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388 lines
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C++

/**
* @file main.cpp
* @brief Program entry point.
*
* Copyright (C) 2020 Clyne Sullivan
*
* Distributed under the GNU GPL v3 or later. You should have received a copy of
* the GNU General Public License along with this program.
* If not, see <https://www.gnu.org/licenses/>.
*/
#include "ch.h"
#include "hal.h"
static_assert(sizeof(adcsample_t) == sizeof(uint16_t));
static_assert(sizeof(dacsample_t) == sizeof(uint16_t));
#include "common.hpp"
#include "error.hpp"
#include "adc.hpp"
#include "dac.hpp"
#include "elf_load.hpp"
#include "sclock.hpp"
#include "usbserial.hpp"
#include <array>
constexpr unsigned int MAX_ELF_FILE_SIZE = 8 * 1024;
enum class RunStatus : char
{
Idle = '1',
Running
};
static RunStatus run_status = RunStatus::Idle;
#define MSG_CONVFIRST (1)
#define MSG_CONVSECOND (2)
#define MSG_CONVFIRST_MEASURE (3)
#define MSG_CONVSECOND_MEASURE (4)
#define MSG_FOR_FIRST(m) (m & 1)
#define MSG_FOR_MEASURE(m) (m > 2)
static msg_t conversionMBBuffer[4];
static MAILBOX_DECL(conversionMB, conversionMBBuffer, 4);
static THD_WORKING_AREA(conversionThreadWA, 2048);
static THD_FUNCTION(conversionThread, arg);
static time_measurement_t conversion_time_measurement;
static ErrorManager EM;
static SampleBuffer samplesIn (reinterpret_cast<Sample *>(0x38000000));
static SampleBuffer samplesOut (reinterpret_cast<Sample *>(0x38002000));
#ifdef ENABLE_SIGGEN
static SampleBuffer samplesSigGen;
#endif
static unsigned char elf_file_store[MAX_ELF_FILE_SIZE];
static ELF::Entry elf_entry = nullptr;
static void signal_operate(adcsample_t *buffer, size_t count);
static void signal_operate_measure(adcsample_t *buffer, size_t count);
static void main_loop();
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg);
int main()
{
// Initialize the RTOS
halInit();
chSysInit();
//SCB_DisableDCache();
// Enable FPU
SCB->CPACR |= 0xF << 20;
ADC::begin();
DAC::begin();
SClock::begin();
USBSerial::begin();
SClock::setRate(SClock::Rate::R32K);
ADC::setRate(SClock::Rate::R32K);
// Start the conversion manager thread
chTMObjectInit(&conversion_time_measurement);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1,
nullptr);
chThdCreateStatic(conversionThreadWA, sizeof(conversionThreadWA),
NORMALPRIO, conversionThread, nullptr);
main_loop();
}
void main_loop()
{
while (1) {
if (USBSerial::isActive()) {
// Attempt to receive a command packet
if (unsigned char cmd[3]; USBSerial::read(&cmd[0], 1) > 0) {
// Packet received, first byte represents the desired command/action
switch (cmd[0]) {
case 'a':
USBSerial::write(samplesIn.bytedata(), samplesIn.bytesize());
break;
case 'A':
USBSerial::read(samplesIn.bytedata(), samplesIn.bytesize());
break;
case 'B':
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle) &&
EM.assert(USBSerial::read(&cmd[1], 2) == 2, Error::BadParamSize))
{
unsigned int count = (cmd[1] | (cmd[2] << 8)) * 2;
if (EM.assert(count <= MAX_SAMPLE_BUFFER_SIZE, Error::BadParam)) {
samplesIn.setSize(count);
samplesOut.setSize(count);
}
}
break;
case 'd':
USBSerial::write(samplesOut.bytedata(), samplesOut.bytesize());
break;
#ifdef ENABLE_SIGGEN
case 'D':
if (EM.assert(USBSerial::read(&cmd[1], 2) == 2, Error::BadParamSize)) {
unsigned int count = cmd[1] | (cmd[2] << 8);
if (EM.assert(count <= MAX_SAMPLE_BUFFER_SIZE, Error::BadParam)) {
samplesSigGen.setSize(count);
USBSerial::read(samplesSigGen.bytedata(), samplesSigGen.bytesize());
}
}
break;
#endif
// 'E' - Reads in and loads the compiled conversion code binary from USB.
case 'E':
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle) &&
EM.assert(USBSerial::read(&cmd[1], 2) == 2, Error::BadParamSize))
{
// Only load the binary if it can fit in the memory reserved for it.
unsigned int size = cmd[1] | (cmd[2] << 8);
if (EM.assert(size < sizeof(elf_file_store), Error::BadUserCodeSize)) {
USBSerial::read(elf_file_store, size);
elf_entry = ELF::load(elf_file_store);
EM.assert(elf_entry != nullptr, Error::BadUserCodeLoad);
}
}
break;
// 'e' - Unloads the currently loaded conversion code
case 'e':
elf_entry = nullptr;
break;
// 'i' - Sends an identifying string to confirm that this is the stmdsp device.
case 'i':
USBSerial::write(reinterpret_cast<const uint8_t *>("stmdsp"), 6);
break;
// 'I' - Sends the current run status.
case 'I':
{
unsigned char buf[2] = {
static_cast<unsigned char>(run_status),
static_cast<unsigned char>(EM.pop())
};
USBSerial::write(buf, sizeof(buf));
}
break;
// 'M' - Begins continuous sampling, but measures the execution time of the first
// sample processing. This duration can be later read through 'm'.
case 'M':
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle)) {
run_status = RunStatus::Running;
samplesOut.clear();
ADC::start(samplesIn.data(), samplesIn.size(), signal_operate_measure);
DAC::start(0, samplesOut.data(), samplesOut.size());
}
break;
// 'm' - Returns the last measured sample processing time, presumably in processor
// ticks.
case 'm':
USBSerial::write(reinterpret_cast<uint8_t *>(&conversion_time_measurement.last),
sizeof(rtcnt_t));
break;
// 'R' - Begin continuous sampling/conversion of the ADC. Samples will go through
// the conversion code, and will be sent out over the DAC.
case 'R':
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle)) {
run_status = RunStatus::Running;
samplesOut.clear();
ADC::start(samplesIn.data(), samplesIn.size(), signal_operate);
DAC::start(0, samplesOut.data(), samplesOut.size());
}
break;
case 'r':
if (EM.assert(USBSerial::read(&cmd[1], 1) == 1, Error::BadParamSize)) {
if (cmd[1] == 0xFF) {
unsigned char r = SClock::getRate();
USBSerial::write(&r, 1);
} else {
auto r = static_cast<SClock::Rate>(cmd[1]);
SClock::setRate(r);
ADC::setRate(r);
}
}
break;
// 'S' - Stops the continuous sampling/conversion.
case 'S':
if (run_status == RunStatus::Running) {
DAC::stop(0);
ADC::stop();
run_status = RunStatus::Idle;
}
break;
case 's':
if (auto samps = samplesOut.modified(); samps != nullptr) {
unsigned char buf[2] = {
static_cast<unsigned char>(samplesOut.size() / 2 & 0xFF),
static_cast<unsigned char>(((samplesOut.size() / 2) >> 8) & 0xFF)
};
USBSerial::write(buf, 2);
unsigned int total = samplesOut.bytesize() / 2;
unsigned int offset = 0;
unsigned char unused;
while (total > 512) {
USBSerial::write(reinterpret_cast<uint8_t *>(samps) + offset, 512);
while (USBSerial::read(&unused, 1) == 0);
offset += 512;
total -= 512;
}
USBSerial::write(reinterpret_cast<uint8_t *>(samps) + offset, total);
while (USBSerial::read(&unused, 1) == 0);
} else {
USBSerial::write(reinterpret_cast<const uint8_t *>("\0\0"), 2);
}
break;
#ifdef ENABLE_SIGGEN
case 'W':
DAC::start(1, samplesSigGen.data(), samplesSigGen.size());
break;
case 'w':
DAC::stop(1);
break;
#endif
default:
break;
}
}
}
chThdSleepMicroseconds(100);
}
}
void conversion_abort()
{
elf_entry = nullptr;
DAC::stop(0);
ADC::stop();
EM.add(Error::ConversionAborted);
}
THD_FUNCTION(conversionThread, arg)
{
(void)arg;
while (1) {
msg_t message;
if (chMBFetchTimeout(&conversionMB, &message, TIME_INFINITE) == MSG_OK) {
auto samples = MSG_FOR_FIRST(message) ? samplesIn.data() : samplesIn.middata();
auto size = samplesIn.size() / 2;
if (elf_entry) {
if (!MSG_FOR_MEASURE(message)) {
samples = elf_entry(samples, size);
} else {
chTMStartMeasurementX(&conversion_time_measurement);
samples = elf_entry(samples, size);
chTMStopMeasurementX(&conversion_time_measurement);
}
}
if (MSG_FOR_FIRST(message))
samplesOut.modify(samples, size);
else
samplesOut.midmodify(samples, size);
}
}
}
void signal_operate(adcsample_t *buffer, size_t)
{
chSysLockFromISR();
if (chMBGetUsedCountI(&conversionMB) > 1) {
chSysUnlockFromISR();
conversion_abort();
} else {
chMBPostI(&conversionMB, buffer == samplesIn.data() ? MSG_CONVFIRST : MSG_CONVSECOND);
chSysUnlockFromISR();
}
}
void signal_operate_measure(adcsample_t *buffer, [[maybe_unused]] size_t count)
{
chSysLockFromISR();
chMBPostI(&conversionMB, buffer == samplesIn.data() ? MSG_CONVFIRST_MEASURE : MSG_CONVSECOND_MEASURE);
chSysUnlockFromISR();
ADC::setOperation(signal_operate);
}
THD_FUNCTION(Thread1, arg)
{
(void)arg;
while (1) {
palSetLine(LINE_LED1);
chThdSleepMilliseconds(70);
palSetLine(LINE_LED2);
chThdSleepMilliseconds(70);
palSetLine(LINE_LED3);
chThdSleepMilliseconds(240);
palClearLine(LINE_LED1);
chThdSleepMilliseconds(70);
palClearLine(LINE_LED2);
chThdSleepMilliseconds(70);
palClearLine(LINE_LED3);
chThdSleepMilliseconds(240);
}
}
extern "C" {
__attribute__((naked))
void HardFault_Handler()
{
while (1);
// //asm("push {lr}");
//
// uint32_t *stack;
// uint32_t lr;
// asm("\
// tst lr, #4; \
// ite eq; \
// mrseq %0, msp; \
// mrsne %0, psp; \
// mov %1, lr; \
// " : "=r" (stack), "=r" (lr));
// //stack++;
// stack[7] |= (1 << 24); // Keep Thumb mode enabled
//
// conversion_abort();
//
// // TODO test lr and decide how to recover
//
// //if (run_status == RunStatus::Converting) {
// stack[6] = stack[5]; // Escape from elf_entry code
// //} else /*if (run_status == RunStatus::Recovered)*/ {
// // stack[6] = (uint32_t)main_loop & ~1; // Return to safety
// //}
//
// //asm("pop {lr}; bx lr");
// asm("bx lr");
}
} // extern "C"