1 files changed, 57 insertions, 10 deletions

diff --git a/lib/pbdrv/drv/arduino/mod.cpp b/lib/pbdrv/drv/arduino/mod.cpp
index 8a38a5b..9130334 100644
--- a/lib/pbdrv/drv/arduino/mod.cpp
+++ b/lib/pbdrv/drv/arduino/mod.cpp
@@ -4,34 +4,81 @@
 
 #include <Arduino.h>
 #include <Wire.h>
+#include <avr/delay.h>
 
-#include <stdlib.h>
-#include <stdint.h>
+#include <FreeRTOS.h>
+#include <timers.h>
+#include <task.h>
 
 #include "../../pb.h"
 #include "../../pb-mod.h"
-#include "mod.h"
+#include "../../pb-types.h"
+#include "../../pb-buf.h"
+#include "../../pb-mem.h"
+
+static void async_pb_i2c_recv(void * _msg, uint32_t _) {
+	pb_buf_t * msg = (pb_buf_t *) _msg;
+	pb_i2c_recv((uint8_t *) msg->data, msg->size);
+	pb_buf_free(msg);
+	pb_free(msg);
+}
 
 static void recv_event(int bytes) {
-	uint8_t * data = (uint8_t *) malloc(bytes);
-	size_t size = 0;
+	pb_buf_t * msg = (pb_buf_t *) pb_malloc(sizeof(pb_buf_t));
+	msg->data = (char *) pb_malloc(bytes);
+	msg->size = 0;
 	while (Wire.available())
-		data[size++] = Wire.read();
+		msg->data[msg->size++] = Wire.read();
 
-	pbdrv_i2c_recv(data, size);
+	// defer pb_i2c_recv call
+	xTimerPendFunctionCallFromISR(async_pb_i2c_recv, msg, 0, NULL);
 }
 
-void pbdrv_setup() {
-	Wire.begin((int) PBDRV_MOD_ADDR);
+static void pb_setup() {
+	Wire.begin((int) PB_MOD_ADDR);
 	Wire.setWireTimeout(PB_TIMEOUT_US, true);
 	Wire.setClock(PB_CLOCK_SPEED_HZ);
+	// TODO: check if onReceive replaces or appends a handler function
 	Wire.onReceive(recv_event);
 }
 
-__weak void pbdrv_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) {
+__weak void pb_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) {
 	Wire.beginTransmission((int) addr);
 	Wire.write(buf, sz);
 	Wire.endTransmission(true);
 	Wire.setWireTimeout(PB_TIMEOUT_US, true);
 }
 
+//! Arduino setup function
+extern void setup(void);
+//! Arduino loop function
+extern void loop(void);
+//! Arduino internal initialization
+void init(void);
+
+//! FreeRTOS loop task
+void loop_task() {
+	for(;;) {
+		loop();
+		if (serialEventRun) serialEventRun();
+	}
+}
+
+//! Application entrypoint
+int main(void) {
+	init(); // call arduino internal setup
+	setup(); // call regular arduino setup
+	pb_setup(); // call pbdrv-mod setup
+	xTaskCreate((TaskFunction_t) loop_task, "loop", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
+	vTaskStartScheduler(); // start freertos scheduler
+	return 0;
+}
+
+/**
+ * \note I should really be able to use Arduino's initVariant function for
+ * this, but I can't seem to get it to link properly using the CMake setup in
+ * this repository. Overriding the main() function seems to work, and the
+ * USBCON thing in the default Arduino main() function isn't needed because
+ * puzzle modules are likely not using USB.
+ */
+