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317 lines
11 KiB
C++
317 lines
11 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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#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_SAMPLE_BUFFER_SIZE = 8000;
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enum class RunStatus : char
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{
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Idle = '1',
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Converting,
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Recovered
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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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static msg_t conversionMBBuffer[8];
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static MAILBOX_DECL(conversionMB, conversionMBBuffer, 8);
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static THD_WORKING_AREA(conversionThreadWA, 1024);
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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_assert(sizeof(adcsample_t) == sizeof(uint16_t));
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static_assert(sizeof(dacsample_t) == sizeof(uint16_t));
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#if CACHE_LINE_SIZE > 0
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CC_ALIGN(CACHE_LINE_SIZE)
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#endif
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static std::array<adcsample_t, CACHE_SIZE_ALIGN(adcsample_t, MAX_SAMPLE_BUFFER_SIZE)> adc_samples;
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#if CACHE_LINE_SIZE > 0
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CC_ALIGN(CACHE_LINE_SIZE)
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#endif
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static std::array<dacsample_t, CACHE_SIZE_ALIGN(dacsample_t, MAX_SAMPLE_BUFFER_SIZE)> dac_samples;
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static uint8_t elf_file_store[12288];
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static elf::entry_t 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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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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// Enable FPU
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SCB->CPACR |= 0xF << 20;
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// Prepare LED
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palSetPadMode(GPIOA, 5, PAL_MODE_OUTPUT_PUSHPULL);
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palClearPad(GPIOA, 5);
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adc::init();
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dac::init();
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usbserial::init();
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// Start the conversion manager thread
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chTMObjectInit(&conversion_time_measurement);
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chThdCreateStatic(conversionThreadWA, sizeof(conversionThreadWA),
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NORMALPRIO,
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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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static unsigned int dac_sample_count = MAX_SAMPLE_BUFFER_SIZE;
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while (1) {
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if (usbserial::is_active()) {
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// Attempt to receive a command packet
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if (char cmd[3]; usbserial::read(&cmd, 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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// 'r' - Conduct a single sample of the ADC, and send the results back over USB.
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case 'r':
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// Get the next two bytes of the packet to determine the desired sample size
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if (run_status != RunStatus::Idle || usbserial::read(&cmd[1], 2) < 2)
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break;
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if (unsigned int desiredSize = cmd[1] | (cmd[2] << 8); desiredSize <= adc_samples.size()) {
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adc::read(&adc_samples[0], desiredSize);
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usbserial::write(adc_samples.data(), desiredSize * sizeof(adcsample_t));
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}
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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 (run_status != RunStatus::Idle)
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// break;
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run_status = RunStatus::Converting;
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dac_samples.fill(0);
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adc::read_start(signal_operate, &adc_samples[0], adc_samples.size());
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dac::write_start(&dac_samples[0], dac_samples.size());
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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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run_status = RunStatus::Converting;
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dac_samples.fill(0);
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adc::read_start(signal_operate_measure, &adc_samples[0], adc_samples.size());
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dac::write_start(&dac_samples[0], dac_samples.size());
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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(&conversion_time_measurement.last, sizeof(rtcnt_t));
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break;
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// 's' - Sends the current contents of the DAC buffer back over USB.
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case 's':
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usbserial::write(dac_samples.data(), 1/*dac_samples.size()*/ * sizeof(dacsample_t));
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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::Converting)
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// break;
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dac::write_stop();
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adc::read_stop();
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run_status = RunStatus::Idle;
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break;
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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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// Get the binary's size
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if (usbserial::read(&cmd[1], 2) < 2)
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break;
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// Only load the binary if it can fit in the memory reserved for it.
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if (unsigned int binarySize = cmd[1] | (cmd[2] << 8); binarySize < sizeof(elf_file_store)) {
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usbserial::read(elf_file_store, binarySize);
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elf_entry = elf::load(elf_file_store);
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} else {
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elf_entry = nullptr;
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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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// 'W' - Sets the number of samples for DAC writing with command 'w'.
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// If the provided count is zero, DAC writing is stopped.
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case 'W':
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if (usbserial::read(&cmd[1], 2) < 2)
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break;
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if (unsigned int sampleCount = cmd[1] | (cmd[2] << 8); sampleCount <= dac_samples.size()) {
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if (sampleCount > 0)
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dac_sample_count = sampleCount;
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else
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dac::write_stop();
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}
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break;
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// 'w' - Starts the DAC, looping over the given data (data size set by command 'W').
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case 'w':
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if (usbserial::read(&dac_samples[0], dac_sample_count * sizeof(dacsample_t) !=
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dac_sample_count * sizeof(dacsample_t)))
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{
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break;
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} else {
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dac::write_start(&dac_samples[0], dac_sample_count);
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}
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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("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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usbserial::write(&run_status, sizeof(run_status));
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break;
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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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chThdSleepMilliseconds(1);
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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::write_stop();
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adc::read_stop();
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run_status = RunStatus::Recovered;
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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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adcsample_t *samples = nullptr;
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auto halfsize = adc_samples.size() / 2;
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if (message == MSG_CONVFIRST) {
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if (elf_entry)
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samples = elf_entry(&adc_samples[0], halfsize);
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if (!samples)
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samples = &adc_samples[0];
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std::copy(samples, samples + halfsize, &dac_samples[0]);
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} else if (message == MSG_CONVSECOND) {
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if (elf_entry)
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samples = elf_entry(&adc_samples[halfsize], halfsize);
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if (!samples)
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samples = &adc_samples[halfsize];
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std::copy(samples, samples + halfsize, &dac_samples[dac_samples.size() / 2]);
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} else if (message == MSG_CONVFIRST_MEASURE) {
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chTMStartMeasurementX(&conversion_time_measurement);
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if (elf_entry)
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samples = elf_entry(&adc_samples[0], halfsize);
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chTMStopMeasurementX(&conversion_time_measurement);
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if (!samples)
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samples = &adc_samples[0];
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std::copy(samples, samples + halfsize, &dac_samples[0]);
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} else if (message == MSG_CONVSECOND_MEASURE) {
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chTMStartMeasurementX(&conversion_time_measurement);
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if (elf_entry)
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samples = elf_entry(&adc_samples[halfsize], halfsize);
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chTMStopMeasurementX(&conversion_time_measurement);
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if (!samples)
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samples = &adc_samples[halfsize];
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std::copy(samples, samples + halfsize, &dac_samples[dac_samples.size() / 2]);
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}
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}
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}
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}
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void signal_operate(adcsample_t *buffer, [[maybe_unused]] size_t count)
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{
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if (chMBGetUsedCountI(&conversionMB) > 1)
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conversion_abort();
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else
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chMBPostI(&conversionMB, buffer == &adc_samples[0] ? MSG_CONVFIRST : MSG_CONVSECOND);
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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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chMBPostI(&conversionMB, buffer == &adc_samples[0] ? MSG_CONVFIRST_MEASURE : MSG_CONVSECOND_MEASURE);
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adc::read_set_operation_func(signal_operate);
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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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//asm("push {lr}");
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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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conversion_abort();
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// TODO test lr and decide how to recover
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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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//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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