Diff: afLib/afLib.cpp

Revision:

0:ce97f6d34336

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/afLib/afLib.cpp	Fri Feb 23 05:40:22 2018 +0000
@@ -0,0 +1,957 @@
+/**
+ * Copyright 2015 Afero, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "afLib.h"
+#include "afErrors.h"
+#include "msg_types.h"
+/* added by Motoo Tanaka on 26-Dec-2017 for watchdog */
+#include "edge_reset_mgr.h" 
+
+#define IS_MCU_ATTR(x) (x >= 0 && x < 1024)
+
+static iafLib *_iaflib = NULL;
+
+#define MAX_SYNC_RETRIES    10
+static long lastSync = 0;
+static int syncRetries = 0;
+
+/**
+ * create
+ *
+ * The public constructor for the afLib. This allows us to create the afLib object once and hold a reference to it.
+ */
+iafLib *iafLib::create(PinName mcuInterrupt, isr isrWrapper,
+        onAttributeSet attrSet, onAttributeSetComplete attrSetComplete, afSPI *theSPI)
+{
+    if (_iaflib == NULL) {
+        _iaflib = new afLib( mcuInterrupt, isrWrapper, attrSet, attrSetComplete, theSPI);
+    }
+
+    return _iaflib;
+}
+
+void iafLib::destroy()
+{
+    afLib *p = (afLib*)_iaflib;
+    delete p;
+    _iaflib = NULL;
+}
+
+/**
+ * getRequestId 
+ * by Motoo Tanaka on 16-Nov-2017
+ */
+int afLib::getRequestId(void) 
+{
+    return( _requestId ) ;
+}
+
+/**
+ * afLib
+ *
+ * The private constructor for the afLib. This one actually initializes the afLib and prepares it for use.
+ */
+afLib::afLib(PinName mcuInterrupt, isr isrWrapper,
+    onAttributeSet attrSet, onAttributeSetComplete attrSetComplete, afSPI *theSPI) : fco(mcuInterrupt)
+{
+    checkLastSync = new Timer();
+    checkLastSync->start();
+    queueInit();
+    _theSPI= theSPI;
+    _request.p_value = NULL;
+
+    //_spiSettings = SPISettings(1000000, LSBFIRST, SPI_MODE0);
+    _interrupts_pending = 0;
+    _state = STATE_IDLE;
+
+    _writeCmd = NULL;
+    _writeCmdOffset = 0;
+
+    _outstandingSetGetAttrId = 0;
+
+    _readCmd = NULL;
+    _readCmdOffset = 0;
+    _readBufferLen = 0;
+
+    _txStatus = new StatusCommand();
+    _rxStatus = new StatusCommand();
+
+    _onAttrSet = attrSet;
+    _onAttrSetComplete = attrSetComplete;
+    _theSPI->begin();
+
+    // AJS where does this get moved to??
+    #ifdef ARDUINO
+    pinMode(mcuInterrupt, INPUT);
+    attachInterrupt(mcuInterrupt, isrWrapper, FALLING);
+    #endif
+    fco.fall(isrWrapper);
+    SERIAL_PRINT_DBG_ASR("afLib init done!!\n");
+}
+//wsugi 20161128
+afLib::~afLib()
+{
+    SERIAL_PRINT_DBG_ASR("deleted\n");
+    if(_readBuffer != NULL)
+    {
+        delete[] (_readBuffer);
+        _readBuffer = NULL;
+    }
+    
+    if(_writeBuffer != NULL)
+    {
+        delete[] (_writeBuffer);
+        _writeBuffer = NULL;
+    }
+    
+    if(_readCmd != NULL)
+    {
+        delete (_readCmd);
+        _readCmd = NULL;
+    }
+    
+    if(_writeCmd != NULL)
+    {
+        delete (_writeCmd);
+        _writeCmd = NULL;
+    }
+    
+    if(_txStatus != NULL)
+    {
+        delete (_txStatus);
+        _txStatus = NULL;
+    }
+    
+    if(_rxStatus != NULL)
+    {
+        delete (_rxStatus);
+        _rxStatus = NULL;
+    }
+    
+    for (int i = 0; i < REQUEST_QUEUE_SIZE; i++)
+    {
+        if (_requestQueue[i].p_value != NULL)
+        {
+            delete[] (_requestQueue[i].p_value);
+            _requestQueue[i].p_value = NULL;
+        }
+    }
+    
+    if(checkLastSync != NULL)
+    {
+        delete (checkLastSync);
+        checkLastSync = NULL;
+    }
+    
+    _iaflib = NULL;
+}
+//wsugi 20161128
+/**
+ * loop
+ *
+ * This is how the afLib gets time to run its state machine. This method should be called periodically from the
+ * loop() function of the Arduino sketch.
+ * This function pulls pending attribute operations from the queue. It takes approximately 4 calls to loop() to
+ * complete one attribute operation.
+ */
+void afLib::loop(void) {
+    reset_watch_dog() ; /* 26-Dec-2017 by Motoo Tanaka */
+    if (isIdle() && (queueGet(&_request.messageType, &_request.requestId, &_request.attrId, &_request.valueLen,
+                              &_request.p_value) == afSUCCESS)) {
+        switch (_request.messageType) {
+            case MSG_TYPE_GET:
+                doGetAttribute(_request.requestId, _request.attrId);
+                break;
+
+            case MSG_TYPE_SET:
+                doSetAttribute(_request.requestId, _request.attrId, _request.valueLen, _request.p_value);
+                break;
+
+            case MSG_TYPE_UPDATE:
+                doUpdateAttribute(_request.requestId, _request.attrId, 0, _request.valueLen, _request.p_value);
+                break;
+
+            default:
+                SERIAL_PRINT_DBG_ASR("%s\n","loop: request type!");
+        }
+    }
+
+    if (_request.p_value != NULL) {
+        delete[] (_request.p_value); //wsugi delete (_request.p_value);
+        _request.p_value = NULL;
+    }
+    runStateMachine();
+}
+
+/**
+ * updateIntsPending
+ *
+ * Interrupt-safe method for updating the interrupt count. This is called to increment and decrement the interrupt count
+ * as interrupts are received and handled.
+ */
+void afLib::updateIntsPending(int amount) {
+//    fco.disable_irq();
+    __disable_irq() ; // Disable Interrupts
+    _interrupts_pending += amount;
+    __enable_irq() ; // Enable Interrupts
+//    fco.enable_irq();
+}
+
+/**
+ * sendCommand
+ *
+ * This increments the interrupt count to kick off the state machine in the next call to loop().
+ */
+/**
+ * In this fucntion, only disable/enable fco irq is enough
+ */
+void afLib::sendCommand(void) {
+    fco.disable_irq(); 
+    if (_interrupts_pending == 0 && _state == STATE_IDLE) {
+        updateIntsPending(1);
+    }
+    fco.enable_irq();
+}
+
+/**
+ * getAttribute
+ *
+ * The public getAttribute method. This method queues the operation and returns immediately. Applications must call
+ * loop() for the operation to complete.
+ */
+int afLib::getAttribute(const uint16_t attrId) {
+    _requestId++;
+    uint8_t dummy; // This value isn't actually used.
+//    return queuePut(MSG_TYPE_GET, _requestId++, attrId, 0, &dummy);
+    return queuePut(MSG_TYPE_GET, _requestId, attrId, 0, &dummy); /* by moto on 17-Nov-2017 */
+}
+
+/**
+ * The many moods of setAttribute
+ *
+ * These are the public versions of the setAttribute method.
+ * These methods queue the operation and return immediately. Applications must call loop() for the operation to complete.
+ */
+int afLib::setAttributeBool(const uint16_t attrId, const bool value) {
+    _requestId++;
+    uint8_t val = value ? 1 : 0;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(val),
+                    (uint8_t *)&val);
+}
+
+int afLib::setAttribute8(const uint16_t attrId, const int8_t value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
+                    (uint8_t *)&value);
+}
+
+int afLib::setAttribute16(const uint16_t attrId, const int16_t value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
+                    (uint8_t *) &value);
+}
+
+int afLib::setAttribute32(const uint16_t attrId, const int32_t value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
+                    (uint8_t *) &value);
+}
+
+int afLib::setAttribute64(const uint16_t attrId, const int64_t value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, sizeof(value),
+                    (uint8_t *) &value);
+}
+
+int afLib::setAttribute(const uint16_t attrId, const string &value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, value.length(),
+                    (uint8_t *) value.c_str());
+}
+
+int afLib::setAttribute(const uint16_t attrId, const uint16_t valueLen, const char *value) {
+    if (valueLen > MAX_ATTRIBUTE_SIZE) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    if (value == NULL) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, valueLen,
+                    (const uint8_t *) value);
+}
+
+int afLib::setAttribute(const uint16_t attrId, const uint16_t valueLen, const uint8_t *value) {
+    if (valueLen > MAX_ATTRIBUTE_SIZE) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    if (value == NULL) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, valueLen, value);
+}
+
+int afLib::setAttributeComplete(uint8_t requestId, const uint16_t attrId, const uint16_t valueLen, const uint8_t *value) {
+    if (valueLen > MAX_ATTRIBUTE_SIZE) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    if (value == NULL) {
+        return afERROR_INVALID_PARAM;
+    }
+
+    return queuePut(MSG_TYPE_UPDATE, requestId, attrId, valueLen, value);
+}
+
+/**
+ * doGetAttribute
+ *
+ * The private version of getAttribute. This version actually calls sendCommand() to kick off the state machine and
+ * execute the operation.
+ */
+int afLib::doGetAttribute(uint8_t requestId, uint16_t attrId) {
+    if (_interrupts_pending > 0 || _writeCmd != NULL) {
+        return afERROR_BUSY;
+    }
+
+    _writeCmd = new Command(requestId, MSG_TYPE_GET, attrId);
+    if (!_writeCmd->isValid()) {
+        SERIAL_PRINT_DBG_ASR("getAttribute invalid command:");
+        _writeCmd->dumpBytes();
+        _writeCmd->dump();
+        delete (_writeCmd);
+        _writeCmd = NULL;
+        return afERROR_INVALID_COMMAND;
+    }
+
+    _outstandingSetGetAttrId = attrId;
+
+    // Start the transmission.
+    sendCommand();
+
+    return afSUCCESS;
+}
+
+/**
+ * doSetAttribute
+ *
+ * The private version of setAttribute. This version actually calls sendCommand() to kick off the state machine and
+ * execute the operation.
+ */
+int afLib::doSetAttribute(uint8_t requestId, uint16_t attrId, uint16_t valueLen, uint8_t *value) {
+    if (_interrupts_pending > 0 || _writeCmd != NULL) {
+        return afERROR_BUSY;
+    }
+    _writeCmd = new Command(requestId, MSG_TYPE_SET, attrId, valueLen, value);
+    if (!_writeCmd->isValid()) {
+        SERIAL_PRINT_DBG_ASR("setAttributeComplete invalid command:");
+        _writeCmd->dumpBytes();
+        _writeCmd->dump();
+        delete (_writeCmd);
+        _writeCmd = NULL;
+        return afERROR_INVALID_COMMAND;
+    }
+
+    _outstandingSetGetAttrId = attrId;
+
+    // Start the transmission.
+    sendCommand();
+
+    return afSUCCESS;
+}
+
+/**
+ * doUpdateAttribute
+ *
+ * setAttribute calls on MCU attributes turn into updateAttribute calls. See documentation on the SPI protocol for
+ * more information. This method calls sendCommand() to kick off the state machine and execute the operation.
+ */
+int afLib::doUpdateAttribute(uint8_t requestId, uint16_t attrId, uint8_t status, uint16_t valueLen, uint8_t *value) {
+    if (_interrupts_pending > 0 || _writeCmd != NULL) {
+        return afERROR_BUSY;
+    }
+
+    _writeCmd = new Command(requestId, MSG_TYPE_UPDATE, attrId, status, 3 /* MCU Set it */, valueLen, value);
+    if (!_writeCmd->isValid()) {
+        SERIAL_PRINT_DBG_ASR("updateAttribute invalid command:");
+        _writeCmd->dumpBytes();
+        _writeCmd->dump();
+        delete (_writeCmd);
+        return afERROR_INVALID_COMMAND;
+    }
+
+    // Start the transmission.
+    sendCommand();
+
+    return afSUCCESS;
+}
+
+/**
+ * parseCommand
+ *
+ * A debug method for parsing a string into a command. This is not required for library operation and is only supplied
+ * as an example of how to execute attribute operations from a command line interface.
+ */
+#ifdef ATTRIBUTE_CLI
+int afLib::parseCommand(const char *cmd) {
+    if (_interrupts_pending > 0 || _writeCmd != NULL) {
+        _theLog->print("Busy: ");
+        _theLog->print(_interrupts_pending);
+        _theLog->print(", ");
+        _theLog->println(_writeCmd != NULL);
+        return afERROR_BUSY;
+    }
+
+    int reqId = _requestId++;
+    _writeCmd = new Command(_theLog,reqId, cmd);
+    if (!_writeCmd->isValid()) {
+        _theLog->print("BAD: ");
+        _theLog->println(cmd);
+        _writeCmd->dumpBytes();
+        _writeCmd->dump();
+        delete (_writeCmd);
+        _writeCmd = NULL;
+        return afERROR_INVALID_COMMAND;
+    }
+
+    // Start the transmission.
+    sendCommand();
+
+    return afSUCCESS;
+}
+#endif
+
+/**
+ * runStateMachine
+ *
+ * The state machine for afLib. This state machine is responsible for implementing the KSP SPI protocol and executing
+ * attribute operations.
+ * This method is run:
+ *      1. In response to receiving an interrupt from the ASR-1.
+ *      2. When an attribute operation is pulled out of the queue and executed.
+ */
+void afLib::runStateMachine(void) {
+    if (_interrupts_pending > 0) {
+        switch (_state) {
+            case STATE_IDLE:
+                //deathWish.attach(&afLib::kick_the_bucket,10);
+                onStateIdle();
+                return;
+
+            case STATE_STATUS_SYNC:
+                onStateSync();
+                break;
+
+            case STATE_STATUS_ACK:
+                onStateAck();
+                break;
+
+            case STATE_SEND_BYTES:
+                onStateSendBytes();
+                break;
+
+            case STATE_RECV_BYTES:
+                onStateRecvBytes();
+                break;
+
+            case STATE_CMD_COMPLETE:
+                onStateCmdComplete();
+                break;
+        }
+
+        updateIntsPending(-1);
+    } else {
+        if (syncRetries > 0 && syncRetries < MAX_SYNC_RETRIES && checkLastSync->read_ms() - lastSync > 1000) {
+            updateIntsPending(1);
+        } else if (syncRetries >= MAX_SYNC_RETRIES) {
+            SERIAL_PRINT_DBG_ASR("No response from ASR-1 - does profile have MCU enabled?\n");
+#if defined(TARGET_KL25Z)
+//            WatchDogWrapper::getSelf()->kick_the_bucket();
+#endif //TARGET_KL25Z
+            syncRetries = 0;
+            _state = STATE_IDLE;
+        }
+    }
+}
+
+/**
+ * onStateIdle
+ *
+ * If there is a command to be written, update the bytes to send. Otherwise we're sending a zero-sync message.
+ * Either way advance the state to send a sync message.
+ */
+void afLib::onStateIdle(void) {
+    if (_writeCmd != NULL) {
+        // Include 2 bytes for length
+        _bytesToSend = _writeCmd->getSize() + 2;
+    } else {
+        _bytesToSend = 0;
+    }
+    _state = STATE_STATUS_SYNC;
+    printState(_state);
+}
+
+/**
+ * onStateSync
+ *
+ * Write a sync message over SPI to let the ASR-1 know that we want to send some data.
+ * Check for a "collision" which occurs if the ASR-1 is trying to send us data at the same time.
+ */
+void afLib::onStateSync(void) {
+    int result;
+
+    _txStatus->setAck(false);
+    _txStatus->setBytesToSend(_bytesToSend);
+    _txStatus->setBytesToRecv(0);
+
+    result = exchangeStatus(_txStatus, _rxStatus);
+    
+    if (result == afSUCCESS && _rxStatus->isValid() && inSync(_txStatus, _rxStatus)) {
+        syncRetries = 0;   // Flag that sync completed.
+        _state = STATE_STATUS_ACK;
+        if (_txStatus->getBytesToSend() == 0 && _rxStatus->getBytesToRecv() > 0) {
+            _bytesToRecv = _rxStatus->getBytesToRecv();
+        }
+    } else {
+        // Try resending the preamble
+        _state = STATE_STATUS_SYNC;
+        lastSync = checkLastSync->read_ms();
+        syncRetries++;
+//          _txStatus->dumpBytes();
+//          _rxStatus->dumpBytes();
+    }
+    printState(_state);
+}
+
+/**
+ * onStateAck
+ *
+ * Acknowledge the previous sync message and advance the state.
+ * If there are bytes to send, advance to send bytes state.
+ * If there are bytes to receive, advance to receive bytes state.
+ * Otherwise it was a zero-sync so advance to command complete.
+ */
+void afLib::onStateAck(void) {
+    int result;
+
+    _txStatus->setAck(true);
+    _txStatus->setBytesToRecv(_rxStatus->getBytesToRecv());
+    _bytesToRecv = _rxStatus->getBytesToRecv();
+    result = writeStatus(_txStatus);
+    if (result != afSUCCESS) {
+        _state = STATE_STATUS_SYNC;
+        printState(_state);
+        return;
+    }
+    if (_bytesToSend > 0) {
+        _writeBufferLen = (uint16_t) _writeCmd->getSize();
+        _writeBuffer = new uint8_t[_bytesToSend];
+        memcpy(_writeBuffer, (uint8_t * ) & _writeBufferLen, 2);
+        _writeCmd->getBytes(&_writeBuffer[2]);
+        _state = STATE_SEND_BYTES;
+    } else if (_bytesToRecv > 0) {
+        _state = STATE_RECV_BYTES;
+    } else {
+        _state = STATE_CMD_COMPLETE;
+    }
+    printState(_state);
+}
+
+/**
+ * onStateSendBytes
+ *
+ * Send the required number of bytes to the ASR-1 and then advance to command complete.
+ */
+void afLib::onStateSendBytes(void) {
+//        _theLog->print("send bytes: "); _theLog->println(_bytesToSend);
+    sendBytes();
+
+    if (_bytesToSend == 0) {
+        _writeBufferLen = 0;
+        delete[] (_writeBuffer); //wsugi delete (_writeBuffer);
+        _writeBuffer = NULL;
+        _state = STATE_CMD_COMPLETE;
+        printState(_state);
+    }
+}
+
+/**
+ * onStateRecvBytes
+ *
+ * Receive the required number of bytes from the ASR-1 and then advance to command complete.
+ */
+void afLib::onStateRecvBytes(void) {
+//        _theLog->print("receive bytes: "); _theLog->println(_bytesToRecv);
+    recvBytes();
+    if (_bytesToRecv == 0) {
+        _state = STATE_CMD_COMPLETE;
+        printState(_state);
+        _readCmd = new Command(_readBufferLen, &_readBuffer[2]);
+        delete[] (_readBuffer); //wsugi delete (_readBuffer);
+        _readBuffer = NULL;
+    }
+}
+
+/**
+ * onStateCmdComplete
+ *
+ * Call the appropriate sketch callback to report the result of the command.
+ * Clear the command object and go back to waiting for the next interrupt or command.
+ */
+void afLib::onStateCmdComplete(void) {
+    _state = STATE_IDLE;
+    printState(_state);
+    if (_readCmd != NULL) {
+        uint8_t *val = new uint8_t[_readCmd->getValueLen()];
+        _readCmd->getValue(val);
+
+        switch (_readCmd->getCommand()) {
+            case MSG_TYPE_SET:
+                _onAttrSet(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val);
+                break;
+
+            case MSG_TYPE_UPDATE:
+                if (_readCmd->getAttrId() == _outstandingSetGetAttrId) {
+                    _outstandingSetGetAttrId = 0;
+                }
+                _onAttrSetComplete(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val);
+                break;
+
+            default:
+                break;
+        }
+        delete[] (val); //wsugi delete (val);
+        delete (_readCmd);
+        _readCmdOffset = 0;
+        _readCmd = NULL;
+    }
+
+    if (_writeCmd != NULL) {
+        // Fake a callback here for MCU attributes as we don't get one from the module.
+        if (_writeCmd->getCommand() == MSG_TYPE_UPDATE && IS_MCU_ATTR(_writeCmd->getAttrId())) {
+            _onAttrSetComplete(_writeCmd->getReqId(), _writeCmd->getAttrId(), _writeCmd->getValueLen(), _writeCmd->getValueP());
+        }
+        delete (_writeCmd);
+        _writeCmdOffset = 0;
+        _writeCmd = NULL;
+    }
+}
+
+/**
+ * exchangeStatus
+ *
+ * Write a status command object to the ASR-1 and clock in a status object from the ASR-1 at the same time.
+ */
+int afLib::exchangeStatus(StatusCommand *tx, StatusCommand *rx) {
+    int result = afSUCCESS;
+    uint16_t len = tx->getSize();
+    int bytes[len];
+    char rbytes[len+1];
+    int index = 0;
+    tx->getBytes(bytes);
+
+//    _theSPI->beginSPI();
+
+    for (int i=0;i<len;i++)
+    {
+      rbytes[i]=bytes[i];
+    }
+    rbytes[len]=tx->getChecksum();
+    
+    printTransaction((uint8_t*)rbytes,len+1);
+
+    _theSPI->beginSPI();
+    _theSPI->transfer(rbytes,len+1);
+    _theSPI->endSPI();
+    
+    printTransaction((uint8_t*)rbytes,len+1);
+
+    uint8_t cmd = bytes[index++];
+    if (cmd != 0x30 && cmd != 0x31) {
+        SERIAL_PRINT_DBG_ASR("exchangeStatus bad cmd: 0x%02x\n",cmd);
+        result = afERROR_INVALID_COMMAND;
+    }
+
+    rx->setBytesToSend(rbytes[index + 0] | (rbytes[index + 1] << 8));
+    rx->setBytesToRecv(rbytes[index + 2] | (rbytes[index + 3] << 8));
+    rx->setChecksum(rbytes[index+4]);
+    //_theSPI->endSPI();
+    return result;
+}
+
+/**
+ * inSync
+ *
+ * Check to make sure the Arduino and the ASR-1 aren't trying to send data at the same time.
+ * Return true only if there is no collision.
+ */
+bool afLib::inSync(StatusCommand *tx, StatusCommand *rx) {
+    return (tx->getBytesToSend() == 0 && rx->getBytesToRecv() == 0) ||
+           (tx->getBytesToSend() > 0 && rx->getBytesToRecv() == 0) ||
+           (tx->getBytesToSend() == 0 && rx->getBytesToRecv() > 0);
+}
+
+/**
+ * writeStatus
+ *
+ * Write a status command to the ASR-1 and ignore the result. If you want to read bytes at the same time, use
+ * exchangeStatus instead.
+ */
+int afLib::writeStatus(StatusCommand *c) {
+    int result = afSUCCESS;
+    uint16_t len = c->getSize();
+    int bytes[len];
+    char rbytes[len+1];
+    int index = 0;
+    c->getBytes(bytes);
+
+    _theSPI->beginSPI();
+
+    for (int i=0;i<len;i++)
+    {
+      rbytes[i]=bytes[i];
+    }
+    rbytes[len]=c->getChecksum();
+    printTransaction((uint8_t*)rbytes,len+1);
+    _theSPI->transfer(rbytes,len+1);
+    printTransaction((uint8_t*)rbytes,len+1);
+    uint8_t cmd = rbytes[index++];
+    if (cmd != 0x30 && cmd != 0x31) {
+        SERIAL_PRINT_DBG_ASR("writeStatus bad cmd: 0x%02x\n",cmd);
+        result = afERROR_INVALID_COMMAND;
+    }
+
+
+    _theSPI->endSPI();
+
+//  c->dump();
+//  c->dumpBytes();
+
+    return result;
+}
+
+/**
+ * sendBytes
+ *
+ * Send the specified number of data bytes to the ASR-1. Do this in chunks of SPI_FRAME_LEN bytes.
+ */
+void afLib::sendBytes() {
+    uint16_t len = _bytesToSend > SPI_FRAME_LEN ? SPI_FRAME_LEN : _bytesToSend;
+    uint8_t bytes[SPI_FRAME_LEN];
+    memset(bytes, 0xff, sizeof(bytes));
+
+    memcpy(bytes, &_writeBuffer[_writeCmdOffset], len);
+
+    _theSPI->beginSPI();
+    printTransaction(bytes,len+1);
+    _theSPI->transfer((char *)bytes,len);
+    printTransaction(bytes,len+1);
+    _theSPI->endSPI();
+
+//  dumpBytes("Sending:", len, bytes);
+
+    _writeCmdOffset += len;
+    _bytesToSend -= len;
+}
+
+/**
+ * recvBytes
+ *
+ * Receive the specified number of data bytes from the ASR-1. Do this in chunks of SPI_FRAME_LEN bytes.
+ */
+void afLib::recvBytes() {
+    uint16_t len = _bytesToRecv > SPI_FRAME_LEN ? SPI_FRAME_LEN : _bytesToRecv;
+
+    if (_readCmdOffset == 0) {
+        _readBufferLen = _bytesToRecv;
+        _readBuffer = new uint8_t[_readBufferLen];
+    }
+
+    _theSPI->beginSPI();
+
+
+    char * start =(char*)_readBuffer + _readCmdOffset;
+    printTransaction((uint8_t*)start,len+1);
+    _theSPI->transfer(start,len);
+    printTransaction((uint8_t*)start,len+1);
+
+    _theSPI->endSPI();
+
+//  dumpBytes("Receiving:", len, _readBuffer);
+
+    _readCmdOffset += len;
+    _bytesToRecv -= len;
+}
+
+/**
+ * isIdle
+ *
+ * Provide a way for the sketch to know if we're idle. Returns true if there are no attribute operations in progress.
+ */
+bool afLib::isIdle() {
+    return _interrupts_pending == 0 && _state == STATE_IDLE && _outstandingSetGetAttrId == 0;
+}
+
+/**
+ * These methods are required to disable/enable interrupts for the Linux version of afLib.
+ * They are no-ops on Arduino.
+ */
+#ifndef ARDUINO
+void noInterrupts(){}
+    void interrupts(){}
+#endif
+
+void afLib::mcuISR() {
+//  _theLog->println("mcu");
+    updateIntsPending(1);
+}
+
+/****************************************************************************
+ *                              Queue Methods                               *
+ ****************************************************************************/
+/**
+ * queueInit
+ *
+ * Create a small queue to prevent flooding the ASR-1 with attribute operations.
+ * The initial size is small to allow running on small boards like UNO.
+ * Size can be increased on larger boards.
+ */
+void afLib::queueInit() {
+    for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
+        _requestQueue[i].p_value = NULL;
+    }
+}
+
+/**
+ * queuePut
+ *
+ * Add an item to the end of the queue. Return an error if we're out of space in the queue.
+ */
+int afLib::queuePut(uint8_t messageType, uint8_t requestId, const uint16_t attributeId, uint16_t valueLen,
+                    const uint8_t *value) {
+    for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
+        if (_requestQueue[i].p_value == NULL) {
+            _requestQueue[i].messageType = messageType;
+            _requestQueue[i].attrId = attributeId;
+            _requestQueue[i].requestId = requestId;
+            _requestQueue[i].valueLen = valueLen;
+            _requestQueue[i].p_value = new uint8_t[valueLen];
+            memcpy(_requestQueue[i].p_value, value, valueLen);
+            return afSUCCESS;
+        }
+    }
+
+    return afERROR_QUEUE_OVERFLOW;
+}
+
+/**
+ * queueGet
+ *
+ * Pull and return the oldest item from the queue. Return an error if the queue is empty.
+ */
+int afLib::queueGet(uint8_t *messageType, uint8_t *requestId, uint16_t *attributeId, uint16_t *valueLen,
+                    uint8_t **value) {
+    for (int i = 0; i < REQUEST_QUEUE_SIZE; i++) {
+        if (_requestQueue[i].p_value != NULL) {
+            *messageType = _requestQueue[i].messageType;
+            *attributeId = _requestQueue[i].attrId;
+            *requestId = _requestQueue[i].requestId;
+            *valueLen = _requestQueue[i].valueLen;
+            *value = new uint8_t[*valueLen];
+            memcpy(*value, _requestQueue[i].p_value, *valueLen);
+            delete[] (_requestQueue[i].p_value); //wsugi delete (_requestQueue[i].p_value);
+            _requestQueue[i].p_value = NULL;
+            return afSUCCESS;
+        }
+    }
+
+    return afERROR_QUEUE_UNDERFLOW;
+}
+
+/****************************************************************************
+ *                              Debug Methods                               *
+ ****************************************************************************/
+/**
+ * dumpBytes
+ *
+ * Dump a byte buffer to the debug log.
+ */
+void afLib::dumpBytes(char *label, int len, uint8_t *bytes) {
+    SERIAL_PRINT_DBG_ASR("%s\n",label);
+    for (int i = 0; i < len; i++) {
+        if (i > 0) {
+            SERIAL_PRINT_DBG_ASR(", ");
+        }
+        uint8_t b = bytes[i] & 0xff;
+
+        if (b < 0x10) {
+            SERIAL_PRINT_DBG_ASR("0x02x", b);
+        } else {
+            //_theLog->print("0x");
+            SERIAL_PRINT_DBG_ASR("0x02x",b);//, HEX);
+        }
+    }
+    SERIAL_PRINT_DBG_ASR("\n");
+}
+
+/**
+ * printState
+ *
+ * Print the current state of the afLib state machine. For debugging, just remove the return statement.
+ */
+void afLib::printState(int state) {
+//    return;
+    switch (state) {
+        case STATE_IDLE:
+            SERIAL_PRINT_DBG_ASR("STATE_IDLE\n");
+            break;
+        case STATE_STATUS_SYNC:
+            SERIAL_PRINT_DBG_ASR("STATE_STATUS_SYNC\n");
+            break;
+        case STATE_STATUS_ACK:
+            SERIAL_PRINT_DBG_ASR("STATE_STATUS_ACK\n");
+            break;
+        case STATE_SEND_BYTES:
+            SERIAL_PRINT_DBG_ASR("STATE_SEND_BYTES\n");
+            break;
+        case STATE_RECV_BYTES:
+            SERIAL_PRINT_DBG_ASR("STATE_RECV_BYTES\n");
+            break;
+        case STATE_CMD_COMPLETE:
+            SERIAL_PRINT_DBG_ASR("STATE_CMD_COMPLETE\n");
+            break;
+        default:
+            SERIAL_PRINT_DBG_ASR("Unknown State!\n");
+            break;
+    }
+}
+
+void afLib::printTransaction(uint8_t *rbytes, int len)
+{
+    //return;
+    int i = 0;
+    for(;i<=len;++i)
+    {
+        SERIAL_PRINT_DBG_ASR("0x%02x:",rbytes[i]);
+    }
+    SERIAL_PRINT_DBG_ASR("\n");
+}
\ No newline at end of file