Added another interface file to make the code easier to follow

Makefile

@@ -120,7 +120,8 @@ CSRC = $(STARTUPSRC) \
        buffer.c \
        packet.c \
        crc.c \
-       comm_uart.c
+       comm_uart.c \
+       bldc_interface_uart.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.

bldc_interface_uart.c

+/*
+	Copyright 2015 Benjamin Vedder	benjamin@vedder.se
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * bldc_interface_uart.c
+ *
+ *  Created on: 9 okt 2015
+ *      Author: benjamin
+ */
+
+#include "bldc_interface_uart.h"
+#include "ch.h"
+#include "hal.h"
+#include "bldc_interface.h"
+
+// Settings
+#define PACKET_HANDLER			0
+
+// Private functions
+static void process_packet(unsigned char *data, unsigned int len);
+static void send_packet_bldc_interface(unsigned char *data, unsigned int len);
+
+/**
+ * Initialize the UART BLDC interface and provide a function to be used for
+ * sending packets.
+ *
+ * @param func
+ * Function provided for sending packets.
+ */
+void bldc_interface_uart_init(void(*func)(unsigned char *data, unsigned int len)) {
+	// Initialize packet handler
+	packet_init(func, process_packet, PACKET_HANDLER);
+
+	// Initialize the bldc interface and provide a send function
+	bldc_interface_init(send_packet_bldc_interface);
+}
+
+/**
+ * Process one byte received on the UART. Once a full packet is received the
+ * corresponding callback will be called by bldc_interface.
+ *
+ * @param b
+ * The byte received on the UART to process.
+ */
+void bldc_interface_uart_process_byte(unsigned char b) {
+	packet_process_byte(b, PACKET_HANDLER);
+}
+
+/**
+ * Call this function at around 1 khz to reset the state of the packet
+ * interface after a timeout in case data is lost.
+ */
+void bldc_interface_uart_run_timer(void) {
+	packet_timerfunc();
+}
+
+/**
+ * Callback for the packet handled for when a whole packet is received,
+ * assembled and checked.
+ *
+ * @param data
+ * Data array pointer
+ * @param len
+ * Data array length
+ */
+static void process_packet(unsigned char *data, unsigned int len) {
+	// Let bldc_interface process the packet.
+	bldc_interface_process_packet(data, len);
+}
+
+/**
+ * Callback that bldc_interface uses to send packets.
+ *
+ * @param data
+ * Data array pointer
+ * @param len
+ * Data array length
+ */
+static void send_packet_bldc_interface(unsigned char *data, unsigned int len) {
+	// Pass the packet to the packet handler to add checksum, length, start and stop bytes.
+	packet_send_packet(data, len, PACKET_HANDLER);
+}
+
+

bldc_interface_uart.h

+/*
+	Copyright 2015 Benjamin Vedder	benjamin@vedder.se
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * bldc_interface_uart.h
+ *
+ *  Created on: 9 okt 2015
+ *      Author: benjamin
+ */
+
+#ifndef BLDC_INTERFACE_UART_H_
+#define BLDC_INTERFACE_UART_H_
+
+// Includes
+#include "packet.h" // For the MAX_PACKET_LEN define
+
+// Functions
+void bldc_interface_uart_init(void(*func)(unsigned char *data, unsigned int len));
+void bldc_interface_uart_process_byte(unsigned char b);
+void bldc_interface_uart_run_timer(void);
+
+#endif /* BLDC_INTERFACE_UART_H_ */

comm_uart.c

@@ -25,15 +25,11 @@
 #include "comm_uart.h"
 #include "ch.h"
 #include "hal.h"
-#include "packet.h"
-#include "bldc_interface.h"
+#include "bldc_interface_uart.h"
 
 #include <string.h>
 
 // Settings
-#define PACKET_HANDLER			0
-#define SERIAL_RX_BUFFER_SIZE	1024
-
 #define UART_BAUDRATE			115200
 #define UART_DEV				UARTD3
 #define UART_GPIO_AF			7
@@ -41,13 +37,14 @@
 #define UART_TX_PIN				10
 #define UART_RX_PORT			GPIOB
 #define UART_RX_PIN				11
+#define SERIAL_RX_BUFFER_SIZE	1024
 
 // Private functions
-static void process_packet(unsigned char *data, unsigned int len);
-static void send_packet_bldc_interface(unsigned char *data, unsigned int len);
 static void send_packet(unsigned char *data, unsigned int len);
 
 // Threads
+static THD_FUNCTION(timer_thread, arg);
+static THD_WORKING_AREA(timer_thread_wa, 512);
 static THD_FUNCTION(packet_process_thread, arg);
 static THD_WORKING_AREA(packet_process_thread_wa, 4096);
 static thread_t *process_tp;
@@ -144,7 +141,7 @@ static THD_FUNCTION(packet_process_thread, arg) {
 		 */
 
 		while (serial_rx_read_pos != serial_rx_write_pos) {
-			packet_process_byte(serial_rx_buffer[serial_rx_read_pos++], PACKET_HANDLER);
+			bldc_interface_uart_process_byte(serial_rx_buffer[serial_rx_read_pos++]);
 
 			if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
 				serial_rx_read_pos = 0;
@@ -153,20 +150,6 @@ static THD_FUNCTION(packet_process_thread, arg) {
 	}
 }
 
-/**
- * Callback for the packet handled for when a whole packet is received,
- * assembled and checked.
- *
- * @param data
- * Data array pointer
- * @param len
- * Data array length
- */
-static void process_packet(unsigned char *data, unsigned int len) {
-	// Let bldc_interface process the packet.
-	bldc_interface_process_packet(data, len);
-}
-
 /**
  * Callback that the packet handler uses to send an assembled packet.
  *
@@ -195,22 +178,21 @@ static void send_packet(unsigned char *data, unsigned int len) {
 }
 
 /**
- * Callback that bldc_interface uses to send packets.
- *
- * @param data
- * Data array pointer
- * @param len
- * Data array length
+ * This thread is only for calling the timer function once
+ * per millisecond. Can also be implementer using interrupts
+ * if no RTOS is available.
  */
-static void send_packet_bldc_interface(unsigned char *data, unsigned int len) {
-	// Pass the packet to the packet handler to add checksum, length, start and stop bytes.
-	packet_send_packet(data, len, PACKET_HANDLER);
+static THD_FUNCTION(timer_thread, arg) {
+	(void)arg;
+	chRegSetThreadName("packet timer");
+
+	for(;;) {
+		bldc_interface_uart_run_timer();
+		chThdSleepMilliseconds(1);
+	}
 }
 
 void comm_uart_init(void) {
-	// Initialize packet handler
-	packet_init(send_packet, process_packet, PACKET_HANDLER);
-
 	// Initialize UART
 	uartStart(&UART_DEV, &uart_cfg);
 	palSetPadMode(UART_TX_PORT, UART_TX_PIN, PAL_MODE_ALTERNATE(UART_GPIO_AF) |
@@ -221,9 +203,13 @@ void comm_uart_init(void) {
 			PAL_STM32_PUDR_PULLUP);
 
 	// Initialize the bldc interface and provide a send function
-	bldc_interface_init(send_packet_bldc_interface);
+	bldc_interface_uart_init(send_packet);
 
 	// Start processing thread
 	chThdCreateStatic(packet_process_thread_wa, sizeof(packet_process_thread_wa),
 			NORMALPRIO, packet_process_thread, NULL);
+
+	// Start timer thread
+	chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa),
+			NORMALPRIO, timer_thread, NULL);
 }

packet.h

@@ -30,7 +30,7 @@
 // Settings
 #define PACKET_RX_TIMEOUT		2
 #define PACKET_HANDLERS			1
-#define PACKET_MAX_PL_LEN		1024
+#define PACKET_MAX_PL_LEN		512
 
 // Functions
 void packet_init(void (*s_func)(unsigned char *data, unsigned int len),