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