st21nfc/hal/halcore.cc

/** ----------------------------------------------------------------------
 *
 * Copyright (C) 2016 ST Microelectronics S.A.
 *
 * 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.
 *
 *
 ----------------------------------------------------------------------*/
#define LOG_TAG "NfcHal"
#define TX_DELAY 10

#include <hardware/nfc.h>
#include <pthread.h>
#include <semaphore.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include "android_logmsg.h"
#include "halcore_private.h"
#include "st21nfc_dev.h"
#include "hal_fd.h"

extern int I2cWriteCmd(const uint8_t* x, size_t len);
extern void DispHal(const char* title, const void* data, size_t length);

extern uint32_t ScrProtocolTraceFlag;  // = SCR_PROTO_TRACE_ALL;

// HAL WRAPPER
static void HalStopTimer(HalInstance* inst);
static bool rf_deactivate_delay;
struct timespec start_tx_data;
uint8_t NCI_ANDROID_GET_CAPS[] = {0x2f, 0x0c, 0x01, 0x0};
uint8_t NCI_ANDROID_GET_CAPS_RSP[] = {0x4f,0x0c,0x0e,0x00,0x00,0x00,0x00,0x03,
                                      0x00,0x01,0x01, //Passive Observe mode
                                      0x01,0x01,0x01, //Polling frame ntf
                                      0x03,0x01,0x00  //Autotransact polling loop filter
                                    };


/**************************************************************************************************
 *
 *                                      Private API Declaration
 *
 **************************************************************************************************/

static void* HalWorkerThread(void* arg);
static inline int sem_wait_nointr(sem_t* sem);

static void HalOnNewUpstreamFrame(HalInstance* inst, const uint8_t* data,
                                  size_t length);
static void HalTriggerNextDsPacket(HalInstance* inst);
static bool HalEnqueueThreadMessage(HalInstance* inst, ThreadMesssage* msg);
static bool HalDequeueThreadMessage(HalInstance* inst, ThreadMesssage* msg);
static HalBuffer* HalAllocBuffer(HalInstance* inst);
static HalBuffer* HalFreeBuffer(HalInstance* inst, HalBuffer* b);
static uint32_t HalSemWait(sem_t* pSemaphore, uint32_t timeout);
struct timespec HalGetTimestamp(void);
int HalTimeDiffInMs(struct timespec start, struct timespec end);

/**************************************************************************************************
 *
 *                                      Public API Entry-Points
 *
 **************************************************************************************************/

/**
 * Callback of HAL Core protocol layer.
 * Invoked by HAL worker thread according to if message is received from NCI
 * stack or posted by
 * I2C worker thread.
 * <p>@param context NFC callbacks for control/data
 * @param event Next HAL state machine action (send msg to I2C layer or report
 * data/control/error
 * to NFC task)
 * @param length Configure if debug and trace allowed, trace level
 */
void HalCoreCallback(void* context, uint32_t event, const void* d,
                     size_t length) {
  const uint8_t* data = (const uint8_t*)d;
  uint8_t cmd = 'W';
  int delta_time_ms;

  st21nfc_dev_t* dev = (st21nfc_dev_t*)context;

  switch (event) {
    case HAL_EVENT_DSWRITE:
      if (rf_deactivate_delay && length == 4 && data[0] == 0x21
          && data[1] == 0x06 && data[2] == 0x01) {
        delta_time_ms = HalTimeDiffInMs(start_tx_data, HalGetTimestamp());
        if (delta_time_ms >= 0 && delta_time_ms < TX_DELAY) {
            STLOG_HAL_D("Delay %d ms\n", TX_DELAY - delta_time_ms);
            usleep(1000 * (TX_DELAY - delta_time_ms));
        }
        rf_deactivate_delay = false;
      } else if (length > 1 && data[0] == 0x00 && data[1] == 0x00) {
        start_tx_data = HalGetTimestamp();
        rf_deactivate_delay = true;
      } else {
        rf_deactivate_delay = false;
      }
      STLOG_HAL_V("!! got event HAL_EVENT_DSWRITE for %zu bytes\n", length);

      DispHal("TX DATA", (data), length);
      if (length == 4 && !memcmp(data, NCI_ANDROID_GET_CAPS,
           sizeof(NCI_ANDROID_GET_CAPS))) {
        dev->p_data_cback(NCI_ANDROID_GET_CAPS_RSP[2]+3, NCI_ANDROID_GET_CAPS_RSP);
      } else {
        // Send write command to IO thread
        cmd = 'W';
        I2cWriteCmd(&cmd, sizeof(cmd));
        I2cWriteCmd((const uint8_t*)&length, sizeof(length));
        I2cWriteCmd(data, length);
      }
      break;

    case HAL_EVENT_DATAIND:
      STLOG_HAL_V("!! got event HAL_EVENT_DATAIND for %zu bytes\n", length);

      if ((length >= 3) && (data[2] != (length - 3))) {
        STLOG_HAL_W(
            "length is illogical. Header length is %d, packet length %zu\n",
            data[2], length);
      } else if (length > 1 && rf_deactivate_delay
                 && data[0] == 0x00 && data[1] == 0x00) {
        rf_deactivate_delay = false;
      }

      dev->p_data_cback(length, (uint8_t*)data);
      break;

    case HAL_EVENT_ERROR:
      STLOG_HAL_E("!! got event HAL_EVENT_ERROR\n");
      DispHal("Received unexpected HAL message !!!", data, length);
      break;

    case HAL_EVENT_LINKLOST:
      STLOG_HAL_E("!! got event HAL_EVENT_LINKLOST or HAL_EVENT_ERROR\n");

      dev->p_cback(HAL_NFC_ERROR_EVT, HAL_NFC_STATUS_ERR_CMD_TIMEOUT);

      // Write terminate command
      cmd = 'X';
      I2cWriteCmd(&cmd, sizeof(cmd));
      break;

    case HAL_EVENT_TIMER_TIMEOUT:
      STLOG_HAL_D("!! got event HAL_EVENT_TIMER_TIMEOUT \n");
      dev->p_cback(HAL_WRAPPER_TIMEOUT_EVT, HAL_NFC_STATUS_OK);
      break;
  }
}

/**
 * Connection to the HAL Core layer.
 * Set-up HAL context and create HAL worker thread.
 * <p>@param context NFC NCI device context, NFC callbacks for control/data, HAL
 * handle
 * @param callback HAL callback function pointer
 * @param flags Configure if debug and trace allowed, trace level
 */
HALHANDLE HalCreate(void* context, HAL_CALLBACK callback, uint32_t flags) {
  /*   bool halTraceMask = true;

     if (flags & HAL_FLAG_NO_DEBUG) {
         halTraceMask = false;
     }
 */
  STLOG_HAL_V("HalCreate enter\n");

  HalInstance* inst = (HalInstance*)calloc(1, sizeof(HalInstance));

  if (!inst) {
    STLOG_HAL_E("!out of memory\n");
    return NULL;
  }

  // We need a semaphore to wakeup our protocol thread
  if (0 != sem_init(&inst->semaphore, 0, 0)) {
    STLOG_HAL_E("!sem_init failed\n");
    free(inst);
    return NULL;
  }

  // We need a semaphore to manage buffers
  if (0 != sem_init(&inst->bufferResourceSem, 0, NUM_BUFFERS)) {
    STLOG_HAL_E("!sem_init failed\n");
    sem_destroy(&inst->semaphore);
    free(inst);
    return NULL;
  }

  // We need a semaphore to block upstream data indications
  if (0 != sem_init(&inst->upstreamBlock, 0, 0)) {
    STLOG_HAL_E("!sem_init failed\n");
    sem_destroy(&inst->semaphore);
    sem_destroy(&inst->bufferResourceSem);
    free(inst);
    return NULL;
  }

  // Initialize remaining data-members
  inst->context = context;
  inst->callback = callback;
  inst->flags = flags;
  inst->freeBufferList = 0;
  inst->pendingNciList = 0;
  inst->nciBuffer = 0;
  inst->ringReadPos = 0;
  inst->ringWritePos = 0;
  inst->timeout = HAL_SLEEP_TIMER_DURATION;

  inst->bufferData = (HalBuffer*)calloc(NUM_BUFFERS, sizeof(HalBuffer));
  if (!inst->bufferData) {
    STLOG_HAL_E("!failed to allocate memory\n");
    sem_destroy(&inst->semaphore);
    sem_destroy(&inst->bufferResourceSem);
    sem_destroy(&inst->upstreamBlock);
    free(inst);
    return NULL;
  }

  // Concatenate the buffers into a linked list for easy access
  size_t i;
  for (i = 0; i < NUM_BUFFERS; i++) {
    HalBuffer* b = &inst->bufferData[i];
    b->next = inst->freeBufferList;
    inst->freeBufferList = b;
  }

  if (0 != pthread_mutex_init(&inst->hMutex, 0)) {
    STLOG_HAL_E("!failed to initialize Mutex \n");
    sem_destroy(&inst->semaphore);
    sem_destroy(&inst->bufferResourceSem);
    sem_destroy(&inst->upstreamBlock);
    free(inst->bufferData);
    free(inst);
    return NULL;
  }

  // Spawn the thread
  if (0 != pthread_create(&inst->thread, NULL, HalWorkerThread, inst)) {
    STLOG_HAL_E("!failed to spawn workerthread \n");
    sem_destroy(&inst->semaphore);
    sem_destroy(&inst->bufferResourceSem);
    sem_destroy(&inst->upstreamBlock);
    pthread_mutex_destroy(&inst->hMutex);
    free(inst->bufferData);
    free(inst);
    return NULL;
  }

  STLOG_HAL_V("HalCreate exit\n");
  return (HALHANDLE)inst;
}

/**
 * Disconnection of the HAL protocol layer.
 * Send message to stop the HAL worker thread and wait for it to finish. Free
 * resources.
 * @param hHAL HAL handle
 */
void HalDestroy(HALHANDLE hHAL) {
  HalInstance* inst = (HalInstance*)hHAL;
  // Tell the thread that we want to finish
  ThreadMesssage msg;
  msg.command = MSG_EXIT_REQUEST;
  msg.payload = 0;
  msg.length = 0;

  HalEnqueueThreadMessage(inst, &msg);

  // Wait for thread to finish
  pthread_join(inst->thread, NULL);

  // Cleanup and exit
  sem_destroy(&inst->semaphore);
  sem_destroy(&inst->upstreamBlock);
  sem_destroy(&inst->bufferResourceSem);
  pthread_mutex_destroy(&inst->hMutex);

  // Free resources
  free(inst->bufferData);
  free(inst);

  STLOG_HAL_V("HalDestroy done\n");
}

/**
 * Send an NCI message downstream to HAL protocol layer (DH->NFCC transfer).
 * Block if more than NUM_BUFFERS (10) transfers are outstanding, otherwise will
 * return immediately.
 * @param hHAL HAL handle
 * @param data Data message
 * @param size Message size
 */ bool HalSendDownstream(HALHANDLE hHAL, const uint8_t* data, size_t size)
{
  // Send an NCI frame downstream. will
  HalInstance* inst = (HalInstance*)hHAL;

  if ((size <= MAX_BUFFER_SIZE) && (size > 0)) {
    ThreadMesssage msg;
    HalBuffer* b = HalAllocBuffer(inst);

    if (!b) {
      // Should never be reachable
      return false;
    }

    memcpy(b->data, data, size);
    b->length = size;

    msg.command = MSG_TX_DATA;
    msg.payload = 0;
    msg.length = 0;
    msg.buffer = b;

    return HalEnqueueThreadMessage(inst, &msg);

  } else {
    STLOG_HAL_E("HalSendDownstream size to large %zu instead of %d\n", size,
                MAX_BUFFER_SIZE);
    return false;
  }
}

// HAL WRAPPER
/**
 * Send an NCI message downstream to HAL protocol layer (DH->NFCC transfer).
 * Block if more than NUM_BUFFERS (10) transfers are outstanding, otherwise will
 * return immediately.
 * @param hHAL HAL handle
 * @param data Data message
 * @param size Message size
 */
bool HalSendDownstreamTimer(HALHANDLE hHAL, const uint8_t* data, size_t size,
                            uint32_t duration) {
  // Send an NCI frame downstream. will
  HalInstance* inst = (HalInstance*)hHAL;

  if ((size <= MAX_BUFFER_SIZE) && (size > 0)) {
    ThreadMesssage msg;
    HalBuffer* b = HalAllocBuffer(inst);

    if (!b) {
      // Should never be reachable
      return false;
    }

    memcpy(b->data, data, size);
    b->length = size;

    msg.command = MSG_TX_DATA_TIMER_START;
    msg.payload = 0;
    msg.length = duration;
    msg.buffer = b;

    return HalEnqueueThreadMessage(inst, &msg);

  } else {
    STLOG_HAL_E("HalSendDownstreamTimer size to large %zu instead of %d\n",
                size, MAX_BUFFER_SIZE);
    return false;
  }
}

bool HalSendDownstreamTimer(HALHANDLE hHAL, uint32_t duration) {
  HalInstance* inst = (HalInstance*)hHAL;

  ThreadMesssage msg;

  msg.command = MSG_TIMER_START;
  msg.payload = 0;
  msg.length = duration;
  msg.buffer = NULL;

  return HalEnqueueThreadMessage(inst, &msg);
}
/**
 * Send an NCI message downstream to HAL protocol layer (DH->NFCC transfer).
 * Block if more than NUM_BUFFERS (10) transfers are outstanding, otherwise will
 * return immediately.
 * @param hHAL HAL handle
 * @param data Data message
 * @param size Message size
 */
bool HalSendDownstreamStopTimer(HALHANDLE hHAL) {
  // Send an NCI frame downstream. will
  HalInstance* inst = (HalInstance*)hHAL;

  HalStopTimer(inst);
  return 1;
}

/**
 * Send an NCI message upstream to NFC NCI layer (NFCC->DH transfer).
 * @param hHAL HAL handle
 * @param data Data message
 * @param size Message size
 */
bool HalSendUpstream(HALHANDLE hHAL, const uint8_t* data, size_t size) {
  HalInstance* inst = (HalInstance*)hHAL;
  if ((size <= MAX_BUFFER_SIZE) && (size > 0)) {
    ThreadMesssage msg;
    msg.command = MSG_RX_DATA;
    msg.payload = data;
    msg.length = size;

    if (HalEnqueueThreadMessage(inst, &msg)) {
      // Block until the protocol has taken a copy of the data
      sem_wait_nointr(&inst->upstreamBlock);
      return true;
    }
    return false;
  } else {
    STLOG_HAL_E("HalSendUpstream size to large %zu instead of %d\n", size,
                MAX_BUFFER_SIZE);
    return false;
  }
}

/**************************************************************************************************
 *
 *                                      Private API Definition
 *
 **************************************************************************************************/
/*
 * Get current time stamp
 */
struct timespec HalGetTimestamp(void) {
  struct timespec tm;
  clock_gettime(CLOCK_REALTIME, &tm);
  return tm;
}

int HalTimeDiffInMs(struct timespec start, struct timespec end) {
  struct timespec temp;
  if ((end.tv_nsec - start.tv_nsec) < 0) {
    temp.tv_sec = end.tv_sec - start.tv_sec - 1;
    temp.tv_nsec = 1000000000 + end.tv_nsec - start.tv_nsec;
  } else {
    temp.tv_sec = end.tv_sec - start.tv_sec;
    temp.tv_nsec = end.tv_nsec - start.tv_nsec;
  }

  return (temp.tv_nsec / 1000000) + (temp.tv_sec * 1000);
}

/**
 * Determine the next shortest sleep to fulfill the pending timer requirements.
 * @param inst HAL instance
 * @param now timespec structure for time definition
 */
static uint32_t HalCalcSemWaitingTime(HalInstance* inst, struct timespec* now) {
  // Default to infinite wait time
  uint32_t result = OS_SYNC_INFINITE;

  if (inst->timer.active) {
    int delta =
        inst->timer.duration - HalTimeDiffInMs(inst->timer.startTime, *now);

    if (delta < 0) {
      // If we have a timer that has already expired, pick a zero wait time
      result = 0;

    } else if ((uint32_t)delta < result) {
      // Smaller time difference? If so take it
      result = delta;
    }
  }

  if (result != OS_SYNC_INFINITE) {
    // Add one millisecond on top of that, so the waiting semaphore will time
    // out just a moment
    // after the timer should expire
    result += 1;
  }

  return result;
}

/**************************************************************************************************
 *
 *                                     Timer Management
 *
 **************************************************************************************************/

static void HalStopTimer(HalInstance* inst) {
  inst->timer.active = false;
  STLOG_HAL_D("HalStopTimer \n");
}

static void HalStartTimer(HalInstance* inst, uint32_t duration) {
  STLOG_HAL_D("HalStartTimer \n");
  inst->timer.startTime = HalGetTimestamp();
  inst->timer.active = true;
  inst->timer.duration = duration;
}

/**************************************************************************************************
 *
 *                                     Thread Message Queue
 *
 **************************************************************************************************/

/**
 * Write message pointer to small ring buffer for queuing HAL messages.
 * @param inst HAL instance
 * @param msg Message to send
 * @return true if message properly copied in ring buffer
 */
static bool HalEnqueueThreadMessage(HalInstance* inst, ThreadMesssage* msg) {
  // Put a message to the queue
  int nextWriteSlot;
  bool result = true;

  pthread_mutex_lock(&inst->hMutex);

  nextWriteSlot = inst->ringWritePos + 1;

  if (nextWriteSlot == HAL_QUEUE_MAX) {
    nextWriteSlot = 0;
  }

  // Check that we don't overflow the queue entries
  if (nextWriteSlot == inst->ringReadPos) {
    STLOG_HAL_E("HAL thread message ring: RNR (implement me!!)");
    result = false;
  }

  if (result) {
    // inst->ring[nextWriteSlot] = *msg;
    memcpy(&(inst->ring[nextWriteSlot]), msg, sizeof(ThreadMesssage));
    inst->ringWritePos = nextWriteSlot;
  }

  pthread_mutex_unlock(&inst->hMutex);

  if (result) {
    sem_post(&inst->semaphore);
  }

  return result;
}

/**
 * Remove message pointer from stored ring buffer.
 * @param inst HAL instance
 * @param msg Message received
 * @return true if there is a new message to pull, false otherwise.
 */
static bool HalDequeueThreadMessage(HalInstance* inst, ThreadMesssage* msg) {
  int nextCmdIndex;
  bool result = true;
  // New data available
  pthread_mutex_lock(&inst->hMutex);

  // Get new timer read index
  nextCmdIndex = inst->ringReadPos + 1;

  if (nextCmdIndex == HAL_QUEUE_MAX) {
    nextCmdIndex = 0;
  }
  // check if ring buffer is empty
  if (inst->ringReadPos == inst->ringWritePos) {
    STLOG_HAL_E("HAL thread message ring: already read last valid data");
    result = false;
  }

  // Get new element from ringbuffer
  if (result) {
    memcpy(msg, &(inst->ring[nextCmdIndex]), sizeof(ThreadMesssage));
    inst->ringReadPos = nextCmdIndex;
  }

  pthread_mutex_unlock(&inst->hMutex);

  return result;
}

/**************************************************************************************************
 *
 *                                     Buffer/Memory Management
 *
 **************************************************************************************************/

/**
 * Allocate buffer from pre-allocated pool.
 * @param inst HAL instance
 * @return Pointer to allocated HAL buffer
 */
static HalBuffer* HalAllocBuffer(HalInstance* inst) {
  HalBuffer* b;

  // Wait until we have a buffer resource
  sem_wait_nointr(&inst->bufferResourceSem);

  pthread_mutex_lock(&inst->hMutex);

  b = inst->freeBufferList;
  if (b) {
    inst->freeBufferList = b->next;
    b->next = 0;
  }

  pthread_mutex_unlock(&inst->hMutex);

  if (!b) {
    STLOG_HAL_E(
        "! unable to allocate buffer resource."
        "check bufferResourceSem\n");
  }

  return b;
}

/**
 * Return buffer to pool.
 * @param inst HAL instance
 * @param b Pointer of HAL buffer to free
 * @return Pointer of freed HAL buffer
 */
static HalBuffer* HalFreeBuffer(HalInstance* inst, HalBuffer* b) {
  pthread_mutex_lock(&inst->hMutex);

  b->next = inst->freeBufferList;
  inst->freeBufferList = b;

  pthread_mutex_unlock(&inst->hMutex);

  // Unblock treads waiting for a buffer
  sem_post(&inst->bufferResourceSem);

  return b;
}

/**************************************************************************************************
 *
 *                                     State Machine
 *
 **************************************************************************************************/

/**
 * Event handler for HAL message
 * @param inst HAL instance
 * @param e HAL event
 */
static void Hal_event_handler(HalInstance* inst, HalEvent e) {
  switch (e) {
    case EVT_RX_DATA: {
      // New data packet arrived
      const uint8_t* nciData;
      size_t nciLength;

      // Extract raw NCI data from frame
      nciData = inst->lastUsFrame;
      nciLength = inst->lastUsFrameSize;

      // Pass received raw NCI data to stack
      inst->callback(inst->context, HAL_EVENT_DATAIND, nciData, nciLength);
    } break;

    case EVT_TX_DATA:
      // NCI data arrived from stack
      // Send data
      inst->callback(inst->context, HAL_EVENT_DSWRITE, inst->nciBuffer->data,
                     inst->nciBuffer->length);

      // Free the buffer
      HalFreeBuffer(inst, inst->nciBuffer);
      inst->nciBuffer = 0;
      break;

    // HAL WRAPPER
    case EVT_TIMER:
      inst->callback(inst->context, HAL_EVENT_TIMER_TIMEOUT, NULL, 0);
      break;
  }
}

/**************************************************************************************************
 *
 *                                     HAL Worker Thread
 *
 **************************************************************************************************/

/**
 * HAL worker thread to serialize all actions into a single thread.
 * RX/TX/TIMER are dispatched from here.
 * @param arg HAL instance arguments
 */
static void* HalWorkerThread(void* arg) {
  HalInstance* inst = (HalInstance*)arg;
  inst->exitRequest = false;

  STLOG_HAL_V("thread running\n");

  while (!inst->exitRequest) {
    struct timespec now = HalGetTimestamp();
    uint32_t waitResult =
        HalSemWait(&inst->semaphore, HalCalcSemWaitingTime(inst, &now));

    switch (waitResult) {
      case OS_SYNC_TIMEOUT: {
        // One or more times have expired
        STLOG_HAL_W("OS_SYNC_TIMEOUT\n");
        now = HalGetTimestamp();
        // Data frame
        Hal_event_handler(inst, EVT_TIMER);
      } break;

      case OS_SYNC_RELEASED: {
        // A message arrived
        ThreadMesssage msg;

        if (HalDequeueThreadMessage(inst, &msg)) {
          switch (msg.command) {
            case MSG_EXIT_REQUEST:

              STLOG_HAL_V("received exit request from upper layer\n");
              inst->exitRequest = true;
              break;

            case MSG_TX_DATA:
              STLOG_HAL_V("received new NCI data from stack\n");

              // Attack to end of list
              if (!inst->pendingNciList) {
                inst->pendingNciList = msg.buffer;
                inst->pendingNciList->next = 0;
              } else {
                // Find last element of the list. b->next is zero for this
                // element
                HalBuffer* b;
                for (b = inst->pendingNciList; b->next; b = b->next) {
                };

                // Concatenate to list
                b->next = msg.buffer;
                msg.buffer->next = 0;
              }

              // Start transmitting if we're in the correct state
              HalTriggerNextDsPacket(inst);
              break;

            // HAL WRAPPER
            case MSG_TX_DATA_TIMER_START:
              STLOG_HAL_V(
                  "received new NCI data from stack, need timer start\n");

              // Attack to end of list
              if (!inst->pendingNciList) {
                inst->pendingNciList = msg.buffer;
                inst->pendingNciList->next = 0;
              } else {
                // Find last element of the list. b->next is zero for this
                // element
                HalBuffer* b;
                for (b = inst->pendingNciList; b->next; b = b->next) {
                };

                // Concatenate to list
                b->next = msg.buffer;
                msg.buffer->next = 0;
              }

              // Start timer
              HalStartTimer(inst, msg.length);

              // Start transmitting if we're in the correct state
              HalTriggerNextDsPacket(inst);
              break;

            case MSG_RX_DATA:
              STLOG_HAL_V("received new data from CLF\n");
              HalOnNewUpstreamFrame(inst, (unsigned char*)msg.payload,
                                    msg.length);
              break;

            case MSG_TIMER_START:
              // Start timer
              HalStartTimer(inst, msg.length);
              STLOG_HAL_D("MSG_TIMER_START \n");
              break;
            default:
              STLOG_HAL_E("!received unkown thread message?\n");
              break;
          }
        } else {
          STLOG_HAL_E("!got wakeup in workerthread, but no message here? ?\n");
        }
      } break;

      case OS_SYNC_FAILED:

        STLOG_HAL_E(
            "!Something went horribly wrong.. The semaphore wait function "
            "failed\n");
        inst->exitRequest = true;
        break;
    }
  }

  STLOG_HAL_D("thread about to exit\n");
  return NULL;
}

/**************************************************************************************************
 *
 *                                     Misc. Functions
 *
 **************************************************************************************************/
/**
 *  helper to make sem_t interrupt safe
 * @param sem_t  semaphore
 * @return sem_wait return value.
 */

static inline int sem_wait_nointr(sem_t* sem) {
  while (sem_wait(sem))
    if (errno == EINTR)
      errno = 0;
    else
      return -1;
  return 0;
}

/**
 * Handle RX frames here first in HAL context.
 * @param inst HAL instance
 * @param data HAL data received from I2C worker thread
 * @param length Size of HAL data
 */
static void HalOnNewUpstreamFrame(HalInstance* inst, const uint8_t* data,
                                  size_t length) {
  memcpy(inst->lastUsFrame, data, length);
  inst->lastUsFrameSize = length;

  // Data frame
  Hal_event_handler(inst, EVT_RX_DATA);
  // Allow the I2C thread to get the next message (if done early, it may
  // overwrite before handled)
  sem_post(&inst->upstreamBlock);
}

/**
 * Send out the next queued up buffer for TX if any.
 * @param inst HAL instance
 */
static void HalTriggerNextDsPacket(HalInstance* inst) {
  // Check if we have something to transmit downstream
  HalBuffer* b = inst->pendingNciList;

  if (b) {
    // Get the buffer from the pending list
    inst->pendingNciList = b->next;
    inst->nciBuffer = b;

    STLOG_HAL_V("trigger transport of next NCI data downstream\n");
    // Process the new nci frame
    Hal_event_handler(inst, EVT_TX_DATA);

  } else {
    STLOG_HAL_V("no new NCI data to transmit, enter wait..\n");
  }
}

/*
 * Wait for given semaphore signaling a specific time or ever
 * param sem_t * pSemaphore
 * param uint32_t timeout
 * return uint32_t
 */
static uint32_t HalSemWait(sem_t* pSemaphore, uint32_t timeout) {
  uint32_t result = OS_SYNC_RELEASED;
  bool gotResult = false;

  if (timeout == OS_SYNC_INFINITE) {
    while (!gotResult) {
      if (sem_wait(pSemaphore) == -1) {
        int e = errno;
        char msg[200];

        if (e == EINTR) {
          STLOG_HAL_W(
              "! semaphore (infin) wait interrupted by system signal. re-enter "
              "wait");
          continue;
        }

        strerror_r(e, msg, sizeof(msg) - 1);
        STLOG_HAL_E("! semaphore (infin) wait failed. sem=0x%p, %s", pSemaphore,
                    msg);
        gotResult = true;
        result = OS_SYNC_FAILED;
      } else {
        gotResult = true;
      }
    };
  } else {
    struct timespec tm;
    long oneSecInNs = (int)1e9;

    clock_gettime(CLOCK_REALTIME, &tm);

    /* add timeout (can't overflow): */
    tm.tv_sec += (timeout / 1000);
    tm.tv_nsec += ((timeout % 1000) * 1000000);

    /* make sure nanoseconds are below a million */
    if (tm.tv_nsec >= oneSecInNs) {
      tm.tv_sec++;
      tm.tv_nsec -= oneSecInNs;
    }

    while (!gotResult) {
      if (sem_timedwait(pSemaphore, &tm) == -1) {
        int e = errno;

        if (e == EINTR) {
          /* interrupted by signal? repeat sem_wait again */
          continue;
        }

        if (e == ETIMEDOUT) {
          result = OS_SYNC_TIMEOUT;
          gotResult = true;
        } else {
          result = OS_SYNC_FAILED;
          gotResult = true;
        }
      } else {
        gotResult = true;
      }
    }
  }
  return result;
}