
	for (uint16_t i = 0; i < l; i++) {
	// Cut received data if rxbuffer is too small
	if (i >= rxlen)
	break;
	int c = timedRead(5);
	if (c < 0)
	continue;
	rxbuff[i] = c;
	crcUpdate(c);
	}

	// Check CRC
	int crc_hi = timedRead(5);
	if (crc_hi < 0)
	continue;
	int crc_lo = timedRead(5);
	if (crc_lo < 0)
	continue;
	if (!crcCheck((crc_hi << 8) + crc_lo))
	continue;

	// Increase index
	index++;

	// Return bytes received
	if (l > rxlen)
	return rxlen;
	return l;
	}

	// Max retries exceeded
	return TRANSFER_TIMEOUT;
	}

	int BridgeClass::timedRead(unsigned int timeout) {
	int c;
	unsigned long _startMillis = millis();
	do {
	c = stream.read();
	if (c >= 0) return c;
	} while (millis() - _startMillis < timeout);
	return -1; // -1 indicates timeout
	}

	void BridgeClass::dropAll() {
	while (stream.available() > 0) {
	stream.read();
	}
	}

	#if defined(ARDUINO_ARCH_SAM)
	#include <Reset.h>
	#endif

	#if defined(ARDUINO_ARCH_SAM)
	void checkForRemoteSketchUpdate(uint8_t pin) {
	// The host force pin LOW to signal that a new sketch is coming
	pinMode(pin, INPUT_PULLUP);
	delay(50);
	if (digitalRead(pin) == LOW) {
	initiateReset(1);
	while (true)
	; // Wait for reset to SAM-BA
	}

	// Restore in standard state
	pinMode(pin, INPUT);
	}
	#else
	void checkForRemoteSketchUpdate(uint8_t /* pin */) {
	// Empty, bootloader is enough.
	}
	#endif

	// Bridge instance
	#if defined(SERIAL_PORT_LINUXBRIDGE)
	SerialBridgeClass Bridge(SERIAL_PORT_LINUXBRIDGE);
	#elif defined(SERIAL_PORT_HARDWARE)
	SerialBridgeClass Bridge(SERIAL_PORT_HARDWARE);
	#elif defined(SERIAL_PORT_HARDWARE_OPEN)
	SerialBridgeClass Bridge(SERIAL_PORT_HARDWARE_OPEN);
	#elif defined(__AVR_ATmega32U4__) // Legacy fallback
	// Leonardo variants (where HardwareSerial is Serial1)
	SerialBridgeClass Bridge(Serial1);
	#else
	SerialBridgeClass Bridge(Serial);
	#endif