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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"
#include "adc.hpp"
#include "dac.hpp"
#include "elf_load.hpp"
#include "usbserial.hpp"
#include <array>
enum class RunStatus : char
{
Idle = '1',
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));
#if CACHE_LINE_SIZE > 0
CC_ALIGN(CACHE_LINE_SIZE)
#endif
static std::array<adcsample_t, CACHE_SIZE_ALIGN(adcsample_t, 2048)> adc_samples;
#if CACHE_LINE_SIZE > 0
CC_ALIGN(CACHE_LINE_SIZE)
#endif
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[4096];
static elf::entry_t elf_entry = nullptr;
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()) {
// Expect to receive a byte command 'packet'.
if (char cmd[3]; usbserial::read(&cmd, 1) > 0) {
switch (cmd[0]) {
case 'r': // Read in analog signal
if (usbserial::read(&cmd[1], 2) < 2)
break;
if (auto count = std::min(static_cast<unsigned int>(cmd[1] | (cmd[2] << 8)), adc_samples.size()); count > 0) {
adc::read(&adc_samples[0], count);
usbserial::write(adc_samples.data(), count * sizeof(adcsample_t));
}
break;
case 'R':
run_status = RunStatus::Converting;
dac_samples.fill(0);
adc::read_start(signal_operate, &adc_samples[0], adc_samples.size());
dac::write_start(&dac_samples[0], dac_samples.size());
break;
case 's':
usbserial::write(dac_samples.data(), dac_samples.size() * sizeof(adcsample_t));
break;
case 'S':
dac::write_stop();
adc::read_stop();
run_status = RunStatus::Idle;
break;
case 'e':
if (usbserial::read(&cmd[1], 2) < 2)
break;
if (unsigned int count = cmd[1] | (cmd[2] << 8); count < sizeof(elf_file_store)) {
usbserial::read(elf_file_store, count);
elf_entry = elf::load(elf_file_store, elf_exec_store);
}
break;
case 'W':
if (usbserial::read(&cmd[1], 2) < 2)
break;
if (auto count = std::min(static_cast<unsigned int>(cmd[1] | (cmd[2] << 8)), dac_samples.size()); count > 0)
dac_sample_count = count;
else
dac::write_stop();
break;
case 'w':
if (usbserial::read(&dac_samples[0], 2 * dac_sample_count) != 2 * dac_sample_count)
break;
dac::write_start(&dac_samples[0], dac_sample_count);
break;
case 'i': // Identify ourself as an stmdsp device
usbserial::write("stmdsp", 6);
break;
case 'I': // Info (i.e. run status)
usbserial::write(&run_status, 1);
break;
default:
break;
}
}
}
chThdSleepMilliseconds(1);
}
}
void conversion_abort()
{
elf_entry = nullptr;
dac::write_stop();
adc::read_stop();
run_status = RunStatus::Recovered;
}
THD_FUNCTION(conversionThread, arg)
{
(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]);
}
}
}
}
void signal_operate(adcsample_t *buffer, size_t count)
{
if (chMBGetUsedCountI(&conversionMB) > 1)
conversion_abort();
else
chMBPostI(&conversionMB, buffer == &adc_samples[0] ? MSG_CONVFIRST : MSG_CONVSECOND);
}
extern "C" {
__attribute__((naked))
void HardFault_Handler()
{
asm("push {lr}");
uint32_t *stack;
asm("mrs %0, psp" : "=r" (stack));
//stack++;
stack[7] |= (1 << 24); // Keep Thumb mode enabled
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");
}
} // extern "C"