kalipso/PentaTrack
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

WIP working buffer copy with simple locking

Browse Source
This commit is contained in:
kalipso
2023-02-27 23:17:11 +01:00
parent c3d62bba08
commit 9b22bc6acf
8 changed files with 322 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
.envrc Normal file
View File

@@ -0,0 +1 @@
use flake

1
CMakeLists.txt
View File

@@ -31,6 +31,7 @@ add_executable(stm32-blinky-f1
uart_handler.cpp
spi.cpp
rfm95.cpp
commons.cpp
stm32f1xx_it.c
stm32f1xx_hal_conf.h
)

1
commons.cpp Normal file
View File

@@ -0,0 +1 @@
#include "commons.hpp"

122
commons.hpp Normal file
View File

@@ -0,0 +1,122 @@
#pragma once
#include <array>
#include <span>
#include <optional>
#include "logging.hpp"
namespace commons {
template<typename LockType>
class lock
{
public:
~lock() { locker.unlock(); }
static std::optional<lock> get(LockType& l)
{
if(!l.lock())
{
log::debug("Could not acquire lock.");
return std::nullopt;
}
return lock<LockType>{l};
}
private:
explicit lock(LockType& l) : locker{l} {}
LockType& locker;
};
class mutex
{
public:
bool lock()
{
if(locked)
{
return false;
}
locked = true;
return true;
}
void unlock()
{
locked = false;
}
bool is_locked() const {
return locked;
}
protected:
bool locked = false;
};
}
template <typename T, size_t S>
struct buffer {
constexpr buffer() {}
constexpr auto size() { return S; }
bool copy_from(const std::span<T>& input, uint16_t amount)
{
const auto lk = commons::lock<commons::mutex>::get(m);
if(!lk)
{
return false;
}
if(amount > max_size)
{
return false;
}
old_pos = new_pos;
if (old_pos + amount > max_size) {
const auto size_to_copy = max_size - old_pos;
std::copy(input.begin(),
std::next(input.begin(), size_to_copy),
std::next(buf.begin(), old_pos));
old_pos = 0;
//TODO: this only works if amount is not double the size of main_buf
std::copy(std::next(input.begin(), size_to_copy),
input.begin() + amount, buf.begin());
new_pos = amount - size_to_copy;
} else {
std::copy(input.begin(),
input.begin() + amount,
std::next(buf.begin(), old_pos));
new_pos = old_pos + amount;
}
return true;
}
bool print() const
{
const auto lk = commons::lock<commons::mutex>::get(m);
if(!lk)
{
return false;
}
uart_interface::write(
{reinterpret_cast<const char *>(buf.data()), new_pos});
return true;
}
private:
static constexpr auto max_size = S;
std::array<T, S> buf{};
size_t old_pos = 0;
size_t new_pos = 0;
mutable commons::mutex m;
};

78
main.cpp
View File

@@ -1,9 +1,9 @@
#include <stm32f1xx_hal.h>
#include <stm32f1xx_hal_uart.h>
#include <array>
#include <tuple>
#include "commons.hpp"
#include "logging.hpp"
#include "spi.hpp"
@@ -71,6 +71,11 @@ class cmd_holder {
std::array<command_t, Size> commands;
};
static bool updated_main_buf = false;
static buffer<uint8_t, 512> main_buffer;
void print_buf(void) { main_buffer.print(); }
class cmd_handler {
public:
static constexpr auto MaxCmdLength = 24;
@@ -110,6 +115,8 @@ class cmd_handler {
iterator = symbols.begin();
if (func == nullptr) {
log::info("Unknown Command: ", current_cmd);
log::info("Type 'help' to show available commands.");
return;
}
@@ -128,11 +135,12 @@ class cmd_handler {
void print_help_() const { commands.print_help(); }
private:
static constexpr cmd_holder<5> commands{
static constexpr cmd_holder<6> commands{
std::make_tuple("ver", "Prints current version.", &print_version),
std::make_tuple("error", "Set LogLevel to Error.", &loglevel_error),
std::make_tuple("info", "Set LogLevel to Info.", &loglevel_info),
std::make_tuple("debug", "Set LogLevel to Debug.", &loglevel_debug),
std::make_tuple("buf", "Prints gps uart buffer", &print_buf),
std::make_tuple("help", "Prints available commands", &print_help)};
array_t symbols;
@@ -162,7 +170,7 @@ void USART1_IRQHandler(void) {
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
if (huart != &gps_interface::s_UARTHandle) {
if (huart == &gps_interface::s_UARTHandle) {
return;
}
@@ -174,9 +182,43 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
return;
}
gps_interface::write({reinterpret_cast<const char *>(&value), 1});
cmd_handler::get().add_symbol(value);
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
// const uint8_t value = *gps_interface::get_buf();
// gps_interface::write({reinterpret_cast<const char *>(&value), 1});
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
// log::debug("DMA Callback");
HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_SET);
if (main_buffer.copy_from(gps_interface::new_rx_buf, Size)) {
log::debug("Copied to main buff");
updated_main_buf = true;
}
HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_RESET);
HAL_UARTEx_ReceiveToIdle_DMA(&gps_interface::s_UARTHandle,
gps_interface::new_rx_buf.data(),
gps_interface::new_rx_buf.size());
__HAL_DMA_DISABLE_IT(&gps_interface::s_DMAHandle, DMA_IT_HT);
}
/**
* @brief This function handles DMA1 channel6 global interrupt.
*/
void DMA1_Channel6_IRQHandler(void) {
/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
/* USER CODE END DMA1_Channel6_IRQn 0 */
HAL_DMA_IRQHandler(&gps_interface::s_DMAHandle);
/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
/* USER CODE END DMA1_Channel6_IRQn 1 */
}
}
void initGPIO() {
@@ -217,6 +259,13 @@ void initGPIO() {
extern "C" {
#include <stdio.h>
void start_interrupt() {
HAL_UARTEx_ReceiveToIdle_DMA(&gps_interface::s_UARTHandle,
gps_interface::new_rx_buf.data(),
gps_interface::new_rx_buf.size());
__HAL_DMA_DISABLE_IT(&gps_interface::s_DMAHandle, DMA_IT_HT);
}
}
int main(void) {
@@ -242,10 +291,9 @@ int main(void) {
HAL_GPIO_WritePin(LoRa_CS_GPIO_Port, LoRa_CS_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(LoRa_RESET_GPIO_Port, LoRa_RESET_Pin, GPIO_PIN_SET);
HAL_Delay(10);
HAL_Delay(1000);
log::debug("SPI1 Initialized.");
log::debug("Initialization done.");
char OP_Mode = 0x01;
@@ -259,16 +307,22 @@ int main(void) {
HAL_GPIO_WritePin(LoRa_CS_GPIO_Port, LoRa_CS_Pin, GPIO_PIN_SET);
// RF95_Init();
while (1) {
cmd_handler::get().run();
gps_interface::write("TEST");
// RF95_setModeRx_Continuous();
HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_RESET);
// gps_interface::write("TEST");
// RF95_setModeRx_Continuous();
// HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_RESET);
// RF95_receive(LoRa_buff);
HAL_Delay(500);
HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_SET);
HAL_Delay(500);
// HAL_Delay(100);
// HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_SET);
HAL_Delay(100);
// if (updated_main_buf) {
// log::debug("Printing main buf");
// updated_main_buf = !main_buffer.print();
// }
// std::string_view msg{reinterpret_cast<char *>(LoRa_buff)};
// log::info("Received Message");

33
stm32f1xx_it.h
View File

@@ -1,20 +1,20 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
* @file stm32f1xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
@@ -22,7 +22,7 @@
#define __STM32F1xx_IT_H
#ifdef __cplusplus
extern "C" {
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
@@ -55,6 +55,9 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel6_IRQHandler(void);
void USART1_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

4
uart_handler.cpp
View File

@@ -3,6 +3,10 @@
template <>
// uint8_t* uart_interface::rx_buff = new uint8_t[10];
uint8_t uart_interface::rx_buff = 0;
template <>
std::array<uint8_t, 1> uart_interface::new_rx_buf{};
template <>
uint8_t gps_interface::rx_buff = 0;
template <>
std::array<uint8_t, 64> gps_interface::new_rx_buf{};

135
uart_handler.hpp
View File

@@ -2,6 +2,7 @@
#include <stm32f1xx_hal.h>
#include <array>
#include <string_view>
#include "stm32f1xx_it.h"
@@ -22,11 +23,22 @@ constexpr auto UART2_PORT = GPIOA_BASE;
* small uart wrapper
* assumes USART1 with default pins/port
*/
template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase>
enum class UartMode : uint8_t {
Blocking = 0,
Interrupt,
DMA,
};
template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
UartMode M = UartMode::Interrupt, uint16_t Size = 1>
struct uart_handler {
static void enable_clocks() {
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_USART2_CLK_ENABLE();
if constexpr (UsartBase == USART1_BASE) {
__HAL_RCC_USART1_CLK_ENABLE();
} else if constexpr (UsartBase == USART2_BASE) {
__HAL_RCC_USART2_CLK_ENABLE();
}
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_AFIO_CLK_ENABLE();
}
@@ -46,13 +58,83 @@ struct uart_handler {
HAL_GPIO_Init(reinterpret_cast<GPIO_TypeDef*>(port), &ua_tx);
HAL_GPIO_Init(reinterpret_cast<GPIO_TypeDef*>(port), &ua_rx);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
// if constexpr (UsartBase == USART1_BASE) {
// /* USART1 interrupt Init */
// HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
// HAL_NVIC_EnableIRQ(USART1_IRQn);
// }
/* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
///* USART2 interrupt Init */
// HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
// HAL_NVIC_EnableIRQ(USART2_IRQn);
}
static void init_mode() {
if (M == UartMode::Blocking) {
return; // nothing to od
}
if constexpr (M == UartMode::Interrupt) {
constexpr auto GlobalInterrupt = [](auto Base) {
if (Base == USART1_BASE) {
return USART1_IRQn;
}
if (Base == USART2_BASE) {
return USART2_IRQn;
}
}(UsartBase);
HAL_NVIC_SetPriority(GlobalInterrupt, 0, 0);
HAL_NVIC_EnableIRQ(GlobalInterrupt);
HAL_UART_Receive_IT(&s_UARTHandle, &rx_buff, rx_buff_size);
return;
}
if constexpr (M == UartMode::DMA) {
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_NOJTAG();
/* DMA interrupt init */
/* DMA1_Channel6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
s_DMAHandle.Instance = DMA1_Channel6;
s_DMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
s_DMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
s_DMAHandle.Init.MemInc = DMA_MINC_ENABLE;
s_DMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
s_DMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
s_DMAHandle.Init.Mode = DMA_NORMAL;
s_DMAHandle.Init.Priority = DMA_PRIORITY_LOW;
write("TRY DMA INIT");
if (HAL_DMA_Init(&s_DMAHandle) != HAL_OK) {
write("FAILED");
// Error_Handler();
}
__HAL_LINKDMA(&s_UARTHandle, hdmarx, s_DMAHandle);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
HAL_DMA_Start_IT(
&s_DMAHandle, reinterpret_cast<uint32_t>(&s_UARTHandle.Instance->DR),
reinterpret_cast<uint32_t>(new_rx_buf.data()), new_rx_buf.size());
HAL_UARTEx_ReceiveToIdle_DMA(&s_UARTHandle, new_rx_buf.data(),
new_rx_buf.size());
__HAL_DMA_DISABLE_IT(&s_DMAHandle, DMA_IT_HT);
}
}
static bool enable_oscillators() {
@@ -101,32 +183,25 @@ struct uart_handler {
return false;
}
result = HAL_UART_Receive_IT(&s_UARTHandle, &rx_buff, rx_buff_size);
return result == HAL_OK;
}
static bool init() {
enable_clocks();
init_gpio();
if (!enable_oscillators()) {
return false;
}
return init_uart_handle();
auto result = init_uart_handle();
init_mode();
return result;
}
static HAL_StatusTypeDef write(const std::string_view& message,
uint32_t timeout = HAL_MAX_DELAY) {
// constexpr std::string_view carriage_return{"\r\n"};
return write(reinterpret_cast<uint8_t*>(const_cast<char*>(message.data())),
message.size(), timeout);
// return write(
// reinterpret_cast<uint8_t*>(const_cast<char*>(carriage_return.data())),
// carriage_return.size(), timeout);
}
static HAL_StatusTypeDef write(uint8_t* buf, uint16_t size,
@@ -135,9 +210,11 @@ struct uart_handler {
}
static UART_HandleTypeDef s_UARTHandle;
static DMA_HandleTypeDef s_DMAHandle;
static uint8_t* get_buf() { return &rx_buff; }
static const uint8_t* get_buf_c() { return &rx_buff; }
static std::array<uint8_t, Size> new_rx_buf;
private:
static constexpr auto pin_tx = PinTX;
@@ -148,12 +225,18 @@ struct uart_handler {
static uint8_t rx_buff;
};
template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase>
UART_HandleTypeDef uart_handler<PinTX, PinRX, Port, UsartBase>::s_UARTHandle =
UART_HandleTypeDef();
template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
UartMode M, uint16_t Size>
DMA_HandleTypeDef uart_handler<PinTX, PinRX, Port, UsartBase, M,
Size>::s_DMAHandle = DMA_HandleTypeDef();
using uart_interface =
uart_handler<UARTTX_PIN, UARTRX_PIN, UART_PORT, USART1_BASE>;
template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
UartMode M, uint16_t Size>
UART_HandleTypeDef uart_handler<PinTX, PinRX, Port, UsartBase, M,
Size>::s_UARTHandle = UART_HandleTypeDef();
using gps_interface =
uart_handler<UART2TX_PIN, UART2RX_PIN, UART2_PORT, USART2_BASE>;
using uart_interface = uart_handler<UARTTX_PIN, UARTRX_PIN, UART_PORT,
USART1_BASE, UartMode::Interrupt>;
using gps_interface = uart_handler<UART2TX_PIN, UART2RX_PIN, UART2_PORT,
USART2_BASE, UartMode::DMA, 64>;