diff --git a/src/shared/radio/CC3135/CC3135.cpp b/src/shared/radio/CC3135/CC3135.cpp
index 9d8da293966a8e0bea83b7c8fd613aeeea3b7c71..a6f9985686208454e313ccd1e0627704f64b8816 100644
--- a/src/shared/radio/CC3135/CC3135.cpp
+++ b/src/shared/radio/CC3135/CC3135.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2022 Skyward Experimental Rocketry
* Author: Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -22,62 +22,226 @@
#include "CC3135.h"
+#include <kernel/scheduler/scheduler.h>
+#include <utils/Debug.h>
+
+using namespace Boardcore::CC3135Defs;
+using namespace miosix;
+
namespace Boardcore
{
-using namespace CC3135Defs;
+CC3135::CC3135(std::unique_ptr<ICC3135Iface> &&iface) : iface(std::move(iface))
+{
+ // Start internal thread
+ this->start();
+ irq_wait_thread = thread;
+}
+
+CC3135Defs::DeviceVersion CC3135::getVersion()
+{
+ DeviceSetGet tx_command = {};
+ tx_command.device_set_id = 1; // Device get general
+ tx_command.option = 12; // Device get general version
+
+ DeviceSetGet rx_command = {};
+ DeviceVersion rx_payload = {};
+
+ inoutPacketSync(OPCODE_DEVICE_DEVICEGET, Buffer::from(&tx_command),
+ Buffer::null(), OPCODE_DEVICE_DEVICEGETRESPONSE,
+ Buffer::from(&rx_command), Buffer::from(&rx_payload));
+
+ return rx_payload;
+}
+
+void CC3135::handleIrq()
+{
+ irq_count++;
+
+ if (irq_wait_thread)
+ {
+ irq_wait_thread->IRQwakeup();
+ if (irq_wait_thread->IRQgetPriority() >
+ Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
+ Scheduler::IRQfindNextThread();
+ }
+ }
+}
+
+void CC3135::waitForIrq()
+{
+ Thread *cur = Thread::getCurrentThread();
+
+ FastInterruptDisableLock dLock;
+ while (irq_wait_thread != cur || irq_count == 0)
+ {
+ irq_wait_thread->IRQwait();
+ {
+ FastInterruptEnableLock eLock(dLock);
+ Thread::yield();
+ }
+ }
+
+ irq_count--;
+}
+
+void CC3135::installAsServiceThread()
+{
+ FastInterruptDisableLock dLock;
+ irq_wait_thread = Thread::getCurrentThread();
+}
+
+void CC3135::restoreDefaultServiceThread()
+{
+ FastInterruptDisableLock dLock;
+ irq_wait_thread = thread;
+
+ // Wakeup just in case
+ irq_wait_thread->IRQwakeup();
+ if (irq_wait_thread->IRQgetPriority() >
+ Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
+ Scheduler::IRQfindNextThread();
+ }
+}
+
+void CC3135::defaultPacketHandler(CC3135Defs::ResponseHeader header)
+{
+ TRACE(
+ "[cc3135] Received packet:\n"
+ "- Opcode: %s (%4x)\n"
+ "- Status: %u\n"
+ "- Socket tx failures: %u\n"
+ "- Socket non blocking: %u\n",
+ opToStr(header.inner.opcode), header.inner.opcode, header.dev_status,
+ header.socket_tx_failure, header.socket_non_blocking);
+
+ // Dummy read rest of the data
+ // TODO: Add async commands
+ dummyRead(header.inner.len);
+}
+
+void CC3135::run()
+{
+ // TODO: Implement a way to stop this thread
+
+ while (true)
+ {
+ waitForIrq();
+
+ {
+ // Lock the device interface
+ Lock<FastMutex> lock(iface_mutex);
+
+ ResponseHeader header;
+ readHeader(&header);
+
+ defaultPacketHandler(header);
+ }
+ }
+}
-void CC3135Proto::handleIntr()
+void CC3135::inoutPacketSync(CC3135Defs::OpCode tx_opcode,
+ CC3135::Buffer tx_command,
+ CC3135::Buffer tx_payload,
+ CC3135Defs::OpCode rx_opcode,
+ CC3135::Buffer rx_command,
+ CC3135::Buffer rx_payload)
{
- // TODO:
+ installAsServiceThread();
+
+ // Lock the device interface
+ Lock<FastMutex> lock(iface_mutex);
+ writePacket(tx_opcode, tx_command, tx_payload);
+
+ readPacket(rx_opcode, rx_command, rx_payload);
+
+ restoreDefaultServiceThread();
}
-void CC3135::dummyRead()
+void CC3135::readPacketSync(CC3135Defs::OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
{
- uint8_t buf[220];
- proto.readPacket(buf);
+ installAsServiceThread();
- ResponseHeader header;
- memcpy(&header, &buf[0], sizeof(ResponseHeader));
+ // Lock the device interface
+ Lock<FastMutex> lock(iface_mutex);
+ readPacket(opcode, command, payload);
- // TRACE("status: %d\n", header.dev_status);
- // TRACE("opcode: %s\n", opToStr(header.gen_header.opcode));
- // TRACE("len: %d\n", header.gen_header.len);
- // TRACE("\n");
+ restoreDefaultServiceThread();
+}
- // if(header.gen_header.opcode == OPCODE_DEVICE_DEVICEGETRESPONSE) {
- // for(int i = 0; i < header.gen_header.len + 4; i++) {
- // TRACE("%2x\n", buf[i]);
- // }
- // }
+void CC3135::writePacketSync(CC3135Defs::OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
+{
+ // Lock the device interface
+ Lock<FastMutex> lock(iface_mutex);
+ writePacket(opcode, command, payload);
}
-DeviceVersion CC3135::getVersion()
+void CC3135::readPacket(OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
{
- DeviceSetGet packet;
- packet.gen_header.opcode = OPCODE_DEVICE_DEVICEGET;
- packet.device_set_id = 1; // Device get general
- packet.option = 12; // Device get version
+ while (true)
+ {
+ waitForIrq();
+
+ // Locking the interface is not needed
+
+ ResponseHeader header;
+ readHeader(&header);
- proto.writePacket((uint8_t *)&packet, sizeof(packet));
+ if (header.inner.opcode != opcode)
+ {
+ defaultPacketHandler(header);
+ }
+ else
+ {
+ // Read the rest of the packet
+ size_t len = header.inner.len;
- return {};
+ iface->read(command.ptr, std::min(len, command.len));
+ len -= std::min(len, command.len);
+
+ iface->read(payload.ptr, std::min(len, payload.len));
+ len -= std::min(len, payload.len);
+
+ // Read tail of remanining data
+ if (len > 0)
+ dummyRead(len);
+
+ break;
+ }
+ }
}
-//! Get a generic header out of a buffer.
-GenericHeader *getHeader(uint8_t *buf) { return (GenericHeader *)(buf); }
+void CC3135::writePacket(OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
+{
+ RequestHeader header{opcode,
+ static_cast<uint16_t>(command.len + payload.len)};
+
+ writeHeader(&header);
-void CC3135Proto::readPacket(uint8_t *buf)
+ iface->write(command.ptr, command.len);
+ iface->write(payload.ptr, payload.len);
+}
+
+void CC3135::readHeader(ResponseHeader *header)
{
// 1. Write CNYS pattern (only if SPI)
if (iface->is_spi())
{
SyncPattern sync = H2N_CNYS_PATTERN;
- iface->write((uint8_t *)(&sync.short1), SYNC_PATTERN_LEN);
+ iface->write(reinterpret_cast<uint8_t *>(&sync.short1),
+ SYNC_PATTERN_LEN);
}
+ uint8_t buf[4];
+
// 2. Read initial data from the device
- iface->read(&buf[0], 8);
+ iface->read(&buf[0], 4);
/*
Here the TI driver does some weird stuff.
@@ -92,70 +256,52 @@ void CC3135Proto::readPacket(uint8_t *buf)
memcpy(&sync, &buf[0], 4);
if (n2hSyncPatternMatch(sync, tx_seq_num))
- {
- // Copy the bytes after the sync to the start
- memcpy(&buf[0], &buf[4], 4);
break;
- }
// TODO: The TI driver reads 4 bytes at a time, is this also good?
// Shift everything
- memmove(&buf[0], &buf[1], 7);
- iface->read(&buf[7], 1);
- }
-
- // 4. Scan for double syncs
- while (true)
- {
- uint32_t sync;
- memcpy(&sync, &buf[0], 4);
-
- if (!n2hSyncPatternMatch(sync, tx_seq_num))
- {
- break;
- }
-
- iface->read(&buf[0], 4);
+ memmove(&buf[0], &buf[1], 3);
+ iface->read(&buf[3], 1);
}
tx_seq_num++;
- // 5. Parse generic header
- GenericHeader *header = getHeader(&buf[0]);
+ // TODO: Is skipping double sync detection good?
- // 6. Finalize and read rest of the data
- if (header->len > 0)
- {
- // TODO: The TI driver reads a ResponseHeader, violating zero size
+ // 4. Read initial header
+ iface->read(reinterpret_cast<uint8_t *>(header), sizeof(ResponseHeader));
- size_t aligned_len = alignSize(header->len);
- iface->read(&buf[sizeof(GenericHeader)], aligned_len);
- }
+ // 5. Adjust for bigger response header
+ header->inner.len -= sizeof(ResponseHeader) - sizeof(GenericHeader);
}
-void CC3135Proto::writePacket(uint8_t *buf, size_t size)
+void CC3135::writeHeader(RequestHeader *header)
{
// 1. Write SYNC pattern
if (iface->is_spi())
{
// Short pattern for SPI
SyncPattern sync = H2N_SYNC_PATTERN;
- iface->write((uint8_t *)&sync.short1, SYNC_PATTERN_LEN);
+ iface->write(reinterpret_cast<uint8_t *>(&sync.short1),
+ SYNC_PATTERN_LEN);
}
else
{
// Long pattern for UART
SyncPattern sync = H2N_SYNC_PATTERN;
- iface->write((uint8_t *)&sync.long1, SYNC_PATTERN_LEN * 2);
+ iface->write(reinterpret_cast<uint8_t *>(&sync.long1),
+ SYNC_PATTERN_LEN * 2);
}
- // 2. Setup header length
- GenericHeader *header = getHeader(&buf[0]);
- header->len = size - sizeof(GenericHeader);
+ // 2. Write body
+ iface->write(reinterpret_cast<uint8_t *>(header), sizeof(RequestHeader));
+}
- // 3. Write message
- iface->write(buf, size);
+void CC3135::dummyRead(size_t n)
+{
+ uint8_t dummy[n];
+ iface->read(dummy, n);
}
} // namespace Boardcore
diff --git a/src/shared/radio/CC3135/CC3135.h b/src/shared/radio/CC3135/CC3135.h
index 64629e3bba0313359f36e70a3d961fa35e618dd7..1925d1959733613d7c4c5b145e8e174c77e6df2d 100644
--- a/src/shared/radio/CC3135/CC3135.h
+++ b/src/shared/radio/CC3135/CC3135.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2022 Skyward Experimental Rocketry
* Author: Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -22,6 +22,10 @@
#pragma once
+#include <ActiveObject.h>
+#include <miosix.h>
+
+#include <functional>
#include <memory>
#include "CC3135Defs.h"
@@ -29,50 +33,86 @@
/*
TODO(davide.mor): Write a small description of the CC3135
+
+TODO(davide.mor): Write about scatter/gather IO
*/
namespace Boardcore
{
-/**
- * @brief Abstraction over the comunication protocol.
- */
-class CC3135Proto
+class CC3135 : ActiveObject
{
public:
- explicit CC3135Proto(std::unique_ptr<ICC3135Iface> &&iface)
- : iface(std::move(iface)), tx_seq_num(0)
- {
- }
+ explicit CC3135(std::unique_ptr<ICC3135Iface> &&iface);
- void handleIntr();
+ void handleIrq();
- void readPacket(uint8_t *buf);
- void writePacket(uint8_t *buf, size_t size);
+ CC3135Defs::DeviceVersion getVersion();
private:
- std::unique_ptr<ICC3135Iface> iface;
- uint8_t tx_seq_num;
-};
-
-class CC3135
-{
-public:
- explicit CC3135(std::unique_ptr<ICC3135Iface> &&iface)
- : proto(std::move(iface))
+ //! Simple buffer for scatter/gather IO
+ struct Buffer
{
- }
+ uint8_t *ptr;
+ size_t len;
- void handleIntr() { proto.handleIntr(); }
+ template <typename T>
+ static Buffer from(T *data)
+ {
+ return {reinterpret_cast<uint8_t *>(data), sizeof(T)};
+ }
- //! Dummy packet read, used to test comunication.
- void dummyRead();
+ static Buffer null() { return {nullptr, 0}; }
+ };
- //! Retrieve information about the device
- CC3135Defs::DeviceVersion getVersion();
+ //! Function for servicing async messages.
+ void run() override;
-private:
- CC3135Proto proto;
+ void defaultPacketHandler(CC3135Defs::ResponseHeader header);
+
+ // Functions dedicated to interrupt servicing
+
+ //! Wait for an incoming interrupt (only callable in service thread).
+ void waitForIrq();
+ //! Install this thread as the service thread.
+ void installAsServiceThread();
+ //! Restore default service thread.
+ void restoreDefaultServiceThread();
+
+ // Functions for high level IO
+
+ //! Write a packet in output and wait for a packet in input
+ void inoutPacketSync(CC3135Defs::OpCode tx_opcode, Buffer tx_command,
+ Buffer tx_payload, CC3135Defs::OpCode rx_opcode,
+ Buffer rx_command, Buffer rx_payload);
+ //! Read packet in input, with proper synchronization.
+ void readPacketSync(CC3135Defs::OpCode opcode, Buffer command,
+ Buffer payload);
+ //! Write a apcket in output, with proper synchronization.
+ void writePacketSync(CC3135Defs::OpCode opcode, Buffer command,
+ Buffer payload);
+
+ // Functions for low level IO
+
+ //! Read a single packet.
+ void readPacket(CC3135Defs::OpCode opcode, Buffer command, Buffer payload);
+ //! Write a single packet.
+ void writePacket(CC3135Defs::OpCode opcode, Buffer command, Buffer payload);
+ //! Read a packet header.
+ void readHeader(CC3135Defs::ResponseHeader *header);
+ //! Write a packet header.
+ void writeHeader(CC3135Defs::RequestHeader *header);
+
+ //! Read dummy n bytes.
+ void dummyRead(size_t n);
+
+ miosix::Thread *irq_wait_thread = nullptr; //< Thread waiting on IRQ
+ size_t irq_count = 0; //< Number of interrupts
+
+ miosix::FastMutex iface_mutex;
+ std::unique_ptr<ICC3135Iface> iface;
+
+ uint8_t tx_seq_num = 0;
};
} // namespace Boardcore
diff --git a/src/shared/radio/CC3135/CC3135Defs.h b/src/shared/radio/CC3135/CC3135Defs.h
index 09031e0ea5795a11220a13083049a31ef20af827..affcb713ae3ebad92bdb2e4d2d3edbe9bdab0a5a 100644
--- a/src/shared/radio/CC3135/CC3135Defs.h
+++ b/src/shared/radio/CC3135/CC3135Defs.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2022 Skyward Experimental Rocketry
* Author: Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -53,6 +53,9 @@ enum OpCode : uint16_t
OPCODE_DEVICE_DEVICESET = 0x84B7,
};
+//! Is this message synchronous?
+inline bool isSync(OpCode op) { return op & OPCODE_SYNC; }
+
struct SyncPattern
{
uint32_t long1;
@@ -79,7 +82,7 @@ struct GenericHeader
struct ResponseHeader
{
- GenericHeader gen_header;
+ GenericHeader inner;
uint8_t tx_pool_count;
uint8_t dev_status;
uint16_t min_max_payload;
@@ -87,9 +90,10 @@ struct ResponseHeader
uint16_t socket_non_blocking;
};
+typedef GenericHeader RequestHeader;
+
struct DeviceSetGet
{
- GenericHeader gen_header;
uint16_t status;
uint16_t device_set_id;
uint16_t option;
@@ -114,9 +118,6 @@ inline bool n2hSyncPatternMatch(uint32_t sync, uint8_t seq_num)
(N2H_SYNC_PATTERN & N2H_SYNC_SPI_BUGS_MASK & N2H_SYNC_PATTERN_MASK);
}
-//! Is this message synchronous?
-inline bool isSync(OpCode op) { return op & OPCODE_SYNC; }
-
//! Align message size.
inline size_t alignSize(size_t size) { return (size + 3) & (~3); }
diff --git a/src/shared/radio/CC3135/CC3135Iface.h b/src/shared/radio/CC3135/CC3135Iface.h
index ef468ebe3447f99da5e06c0dd87a072e2b6c1559..96c127f93c2f9dae56281e734d9e2db67a14e615 100644
--- a/src/shared/radio/CC3135/CC3135Iface.h
+++ b/src/shared/radio/CC3135/CC3135Iface.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2022 Skyward Experimental Rocketry
* Author: Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -37,6 +37,7 @@ public:
virtual void read(uint8_t *buffer, size_t size) = 0;
virtual void write(uint8_t *buffer, size_t size) = 0;
virtual bool is_spi() = 0;
+ virtual void reset() = 0;
};
/**
@@ -65,6 +66,8 @@ public:
bool is_spi() override { return true; }
+ void reset() override {}
+
private:
SPISlave slave;
};
@@ -92,6 +95,8 @@ public:
bool is_spi() override { return false; }
+ void reset() override { usart.clearQueue(); }
+
private:
static constexpr USART::Baudrate DEFAULT_BAUD = USART::Baudrate::B115200;
diff --git a/src/tests/drivers/CC3135/test-cc3135.cpp b/src/tests/drivers/CC3135/test-cc3135.cpp
index 8d115fe3d2947f62c5d8e6fe3a7ce05c7acbd7a0..5f717f801138e9936ffc6b73116dbd2d860bf235 100644
--- a/src/tests/drivers/CC3135/test-cc3135.cpp
+++ b/src/tests/drivers/CC3135/test-cc3135.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2022 Skyward Experimental Rocketry
* Author: Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -23,6 +23,8 @@
#include <drivers/interrupt/external_interrupts.h>
#include <radio/CC3135/CC3135.h>
+#include <thread>
+
using namespace Boardcore;
using namespace miosix;
@@ -46,15 +48,17 @@ using hib = Gpio<GPIOA_BASE, 5>;
CC3135 *cc3135 = nullptr;
+volatile size_t IRQ_COUNT = 0;
+
void __attribute__((used)) EXTI4_IRQHandlerImpl()
{
+ IRQ_COUNT += 1;
if (cc3135)
- cc3135->handleIntr();
+ cc3135->handleIrq();
}
void initBoard()
{
-
#ifdef CC3135_HIB
{
miosix::FastInterruptDisableLock dLock;
@@ -84,19 +88,60 @@ void initBoard()
int main()
{
+ // IRQ watcher thread
+ /*std::thread _watcher(
+ []()
+ {
+ size_t last = -1;
+ while (1)
+ {
+ if (last != IRQ_COUNT)
+ {
+ printf("[cc3135] IRQ: %d\n", IRQ_COUNT);
+ last = IRQ_COUNT;
+ }
+
+ // Sleep to avoid CPU hogging
+ Thread::sleep(10);
+ }
+ });*/
+
initBoard();
+#ifdef CC3135_HIB
+ // Reset CC3135
+ hib::low();
+ Thread::sleep(10);
+ hib::high();
+
+ // Wait for the device to fully initialize.
+ // The device is very chatty at the beginning,
+ // but it's also in a weird state where the IRQ
+ // pin doesn't trigger properly. Just wait for it to calm down
+ Thread::sleep(2000);
+#endif
+
#ifdef CC3135_UART
std::unique_ptr<ICC3135Iface> iface(new CC3135Uart(CC3135_UART));
#endif
+ printf("[cc3135] Initializing...\n");
cc3135 = new CC3135(std::move(iface));
+ printf("[cc3135] Initialization complete!\n");
+
+ auto version = cc3135->getVersion();
+ printf(
+ "[cc3135] Chip Id: %lx\n"
+ "[cc3135] Fw version: %u.%u.%u.%u\n"
+ "[cc3135] Phy version: %u.%u.%u.%u\n"
+ "[cc3135] Nwp version: %u.%u.%u.%u\n"
+ "[cc3135] Rom version: %x\n",
+ version.chip_id, version.fw_version[0], version.fw_version[1],
+ version.fw_version[2], version.fw_version[3], version.phy_version[0],
+ version.phy_version[1], version.phy_version[2], version.phy_version[3],
+ version.nwp_version[0], version.nwp_version[1], version.nwp_version[2],
+ version.nwp_version[3], version.rom_version);
- Thread::sleep(200);
-
- cc3135->getVersion();
while (true)
- {
- cc3135->dummyRead();
- }
+ ;
}