memmove -> memcpy

CMakeLists.txt

@@ -48,9 +48,13 @@ add_executable(skl_tunnel
     radio/src/radio_spi.c
     radio/src/radio_gpio.c
     radio/src/radio_hw_instance.cpp
+    radio/src/radio_protocol_frame.cpp
+    radio/src/radio_protocol.cpp
 
-    app/src/app_logging.cpp
+    app/src/app_board.cpp
+    app/src/app_transparent_client.cpp
     main.cpp
+    syscalls.c
 )
 
 target_include_directories(skl_tunnel

app/include/app_board.hpp

@@ -0,0 +1,19 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_BOARD_HPP
+#define SKL_TUNNEL_APP_BOARD_HPP
+
+#include <cstdint>
+
+namespace App::Board
+{
+
+void setup();
+
+std::uint32_t systickGet();
+
+}
+
+#endif //SKL_TUNNEL_APP_BOARD_HPP

app/include/app_logging.hpp

@@ -1,15 +0,0 @@
-//
-// Created by erki on 28.06.22.
-//
-
-#ifndef SKL_TUNNEL_APP_LOGGING_HPP
-#define SKL_TUNNEL_APP_LOGGING_HPP
-
-namespace App::Logging
-{
-
-void setup();
-
-}
-
-#endif //SKL_TUNNEL_APP_LOGGING_HPP

app/include/app_settings.hpp

@@ -0,0 +1,25 @@
+//
+// Created by erki on 14.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_SETTINGS_HPP
+#define SKL_TUNNEL_APP_SETTINGS_HPP
+
+#include <cstdint>
+
+namespace App
+{
+
+struct RadioSettings
+{
+  std::uint16_t short_address = 0x0230;
+  std::uint64_t long_address = 0x1222334455667788;
+  std::uint8_t channel = 11;
+  std::uint16_t pan_id = 0x0023;
+  std::int16_t tx_power_dbm = 0;
+  std::uint8_t retries = 3;
+};
+
+}
+
+#endif //SKL_TUNNEL_APP_SETTINGS_HPP

app/include/app_transparent_client.hpp

@@ -0,0 +1,60 @@
+//
+// Created by erki on 13.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP
+#define SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP
+
+#include <optional>
+#include <utility_function.hpp>
+
+#include "app_settings.hpp"
+#include "radio_interrupts.hpp"
+
+namespace radio
+{
+class HwInstance;
+}
+
+namespace App
+{
+
+class TransparentClient
+{
+public:
+  TransparentClient(const RadioSettings& initial_settings);
+
+  TransparentClient(const TransparentClient&) = delete;
+  TransparentClient(TransparentClient&&) = delete;
+  TransparentClient& operator=(const TransparentClient&) = delete;
+  TransparentClient& operator=(TransparentClient&&) = delete;
+
+  void apply_settings(const RadioSettings& settings);
+  void process();
+private:
+  radio::HwInstance* m_radio;
+  Utility::FunctionOwned<TransparentClient, void (radio::HwInstance*)> m_isr_cb_pointer;
+  std::optional<radio::Interrupts> m_pending_irqs = std::nullopt;
+
+  enum class AppState
+  {
+    STARTUP,
+    PASSIVE,
+    ACTIVE_RX,
+    ACTIVE_TX,
+    RX_FRAME_READY
+  };
+
+  AppState m_state = AppState::STARTUP;
+
+  void m_cbRadioIrqHandler(radio::HwInstance*);
+  std::optional<AppState> m_hwInterruptToNewState();
+  void m_transitionToState(const AppState& new_state);
+  void m_processState();
+  void m_initiateTx();
+  bool m_txBufferIsReady();
+};
+
+}
+
+#endif //SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP

app/include/skullc_samd21_hal.hpp

@@ -5,10 +5,6 @@
 #ifndef SKL_TUNNEL_SKULLC_SAMD21_HAL_HPP
 #define SKL_TUNNEL_SKULLC_SAMD21_HAL_HPP
 
-#include <array>
-#include <cstdint>
-#include <cassert>
-
 #include <hal_delay.h>
 #include <hal_io.h>
 #include <hal_usart_async.h>
@@ -16,6 +12,12 @@
 #include <utility_function.hpp>
 #include <utility_tag.hpp>
 
+#include <array>
+#include <cstdint>
+#include <cassert>
+
+#include "app_board.hpp"
+
 namespace Peripherals
 {
 namespace Hal
@@ -26,7 +28,14 @@ namespace Samd
 struct StaticHal
 {
   static void initialize()
-  { }
+  {
+    App::Board::setup();
+  }
+
+  static std::uint32_t getMillis()
+  {
+    return App::Board::systickGet();
+  }
 
   static void delay(const std::uint32_t milliseconds)
   {

app/src/app_board.cpp

@@ -1,16 +1,17 @@
 //
-// Created by erki on 28.06.22.
+// Created by erki on 15.07.22.
 //
 
-#include "app_logging.hpp"
-
 #include "driver_init.h"
 
+#include "app_board.hpp"
+
+#include "skullc_samd21_hal.hpp"
+
 #include <utility_logging.hpp>
 #include <utility_asynclogger.hpp>
 #include <utility_staticpointer.hpp>
 
-#include "skullc_samd21_hal.hpp"
 
 namespace Hal = Peripherals::Hal::Samd;
 
@@ -20,6 +21,7 @@ namespace
 {
 
 Utility::StaticPointer<Logger> m_logger;
+std::uint32_t m_systick_counter = 0;
 
 void m_txCompleteCb(const usart_async_descriptor* const)
 {
@@ -28,16 +30,29 @@ void m_txCompleteCb(const usart_async_descriptor* const)
 
 }
 
-namespace App::Logging
+extern "C" void SysTick_Handler()
+{
+  m_systick_counter++;
+}
+
+namespace App::Board
 {
 
 void setup()
 {
+  // Logging
   Hal::SerialInterfaceAsync<usart_async_descriptor> usart0{&USART_0};
   usart0.registerTxCallback(m_txCompleteCb);
 
   m_logger.setup(usart0);
   Utility::setLogger(*m_logger);
+
+  SysTick_Config(F_CPU / 1000u);
+}
+
+std::uint32_t systickGet()
+{
+  return m_systick_counter;
 }
 
 }

app/src/app_transparent_client.cpp

@@ -0,0 +1,145 @@
+//
+// Created by erki on 14.07.22.
+//
+
+#include "radio_hw_instance.hpp"
+
+#include "app_transparent_client.hpp"
+#include "skullc_samd21_hal.hpp"
+#include "utility_logging.hpp"
+
+#include <utility_atomicscopeguard.hpp>
+
+namespace App
+{
+
+TransparentClient::TransparentClient(const RadioSettings& initial_settings)
+  : m_radio(radio::HwInstance::instance())
+  , m_isr_cb_pointer(*this, &TransparentClient::m_cbRadioIrqHandler)
+{
+  apply_settings(initial_settings);
+  m_radio->set_irq_handler(&m_isr_cb_pointer);
+  m_radio->set_current_state(radio::HwInstance::States::PLL_ON);
+}
+
+void TransparentClient::apply_settings(const RadioSettings& settings)
+{
+  m_radio->set_address_short(settings.short_address);
+  m_radio->set_address_long(settings.long_address);
+  m_radio->set_channel(settings.channel);
+  m_radio->set_pan_id(settings.pan_id);
+  m_radio->set_tx_power(settings.tx_power_dbm);
+  m_radio->set_max_retries(settings.retries);
+}
+
+void TransparentClient::process()
+{
+  std::optional<AppState> new_state_request = std::nullopt;
+
+  {
+    Utility::AtomicScopeGuard<Peripherals::Hal::Samd::StaticHal> irq_guard;
+    if (m_pending_irqs)
+      new_state_request = m_hwInterruptToNewState();
+  }
+
+  if (!new_state_request && m_txBufferIsReady())
+    new_state_request = AppState::ACTIVE_TX;
+
+  if (new_state_request)
+    m_transitionToState(*new_state_request);
+
+  m_processState();
+}
+
+void TransparentClient::m_cbRadioIrqHandler(radio::HwInstance*)
+{
+  const radio::Interrupts new_irqs = m_radio->get_pending_irq();
+  if (m_pending_irqs)
+    m_pending_irqs = (*m_pending_irqs) | new_irqs;
+  else
+    m_pending_irqs = new_irqs;
+}
+
+std::optional<TransparentClient::AppState> TransparentClient::m_hwInterruptToNewState()
+{
+  const radio::Interrupts current_irqs = *m_pending_irqs;
+  m_pending_irqs = std::nullopt;
+
+  SKULLC_LOG_DEBUG("APP: Processing IRQs: %d.", current_irqs);
+
+  const auto flag_is_set = [current_irqs](const radio::Interrupts& flag) -> bool
+    {
+      return std::underlying_type_t<radio::Interrupts>(current_irqs & flag);
+    };
+
+  switch (m_state)
+  {
+  case AppState::STARTUP:
+    if (flag_is_set(radio::Interrupts::PLL_LOCK))
+      return AppState::PASSIVE;
+    break;
+  case AppState::PASSIVE:
+    if (flag_is_set(radio::Interrupts::RX_START))
+      return AppState::ACTIVE_RX;
+    else if (flag_is_set(radio::Interrupts::AMI))
+      return AppState::RX_FRAME_READY;
+    break;
+  case AppState::ACTIVE_RX:
+    [[fallthrough]];
+  case AppState::ACTIVE_TX:
+    if (flag_is_set(radio::Interrupts::TRX_END))
+      return AppState::PASSIVE;
+    break;
+  default:
+    break;
+  }
+
+  return std::nullopt;
+}
+
+void TransparentClient::m_transitionToState(const AppState& new_state)
+{
+  SKULLC_LOG_DEBUG("APP: Trans. to state. %d -> %d.", m_state, new_state);
+
+  switch (m_state)
+  {
+  case AppState::STARTUP:
+    if (new_state == AppState::PASSIVE)
+      m_radio->set_current_state(radio::HwInstance::States::RX_ON);
+    break;
+  case AppState::PASSIVE:
+    // new_state == AppState::ACTIVE_RX is a HW transition. State machine simply locks itself.
+    // new_state == AppState::RX_FRAME_READY is handled in process state.
+    if (new_state == AppState::ACTIVE_TX)
+      m_initiateTx();
+    break;
+  case AppState::ACTIVE_RX:
+    // new_state == AppState::PASSIVE is a HW transition. State machine simply unlocks itself.
+    break;
+  case AppState::ACTIVE_TX:
+    if (new_state == AppState::PASSIVE)
+      m_radio->set_current_state(radio::HwInstance::States::RX_ON);
+    break;
+  case AppState::RX_FRAME_READY:
+    break;
+  }
+
+  m_state = new_state;
+}
+
+void TransparentClient::m_processState()
+{
+  return;
+}
+
+void TransparentClient::m_initiateTx()
+{
+  return;
+}
+
+bool TransparentClient::m_txBufferIsReady()
+{
+  return false;
+}
+
+}

arm-none-eabi.cmake

@@ -34,9 +34,9 @@ set(CMAKE_CXX_COMPILER             arm-none-eabi-g++)
 set(CMAKE_ASM_COMPILER             arm-none-eabi-as)
 set(CMAKE_RANLIB                   arm-none-eabi-ranlib)
 
-set(COMMON_C_FLAGS                 "-mcpu=cortex-m0plus -mfloat-abi=soft -mthumb -mlong-calls -fdata-sections -ffunction-sections -Wall -Wextra -O2")
+set(COMMON_C_FLAGS                 "-mcpu=cortex-m0plus -mfloat-abi=soft -mthumb -mlong-calls -fdata-sections -ffunction-sections -Wall -Wextra -Wswitch-enum -Og")
 
 set(CMAKE_C_FLAGS_INIT             "${COMMON_C_FLAGS}")
-set(CMAKE_CXX_FLAGS_INIT           "${COMMON_C_FLAGS} -fno-exceptions -fno-rtti")
+set(CMAKE_CXX_FLAGS_INIT           "${COMMON_C_FLAGS} -fno-exceptions -fno-rtti -fno-use-cxa-atexit")
 set(CMAKE_ASM_FLAGS_INIT           "${COMMON_C_FLAGS}")
-set(CMAKE_EXE_LINKER_FLAGS_INIT    "${COMMON_C_FLAGS} -specs=nosys.specs")
+set(CMAKE_EXE_LINKER_FLAGS_INIT    "${COMMON_C_FLAGS} -specs=nano.specs -specs=nosys.specs")

atmel_start.c

@@ -6,4 +6,6 @@
 void atmel_start_init(void)
 {
 	system_init();
+
+  SysTick_Config(1000);
 }

atmel_start_config.atstart

@@ -108,7 +108,14 @@ drivers:
       eic_arch_wakeupen7: false
       eic_arch_wakeupen8: false
       eic_arch_wakeupen9: false
-    optional_signals: []
+    optional_signals:
+    - identifier: EXTERNAL_IRQ_0:EXTINT/0
+      pad: PA00
+      mode: Enabled
+      configuration: null
+      definition: Atmel:SAMD21_Drivers:0.0.1::SAMD21E17A-MF::optional_signal_definition::EIC.EXTINT.0
+      name: EIC/EXTINT/0
+      label: EXTINT/0
     variant: null
     clocks:
       domain_group:
@@ -709,6 +716,12 @@ drivers:
     clocks:
       domain_group: null
 pads:
+  PA00:
+    name: PA00
+    definition: Atmel:SAMD21_Drivers:0.0.1::SAMD21E17A-MF::pad::PA00
+    mode: Digital input
+    user_label: PA00
+    configuration: null
   OUT_LED_TX:
     name: PA06
     definition: Atmel:SAMD21_Drivers:0.0.1::SAMD21E17A-MF::pad::PA06

atmel_start_pins.h

@@ -21,6 +21,7 @@
 #define GPIO_PIN_FUNCTION_G 6
 #define GPIO_PIN_FUNCTION_H 7
 
+#define PA00 GPIO(GPIO_PORTA, 0)
 #define OUT_LED_TX GPIO(GPIO_PORTA, 6)
 #define OUT_XBEE_REMOTE_RESET GPIO(GPIO_PORTA, 7)
 #define IN_UART_TX GPIO(GPIO_PORTA, 8)

config/hpl_eic_config.h

@@ -682,6 +682,10 @@
 #endif
 // </e>
 
+#ifndef CONFIG_EIC_EXTINT_MAP
+#define CONFIG_EIC_EXTINT_MAP {0, PIN_PA00}, {0, 32},
+#endif
+
 // <<< end of configuration section >>>
 
 #endif // HPL_EIC_CONFIG_H

driver_init.c

@@ -25,6 +25,19 @@ void EXTERNAL_IRQ_0_init(void)
 {
 	_gclk_enable_channel(EIC_GCLK_ID, CONF_GCLK_EIC_SRC);
 
+	// Set pin direction to input
+	gpio_set_pin_direction(PA00, GPIO_DIRECTION_IN);
+
+	gpio_set_pin_pull_mode(PA00,
+	                       // <y> Pull configuration
+	                       // <id> pad_pull_config
+	                       // <GPIO_PULL_OFF"> Off
+	                       // <GPIO_PULL_UP"> Pull-up
+	                       // <GPIO_PULL_DOWN"> Pull-down
+	                       GPIO_PULL_OFF);
+
+	gpio_set_pin_function(PA00, PINMUX_PA00A_EIC_EXTINT0);
+
 	ext_irq_init();
 }
 

examples/driver_examples.c

@@ -10,11 +10,17 @@
 #include "driver_init.h"
 #include "utils.h"
 
+static void button_on_PA00_pressed(void)
+{
+}
+
 /**
  * Example of using EXTERNAL_IRQ_0
  */
 void EXTERNAL_IRQ_0_example(void)
 {
+
+	ext_irq_register(PIN_PA00, button_on_PA00_pressed);
 }
 
 /**

hal/src/hal_ext_irq.c

@@ -33,7 +33,7 @@
 
 #include "hal_ext_irq.h"
 
-#define EXT_IRQ_AMOUNT 0
+#define EXT_IRQ_AMOUNT 2
 
 /**
  * \brief Driver version

hpl/eic/hpl_eic.c

@@ -69,7 +69,7 @@ static int ffs(int v)
 	}
 #endif
 
-#define EXT_IRQ_AMOUNT 0
+#define EXT_IRQ_AMOUNT 2
 
 /**
  * \brief EXTINTx and pin number map

main.cpp

@@ -1,40 +1,60 @@
 #include <atmel_start.h>
 
 #include <utility_logging.hpp>
+#include <utility_assert.hpp>
+#include <utility_staticpointer.hpp>
+#include <utility_function.hpp>
 
 #include "radio_hw_instance.hpp"
-#include "app_logging.hpp"
 #include "skullc_samd21_hal.hpp"
+#include "app_transparent_client.hpp"
 
 namespace Hal = Peripherals::Hal::Samd;
 
 namespace
 {
 
+Utility::StaticPointer<App::TransparentClient> m_app;
+
+[[noreturn]] void m_faultHandler(const char* expression, const char* file, const int line)
+{
+  SKULLC_LOG_FATAL("Expression failed: (%s), source: %s:%d", expression, file, line);
+
+  __asm__("BKPT");
+
+  while (true);
 }
 
-int main(void)
+}
+
+int main()
 {
 	/* Initializes MCU, drivers and middleware */
 	atmel_start_init();
 
+  Utility::Assert::setHandler(m_faultHandler);
+  Hal::StaticHal::initialize();
+
   gpio_set_pin_level(OUT_LED_TX, false);
 
-  App::Logging::setup();
+  SKULLC_LOG_DEBUG("Begin.");
 
-  radio::HwInstance* radio_hw = radio::HwInstance::create_instance();
+  const App::RadioSettings settings;
+
+  m_app.setup(settings);
+
+  std::uint32_t counter = 0;
 
 	/* Replace with your application code */
-	while (1)
+	while (true)
   {
-    gpio_toggle_pin_level(OUT_LED_RX);
+    if (counter++ == 1000)
+    {
+      gpio_toggle_pin_level(OUT_LED_TX);
+      counter = 0;
+    }
 
-    const int16_t radio_num = radio_hw->register_read(0x1C);
+    m_app->process();
-
+    Hal::StaticHal::delay(1);
-    SKULLC_LOG_INFO("Reg 0x1C: %d", radio_num);
-
-    gpio_toggle_pin_level(OUT_LED_TX);
-
-    delay_ms(1000);
 	}
 }

radio/include/radio_hw_instance.hpp

@@ -6,23 +6,85 @@
 #define SKL_TUNNEL_RADIO_HW_INSTANCE_HPP
 
 #include <hal_spi_m_sync.h>
+#include <type_traits>
+#include <array>
+#include <cstring>
+#include <optional>
+
+#include <utility_function.hpp>
+
+#include "radio_hw_registers.hpp"
+#include "radio_interrupts.hpp"
 
 namespace radio
 {
 
 struct HwInstance
 {
-  static HwInstance* create_instance();
+  enum class States : std::uint8_t
+  {
+    P_ON = 0,
+    BUSY_RX = 0x1,
+    BUSY_TX = 0x2,
+    RX_ON = 0x06,
+    TRX_OFF = 0x08,
+    PLL_ON = 0x09,
+    SLEEP = 0x0F,
+    PREP_DEEP_SLEEP = 0x10,
+    BUSY_RX_AACK = 0x11,
+    BUSY_TX_ARET = 0x12,
+    RX_AACK_ON = 0x16,
+    TX_ARET_ON = 0x19,
+    TRANSITION_IN_PROGRESS = 0x1F
+  };
 
-  void irq_handler();
+  static HwInstance* instance();
+
+  HwInstance();
+  HwInstance(const HwInstance&) = delete;
+  HwInstance(HwInstance&&) = delete;
+  HwInstance& operator=(const HwInstance&) = delete;
+  HwInstance& operator=(HwInstance&&) = delete;
+
+  void set_irq_handler(Utility::IFunction<void (HwInstance*)>* cb);
+  Interrupts get_pending_irq();
+
+  uint8_t register_read(const Registers& address);
+  void register_write(const Registers& address, const uint8_t value);
+
+  template<typename T>
+  void register_write(const Registers& initial_address, const T value)
+  {
+    static_assert(std::is_integral_v<T>, "T must be an integral type.");
+    std::array<std::uint8_t, sizeof(T)> data_array;
+    std::memcpy(data_array.data(), &value, sizeof(T));
+
+    for (std::uint8_t i = 0; i < sizeof(T); i++)
+    {
+      const std::uint8_t address = std::uint8_t(initial_address) + i;
+      register_write(Registers(address), std::uint8_t(data_array[i]));
+    }
+  }
+
+  States current_state() const;
+  bool set_current_state(const States& new_state);
+
+  void set_address_short(const std::uint16_t address);
+  void set_address_long(const std::uint64_t address);
+  void set_channel(const std::uint8_t channel);
+  void set_pan_id(const std::uint16_t pan_id);
+  void set_tx_power(std::int16_t power);
+  void set_max_retries(std::uint8_t retries);
+  void set_csma_max_retries(const std::optional<std::uint8_t>& retries);
+  void set_csma_backoff_exponential(std::uint8_t max, std::uint8_t min);
+  void set_csma_seed(const std::uint16_t entropy);
 
-  uint8_t register_read(uint8_t address);
-  void register_write(uint8_t address, const uint8_t value);
 private:
   spi_m_sync_descriptor* m_spi = nullptr;
   io_descriptor* m_spi_io = nullptr;
+  States m_current_state = States::P_ON;
 
-  HwInstance();
+  void m_wait_can_transition();
 };
 
 }

radio/include/radio_hw_registers.hpp

@@ -0,0 +1,64 @@
+//
+// Created by erki on 30.06.22.
+//
+
+#ifndef SKL_TUNNEL_RADIO_HW_REGISTERS_HPP
+#define SKL_TUNNEL_RADIO_HW_REGISTERS_HPP
+
+#include <cstdint>
+
+namespace radio
+{
+
+enum class Registers : std::uint8_t
+{
+  TRX_STATUS = (0x01),
+  TRX_STATE = (0x02),
+  TRX_CTRL_0 = (0x03),
+  TRX_CTRL_1 = (0x04),
+  PHY_TX_PWR = (0x05),
+  PHY_RSSI = (0x06),
+  PHY_ED_LEVEL = (0x07),
+  PHY_CC_CCA = (0x08),
+  CCA_THRES = (0x09),
+  RX_CTRL = (0x0A),
+  SFD_VALUE = (0x0B),
+  TRX_CTRL_2 = (0x0C),
+  ANT_DIV = (0x0D),
+  IRQ_MASK = (0x0E),
+  IRQ_STATUS = (0x0F),
+  VREG_CTRL = (0x10),
+  BATMON = (0x11),
+  XOSC_CTRL = (0x12),
+  CC_CTRL_1 = (0x14),
+  RX_SYN = (0x15),
+  XAH_CTRL_1 = (0x17),
+  FTN_CTRL = (0x18),
+  PLL_CF = (0x1A),
+  PLL_DCU = (0x1B),
+  PART_NUM = (0x1C),
+  VERSION_NUM = (0x1D),
+  MAN_ID_0 = (0x1E),
+  MAN_ID_1 = (0x1F),
+  SHORT_ADDR_0 = (0x20),
+  SHORT_ADDR_1 = (0x21),
+  PAN_ID_0 = (0x22),
+  PAN_ID_1 = (0x23),
+  IEEE_ADDR_0 = (0x24),
+  IEEE_ADDR_1 = (0x25),
+  IEEE_ADDR_2 = (0x26),
+  IEEE_ADDR_3 = (0x27),
+  IEEE_ADDR_4 = (0x28),
+  IEEE_ADDR_5 = (0x29),
+  IEEE_ADDR_6 = (0x2A),
+  IEEE_ADDR_7 = (0x2B),
+  XAH_CTRL_0 = (0x2C),
+  CSMA_SEED_0 = (0x2D),
+  CSMA_SEED_1 = (0x2E),
+  CSMA_BE = (0x2F),
+  TST_CTRL_DIGI = (0x36)
+};
+
+}
+
+#endif //SKL_TUNNEL_RADIO_HW_REGISTERS_HPP

radio/include/radio_interrupts.hpp

@@ -0,0 +1,30 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#ifndef SKL_TUNNEL_RADIO_INTERRUPTS_HPP
+#define SKL_TUNNEL_RADIO_INTERRUPTS_HPP
+
+#include <cstdint>
+#include <utility_enum_helpers.hpp>
+
+namespace radio
+{
+
+enum class Interrupts : std::uint8_t
+{
+  PLL_LOCK = (1 << 0),
+  PLL_UNLOCK = (1 << 1),
+  RX_START = (1 << 2),
+  TRX_END = (1 << 3),
+  CCA_ED_DONE = (1 << 4),
+  AMI = (1 << 5),
+  TRX_UR = (1 << 6),
+  BAT_LOW = (1 << 7)
+};
+
+SKULLC_ENUM_DECLARE_BITFLAG_OPERATORS(Interrupts)
+
+}
+
+#endif //SKL_TUNNEL_RADIO_INTERRUPTS_HPP

radio/include/radio_protocol.hpp

@@ -0,0 +1,18 @@
+//
+// Created by erki on 28.07.22.
+//
+
+#ifndef SKL_TUNNEL_RADIO_PROTOCOL_HPP
+#define SKL_TUNNEL_RADIO_PROTOCOL_HPP
+
+#include "radio_protocol_frame.hpp"
+
+namespace radio::protocol
+{
+
+std::size_t composeFrameBuffer(const FrameStructure& frame);
+FrameStructure decomposeFrameBuffer(const std::uint8_t* data);
+
+}
+
+#endif //SKL_TUNNEL_RADIO_PROTOCOL_HPP

radio/include/radio_protocol_frame.hpp

@@ -0,0 +1,135 @@
+//
+// Created by erki on 18.07.22.
+//
+
+#ifndef SKL_TUNNEL_RADIO_FRAME_HPP
+#define SKL_TUNNEL_RADIO_FRAME_HPP
+
+#include <array>
+#include <cstdint>
+#include <type_traits>
+#include <optional>
+#include <variant>
+
+#include <utility_assert.hpp>
+
+/**
+ * Reference section 37.1 of the SAMR21 datasheet for these structures.
+ */
+namespace radio::protocol
+{
+
+struct PhyHeader
+{
+  std::uint8_t frame_length : 7;
+  std::uint8_t reserved : 1;
+} __attribute__((packed));
+
+struct FrameControlField
+{
+  enum FrameType
+  {
+    FRAME_TYPE_BEACON = 0b000,
+    FRAME_TYPE_DATA = 0b001,
+    FRAME_TYPE_ACKNOWLEDGE = 0b010,
+    FRAME_TYPE_MAC_COMMAND = 0b011
+  };
+
+  enum AddressingMode
+  {
+    ADDRESSING_MODE_NOT_SPECIFIED = 0b00,
+    ADDRESSING_MODE_SHORT = 0b10,
+    ADDRESSING_MODE_LONG = 0b11
+  };
+
+  FrameType type : 3;
+  std::uint8_t security_enabled : 1;
+  std::uint8_t frame_pending : 1;
+  std::uint8_t ack_requested : 1;
+  std::uint8_t pan_id_compression : 1;
+  std::uint8_t : 3;
+  AddressingMode destination_addressing_mode : 2;
+  std::uint8_t frame_version : 2;
+  AddressingMode source_addressing_mode : 2;
+} __attribute__((packed));
+
+struct Address
+{
+  std::variant<std::uint16_t, std::uint64_t> mac = 0ull;
+  std::uint16_t pan_id = 0;
+
+  FrameControlField::AddressingMode getAddressingMode() const
+  {
+    if (std::holds_alternative<std::uint16_t>(mac))
+      return FrameControlField::ADDRESSING_MODE_SHORT;
+    else if (std::holds_alternative<std::uint64_t>(mac))
+      return FrameControlField::ADDRESSING_MODE_LONG;
+    else
+      return FrameControlField::ADDRESSING_MODE_NOT_SPECIFIED;
+  }
+
+  void setShortAddress(const std::uint16_t address)
+  {
+    mac = address;
+  }
+
+  void setLongAddress(const std::uint64_t address)
+  {
+    mac = address;
+  }
+
+  std::uint16_t getShortAddress() const
+  {
+    const std::uint16_t* addr = std::get_if<std::uint16_t>(&mac);
+    SKULLC_ASSERT_DEBUG(addr != nullptr);
+
+    return *addr;
+  }
+
+  std::uint64_t getLongAddress() const
+  {
+    const std::uint64_t* addr = std::get_if<std::uint64_t>(&mac);
+    SKULLC_ASSERT_DEBUG(addr != nullptr);
+
+    return *addr;
+  }
+};
+
+struct FrameStructure
+{
+  FrameControlField frame_control_field;
+  std::uint8_t sequence_number;
+  Address destination_address;
+  Address source_address;
+  std::uint16_t frame_checksum;
+
+  static constexpr std::size_t max_frame_size = 127;
+  static constexpr std::size_t max_payload_size
+          = max_frame_size - sizeof(FrameControlField) - sizeof(frame_checksum)
+            - sizeof(sequence_number) - (2 * (sizeof(std::uint16_t) + sizeof(std::uint64_t)));
+
+  std::uint8_t payload_length;
+  std::array<std::uint8_t, max_payload_size> payload;
+
+  FrameStructure();
+
+  static FrameStructure createDataFrame();
+
+  FrameStructure& setPayload(const std::uint8_t* data, const std::uint8_t length);
+  template<std::size_t N>
+  FrameStructure& setPayload(const std::array<std::uint8_t, N>& data)
+  {
+    static_assert(N <= max_payload_size, "Data length N exceeds max_payload_size.");
+    return setPayload(data.data(), std::uint8_t(N));
+  }
+
+  FrameStructure& setSourceAddress(const Address& addr);
+  FrameStructure& setDestinationAddress(const Address& addr);
+
+  std::uint8_t getTotalFrameLength() const;
+  std::uint8_t calculatePayloadLength(const std::uint8_t total_frame_length) const;
+};
+
+}
+
+#endif //SKL_TUNNEL_RADIO_FRAME_HPP

radio/src/radio_gpio.c

@@ -23,6 +23,11 @@ void radio_gpio_init()
 
   gpio_set_pin_direction(IN_RADIO_IRQ, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(IN_RADIO_IRQ, GPIO_PULL_OFF);
+
+  EIC->CONFIG[0].reg |= (1 << 0);
+  EIC->INTENSET.reg |= (1 << 0);
+  EIC->CTRL.reg |= (1 << 1);
+
   gpio_set_pin_function(IN_RADIO_IRQ, PINMUX_PB00A_EXTINT0);
 
 #undef PINMUX_PB00A_EXTINT0

radio/src/radio_hw_instance.cpp

@@ -10,28 +10,24 @@
 
 #include <hal_delay.h>
 #include <hal_ext_irq.h>
+#include <utility_assert.hpp>
+#include <utility_staticpointer.hpp>
+#include <utility_logging.hpp>
+#include <optional>
+#include <algorithm>
 
 namespace
 {
 
-radio::HwInstance* _INSTANCE = nullptr;
+Utility::StaticPointer<radio::HwInstance> _INSTANCE;
+Utility::IFunction<void (radio::HwInstance*)>* _CALLBACK;
 
 void _irq_handler()
 {
-  _INSTANCE->irq_handler();
+  SKULLC_ASSERT_DEBUG(_INSTANCE);
-}
 
-void _startup()
+  if (_CALLBACK)
-{
+    (*_CALLBACK)(_INSTANCE.get());
-  gpio_set_pin_level(OUT_RADIO_RST, false);
-  gpio_set_pin_level(OUT_RADIO_SLP_TR, false);
-  delay_ms(10);
-
-  ext_irq_enable(IN_RADIO_IRQ);
-  ext_irq_register(IN_RADIO_IRQ, _irq_handler);
-
-  gpio_set_pin_level(OUT_RADIO_RST, true);
-  delay_ms(10);
 }
 
 }
@@ -39,43 +35,14 @@ void _startup()
 namespace radio
 {
 
-HwInstance* HwInstance::create_instance()
+HwInstance* HwInstance::instance()
 {
-  return new HwInstance{};
+  if (!_INSTANCE.isInitialized())
-}
+  {
+    _INSTANCE.setup();
+  }
 
-void HwInstance::irq_handler()
+  return _INSTANCE.get();
-{
-}
-
-uint8_t HwInstance::register_read(uint8_t address)
-{
-  address = (address & 0x3F) | (1 << 7);
-  gpio_set_pin_level(OUT_RADIO_CS, false);
-
-  delay_us(1);
-
-  io_write(m_spi_io, &address, 1);
-  delay_us(1);
-  uint8_t data = 0xFF;
-  io_read(m_spi_io, &data, 1);
-
-  gpio_set_pin_level(OUT_RADIO_CS, true);
-
-  return data;
-}
-
-void HwInstance::register_write(const uint8_t address, const uint8_t value)
-{
-  uint8_t data[2] = {
-    uint8_t((address & 0x3F) | (1 << 7) | (1 << 6)),
-    uint8_t(value & 0xEF)
-  };
-
-  gpio_set_pin_level(OUT_RADIO_CS, false);
-  io_write(m_spi_io, data, 2);
-
-  gpio_set_pin_level(OUT_RADIO_CS, true);
 }
 
 HwInstance::HwInstance()
@@ -86,7 +53,218 @@ HwInstance::HwInstance()
   spi_m_sync_get_io_descriptor(m_spi, &m_spi_io);
   spi_m_sync_enable(m_spi);
 
-  _startup();
+  gpio_set_pin_level(OUT_RADIO_RST, false);
+  gpio_set_pin_level(OUT_RADIO_SLP_TR, false);
+  delay_ms(10);
+
+  ext_irq_register(IN_RADIO_IRQ, _irq_handler);
+
+  gpio_set_pin_level(OUT_RADIO_RST, true);
+  delay_ms(10);
+
+  // Enable safe mode for TX.
+  register_write(Registers::TRX_CTRL_2, 0x80);
+
+  // Disable external clock output.
+  std::uint8_t trx_ctrl = register_read(Registers::TRX_CTRL_0);
+  trx_ctrl &= ~(0x07);
+  trx_ctrl &= ~(0x08);
+  register_write(Registers::TRX_CTRL_0, trx_ctrl);
+
+  // Enable interrupts.
+  register_write(Registers::IRQ_MASK, 0xFF);
+
+  // clear interrupts.
+  register_read(Registers::IRQ_STATUS);
+
+  set_current_state(States::TRX_OFF);
+}
+
+void HwInstance::set_irq_handler(Utility::IFunction<void (HwInstance*)>* cb)
+{
+  _CALLBACK = cb;
+}
+
+Interrupts HwInstance::get_pending_irq()
+{
+  return Interrupts(register_read(Registers::IRQ_STATUS));
+}
+
+uint8_t HwInstance::register_read(const Registers& address)
+{
+  const uint8_t address_to_write = (uint8_t(address) & 0x3F) | (1 << 7);
+  gpio_set_pin_level(OUT_RADIO_CS, false);
+
+  delay_us(1);
+
+  io_write(m_spi_io, &address_to_write, 1);
+  delay_us(1);
+  uint8_t data = 0xFF;
+  io_read(m_spi_io, &data, 1);
+
+  gpio_set_pin_level(OUT_RADIO_CS, true);
+
+  return data;
+}
+
+void HwInstance::register_write(const Registers& address, const uint8_t value)
+{
+  uint8_t data[2] = {
+    uint8_t((uint8_t(address) & 0x3F) | (1 << 7) | (1 << 6)),
+    uint8_t(value & 0xEF)
+  };
+
+  gpio_set_pin_level(OUT_RADIO_CS, false);
+  io_write(m_spi_io, data, 2);
+
+  gpio_set_pin_level(OUT_RADIO_CS, true);
+}
+
+HwInstance::States HwInstance::current_state() const
+{
+  return m_current_state;
+}
+
+bool HwInstance::set_current_state(const States& new_state)
+{
+  if (new_state == m_current_state)
+    return true;
+
+  m_wait_can_transition();
+
+  auto is_rx_state = [](const States& s) -> bool
+    {
+      return s == States::RX_ON || s == States::RX_AACK_ON;
+    };
+
+  auto is_tx_state = [](const States& s) -> bool
+    {
+      return s == States::TX_ARET_ON;
+    };
+
+  if ((is_rx_state(m_current_state) && is_tx_state(new_state))
+        || (is_tx_state(m_current_state) && is_rx_state(new_state)))
+  {
+    set_current_state(States::PLL_ON);
+  }
+
+  register_write(Registers::TRX_STATE, std::uint8_t(new_state));
+  m_wait_can_transition();
+  SKULLC_LOG_DEBUG("HW: New state. %d -> %d.", m_current_state, new_state);
+  m_current_state = new_state;
+  return true;
+}
+
+void HwInstance::set_address_short(const std::uint16_t address)
+{
+  register_write(Registers::SHORT_ADDR_0, address);
+}
+
+void HwInstance::set_address_long(const std::uint64_t address)
+{
+  register_write(Registers::IEEE_ADDR_0, address);
+}
+
+void HwInstance::set_channel(const std::uint8_t channel)
+{
+  static constexpr std::uint8_t channel_min = 11;
+  static constexpr std::uint8_t channel_max = 26;
+
+  SKULLC_ASSERT_DEBUG(channel >= channel_min && channel <= channel_max);
+  if (channel > channel_max || channel < channel_min)
+  {
+    return;
+  }
+
+  std::uint8_t reg_value = register_read(Registers::PHY_CC_CCA);
+  reg_value &= ~0x1F;
+  reg_value |= channel & 0x1F;
+  register_write(Registers::PHY_CC_CCA, reg_value);
+}
+
+void HwInstance::set_pan_id(const std::uint16_t pan_id)
+{
+  register_write(Registers::PAN_ID_0, pan_id);
+}
+
+void HwInstance::set_tx_power(std::int16_t power)
+{
+  static constexpr std::array<std::uint8_t, 21> dbm_to_tx_power{
+      0x0F, 0x0F, 0x0F, 0x0E, 0x0E, 0x0E, 0x0E, 0x0D, 0x0D, 0x0C, 0x0C,
+      0x0B, 0x0B, 0x0A, 0x09, 0x08, 0x07, 0x06, 0x05, 0x03, 0x00
+  };
+
+  power += 17;
+  power = std::clamp(power, std::int16_t(0), std::int16_t(21));
+  register_write(Registers::PHY_TX_PWR, dbm_to_tx_power[power]);
+}
+
+void HwInstance::set_max_retries(std::uint8_t retries)
+{
+  retries = std::clamp<std::uint8_t>(retries, 0, 7);
+
+  constexpr std::uint8_t mask = 0xF0;
+
+  std::uint8_t reg_value = register_read(Registers::XAH_CTRL_0);
+  reg_value &= ~mask;
+  reg_value |= (retries << 4) & mask;
+  register_write(Registers::XAH_CTRL_0, reg_value);
+}
+
+void HwInstance::set_csma_max_retries(const std::optional<std::uint8_t>& retries)
+{
+  std::uint8_t value_to_write = 0;
+  if (!retries)
+    value_to_write = 7;
+  else
+    value_to_write = std::clamp<std::uint8_t>(*retries, 0, 5);
+
+  constexpr std::uint8_t mask = 0x0E;
+
+  std::uint8_t reg_value = register_read(Registers::XAH_CTRL_0);
+  reg_value &= ~mask;
+  reg_value |= (value_to_write << 1) & mask;
+  register_write(Registers::XAH_CTRL_0, reg_value);
+}
+
+void HwInstance::set_csma_backoff_exponential(std::uint8_t max, std::uint8_t min)
+{
+  max = std::clamp<std::uint8_t>(max, 0, 8);
+  min = std::clamp<std::uint8_t>(min, 0, max);
+
+  const std::uint8_t reg_value = (max << 4) | min;
+  register_write(Registers::CSMA_BE, reg_value);
+}
+
+void HwInstance::set_csma_seed(const std::uint16_t entropy)
+{
+  std::array<std::uint8_t, 2> entropy_data{ 0 };
+  std::memcpy(entropy_data.data(), &entropy, 2);
+
+  register_write(Registers::CSMA_SEED_0, entropy_data[0]);
+
+  constexpr std::uint8_t mask = 0x07;
+
+  std::uint8_t reg_value = register_read(Registers::CSMA_SEED_1);
+  reg_value &= ~mask;
+  reg_value |= entropy_data[1] & mask;
+  register_write(Registers::CSMA_SEED_1, reg_value);
+}
+
+/**
+ * @brief Blocks until a state transition can be initiated.
+ */
+void HwInstance::m_wait_can_transition()
+{
+  States radio_status = States::TRANSITION_IN_PROGRESS;
+
+  do
+  {
+    radio_status = States(register_read(Registers::TRX_STATUS) & 0x1F);
+
+  } while (radio_status == States::BUSY_RX || radio_status == States::BUSY_TX ||
+           radio_status == States::BUSY_RX_AACK || radio_status == States::BUSY_TX_ARET ||
+           radio_status == States::TRANSITION_IN_PROGRESS);
 }
 
 }

radio/src/radio_protocol.cpp

@@ -0,0 +1,146 @@
+//
+// Created by erki on 28.07.22.
+//
+
+#include "radio_protocol.hpp"
+
+#include <cstring>
+
+namespace
+{
+
+using namespace radio::protocol;
+
+[[nodiscard]] std::uint8_t* serializeAddress(std::uint8_t* data, const Address& address)
+{
+  std::memcpy(data, &address.pan_id, sizeof(address.pan_id));
+  data += sizeof(address.pan_id);
+
+  if (address.getAddressingMode() == FrameControlField::ADDRESSING_MODE_SHORT)
+  {
+    const std::uint16_t mac = address.getShortAddress();
+    std::memcpy(data, &mac, sizeof(mac));
+    data += sizeof(mac);
+  }
+  else
+  {
+    const std::uint64_t mac = address.getLongAddress();
+    std::memcpy(data, &mac, sizeof(mac));
+    data += sizeof(mac);
+  }
+
+  return data;
+}
+
+[[nodiscard]] std::uint8_t* serializePhyHeader(std::uint8_t* data, const PhyHeader& header)
+{
+  static_assert(sizeof(PhyHeader) == 1, "PHY Header must be 1 byte/octet.");
+  std::memcpy(data, &header, sizeof(PhyHeader));
+  data += sizeof(PhyHeader);
+
+  return data;
+}
+
+[[nodiscard]] std::uint8_t* serializeMacProtocolDataUnit(std::uint8_t* data, const FrameStructure& frame)
+{
+  static_assert(sizeof(frame.frame_control_field) == 2, "FCF must be 2 bytes/octets.");
+  std::memcpy(data, &frame.frame_control_field, sizeof(frame.frame_control_field));
+  data += sizeof(FrameControlField);
+
+  std::memcpy(data, &frame.sequence_number, sizeof(frame.sequence_number));
+  data += sizeof(frame.sequence_number);
+
+  data = serializeAddress(data, frame.destination_address);
+  data = serializeAddress(data, frame.source_address);
+
+  std::memcpy(data, frame.payload.data(), frame.payload_length);
+  data += frame.payload_length;
+
+  return data;
+}
+
+[[nodiscard]] const std::uint8_t* deserializeAddress(const std::uint8_t* data, const FrameControlField::AddressingMode& addressing_mode, Address& address)
+{
+  std::memcpy(&address.pan_id, data, sizeof(address.pan_id));
+  data += sizeof(address.pan_id);
+
+  if (addressing_mode == FrameControlField::ADDRESSING_MODE_SHORT)
+  {
+    std::uint16_t mac = 0;
+    std::memcpy(&mac, data, sizeof(mac));
+    data += sizeof(mac);
+
+    address.setShortAddress(mac);
+  }
+  else
+  {
+    std::uint64_t mac = 0;
+    std::memcpy(&mac, data, sizeof(mac));
+    data += sizeof(mac);
+
+    address.setLongAddress(mac);
+  }
+
+  return data;
+}
+
+[[nodiscard]] const std::uint8_t* deserializePhyHeader(const std::uint8_t* data, PhyHeader& header)
+{
+  std::memcpy(&header, data, sizeof(PhyHeader));
+  data += sizeof(PhyHeader);
+
+  return data;
+}
+
+[[nodiscard]] FrameStructure deserializeMacProtocolDataUnit(const std::uint8_t* data, const std::uint8_t total_frame_length)
+{
+  FrameStructure frame;
+  std::memcpy(&frame.frame_control_field, data, sizeof(frame.frame_control_field));
+  data += sizeof(frame.frame_control_field);
+
+  std::memcpy(&frame.sequence_number, data, sizeof(frame.sequence_number));
+  data += sizeof(frame.sequence_number);
+
+  data = deserializeAddress(data, frame.frame_control_field.destination_addressing_mode, frame.destination_address);
+  data = deserializeAddress(data, frame.frame_control_field.source_addressing_mode, frame.source_address);
+
+  frame.payload_length = frame.calculatePayloadLength(total_frame_length);
+  std::memcpy(frame.payload.data(), data, frame.payload_length);
+  data += frame.payload_length;
+
+  std::memcpy(&frame.frame_checksum, data, sizeof(frame.frame_checksum));
+
+  return frame;
+}
+
+}
+
+namespace radio::protocol
+{
+
+std::size_t composeFrameBuffer(std::uint8_t* data, const FrameStructure& frame)
+{
+  std::uint8_t* const data_start = data;
+
+  PhyHeader header;
+  std::memset(&header, 0, sizeof(PhyHeader));
+  header.frame_length = frame.getTotalFrameLength();
+  data = serializePhyHeader(data, header);
+
+  data = serializeMacProtocolDataUnit(data, frame);
+
+  return data - data_start;
+}
+
+FrameStructure decomposeFrameBuffer(const std::uint8_t* data)
+{
+  PhyHeader header;
+  data = deserializePhyHeader(data, header);
+
+  const std::uint8_t total_frame_length = header.frame_length;
+  const FrameStructure frame = deserializeMacProtocolDataUnit(data, total_frame_length);
+
+  return frame;
+}
+
+}

radio/src/radio_protocol_frame.cpp

@@ -0,0 +1,99 @@
+//
+// Created by erki on 28.07.22.
+//
+
+#include "radio_protocol_frame.hpp"
+
+#include <cstring>
+
+namespace
+{
+
+using namespace radio::protocol;
+
+template<typename T>
+constexpr T zeroInitialized()
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+
+  T t;
+  std::memset(&t, 0, sizeof(T));
+
+  return t;
+}
+
+std::uint8_t get_address_size(const Address& address)
+{
+  std::uint8_t size = sizeof(address.pan_id);
+  if (address.getAddressingMode() == FrameControlField::ADDRESSING_MODE_SHORT)
+    size += sizeof(std::uint16_t);
+  else
+    size += sizeof(std::uint64_t);
+
+  return size;
+};
+
+}
+
+namespace radio::protocol
+{
+
+FrameStructure::FrameStructure()
+  : frame_control_field(zeroInitialized<FrameControlField>())
+  , sequence_number(0)
+  , frame_checksum(0)
+  , payload_length(0)
+{ }
+
+FrameStructure FrameStructure::createDataFrame()
+{
+  FrameStructure structure;
+  structure.frame_control_field.type = FrameControlField::FRAME_TYPE_DATA;
+  structure.frame_control_field.frame_version = 1;
+
+  return structure;
+}
+
+FrameStructure& FrameStructure::setPayload(const std::uint8_t* data, const std::uint8_t length)
+{
+  std::memmove(payload.data(), data, length);
+  return *this;
+}
+
+FrameStructure& FrameStructure::setSourceAddress(const Address& addr)
+{
+  source_address = addr;
+  frame_control_field.source_addressing_mode = addr.getAddressingMode();
+  return *this;
+}
+
+FrameStructure& FrameStructure::setDestinationAddress(const Address& addr)
+{
+  destination_address = addr;
+  frame_control_field.destination_addressing_mode = addr.getAddressingMode();
+  return *this;
+}
+
+std::uint8_t FrameStructure::getTotalFrameLength() const
+{
+  std::uint8_t size = sizeof(frame_control_field) + sizeof(sequence_number);
+
+  size += get_address_size(destination_address);
+  size += get_address_size(source_address);
+  size += payload_length;
+  size += sizeof(frame_checksum);
+
+  return size;
+}
+
+std::uint8_t FrameStructure::calculatePayloadLength(const std::uint8_t total_frame_length) const
+{
+  std::uint8_t payload_length = total_frame_length - sizeof(frame_control_field) - sizeof(sequence_number);
+  payload_length -= get_address_size(destination_address);
+  payload_length -= get_address_size(source_address);
+  payload_length -= sizeof(frame_checksum);
+
+  return payload_length;
+}
+
+}

syscalls.c

@@ -0,0 +1,38 @@
+//
+// Created by erki on 10.07.22.
+//
+
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    *ptr++ = __io_getchar();
+  }
+
+  return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    __io_putchar(*ptr++);
+  }
+  return len;
+}