reorganized source, wip

master
Clyne Sullivan 3 years ago
parent d24ed15843
commit 123cc4c756

@ -128,8 +128,8 @@ include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Auto-build files in ./source recursively. # Auto-build files in ./source recursively.
#include $(CHIBIOS)/tools/mk/autobuild.mk #include $(CHIBIOS)/tools/mk/autobuild.mk
ALLCSRC += $(wildcard source/*.c) ALLCSRC += $(wildcard source/*.c) $(wildcard source/periph/*.c)
ALLCPPSRC += $(wildcard source/*.cpp) ALLCPPSRC += $(wildcard source/*.cpp) $(wildcard source/periph/*.cpp)
ALLASMSRC += $(wildcard source/*.s) ALLASMSRC += $(wildcard source/*.s)
# Other files (optional). # Other files (optional).
#include $(CHIBIOS)/test/lib/test.mk #include $(CHIBIOS)/test/lib/test.mk
@ -158,7 +158,8 @@ ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC) ASMXSRC = $(ALLXASMSRC)
# Inclusion directories. # Inclusion directories.
INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) \
source source/periph
# Define C warning options here. # Define C warning options here.
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes -pedantic CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes -pedantic

@ -1,3 +1,3 @@
source [find interface/stlink.cfg] source [find interface/stlink.cfg]
source [find target/stm32h7x.cfg] source [find target/stm32l4x.cfg]

@ -262,5 +262,26 @@ bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
* @note You can add your board-specific code here. * @note You can add your board-specific code here.
*/ */
void boardInit(void) { void boardInit(void) {
// Enable the FPU (floating-point unit)
SCB->CPACR |= 0xF << 20;
// Setup the MPU (memory protection unit):
// Region 2: Data for algorithm thread
// Region 3: Code for algorithm thread
// Region 4: User algorithm code
mpuConfigureRegion(MPU_REGION_2,
0x20000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_64K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_3,
0x0807F800,
MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_2K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_4,
0x00000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_64K |
MPU_RASR_ENABLE);
} }

@ -277,5 +277,28 @@ bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
* @note You can add your board-specific code here. * @note You can add your board-specific code here.
*/ */
void boardInit(void) { void boardInit(void) {
palSetLineMode(LINE_LED_GREEN, PAL_MODE_OUTPUT_PUSHPULL);
palSetLineMode(LINE_LED_YELLOW, PAL_MODE_OUTPUT_PUSHPULL);
palSetLineMode(LINE_LED_RED, PAL_MODE_OUTPUT_PUSHPULL);
SCB->CPACR |= 0xF << 20; // Enable FPU
// Region 2: Data for algorithm thread and ADC/DAC buffers
// Region 3: Code for algorithm thread
// Region 4: User algorithm code
mpuConfigureRegion(MPU_REGION_2,
0x20008000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_128K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_3,
0x0807F800,
MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_2K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_4,
0x10000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_32K |
MPU_RASR_ENABLE);
} }

@ -1502,4 +1502,8 @@ extern "C" {
#endif #endif
#endif /* _FROM_ASM_ */ #endif /* _FROM_ASM_ */
#define LINE_LED_GREEN PAL_LINE(GPIOC_BASE, 10U)
#define LINE_LED_YELLOW PAL_LINE(GPIOC_BASE, 11U)
#define LINE_LED_RED PAL_LINE(GPIOC_BASE, 12U)
#endif /* BOARD_H */ #endif /* BOARD_H */

@ -0,0 +1,291 @@
#include "communication.hpp"
#include "ch.h"
#include "hal.h"
#include "periph/adc.hpp"
#include "periph/dac.hpp"
#include "periph/usbserial.hpp"
#include "elfload.hpp"
#include "error.hpp"
#include "conversion.hpp"
#include "runstatus.hpp"
#include "samples.hpp"
#include <algorithm>
#include <tuple>
__attribute__((section(".stacks")))
std::array<char, 4096> CommunicationManager::m_thread_stack = {};
void CommunicationManager::begin()
{
chThdCreateStatic(m_thread_stack.data(),
m_thread_stack.size(),
NORMALPRIO,
threadComm,
nullptr);
}
static void writeADCBuffer(unsigned char *);
static void setBufferSize(unsigned char *);
static void updateGenerator(unsigned char *);
static void loadAlgorithm(unsigned char *);
static void readStatus(unsigned char *);
static void startConversionMeasure(unsigned char *);
static void startConversion(unsigned char *);
static void stopConversion(unsigned char *);
static void startGenerator(unsigned char *);
static void readADCBuffer(unsigned char *);
static void readDACBuffer(unsigned char *);
static void unloadAlgorithm(unsigned char *);
static void readIdentifier(unsigned char *);
static void readExecTime(unsigned char *);
static void sampleRate(unsigned char *);
static void readConversionResults(unsigned char *);
static void readConversionInput(unsigned char *);
static void readMessage(unsigned char *);
static void stopGenerator(unsigned char *);
static const std::array<std::pair<char, void (*)(unsigned char *)>, 19> commandTable {{
{'A', writeADCBuffer},
{'B', setBufferSize},
{'D', updateGenerator},
{'E', loadAlgorithm},
{'I', readStatus},
{'M', startConversionMeasure},
{'R', startConversion},
{'S', stopConversion},
{'W', startGenerator},
{'a', readADCBuffer},
{'d', readDACBuffer},
{'e', unloadAlgorithm},
{'i', readIdentifier},
{'m', readExecTime},
{'r', sampleRate},
{'s', readConversionResults},
{'t', readConversionInput},
{'u', readMessage},
{'w', stopGenerator}
}};
void CommunicationManager::threadComm(void *)
{
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
auto func = std::find_if(commandTable.cbegin(), commandTable.cend(),
[&cmd](const auto& f) { return f.first == cmd[0]; });
if (func != commandTable.cend())
func->second(cmd);
}
}
chThdSleepMicroseconds(100);
}
}
void writeADCBuffer(unsigned char *)
{
USBSerial::read(Samples::In.bytedata(), Samples::In.bytesize());
}
void setBufferSize(unsigned char *cmd)
{
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle) &&
EM.assert(USBSerial::read(&cmd[1], 2) == 2, Error::BadParamSize))
{
// count is multiplied by two since this command receives size of buffer
// for each algorithm application.
unsigned int count = (cmd[1] | (cmd[2] << 8)) * 2;
if (EM.assert(count <= MAX_SAMPLE_BUFFER_SIZE, Error::BadParam)) {
Samples::In.setSize(count);
Samples::Out.setSize(count);
}
}
}
void updateGenerator(unsigned char *cmd)
{
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)) {
if (run_status == RunStatus::Idle) {
Samples::Generator.setSize(count);
USBSerial::read(
reinterpret_cast<uint8_t *>(Samples::Generator.data()),
Samples::Generator.bytesize());
} else if (run_status == RunStatus::Running) {
int more;
do {
chThdSleepMicroseconds(10);
more = DAC::sigGenWantsMore();
} while (more == -1);
USBSerial::read(reinterpret_cast<uint8_t *>(
more == 0 ? Samples::Generator.data() : Samples::Generator.middata()),
Samples::Generator.bytesize() / 2);
}
}
}
}
void loadAlgorithm(unsigned char *cmd)
{
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 < MAX_ELF_FILE_SIZE, Error::BadUserCodeSize)) {
USBSerial::read(ELFManager::fileBuffer(), size);
auto entry = ELFManager::loadFromInternalBuffer();
EM.assert(entry != nullptr, Error::BadUserCodeLoad);
}
}
}
void readStatus(unsigned char *)
{
unsigned char buf[2] = {
static_cast<unsigned char>(run_status),
static_cast<unsigned char>(EM.pop())
};
USBSerial::write(buf, sizeof(buf));
}
void startConversionMeasure(unsigned char *)
{
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle)) {
run_status = RunStatus::Running;
ConversionManager::startMeasured();
}
}
void startConversion(unsigned char *)
{
if (EM.assert(run_status == RunStatus::Idle, Error::NotIdle)) {
run_status = RunStatus::Running;
ConversionManager::start();
}
}
void stopConversion(unsigned char *)
{
if (run_status == RunStatus::Running) {
ConversionManager::stop();
run_status = RunStatus::Idle;
}
}
void startGenerator(unsigned char *)
{
DAC::start(1, Samples::Generator.data(), Samples::Generator.size());
}
void readADCBuffer(unsigned char *)
{
USBSerial::write(Samples::In.bytedata(), Samples::In.bytesize());
}
void readDACBuffer(unsigned char *)
{
USBSerial::write(Samples::Out.bytedata(), Samples::Out.bytesize());
}
void unloadAlgorithm(unsigned char *)
{
ELFManager::unload();
}
void readIdentifier(unsigned char *)
{
#if defined(TARGET_PLATFORM_H7)
USBSerial::write(reinterpret_cast<const uint8_t *>("stmdsph"), 7);
#else
USBSerial::write(reinterpret_cast<const uint8_t *>("stmdspl"), 7);
#endif
}
void readExecTime(unsigned char *)
{
USBSerial::write(reinterpret_cast<uint8_t *>(&conversion_time_measurement.last),
sizeof(rtcnt_t));
}
void sampleRate(unsigned char *cmd)
{
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);
}
}
}
void readConversionResults(unsigned char *)
{
if (auto samps = Samples::Out.modified(); samps != nullptr) {
unsigned char buf[2] = {
static_cast<unsigned char>(Samples::Out.size() / 2 & 0xFF),
static_cast<unsigned char>(((Samples::Out.size() / 2) >> 8) & 0xFF)
};
USBSerial::write(buf, 2);
unsigned int total = Samples::Out.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);
}
}
void readConversionInput(unsigned char *)
{
if (auto samps = Samples::In.modified(); samps != nullptr) {
unsigned char buf[2] = {
static_cast<unsigned char>(Samples::In.size() / 2 & 0xFF),
static_cast<unsigned char>(((Samples::In.size() / 2) >> 8) & 0xFF)
};
USBSerial::write(buf, 2);
unsigned int total = Samples::In.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);
}
}
void readMessage(unsigned char *)
{
//USBSerial::write(reinterpret_cast<uint8_t *>(userMessageBuffer), userMessageSize);
}
void stopGenerator(unsigned char *)
{
DAC::stop(1);
}

@ -0,0 +1,29 @@
/**
* @file communication.hpp
* @brief Manages communication with the host computer.
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_COMMUNICATION_HPP
#define STMDSP_COMMUNICATION_HPP
#include <array>
class CommunicationManager
{
public:
static void begin();
private:
static void threadComm(void *);
static std::array<char, 4096> m_thread_stack;
};
#endif // STMDSP_COMMUNICATION_HPP

@ -0,0 +1,206 @@
#include "conversion.hpp"
#include "periph/adc.hpp"
#include "periph/dac.hpp"
#include "elfload.hpp"
#include "error.hpp"
#include "runstatus.hpp"
#include "samples.hpp"
constexpr msg_t MSG_CONVFIRST = 1;
constexpr msg_t MSG_CONVSECOND = 2;
constexpr msg_t MSG_CONVFIRST_MEASURE = 3;
constexpr msg_t MSG_CONVSECOND_MEASURE = 4;
constexpr auto MSG_FOR_FIRST = [](msg_t m) { return m & 1; };
constexpr auto MSG_FOR_MEASURE = [](msg_t m) { return m > 2; };
time_measurement_t conversion_time_measurement;
__attribute__((section(".convdata")))
thread_t *ConversionManager::m_thread_monitor = nullptr;
thread_t *ConversionManager::m_thread_runner = nullptr;
__attribute__((section(".stacks")))
std::array<char, 1024> ConversionManager::m_thread_monitor_stack = {};
__attribute__((section(".stacks")))
std::array<char, 128> ConversionManager::m_thread_runner_entry_stack = {};
__attribute__((section(".convdata")))
std::array<char, CONVERSION_THREAD_STACK_SIZE> ConversionManager::m_thread_runner_stack = {};
std::array<msg_t, 2> ConversionManager::m_mailbox_buffer;
mailbox_t ConversionManager::m_mailbox = _MAILBOX_DATA(m_mailbox, m_mailbox_buffer.data(), m_mailbox_buffer.size());
void ConversionManager::begin()
{
m_thread_monitor = chThdCreateStatic(m_thread_monitor_stack.data(),
m_thread_monitor_stack.size(),
NORMALPRIO + 1,
threadMonitor,
nullptr);
auto runner_stack_end = &m_thread_runner_stack[CONVERSION_THREAD_STACK_SIZE];
m_thread_runner = chThdCreateStatic(m_thread_runner_entry_stack.data(),
m_thread_runner_entry_stack.size(),
HIGHPRIO,
threadRunnerEntry,
runner_stack_end);
}
void ConversionManager::start()
{
Samples::Out.clear();
ADC::start(Samples::In.data(), Samples::In.size(), adcReadHandler);
DAC::start(0, Samples::Out.data(), Samples::Out.size());
}
void ConversionManager::startMeasured()
{
Samples::Out.clear();
ADC::start(Samples::In.data(), Samples::In.size(), adcReadHandlerMeasure);
DAC::start(0, Samples::Out.data(), Samples::Out.size());
}
void ConversionManager::stop()
{
DAC::stop(0);
ADC::stop();
}
thread_t *ConversionManager::getMonitorHandle()
{
return m_thread_monitor;
}
void ConversionManager::abort()
{
ELFManager::unload();
EM.add(Error::ConversionAborted);
run_status = RunStatus::Recovering;
// Confirm that the exception return thread is the algorithm...
uint32_t *psp;
asm("mrs %0, psp" : "=r" (psp));
bool isRunnerStack =
(uint32_t)psp >= reinterpret_cast<uint32_t>(m_thread_runner_stack.data()) &&
(uint32_t)psp <= reinterpret_cast<uint32_t>(m_thread_runner_stack.data() +
m_thread_runner_stack.size());
if (isRunnerStack)
{
// If it is, we can force the algorithm to exit by "resetting" its thread.
// We do this by rebuilding the thread's stacked exception return.
auto newpsp = reinterpret_cast<uint32_t *>(m_thread_runner_stack.data() +
m_thread_runner_stack.size() -
8 * sizeof(uint32_t));
// Set the LR register to the thread's entry point.
newpsp[5] = reinterpret_cast<uint32_t>(threadRunner);
// Overwrite the instruction we'll return to with "bx lr" (jump to address in LR).
newpsp[6] = psp[6];
*reinterpret_cast<uint16_t *>(newpsp[6]) = 0x4770; // "bx lr"
// Keep PSR contents (bit set forces Thumb mode, just in case).
newpsp[7] = psp[7] | (1 << 24);
// Set the new stack pointer.
asm("msr psp, %0" :: "r" (newpsp));
}
}
void ConversionManager::threadMonitor(void *)
{
while (1) {
msg_t message;
msg_t fetch = chMBFetchTimeout(&m_mailbox, &message, TIME_INFINITE);
if (fetch == MSG_OK)
chMsgSend(m_thread_runner, message);
}
}
void ConversionManager::threadRunnerEntry(void *stack)
{
ELFManager::unload();
port_unprivileged_jump(reinterpret_cast<uint32_t>(threadRunner),
reinterpret_cast<uint32_t>(stack));
}
__attribute__((section(".convcode")))
void ConversionManager::threadRunner(void *)
{
while (1) {
// Sleep until we receive a mailbox message.
msg_t message;
asm("svc 0; mov %0, r0" : "=r" (message));
if (message != 0) {
auto samples = MSG_FOR_FIRST(message) ? Samples::In.data()
: Samples::In.middata();
auto size = Samples::In.size() / 2;
auto entry = ELFManager::loadedElf();
if (entry) {
// Below, we remember the stack pointer just in case the
// loaded algorithm messes things up.
uint32_t sp;
if (!MSG_FOR_MEASURE(message)) {
asm("mov %0, sp" : "=r" (sp));
samples = entry(samples, size);
asm("mov sp, %0" :: "r" (sp));
} else {
// Start execution timer:
asm("mov %0, sp; eor r0, r0; svc 2" : "=r" (sp));
samples = entry(samples, size);
// Stop execution timer:
asm("mov r0, #1; svc 2; mov sp, %0" :: "r" (sp));
}
}
// Update the sample out buffer with the transformed samples.
if (samples != nullptr) {
if (MSG_FOR_FIRST(message))
Samples::Out.modify(samples, size);
else
Samples::Out.midmodify(samples, size);
}
}
}
}
void ConversionManager::adcReadHandler(adcsample_t *buffer, size_t)
{
chSysLockFromISR();
// If previous request hasn't been handled, then we're going too slow.
// We'll need to abort.
if (chMBGetUsedCountI(&m_mailbox) > 1) {
chMBResetI(&m_mailbox);
chMBResumeX(&m_mailbox);
chSysUnlockFromISR();
abort();
} else {
// Mark the modified samples as 'fresh' or ready for manipulation.
if (buffer == Samples::In.data()) {
Samples::In.setModified();
chMBPostI(&m_mailbox, MSG_CONVFIRST);
} else {
Samples::In.setMidmodified();
chMBPostI(&m_mailbox, MSG_CONVSECOND);
}
chSysUnlockFromISR();
}
}
void ConversionManager::adcReadHandlerMeasure(adcsample_t *buffer, size_t)
{
chSysLockFromISR();
if (buffer == Samples::In.data()) {
Samples::In.setModified();
chMBPostI(&m_mailbox, MSG_CONVFIRST_MEASURE);
} else {
Samples::In.setMidmodified();
chMBPostI(&m_mailbox, MSG_CONVSECOND_MEASURE);
}
chSysUnlockFromISR();
ADC::setOperation(adcReadHandler);
}

@ -0,0 +1,67 @@
/**
* @file conversion.hpp
* @brief Manages algorithm application (converts input samples to output).
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_CONVERSION_HPP
#define STMDSP_CONVERSION_HPP
#include "ch.h"
#include "hal.h"
#include <array>
constexpr unsigned int CONVERSION_THREAD_STACK_SIZE =
#if defined(TARGET_PLATFORM_H7)
62 * 1024;
#else
15 * 1024;
#endif
class ConversionManager
{
public:
static void begin();
// Begins sample conversion.
static void start();
// Begins conversion with execution time measured.
static void startMeasured();
// Stops conversion.
static void stop();
static thread_t *getMonitorHandle();
// Internal only: Aborts a running conversion.
static void abort();
private:
static void threadMonitor(void *);
static void threadRunnerEntry(void *stack);
static void threadRunner(void *);
static void adcReadHandler(adcsample_t *buffer, size_t);
static void adcReadHandlerMeasure(adcsample_t *buffer, size_t);
static thread_t *m_thread_monitor;
static thread_t *m_thread_runner;
static std::array<char, 1024> m_thread_monitor_stack;
static std::array<char, 128> m_thread_runner_entry_stack;
static std::array<char, CONVERSION_THREAD_STACK_SIZE> m_thread_runner_stack;
static std::array<msg_t, 2> m_mailbox_buffer;
static mailbox_t m_mailbox;
};
// Stores the measured execution time.
extern time_measurement_t conversion_time_measurement;
#endif // STMDSP_CONVERSION_HPP

@ -1,12 +1,12 @@
/** /**
* @file elf_format.cpp * @file elf.h
* @brief Defines ELF binary format info. * @brief Defines ELF binary format info.
* *
* Free to use, written by Clyne Sullivan. * Free to use, written by Clyne Sullivan.
*/ */
#ifndef STMDSP_ELF_FORMAT_HPP_ #ifndef STMDSP_ELF_HPP
#define STMDSP_ELF_FORMAT_HPP_ #define STMDSP_ELF_HPP
#include <cstdint> #include <cstdint>
@ -96,5 +96,5 @@ typedef struct {
Elf32_Word p_align; Elf32_Word p_align;
} __attribute__((packed)) Elf32_Phdr; } __attribute__((packed)) Elf32_Phdr;
#endif // STMDSP_ELF_FORMAT_HPP_ #endif // STMDSP_ELF_HPP

@ -1,26 +0,0 @@
/**
* @file elf_load.hpp
* @brief Loads ELF binary data into memory for execution.
*
* Copyright (C) 2021 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/>.
*/
#ifndef ELF_LOAD_HPP_
#define ELF_LOAD_HPP_
#include <cstddef>
#include <cstdint>
namespace ELF
{
using Entry = uint16_t *(*)(uint16_t *, size_t);
Entry load(void *elf_data);
}
#endif // ELF_LOAD_HPP_

@ -1,5 +1,5 @@
/** /**
* @file elf_load.cpp * @file elfload.cpp
* @brief Loads ELF binary data into memory for execution. * @brief Loads ELF binary data into memory for execution.
* *
* Copyright (C) 2021 Clyne Sullivan * Copyright (C) 2021 Clyne Sullivan
@ -9,12 +9,16 @@
* If not, see <https://www.gnu.org/licenses/>. * If not, see <https://www.gnu.org/licenses/>.
*/ */
#include "elf_load.hpp" #include "elfload.hpp"
#include "elf_format.hpp" #include "elf.h"
#include <algorithm> #include <algorithm>
#include <cstring> #include <cstring>
__attribute__((section(".convdata")))
ELFManager::EntryFunc ELFManager::m_entry = nullptr;
std::array<unsigned char, MAX_ELF_FILE_SIZE> ELFManager::m_file_buffer = {};
static const unsigned char elf_header[] = { '\177', 'E', 'L', 'F' }; static const unsigned char elf_header[] = { '\177', 'E', 'L', 'F' };
template<typename T> template<typename T>
@ -23,10 +27,10 @@ constexpr static auto ptr_from_offset(void *base, uint32_t offset)
return reinterpret_cast<T>(reinterpret_cast<uint8_t *>(base) + offset); return reinterpret_cast<T>(reinterpret_cast<uint8_t *>(base) + offset);
} }
namespace ELF { ELFManager::EntryFunc ELFManager::loadFromInternalBuffer()
Entry load(void *elf_data)
{ {
auto elf_data = m_file_buffer.data();
// Check the ELF's header signature // Check the ELF's header signature
auto ehdr = reinterpret_cast<Elf32_Ehdr *>(elf_data); auto ehdr = reinterpret_cast<Elf32_Ehdr *>(elf_data);
if (!std::equal(ehdr->e_ident, ehdr->e_ident + 4, elf_header)) if (!std::equal(ehdr->e_ident, ehdr->e_ident + 4, elf_header))
@ -54,8 +58,6 @@ Entry load(void *elf_data)
} }
return loaded ? reinterpret_cast<Entry>(ehdr->e_entry) : nullptr; return loaded ? reinterpret_cast<ELFManager::EntryFunc>(ehdr->e_entry) : nullptr;
} }
} // namespace ELF

@ -0,0 +1,48 @@
/**
* @file elfload.hpp
* @brief Loads ELF binary data into memory for execution.
*
* Copyright (C) 2021 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/>.
*/
#ifndef ELF_LOAD_HPP_
#define ELF_LOAD_HPP_
#include "samplebuffer.hpp"
#include <array>
#include <cstddef>
constexpr unsigned int MAX_ELF_FILE_SIZE = 16 * 1024;
class ELFManager
{
public:
using EntryFunc = Sample *(*)(Sample *, size_t);
static EntryFunc loadFromInternalBuffer();
static EntryFunc loadedElf() {
return m_entry;
}
static unsigned char *fileBuffer() {
return m_file_buffer.data();
}
static void unload() {
m_entry = nullptr;
}
private:
static EntryFunc m_entry;
static std::array<unsigned char, MAX_ELF_FILE_SIZE> m_file_buffer;
};
#endif // ELF_LOAD_HPP_

@ -0,0 +1,38 @@
/**
* @file error.cpp
* @brief Tracks and reports non-critical errors.
*
* Copyright (C) 2021 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 "error.hpp"
ErrorManager EM;
void ErrorManager::add(Error error)
{
if (m_index < m_queue.size())
m_queue[m_index++] = error;
}
bool ErrorManager::assert(bool condition, Error error)
{
if (!condition)
add(error);
return condition;
}
bool ErrorManager::hasError()
{
return m_index > 0;
}
Error ErrorManager::pop()
{
return m_index == 0 ? Error::None : m_queue[--m_index];
}

@ -1,6 +1,18 @@
#include <array> /**
* @file error.hpp
* @brief Tracks and reports non-critical errors.
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_ERROR_HPP
#define STMDSP_ERROR_HPP
constexpr unsigned int MAX_ERROR_QUEUE_SIZE = 8; #include <array>
enum class Error : char enum class Error : char
{ {
@ -15,28 +27,20 @@ enum class Error : char
class ErrorManager class ErrorManager
{ {
public: constexpr static unsigned int MAX_ERROR_QUEUE_SIZE = 8;
void add(Error error) {
if (m_index < m_queue.size())
m_queue[m_index++] = error;
}
bool assert(bool condition, Error error) {
if (!condition)
add(error);
return condition;
}
bool hasError() { public:
return m_index > 0; void add(Error error);
} bool assert(bool condition, Error error);
bool hasError();
Error pop() { Error pop();
return m_index == 0 ? Error::None : m_queue[--m_index];
}
private: private:
std::array<Error, MAX_ERROR_QUEUE_SIZE> m_queue; std::array<Error, MAX_ERROR_QUEUE_SIZE> m_queue;
unsigned int m_index = 0; unsigned int m_index = 0;
}; };
extern ErrorManager EM;
#endif // STMDSP_ERROR_HPP

@ -0,0 +1,138 @@
#include "handlers.hpp"
#include "adc.hpp"
#include "conversion.hpp"
#include "cordic.hpp"
#include "runstatus.hpp"
extern "C" {
__attribute__((naked))
void port_syscall(struct port_extctx *ctxp, uint32_t n)
{
switch (n) {
// Sleeps the current thread until a message is received.
// Used the algorithm runner to wait for new data.
case 0:
{
chSysLock();
chMsgWaitS();
auto monitor = ConversionManager::getMonitorHandle();
auto msg = chMsgGet(monitor);
chMsgReleaseS(monitor, MSG_OK);
chSysUnlock();
ctxp->r0 = msg;
}
break;
// Provides access to advanced math functions.
// A service call like this is required for some hardware targets that
// provide hardware-accelerated math computations (e.g. CORDIC).
case 1:
{
using mathcall = void (*)();
static mathcall funcs[3] = {
reinterpret_cast<mathcall>(cordic::sin),
reinterpret_cast<mathcall>(cordic::cos),
reinterpret_cast<mathcall>(cordic::tan),
};
#if defined(PLATFORM_H7)
asm("vmov.f64 d0, %0, %1" :: "r" (ctxp->r1), "r" (ctxp->r2));
if (ctxp->r0 < 3) {
funcs[ctxp->r0]();
asm("vmov.f64 %0, %1, d0" : "=r" (ctxp->r1), "=r" (ctxp->r2));
} else {
asm("eor r0, r0; vmov.f64 d0, r0, r0");
}
#else
asm("vmov.f32 s0, %0" :: "r" (ctxp->r1));
if (ctxp->r0 < 3) {
funcs[ctxp->r0]();
asm("vmov.f32 %0, s0" : "=r" (ctxp->r1));
} else {
asm("eor r0, r0; vmov.f32 s0, r0");
}
#endif
}
break;
// Starts or stops precise cycle time measurement.
// Used to measure algorithm execution time.
case 2:
if (ctxp->r0 == 0) {
chTMStartMeasurementX(&conversion_time_measurement);
} else {
chTMStopMeasurementX(&conversion_time_measurement);
// Subtract measurement overhead from the result.
// Running an empty algorithm ("bx lr") takes 196 cycles as of 2/4/21.
// Only measures algorithm code time (loading args/storing result takes 9 cycles).
constexpr rtcnt_t measurement_overhead = 196 - 1;
if (conversion_time_measurement.last > measurement_overhead)
conversion_time_measurement.last -= measurement_overhead;
}
break;
// Reads one of the analog inputs made available for algorithm run-time input.
case 3:
ctxp->r0 = ADC::readAlt(ctxp->r0);
break;
//case 4:
// {
// const char *str = reinterpret_cast<const char *>(ctxp->r0);
// auto src = str;
// auto dst = userMessageBuffer;
// while (*src)
// *dst++ = *src++;
// *dst = '\0';
// userMessageSize = src - str;
// }
// break;
default:
while (1);
break;
}
asm("svc 0");
while (1);
}
__attribute__((naked))
void MemManage_Handler()
{
// 1. Get the stack pointer.
uint32_t lr;
asm("mov %0, lr" : "=r" (lr));
// 2. Recover from the fault.
ConversionManager::abort();
// 3. Return.
asm("mov lr, %0; bx lr" :: "r" (lr));
}
__attribute__((naked))
void HardFault_Handler()
{
// Get the stack pointer.
//uint32_t *stack;
uint32_t lr;
asm("mov %0, lr" : "=r" (lr));
/*asm("\
tst lr, #4; \
ite eq; \
mrseq %0, msp; \
mrsne %0, psp; \
mov %1, lr; \
" : "=r" (stack), "=r" (lr));*/
// If coming from the algorithm, attempt to recover; otherwise, give up.
if (run_status != RunStatus::Running && (lr & 4) != 0)
MemManage_Handler();
while (1);
}
} // extern "C"

@ -0,0 +1,31 @@
/**
* @file handlers.hpp
* @brief Interrupt service routine handlers.
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_HANDLERS_HPP
#define STMDSP_HANDLERS_HPP
#include "ch.h"
extern "C" {
__attribute__((naked))
void port_syscall(struct port_extctx *ctxp, uint32_t n);
__attribute__((naked))
void MemManage_Handler();
__attribute__((naked))
void HardFault_Handler();
}
#endif // STMDSP_HANDLERS_HPP

@ -12,90 +12,24 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
static_assert(sizeof(adcsample_t) == sizeof(uint16_t));
static_assert(sizeof(dacsample_t) == sizeof(uint16_t));
#include "adc.hpp" #include "adc.hpp"
#include "cordic.hpp" #include "cordic.hpp"
#include "dac.hpp" #include "dac.hpp"
#include "elf_load.hpp"
#include "error.hpp" #include "error.hpp"
#include "samplebuffer.hpp"
#include "sclock.hpp" #include "sclock.hpp"
#include "usbserial.hpp" #include "usbserial.hpp"
#include <array> #include "runstatus.hpp"
RunStatus run_status = RunStatus::Idle;
// Pin definitions
//
#if defined(TARGET_PLATFORM_L4)
constexpr auto LINE_LED_GREEN = PAL_LINE(GPIOC_BASE, 10U);
constexpr auto LINE_LED_YELLOW = PAL_LINE(GPIOC_BASE, 11U);
constexpr auto LINE_LED_RED = PAL_LINE(GPIOC_BASE, 12U);
#endif
// Run status
//
enum class RunStatus : char
{
Idle = '1',
Running,
Recovering
};
static RunStatus run_status = RunStatus::Idle;
// Conversion threads messaging
//
#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[2];
static MAILBOX_DECL(conversionMB, conversionMBBuffer, 2);
// Sample input and output buffers
//
#if defined(TARGET_PLATFORM_H7)
__attribute__((section(".convdata")))
static SampleBuffer samplesIn (reinterpret_cast<Sample *>(0x38000000)); // 16k
__attribute__((section(".convdata")))
static SampleBuffer samplesOut (reinterpret_cast<Sample *>(0x30004000)); // 16k
static SampleBuffer samplesSigGen (reinterpret_cast<Sample *>(0x30000000)); // 16k
#else
__attribute__((section(".convdata")))
static SampleBuffer samplesIn (reinterpret_cast<Sample *>(0x20008000)); // 16k
__attribute__((section(".convdata")))
static SampleBuffer samplesOut (reinterpret_cast<Sample *>(0x2000C000)); // 16k
static SampleBuffer samplesSigGen (reinterpret_cast<Sample *>(0x20010000)); // 16k
#endif
// Algorithm binary storage
//
constexpr unsigned int MAX_ELF_FILE_SIZE = 16 * 1024;
static unsigned char elf_file_store[MAX_ELF_FILE_SIZE];
__attribute__((section(".convdata")))
static ELF::Entry elf_entry = nullptr;
// Other variables // Other variables
// //
static ErrorManager EM; //static char userMessageBuffer[128];
static time_measurement_t conversion_time_measurement; //static unsigned char userMessageSize = 0;
static char userMessageBuffer[128];
static unsigned char userMessageSize = 0;
// Functions #include "conversion.hpp"
// #include "communication.hpp"
__attribute__((section(".convcode"))) #include "monitor.hpp"
static void conversion_unprivileged_main();
static void startThreads();
static void mpuSetup();
static void abortAlgorithmFromISR();
static void signalOperate(adcsample_t *buffer, size_t count);
static void signalOperateMeasure(adcsample_t *buffer, size_t count);
int main() int main()
{ {
@ -103,15 +37,7 @@ int main()
halInit(); halInit();
chSysInit(); chSysInit();
SCB->CPACR |= 0xF << 20; // Enable FPU // Init peripherials
mpuSetup();
#if defined(TARGET_PLATFORM_L4)
palSetLineMode(LINE_LED_GREEN, PAL_MODE_OUTPUT_PUSHPULL);
palSetLineMode(LINE_LED_YELLOW, PAL_MODE_OUTPUT_PUSHPULL);
palSetLineMode(LINE_LED_RED, PAL_MODE_OUTPUT_PUSHPULL);
#endif
ADC::begin(); ADC::begin();
DAC::begin(); DAC::begin();
SClock::begin(); SClock::begin();
@ -121,624 +47,12 @@ int main()
SClock::setRate(SClock::Rate::R32K); SClock::setRate(SClock::Rate::R32K);
ADC::setRate(SClock::Rate::R32K); ADC::setRate(SClock::Rate::R32K);
startThreads(); // Start our threads.
ConversionManager::begin();
CommunicationManager::begin();
Monitor::begin();
chThdExit(0); chThdExit(0);
return 0; return 0;
} }
static THD_FUNCTION(monitorThread, arg); // Runs status LEDs and allows debug halt.
static THD_FUNCTION(conversionThreadMonitor, arg); // Monitors and manages algo. thread.
static THD_FUNCTION(conversionThread, arg); // Algorithm thread (unprivileged).
static THD_FUNCTION(communicationThread, arg); // Manages USB communications.
// Need to hold some thread handles for mailbox usage.
static thread_t *conversionThreadHandle = nullptr;
__attribute__((section(".convdata")))
static thread_t *conversionThreadMonitorHandle = nullptr;
// The more stack for the algorithm, the merrier.
constexpr unsigned int conversionThreadUPWASize =
#if defined(TARGET_PLATFORM_H7)
62 * 1024;
#else
15 * 1024;
#endif
__attribute__((section(".stacks")))
static THD_WORKING_AREA(monitorThreadWA, 256);
__attribute__((section(".stacks")))
static THD_WORKING_AREA(conversionThreadMonitorWA, 1024);
__attribute__((section(".stacks")))
static THD_WORKING_AREA(conversionThreadWA, 128); // For entering unprivileged mode.
__attribute__((section(".convdata")))
static THD_WORKING_AREA(conversionThreadUPWA, conversionThreadUPWASize);
__attribute__((section(".stacks")))
static THD_WORKING_AREA(communicationThreadWA, 4096);
void startThreads()
{
chThdCreateStatic(
monitorThreadWA, sizeof(monitorThreadWA),
LOWPRIO,
monitorThread, nullptr);
conversionThreadMonitorHandle = chThdCreateStatic(
conversionThreadMonitorWA, sizeof(conversionThreadMonitorWA),
NORMALPRIO + 1,
conversionThreadMonitor, nullptr);
auto conversionThreadUPWAEnd =
reinterpret_cast<uint32_t>(conversionThreadUPWA) + conversionThreadUPWASize;
conversionThreadHandle = chThdCreateStatic(
conversionThreadWA, sizeof(conversionThreadWA),
HIGHPRIO,
conversionThread,
reinterpret_cast<void *>(conversionThreadUPWAEnd));
chThdCreateStatic(
communicationThreadWA, sizeof(communicationThreadWA),
NORMALPRIO,
communicationThread, nullptr);
}
THD_FUNCTION(communicationThread, arg)
{
(void)arg;
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]) {
// 'a' - Read contents of ADC buffer.
// 'A' - Write contents of ADC buffer.
// 'B' - Set ADC/DAC buffer size.
// 'd' - Read contents of DAC buffer.
// 'D' - Set siggen size and write to its buffer.
// 'E' - Load algorithm binary.
// 'e' - Unload algorithm.
// 'i' - Read "stmdsp" identifier string.
// 'I' - Read status information.
// 'M' - Begin conversion, measure algorithm execution time.
// 'm' - Read last algorithm execution time.
// 'R' - Begin conversion.
// 'r' - Read or write sample rate.
// 'S' - Stop conversion.
// 's' - Get latest block of conversion results.
// 't' - Get latest block of conversion input.
// 'u' - Get user message.
// 'W' - Start signal generator (siggen).
// 'w' - Stop siggen.
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))
{
// count is multiplied by two since this command receives size of buffer
// for each algorithm application.
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;
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)) {
if (run_status == RunStatus::Idle) {
samplesSigGen.setSize(count * 2);
USBSerial::read(
reinterpret_cast<uint8_t *>(samplesSigGen.middata()),
samplesSigGen.bytesize() / 2);
} else if (run_status == RunStatus::Running) {
int more;
do {
chThdSleepMicroseconds(10);
more = DAC::sigGenWantsMore();
} while (more == -1);
USBSerial::read(reinterpret_cast<uint8_t *>(
more == 0 ? samplesSigGen.data() : samplesSigGen.middata()),
samplesSigGen.bytesize() / 2);
}
}
}
break;
// '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':
#if defined(TARGET_PLATFORM_H7)
USBSerial::write(reinterpret_cast<const uint8_t *>("stmdsph"), 7);
#else
USBSerial::write(reinterpret_cast<const uint8_t *>("stmdspl"), 7);
#endif
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(), signalOperateMeasure);
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(), signalOperate);
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;
case 't':
if (auto samps = samplesIn.modified(); samps != nullptr) {
unsigned char buf[2] = {
static_cast<unsigned char>(samplesIn.size() / 2 & 0xFF),
static_cast<unsigned char>(((samplesIn.size() / 2) >> 8) & 0xFF)
};
USBSerial::write(buf, 2);
unsigned int total = samplesIn.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;
case 'u':
USBSerial::write(reinterpret_cast<uint8_t *>(userMessageBuffer), userMessageSize);
break;
case 'W':
DAC::start(1, samplesSigGen.data(), samplesSigGen.size());
break;
case 'w':
DAC::stop(1);
break;
default:
break;
}
}
}
chThdSleepMicroseconds(100);
}
}
THD_FUNCTION(conversionThreadMonitor, arg)
{
(void)arg;
while (1) {
msg_t message;
if (chMBFetchTimeout(&conversionMB, &message, TIME_INFINITE) == MSG_OK)
chMsgSend(conversionThreadHandle, message);
}
}
THD_FUNCTION(conversionThread, stack)
{
elf_entry = nullptr;
port_unprivileged_jump(reinterpret_cast<uint32_t>(conversion_unprivileged_main),
reinterpret_cast<uint32_t>(stack));
}
THD_FUNCTION(monitorThread, arg)
{
(void)arg;
palSetLineMode(LINE_BUTTON, PAL_MODE_INPUT_PULLUP);
auto readButton = [] {
#if defined(TARGET_PLATFORM_L4)
return !palReadLine(LINE_BUTTON);
#else
return palReadLine(LINE_BUTTON);
#endif
};
palClearLine(LINE_LED_RED);
palClearLine(LINE_LED_YELLOW);
while (1) {
bool isidle = run_status == RunStatus::Idle;
auto led = isidle ? LINE_LED_GREEN : LINE_LED_YELLOW;
auto delay = isidle ? 500 : 250;
palSetLine(led);
chThdSleepMilliseconds(delay);
palClearLine(led);
chThdSleepMilliseconds(delay);
if (run_status == RunStatus::Idle && readButton()) {
palSetLine(LINE_LED_RED);
palSetLine(LINE_LED_YELLOW);
chSysLock();
while (readButton())
asm("nop");
while (!readButton())
asm("nop");
chSysUnlock();
palClearLine(LINE_LED_RED);
palClearLine(LINE_LED_YELLOW);
chThdSleepMilliseconds(500);
}
static bool erroron = false;
if (auto err = EM.hasError(); err ^ erroron) {
erroron = err;
if (err)
palSetLine(LINE_LED_RED);
else
palClearLine(LINE_LED_RED);
}
}
}
void conversion_unprivileged_main()
{
while (1) {
msg_t message;
asm("svc 0; mov %0, r0" : "=r" (message)); // sleep until next message
if (message != 0) {
auto samples = MSG_FOR_FIRST(message) ? samplesIn.data() : samplesIn.middata();
auto size = samplesIn.size() / 2;
if (elf_entry) {
if (!MSG_FOR_MEASURE(message)) {
// Remember the stack pointer in case the algorithm messes things up.
uint32_t sp;
asm("mov %0, sp" : "=r" (sp));
samples = elf_entry(samples, size);
asm("mov sp, %0" :: "r" (sp));
} else {
uint32_t sp;
asm("mov %0, sp; eor r0, r0; svc 2" : "=r" (sp)); // start measurement
samples = elf_entry(samples, size);
asm("mov r0, #1; svc 2; mov sp, %0" :: "r" (sp)); // stop measurement
}
}
if (samples != nullptr) {
if (MSG_FOR_FIRST(message))
samplesOut.modify(samples, size);
else
samplesOut.midmodify(samples, size);
}
}
}
}
void mpuSetup()
{
// Set up MPU for user algorithm
#if defined(TARGET_PLATFORM_H7)
// Region 2: Data for algorithm thread
// Region 3: Code for algorithm thread
// Region 4: User algorithm code
mpuConfigureRegion(MPU_REGION_2,
0x20000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_64K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_3,
0x0807F800,
MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_2K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_4,
0x00000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_64K |
MPU_RASR_ENABLE);
#else
// Region 2: Data for algorithm thread and ADC/DAC buffers
// Region 3: Code for algorithm thread
// Region 4: User algorithm code
mpuConfigureRegion(MPU_REGION_2,
0x20008000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_128K|
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_3,
0x0807F800,
MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_2K |
MPU_RASR_ENABLE);
mpuConfigureRegion(MPU_REGION_4,
0x10000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_SIZE_32K |
MPU_RASR_ENABLE);
#endif
}
void abortAlgorithmFromISR()
{
elf_entry = nullptr;
EM.add(Error::ConversionAborted);
run_status = RunStatus::Recovering;
// Confirm that the exception return thread is the algorithm...
uint32_t *psp;
asm("mrs %0, psp" : "=r" (psp));
if ((uint32_t)psp >= (uint32_t)conversionThreadUPWA &&
(uint32_t)psp <= (uint32_t)conversionThreadUPWA + conversionThreadUPWASize)
{
// If it is, we can force the algorithm to exit by "resetting" its thread.
// We do this by rebuilding the thread's stacked exception return.
uint32_t *newpsp = reinterpret_cast<uint32_t *>(
(char *)conversionThreadUPWA +
conversionThreadUPWASize - 8 * sizeof(uint32_t));
// Set the LR register to the thread's entry point.
newpsp[5] = reinterpret_cast<uint32_t>(conversion_unprivileged_main);
// Overwrite the instruction we'll return to with "bx lr" (jump to address in LR).
newpsp[6] = psp[6];
*reinterpret_cast<uint16_t *>(newpsp[6]) = 0x4770; // "bx lr"
// Keep PSR contents (bit set forces Thumb mode, just in case).
newpsp[7] = psp[7] | (1 << 24);
// Set the new stack pointer.
asm("msr psp, %0" :: "r" (newpsp));
}
}
void signalOperate(adcsample_t *buffer, size_t)
{
chSysLockFromISR();
if (chMBGetUsedCountI(&conversionMB) > 1) {
chMBResetI(&conversionMB);
chMBResumeX(&conversionMB);
chSysUnlockFromISR();
abortAlgorithmFromISR();
} else {
if (buffer == samplesIn.data()) {
samplesIn.setModified();
chMBPostI(&conversionMB, MSG_CONVFIRST);
} else {
samplesIn.setMidmodified();
chMBPostI(&conversionMB, MSG_CONVSECOND);
}
chSysUnlockFromISR();
}
}
void signalOperateMeasure(adcsample_t *buffer, [[maybe_unused]] size_t count)
{
chSysLockFromISR();
if (buffer == samplesIn.data()) {
samplesIn.setModified();
chMBPostI(&conversionMB, MSG_CONVFIRST_MEASURE);
} else {
samplesIn.setMidmodified();
chMBPostI(&conversionMB, MSG_CONVSECOND_MEASURE);
}
chSysUnlockFromISR();
ADC::setOperation(signalOperate);
}
extern "C" {
__attribute__((naked))
void port_syscall(struct port_extctx *ctxp, uint32_t n)
{
switch (n) {
case 0:
{
chSysLock();
chMsgWaitS();
auto msg = chMsgGet(conversionThreadMonitorHandle);
chMsgReleaseS(conversionThreadMonitorHandle, MSG_OK);
chSysUnlock();
ctxp->r0 = msg;
}
break;
case 1:
{
using mathcall = void (*)();
static mathcall funcs[3] = {
reinterpret_cast<mathcall>(cordic::sin),
reinterpret_cast<mathcall>(cordic::cos),
reinterpret_cast<mathcall>(cordic::tan),
};
#if defined(PLATFORM_H7)
asm("vmov.f64 d0, %0, %1" :: "r" (ctxp->r1), "r" (ctxp->r2));
if (ctxp->r0 < 3) {
funcs[ctxp->r0]();
asm("vmov.f64 %0, %1, d0" : "=r" (ctxp->r1), "=r" (ctxp->r2));
} else {
asm("eor r0, r0; vmov.f64 d0, r0, r0");
}
#else
asm("vmov.f32 s0, %0" :: "r" (ctxp->r1));
if (ctxp->r0 < 3) {
funcs[ctxp->r0]();
asm("vmov.f32 %0, s0" : "=r" (ctxp->r1));
} else {
asm("eor r0, r0; vmov.f32 s0, r0");
}
#endif
}
break;
case 2:
if (ctxp->r0 == 0) {
chTMStartMeasurementX(&conversion_time_measurement);
} else {
chTMStopMeasurementX(&conversion_time_measurement);
// Subtract measurement overhead from the result.
// Running an empty algorithm ("bx lr") takes 196 cycles as of 2/4/21.
// Only measures algorithm code time (loading args/storing result takes 9 cycles).
constexpr rtcnt_t measurement_overhead = 196 - 1;
if (conversion_time_measurement.last > measurement_overhead)
conversion_time_measurement.last -= measurement_overhead;
}
break;
case 3:
ctxp->r0 = ADC::readAlt(ctxp->r0);
break;
case 4:
{
const char *str = reinterpret_cast<const char *>(ctxp->r0);
auto src = str;
auto dst = userMessageBuffer;
while (*src)
*dst++ = *src++;
*dst = '\0';
userMessageSize = src - str;
}
break;
default:
while (1);
break;
}
asm("svc 0");
while (1);
}
__attribute__((naked))
void MemManage_Handler()
{
// 1. Get the stack pointer.
uint32_t lr;
asm("mov %0, lr" : "=r" (lr));
// 2. Recover from the fault.
abortAlgorithmFromISR();
// 3. Return.
asm("mov lr, %0; bx lr" :: "r" (lr));
}
__attribute__((naked))
void HardFault_Handler()
{
// Get the stack pointer.
//uint32_t *stack;
uint32_t lr;
asm("mov %0, lr" : "=r" (lr));
/*asm("\
tst lr, #4; \
ite eq; \
mrseq %0, msp; \
mrsne %0, psp; \
mov %1, lr; \
" : "=r" (stack), "=r" (lr));*/
// If coming from the algorithm, attempt to recover; otherwise, give up.
if (run_status != RunStatus::Running && (lr & 4) != 0)
MemManage_Handler();
while (1);
}
} // extern "C"

@ -0,0 +1,80 @@
/**
* @file monitor.cpp
* @brief Manages the device monitoring thread (status LEDs, etc.).
*
* Copyright (C) 2021 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 "monitor.hpp"
#include "error.hpp"
#include "runstatus.hpp"
#include "ch.h"
#include "hal.h"
void Monitor::begin()
{
chThdCreateStatic(m_thread_stack.data(),
m_thread_stack.size(),
LOWPRIO,
threadMonitor,
nullptr);
}
void Monitor::threadMonitor(void *)
{
palSetLineMode(LINE_BUTTON, PAL_MODE_INPUT_PULLUP);
auto readButton = [] {
#ifdef TARGET_PLATFORM_L4
return !palReadLine(LINE_BUTTON);
#else
return palReadLine(LINE_BUTTON);
#endif
};
palClearLine(LINE_LED_RED);
palClearLine(LINE_LED_YELLOW);
while (1) {
bool isidle = run_status == RunStatus::Idle;
auto led = isidle ? LINE_LED_GREEN : LINE_LED_YELLOW;
auto delay = isidle ? 500 : 250;
palSetLine(led);
chThdSleepMilliseconds(delay);
palClearLine(led);
chThdSleepMilliseconds(delay);
if (run_status == RunStatus::Idle && readButton()) {
palSetLine(LINE_LED_RED);
palSetLine(LINE_LED_YELLOW);
chSysLock();
while (readButton())
asm("nop");
while (!readButton())
asm("nop");
chSysUnlock();
palClearLine(LINE_LED_RED);
palClearLine(LINE_LED_YELLOW);
chThdSleepMilliseconds(500);
}
static bool erroron = false;
if (auto err = EM.hasError(); err ^ erroron) {
erroron = err;
if (err)
palSetLine(LINE_LED_RED);
else
palClearLine(LINE_LED_RED);
}
}
}
__attribute__((section(".stacks")))
std::array<char, 256> Monitor::m_thread_stack = {};

@ -0,0 +1,29 @@
/**
* @file monitor.hpp
* @brief Manages the device monitoring thread (status LEDs, etc.).
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_MONITOR_HPP
#define STMDSP_MONITOR_HPP
#include <array>
class Monitor
{
public:
static void begin();
private:
static void threadMonitor(void *);
static std::array<char, 256> m_thread_stack;
};
#endif // STMDSP_MONITOR_HPP

@ -88,7 +88,7 @@ ADCConversionGroup ADC::m_group_config2 = {
.awd3cr = 0, .awd3cr = 0,
#endif #endif
.smpr = { .smpr = {
ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_12P5) | ADC_SMPR1_SMP_AN2(ADC_SMPR_SMP_12P5), 0 ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_2P5) | ADC_SMPR1_SMP_AN2(ADC_SMPR_SMP_2P5), 0
}, },
.sqr = { .sqr = {
ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1) | ADC_SQR1_SQ2_N(ADC_CHANNEL_IN2), ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1) | ADC_SQR1_SQ2_N(ADC_CHANNEL_IN2),
@ -141,8 +141,8 @@ adcsample_t ADC::readAlt(unsigned int id)
static adcsample_t result[16] = {}; static adcsample_t result[16] = {};
readAltDone = false; readAltDone = false;
adcStartConversion(m_driver2, &m_group_config2, result, 8); adcStartConversion(m_driver2, &m_group_config2, result, 8);
while (!readAltDone) while (!readAltDone);
__WFI(); //__WFI();
adcStopConversion(m_driver2); adcStopConversion(m_driver2);
return result[id]; return result[id];
} }

@ -0,0 +1,11 @@
// Run status
//
enum class RunStatus : char
{
Idle = '1',
Running,
Recovering
};
extern RunStatus run_status;

@ -0,0 +1,35 @@
/**
* @file samples.cpp
* @brief Provides sample buffers for inputs and outputs.
*
* Copyright (C) 2021 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 "samples.hpp"
#include "ch.h"
#include "hal.h"
#include <cstdint>
static_assert(sizeof(adcsample_t) == sizeof(uint16_t));
static_assert(sizeof(dacsample_t) == sizeof(uint16_t));
#if defined(TARGET_PLATFORM_H7)
__attribute__((section(".convdata")))
SampleBuffer Samples::In (reinterpret_cast<Sample *>(0x38000000)); // 16k
__attribute__((section(".convdata")))
SampleBuffer Samples::Out (reinterpret_cast<Sample *>(0x30004000)); // 16k
SampleBuffer Samples::SigGen (reinterpret_cast<Sample *>(0x30000000)); // 16k
#else
__attribute__((section(".convdata")))
SampleBuffer Samples::In (reinterpret_cast<Sample *>(0x20008000)); // 16k
__attribute__((section(".convdata")))
SampleBuffer Samples::Out (reinterpret_cast<Sample *>(0x2000C000)); // 16k
SampleBuffer Samples::Generator (reinterpret_cast<Sample *>(0x20010000)); // 16k
#endif

@ -0,0 +1,26 @@
/**
* @file samples.hpp
* @brief Provides sample buffers for inputs and outputs.
*
* Copyright (C) 2021 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/>.
*/
#ifndef STMDSP_SAMPLES_HPP
#define STMDSP_SAMPLES_HPP
#include "samplebuffer.hpp"
class Samples
{
public:
static SampleBuffer In;
static SampleBuffer Out;
static SampleBuffer Generator;
};
#endif // STMDSP_SAMPLES_HPP
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