From 4611bbac2341e9e586434b45637fe00ec0e33478 Mon Sep 17 00:00:00 2001
From: Clyne Sullivan <clyne@bitgloo.com>
Date: Thu, 24 Sep 2020 09:48:08 -0400
Subject: better elf management and error recovery
---
Makefile | 2 +-
gui/wxmain.cpp | 12 ++----
source/adc.cpp | 25 +++++++-----
source/dac.cpp | 2 +-
source/main.cpp | 122 ++++++++++++++++++++++++++++----------------------------
5 files changed, 81 insertions(+), 82 deletions(-)
diff --git a/Makefile b/Makefile
index 75633ed..50e7905 100644
--- a/Makefile
+++ b/Makefile
@@ -55,7 +55,7 @@ endif
# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
- USE_PROCESS_STACKSIZE = 0x400
+ USE_PROCESS_STACKSIZE = 8192
endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
diff --git a/gui/wxmain.cpp b/gui/wxmain.cpp
index fa9118d..0c6c9b3 100644
--- a/gui/wxmain.cpp
+++ b/gui/wxmain.cpp
@@ -181,7 +181,8 @@ void MainFrame::prepareEditor()
static const char *makefile_text = R"make(
all:
- @arm-none-eabi-g++ -x c++ -mcpu=cortex-m4 -mthumb -Os --specs=nosys.specs -nostartfiles -fPIE $0 -o $0.o -Wl,-Ttext-segment=0 -Wl,-eprocess_data_entry -Wl,-zmax-page-size=512
+ @arm-none-eabi-g++ -x c++ -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Os --specs=nosys.specs -nostartfiles -fPIE $0 -o $0.o -Wl,-Ttext-segment=0 -Wl,-eprocess_data_entry -Wl,-zmax-page-size=512
+ @cp $0.o $0.orig.o
@arm-none-eabi-strip -s -S --strip-unneeded $0.o
@arm-none-eabi-objcopy --remove-section .ARM.exidx \
--remove-section .ARM.attributes \
@@ -195,14 +196,7 @@ static const char *file_header = R"cpp(
using adcsample_t = uint16_t;
-static void process_data(adcsample_t *samples, unsigned int size);
-
-__attribute__((optimize("-O0")))
-static void *alloc(unsigned int count) {
- void *result = nullptr;
- asm("mov r0, %0; mov r1, %1; svc 0" :: "r" (&result), "r" (count));
- return result;
-}
+void process_data(adcsample_t *samples, unsigned int size);
extern "C" void process_data_entry() {
auto func = (void (*)())process_data;
diff --git a/source/adc.cpp b/source/adc.cpp
index c912a7e..f63c386 100644
--- a/source/adc.cpp
+++ b/source/adc.cpp
@@ -20,7 +20,7 @@ constexpr static const ADCConfig adc_config = {
static void adc_read_callback(ADCDriver *);
-/*constexpr*/ static ADCConversionGroup adc_group_config = {
+static ADCConversionGroup adc_group_config = {
.circular = false,
.num_channels = 1,
.end_cb = adc_read_callback,
@@ -29,7 +29,7 @@ static void adc_read_callback(ADCDriver *);
.cfgr2 = 0,
.tr1 = ADC_TR(0, 4095),
.smpr = {
- ADC_SMPR1_SMP_AN5(ADC_SMPR_SMP_2P5), 0
+ ADC_SMPR1_SMP_AN5(ADC_SMPR_SMP_24P5), 0
},
.sqr = {
ADC_SQR1_SQ1_N(ADC_CHANNEL_IN5),
@@ -65,7 +65,7 @@ namespace adc
adc_is_read_finished = false;
adc_group_config.circular = false;
adcStartConversion(adcd, &adc_group_config, buffer, count);
- gptStartContinuous(gptd, 2);
+ gptStartContinuous(gptd, 8);
while (!adc_is_read_finished);
return buffer;
}
@@ -77,12 +77,13 @@ namespace adc
adc_operation_func = operation_func;
adc_group_config.circular = true;
adcStartConversion(adcd, &adc_group_config, buffer, count);
- gptStartContinuous(gptd, 2);
+ gptStartContinuous(gptd, 8);
}
void read_stop()
{
gptStopTimer(gptd);
+ adcStopConversion(adcd);
adc_group_config.circular = false;
adc_current_buffer = nullptr;
adc_current_buffer_size = 0;
@@ -126,15 +127,17 @@ namespace adc
void adc_read_callback(ADCDriver *driver)
{
- if (!adc_group_config.circular) {
+ if (adc_group_config.circular) {
+ if (adc_operation_func != nullptr) {
+ auto half_size = adc_current_buffer_size / 2;
+ if (adcIsBufferComplete(driver))
+ adc_operation_func(adc_current_buffer + half_size, half_size);
+ else
+ adc_operation_func(adc_current_buffer, half_size);
+ }
+ } else {
gptStopTimer(gptd);
adc_is_read_finished = true;
- } else if (adc_operation_func != nullptr) {
- auto half_size = adc_current_buffer_size / 2;
- if (adcIsBufferComplete(driver))
- adc_operation_func(adc_current_buffer + half_size, half_size);
- else
- adc_operation_func(adc_current_buffer, half_size);
}
}
diff --git a/source/dac.cpp b/source/dac.cpp
index 6d5950e..8fae1e5 100644
--- a/source/dac.cpp
+++ b/source/dac.cpp
@@ -48,7 +48,7 @@ namespace dac
void write_start(dacsample_t *buffer, size_t count)
{
dacStartConversion(dacd, &dac_group_config, buffer, count);
- gptStartContinuous(gptd, 2);
+ gptStartContinuous(gptd, 8);
}
void write_stop()
diff --git a/source/main.cpp b/source/main.cpp
index f55c801..1e2772a 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -22,10 +22,19 @@
enum class RunStatus : char
{
Idle = '1',
- Converting
+ Converting,
+ Recovered
};
static RunStatus run_status = RunStatus::Idle;
+#define MSG_CONVFIRST (1)
+#define MSG_CONVSECOND (2)
+
+static msg_t conversionMBBuffer[8];
+static MAILBOX_DECL(conversionMB, conversionMBBuffer, 8);
+
+static THD_WORKING_AREA(conversionThreadWA, 1024);
+static THD_FUNCTION(conversionThread, arg);
static_assert(sizeof(adcsample_t) == sizeof(uint16_t));
static_assert(sizeof(dacsample_t) == sizeof(uint16_t));
@@ -40,24 +49,34 @@ CC_ALIGN(CACHE_LINE_SIZE)
static std::array<dacsample_t, CACHE_SIZE_ALIGN(dacsample_t, 2048)> dac_samples;
static uint8_t elf_file_store[2048];
-static uint8_t elf_exec_store[2048];
+static uint8_t elf_exec_store[4096];
static elf::entry_t elf_entry = nullptr;
-static volatile bool signal_operate_done = false;
-
static void signal_operate(adcsample_t *buffer, size_t count);
+static void main_loop();
int main()
{
halInit();
chSysInit();
+ // Enable FPU
+ SCB->CPACR |= 0xF << 20;
+
palSetPadMode(GPIOA, 5, PAL_MODE_OUTPUT_PUSHPULL); // LED
adc::init();
dac::init();
usbserial::init();
+ chThdCreateStatic(conversionThreadWA, sizeof(conversionThreadWA),
+ NORMALPRIO,
+ conversionThread, nullptr);
+ main_loop();
+}
+
+void main_loop()
+{
static unsigned int dac_sample_count = 2048;
while (true) {
if (usbserial::is_active()) {
@@ -79,7 +98,6 @@ int main()
dac::write_start(&dac_samples[0], dac_samples.size());
break;
case 's':
- while (!signal_operate_done);
usbserial::write(dac_samples.data(), dac_samples.size() * sizeof(adcsample_t));
break;
case 'S':
@@ -124,62 +142,42 @@ int main()
}
}
-void quick_freeall();
-
-void signal_operate(adcsample_t *buffer, size_t count)
-{
- if (elf_entry) {
- elf_entry(buffer, count);
- quick_freeall();
- }
-
- auto dac_buffer = &dac_samples[buffer == &adc_samples[0] ? 0 : 1024];
- std::copy(buffer, buffer + count, dac_buffer);
- signal_operate_done = buffer == &adc_samples[1024];
-}
-
-// Dynamic memory allocation below
-
-uint8_t quick_malloc_heap[8192];
-uint8_t *quick_malloc_next = quick_malloc_heap;
-
-void *quick_malloc(unsigned int size)
-{
- if (auto free = std::distance(quick_malloc_next, quick_malloc_heap + 8192); free < 0 || size > static_cast<unsigned int>(free))
- return nullptr;
-
- auto ptr = quick_malloc_next;
- quick_malloc_next += size;
- return ptr;
-}
-
-void quick_freeall()
+void conversion_abort()
{
- if (quick_malloc_next != quick_malloc_heap)
- quick_malloc_next = quick_malloc_heap;
+ elf_entry = nullptr;
+ dac::write_stop();
+ adc::read_stop();
+ run_status = RunStatus::Recovered;
}
-void port_syscall(struct port_extctx *ctxp, uint32_t n)
+THD_FUNCTION(conversionThread, arg)
{
- switch (n) {
- case 0:
- *reinterpret_cast<void **>(ctxp->r0) = quick_malloc(ctxp->r1);
- break;
- case 1:
- quick_freeall();
- break;
+ (void)arg;
+
+ while (1) {
+ msg_t message;
+ if (chMBFetchTimeout(&conversionMB, &message, TIME_INFINITE) == MSG_OK) {
+ auto samples = &adc_samples[0];
+ auto halfsize = adc_samples.size() / 2;
+ if (message == MSG_CONVFIRST) {
+ if (elf_entry)
+ elf_entry(samples, halfsize);
+ std::copy(samples, samples + halfsize, &dac_samples[0]);
+ } else if (message == MSG_CONVSECOND) {
+ if (elf_entry)
+ elf_entry(samples + halfsize, halfsize);
+ std::copy(samples + halfsize, samples + halfsize * 2, &dac_samples[1024]);
+ }
+ }
}
-
- chSysHalt("svc");
}
-void conversion_abort()
+void signal_operate(adcsample_t *buffer, size_t count)
{
- elf_entry = nullptr;
- dac::write_stop();
- adc::read_stop();
- signal_operate_done = true;
- run_status = RunStatus::Idle;
+ if (chMBGetUsedCountI(&conversionMB) > 1)
+ conversion_abort();
+ else
+ chMBPostI(&conversionMB, buffer == &adc_samples[0] ? MSG_CONVFIRST : MSG_CONVSECOND);
}
extern "C" {
@@ -189,14 +187,18 @@ void HardFault_Handler()
{
asm("push {lr}");
- if (run_status == RunStatus::Converting) {
- uint32_t *stack;
- asm("mrs %0, msp" : "=r" (stack));
- stack[6] = stack[5]; // Escape from elf_entry code
- stack[7] |= (1 << 24); // Keep Thumb mode enabled
+ uint32_t *stack;
+ asm("mrs %0, psp" : "=r" (stack));
+ //stack++;
+ stack[7] |= (1 << 24); // Keep Thumb mode enabled
- conversion_abort();
- }
+ conversion_abort();
+
+ //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");
}
--
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