Diff: afLib.cpp

Revision:

0:6f371c791202

Child:

1:112741fe45d1

diff -r 000000000000 -r 6f371c791202 afLib.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/afLib.cpp	Tue Mar 20 06:47:25 2018 +0000
@@ -0,0 +1,890 @@
+/**
+ * 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"
+#define Stream Serial
+#include "afLib.h"
+#include "af_queue.h"
+
+/**
+ * Define this to debug your selected transport (ie SPI or UART).
+ * This will cause a println each time an interrupt or ready byte is received from the ASR.
+ * You will also get states printed whenever a SYNC transaction is performed by the afLib.
+ */
+#define DEBUG_TRANSPORT     0
+
+/**
+ * These are required to be able to recognize the MCU trying to reboot the ASR by setting the command
+ * attribute. We used local defines with the aflib prefix to make sure they are always defined and don't
+ * clash with anything the app is using.
+ */
+#define AFLIB_SYSTEM_COMMAND_ATTR_ID    (65012)
+#define AFLIB_SYSTEM_COMMAND_REBOOT     (1)
+
+/**
+ * Prevent the MCU from spamming us with too many setAttribute requests.
+ * We do this by waiting a small amount of time in between transactions.
+ * This prevents sync retries and allows the module to get it's work done.
+ */
+#define MIN_TIME_BETWEEN_UPDATES_MILLIS (50)
+
+#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;
+static long lastComplete = 0;
+
+AF_QUEUE_DECLARE(s_request_queue, sizeof(request_t), REQUEST_QUEUE_SIZE);
+
+/**
+* Required for the Linux version of afLib.
+*/
+#ifndef ARDUINO
+#if 0
+#include <sys/time.h>
+
+struct timeval start;
+
+long millis() {
+    gettimeofday(&start, NULL);
+    return start.tv_sec;
+}
+#endif /* for 0 */
+#endif /* ARDUINO */
+
+/**
+* These methods are required for the Arduino version of afLib.
+* They are no-ops on linux.
+*/
+void noInterrupts() 
+{
+	__disable_irq() ;
+}
+
+void interrupts() 
+{
+	__enable_irq() ;
+}
+
+/* for mbed implementation */
+Timer *aflib_timer = 0 ;
+
+long millis(void)
+{
+	if (aflib_timer == 0) {
+		aflib_timer = new Timer() ;
+		aflib_timer->start() ;
+	}
+	return(aflib_timer->read_ms()) ;
+}
+
+/**
+ * getRequestId
+ * by Motoo Tanaka on 20-Mar-2018
+ */
+int afLib::getRequestId(void)
+{
+	return( _requestId ) ;
+}
+
+/**
+ * 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,
+                       AttrSetHandler attrSet, AttrNotifyHandler attrNotify, Stream *theLog , afTransport *theTransport)
+{
+    if (_iaflib == NULL) {
+        _iaflib = new afLib( mcuInterrupt, isrWrapper, attrSet, attrNotify, theLog, theTransport);
+    }
+
+    return _iaflib;
+}
+
+/**
+ * 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(AttrSetHandler attrSet, AttrNotifyHandler attrNotify, Stream *theLog, afTransport *theTransport)
+{
+    if (_iaflib == NULL) {
+        _iaflib = new afLib(PinName(-1), NULL, attrSet, attrNotify, theLog, theTransport);
+    }
+
+    return _iaflib;
+}
+
+/**
+ * afLib
+ *
+ * The private constructor for the afLib. This one actually initializes the afLib and prepares it for use.
+ */
+afLib::afLib(PinName mcuInterrupt, isr isrWrapper,
+             AttrSetHandler attrSet, AttrNotifyHandler attrNotify, Stream *theLog, afTransport *theTransport)
+{
+    queueInit();
+    _theLog= theLog;
+    _theTransport= theTransport;
+    _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(_theLog);
+    _rxStatus = new StatusCommand(_theLog);
+
+    _attrSetHandler = attrSet;
+    _attrNotifyHandler = attrNotify;
+
+
+#ifdef ARDUINO
+    if (mcuInterrupt != -1) {
+        pinMode(mcuInterrupt, INPUT);
+        attachInterrupt(mcuInterrupt, isrWrapper, FALLING);
+    }
+#endif
+/* 20-Mar-2018 by Motoo Tanaka for mbed implementation */
+	if (isrWrapper != 0) {
+		fco = new InterruptIn(mcuInterrupt) ; 
+		fco->fall(isrWrapper) ;
+	}
+
+    _interrupts_pending = 0;
+}
+
+/**
+ * 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) {
+    // For UART, we need to look for a magic character on the line as our interrupt.
+    // We call this method to handle that. For other interfaces, the interrupt pin is used and this method does nothing.
+    _theTransport->checkForInterrupt(&_interrupts_pending, isIdle());
+
+    if (isIdle() && (queueGet(&_request.messageType, &_request.requestId, &_request.attrId, &_request.valueLen,
+                              &_request.p_value, &_request.status, &_request.reason) == 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, _request.valueLen, _request.p_value, _request.status, _request.reason);
+                break;
+
+            default:
+                _theLog->printf("loop: request type!\n");
+        }
+    }
+
+    if (_request.p_value != NULL) {
+        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) {
+    noInterrupts();
+    _interrupts_pending += amount;
+    interrupts();
+}
+
+/**
+ * sendCommand
+ *
+ * This increments the interrupt count to kick off the state machine in the next call to loop().
+ */
+void afLib::sendCommand(void) {
+    noInterrupts();
+    if (_interrupts_pending == 0 && _state == STATE_IDLE) {
+        updateIntsPending(1);
+    }
+    interrupts();
+}
+
+/**
+ * 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, 0, 0);
+}
+
+/**
+ * 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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+int afLib::setAttributeStr(const uint16_t attrId, const char *value) {
+    _requestId++;
+    return queuePut(IS_MCU_ATTR(attrId) ? MSG_TYPE_UPDATE : MSG_TYPE_SET, _requestId, attrId, strlen(value),
+                    (uint8_t *) value, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+int afLib::setAttributeCStr(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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+int afLib::setAttributeBytes(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, UPDATE_STATE_UPDATED, UPDATE_REASON_LOCAL_OR_MCU_UPDATE);
+}
+
+int afLib::setAttributeComplete(uint8_t requestId, const uint16_t attrId, const uint16_t valueLen, const uint8_t *value, uint8_t status, uint8_t reason) {
+    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, status, reason);
+}
+
+/**
+ * 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(_theLog,requestId, MSG_TYPE_GET, attrId);
+    if (!_writeCmd->isValid()) {
+        _theLog->printf("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(_theLog,requestId, MSG_TYPE_SET, attrId, valueLen, value);
+    if (!_writeCmd->isValid()) {
+        _theLog->printf("setAttributeComplete invalid command:");
+        _writeCmd->dumpBytes();
+        _writeCmd->dump();
+        delete (_writeCmd);
+        _writeCmd = NULL;
+        return afERROR_INVALID_COMMAND;
+    }
+
+    /**
+     * Recognize when the MCU is trying to reboot the ASR. When this is the case, the ASR will reboot before
+     * the SPI transaction completes and the _outstandingSetGetAttrId will be left set. Instead, just don't
+     * set it for this case.
+     */
+    if (attrId != AFLIB_SYSTEM_COMMAND_ATTR_ID || *value != AFLIB_SYSTEM_COMMAND_REBOOT) {
+        _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, uint16_t valueLen, uint8_t *value, uint8_t status, uint8_t reason) {
+    if (_interrupts_pending > 0 || _writeCmd != NULL) {
+        return afERROR_BUSY;
+    }
+
+    _writeCmd = new Command(_theLog, requestId, MSG_TYPE_UPDATE, attrId, status, reason, valueLen, value);
+    if (!_writeCmd->isValid()) {
+        _theLog->printf("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) {
+        //_theLog->printf("_interrupts_pending: %d\n",_interrupts_pending ); 
+
+        switch (_state) {
+            case STATE_IDLE:
+                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 && millis() - lastSync > 1000) {
+            _theLog->printf("Sync Retry\n");
+            updateIntsPending(1);
+        } else if (syncRetries >= MAX_SYNC_RETRIES) {
+            _theLog->printf("No response from ASR - does profile have MCU enabled?\n");
+            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 = _theTransport->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 = millis();
+        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 = _theTransport->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, &_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->printf("send bytes: %d\n", _bytesToSend); 
+    _theTransport->sendBytesOffset((char *)_writeBuffer, &_bytesToSend, &_writeCmdOffset);
+
+    if (_bytesToSend == 0) {
+        _writeBufferLen = 0;
+        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) {
+    _theTransport->recvBytesOffset((char **)&_readBuffer, &_readBufferLen, &_bytesToRecv, &_readCmdOffset);
+    if (_bytesToRecv == 0) {
+        _state = STATE_CMD_COMPLETE;
+        printState(_state);
+        _readCmd = new Command(_theLog, _readBufferLen, &_readBuffer[2]);
+    	//_readCmd->dumpBytes();
+        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) {
+    int result;
+
+    _state = STATE_IDLE;
+    printState(_state);
+    if (_readCmd != NULL) {
+        uint8_t *val = new uint8_t[_readCmd->getValueLen()];
+        _readCmd->getValue(val);
+
+        uint8_t state;
+        uint8_t reason;
+
+        switch (_readCmd->getCommand()) {
+            case MSG_TYPE_SET:
+                if (_attrSetHandler(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val)) {
+                    state = UPDATE_STATE_UPDATED;
+                    reason = UPDATE_REASON_SERVICE_SET;
+                } else {
+                    state = UPDATE_STATE_FAILED;
+                    reason = UPDATE_REASON_INTERNAL_SET_FAIL;
+                }
+                result = setAttributeComplete(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val, state, reason);
+
+                if (result != afSUCCESS) {
+                	_theLog->printf("Can't reply to SET! This is FATAL!\n");
+                }
+
+                break;
+
+            case MSG_TYPE_UPDATE:
+                // If the attr update is a "fake" update, don't send it to the MCU
+                if (_readCmd->getReason() != UPDATE_REASON_FAKE_UPDATE) {
+                    if (_readCmd->getAttrId() == _outstandingSetGetAttrId) {
+                        _outstandingSetGetAttrId = 0;
+                    }
+                    static bool inNotifyHandler;
+                    if (!inNotifyHandler) {
+                        inNotifyHandler = true;
+                        _attrNotifyHandler(_readCmd->getReqId(), _readCmd->getAttrId(), _readCmd->getValueLen(), val);
+                        inNotifyHandler = false;
+                    }
+                    lastComplete = millis();
+                }
+                break;
+
+            default:
+                break;
+        }
+        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())) {
+            _attrNotifyHandler(_writeCmd->getReqId(), _writeCmd->getAttrId(), _writeCmd->getValueLen(), _writeCmd->getValueP());
+            lastComplete = millis();
+        }
+        delete (_writeCmd);
+        _writeCmdOffset = 0;
+        _writeCmd = NULL;
+    }
+}
+
+/**
+ * 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);
+}
+
+/**
+ * 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() {
+    if (lastComplete != 0 && (millis() - lastComplete) < MIN_TIME_BETWEEN_UPDATES_MILLIS) {
+        return false;
+    }
+    lastComplete = 0;
+    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 disableInterrupts(){}
+void enableInterrupts(){}
+#endif
+
+void afLib::mcuISR() {
+#if (defined(DEBUG_TRANSPORT) && DEBUG_TRANSPORT > 0)
+    _theLog->printf("mcuISR\n");
+#endif
+    updateIntsPending(1);
+}
+
+/****************************************************************************
+ *                              Queue Methods                               *
+ ****************************************************************************/
+
+static uint8_t af_queue_preemption_disable(void) {
+    return 0;
+}
+
+static void af_queue_preemption_enable(uint8_t is_nested) {
+}
+
+/**
+ * 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() {
+    af_queue_init_system(af_queue_preemption_disable, af_queue_preemption_enable, _theLog);
+    AF_QUEUE_INIT(s_request_queue, sizeof(request_t), REQUEST_QUEUE_SIZE);
+}
+
+/**
+ * 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, const uint8_t status, const uint8_t reason) {
+
+    queue_t volatile *p_q = &s_request_queue;
+    request_t *p_event = (request_t *)AF_QUEUE_ELEM_ALLOC_FROM_INTERRUPT(p_q);
+    if (p_event != NULL) {
+        p_event->messageType = messageType;
+        p_event->attrId = attributeId;
+        p_event->requestId = requestId;
+        p_event->valueLen = valueLen;
+        p_event->p_value = new uint8_t[valueLen];
+        memcpy(p_event->p_value, value, valueLen);
+        p_event->status = status;
+        p_event->reason = reason;
+
+        AF_QUEUE_PUT_FROM_INTERRUPT(p_q, p_event);
+        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, uint8_t *status, uint8_t *reason) {
+
+    if (AF_QUEUE_PEEK_FROM_INTERRUPT(&s_request_queue)) {
+        request_t *p_event = (request_t *)AF_QUEUE_GET_FROM_INTERRUPT(&s_request_queue);
+        *messageType = p_event->messageType;
+        *attributeId = p_event->attrId;
+        *requestId = p_event->requestId;
+        *valueLen = p_event->valueLen;
+        *value = new uint8_t[*valueLen];
+        memcpy(*value, p_event->p_value, *valueLen);
+        delete (p_event->p_value);
+        p_event->p_value = NULL;
+        *status = p_event->status;
+        *reason = p_event->reason;
+
+        AF_QUEUE_ELEM_FREE_FROM_INTERRUPT(&s_request_queue, p_event);
+        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) {
+    _theLog->printf("%s\n", label); 
+    for (int i = 0; i < len; i++) {
+        if (i > 0) {
+            _theLog->printf(", ");
+        }
+        uint8_t b = bytes[i] & 0xff;
+
+		_theLog->printf("0x%02X", b) ;
+#if 0
+        if (b < 0x10) {
+            _theLog->print("0x0");
+            _theLog->print(b, HEX);
+        } else {
+            _theLog->print("0x");
+            _theLog->print(b, HEX);
+        }
+#endif
+    }
+    _theLog->printf("\n");
+}
+
+/**
+ * printState
+ *
+ * Print the current state of the afLib state machine.
+ */
+void afLib::printState(int state) {
+#if (defined(DEBUG_TRANSPORT) && DEBUG_TRANSPORT > 0)
+    switch (state) {
+        case STATE_IDLE:
+            _theLog->printf("STATE_IDLE\n");
+            break;
+        case STATE_STATUS_SYNC:
+            _theLog->printf("STATE_STATUS_SYNC\n");
+            break;
+        case STATE_STATUS_ACK:
+            _theLog->printf("STATE_STATUS_ACK\n");
+            break;
+        case STATE_SEND_BYTES:
+            _theLog->printf("STATE_SEND_BYTES\n");
+            break;
+        case STATE_RECV_BYTES:
+            _theLog->printf("STATE_RECV_BYTES\n");
+            break;
+        case STATE_CMD_COMPLETE:
+            _theLog->printf("STATE_CMD_COMPLETE\n");
+            break;
+        default:
+            _theLog->printf("Unknown State!\n");
+            break;
+    }
+#endif
+}