diff --git a/src/shared/radio/CC3135/CC3135.cpp b/src/shared/radio/CC3135/CC3135.cpp
index 5124be5ee064891a1cdb787e8da6e88bab6bd167..15680adf1f101411513e6758000405e7ccb6d5d5 100644
--- a/src/shared/radio/CC3135/CC3135.cpp
+++ b/src/shared/radio/CC3135/CC3135.cpp
@@ -25,6 +25,17 @@
#include <kernel/scheduler/scheduler.h>
#include <utils/Debug.h>
+#define TRY(expr) \
+ do \
+ { \
+ Boardcore::CC3135::Error result = (expr); \
+ if (result != Boardcore::CC3135::Error::NO_ERROR) \
+ { \
+ TRACE("[cc3135] NWP error@ %s\n", __FUNCTION__); \
+ return result; \
+ } \
+ } while (0)
+
using namespace Boardcore::CC3135Defs;
using namespace miosix;
@@ -33,20 +44,38 @@ namespace Boardcore
CC3135::CC3135(std::unique_ptr<ICC3135Iface> &&iface) : iface(std::move(iface))
{
- // Start internal thread
- this->start();
irq_wait_thread = thread;
}
-DeviceVersion CC3135::getVersion()
+CC3135::Error CC3135::init(bool wait_for_init)
{
- DeviceVersion result = {};
+ if (wait_for_init)
+ {
+ DeviceInitInfo init_info = {};
+ TRY(readPacketSync(OPCODE_DEVICE_INITCOMPLETE, Buffer::from(&init_info),
+ Buffer::null()));
+
+ TRACE(
+ "[cc3135] Init completed:\n"
+ "- Status: %8x\n"
+ "- Chip Id: %lx\n"
+ "- More Data: %8x\n",
+ init_info.status, init_info.chip_id, init_info.more_data);
+ }
- devigeGet(1, 12, Buffer::from(&result));
- return result;
+ // Start internal thread
+ this->start();
+
+ return Error::NO_ERROR;
+}
+
+CC3135::Error CC3135::getVersion(DeviceVersion &version)
+{
+ version = {};
+ return devigeGet(1, 12, Buffer::from<DeviceVersion>(&version));
}
-void CC3135::devigeGet(uint8_t set_id, uint8_t option, Buffer result)
+CC3135::Error CC3135::devigeGet(uint8_t set_id, uint8_t option, Buffer result)
{
DeviceSetGet tx_command = {};
tx_command.device_set_id = set_id;
@@ -54,21 +83,21 @@ void CC3135::devigeGet(uint8_t set_id, uint8_t option, Buffer result)
DeviceSetGet rx_command = {};
- inoutPacketSync(OPCODE_DEVICE_DEVICEGET, Buffer::from(&tx_command),
- Buffer::null(), OPCODE_DEVICE_DEVICEGETRESPONSE,
- Buffer::from(&rx_command), result);
+ return inoutPacketSync(OPCODE_DEVICE_DEVICEGET, Buffer::from(&tx_command),
+ Buffer::null(), OPCODE_DEVICE_DEVICEGETRESPONSE,
+ Buffer::from(&rx_command), result);
}
-void CC3135::setMode(CC3135Defs::Mode mode)
+CC3135::Error CC3135::setMode(CC3135Defs::Mode mode)
{
WlanSetMode tx_command = {};
tx_command.mode = mode;
BasicResponse rx_command = {};
- inoutPacketSync(OPCODE_WLAN_SET_MODE, Buffer::from(&tx_command),
- Buffer::null(), OPCODE_WLAN_SET_MODE_RESPONSE,
- Buffer::from(&rx_command), Buffer::null());
+ return inoutPacketSync(OPCODE_WLAN_SET_MODE, Buffer::from(&tx_command),
+ Buffer::null(), OPCODE_WLAN_SET_MODE_RESPONSE,
+ Buffer::from(&rx_command), Buffer::null());
}
void CC3135::handleIrq()
@@ -136,28 +165,7 @@ void CC3135::defaultPacketHandler(CC3135Defs::ResponseHeader header)
size_t len = header.inner.len;
- switch (header.inner.opcode)
- {
- case OPCODE_DEVICE_INITCOMPLETE:
- {
- DeviceInitInfo result = {};
- safeRead(len, Buffer::from(&result));
-
- TRACE(
- "[cc3135] Init completen:\n"
- "- Status: %8x\n"
- "- Chip Id: %lx\n"
- "- More Data: %8x\n",
- result.status, result.chip_id, result.more_data);
- break;
- }
-
- default:
- break;
- }
-
// Dummy read rest of the data
- // TODO: Add async commands
if (len > 0)
dummyRead(len);
}
@@ -165,7 +173,6 @@ void CC3135::defaultPacketHandler(CC3135Defs::ResponseHeader header)
void CC3135::run()
{
// TODO: Implement a way to stop this thread
-
while (true)
{
waitForIrq();
@@ -176,53 +183,68 @@ void CC3135::run()
Lock<FastMutex> lock(iface_mutex);
ResponseHeader header;
- readHeader(&header);
+ Error result = readHeader(&header);
- defaultPacketHandler(header);
+ if (result != Error::NO_ERROR)
+ {
+ TRACE("[cc3135] NWP error!\n");
+ }
+ else
+ {
+ defaultPacketHandler(header);
+ }
}
}
}
-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)
+CC3135::Error 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)
{
installAsServiceThread();
// Lock the device interface
Lock<FastMutex> lock(iface_mutex);
- writePacket(tx_opcode, tx_command, tx_payload);
+ TRY(writePacket(tx_opcode, tx_command, tx_payload));
- readPacket(rx_opcode, rx_command, rx_payload);
+ TRY(readPacket(rx_opcode, rx_command, rx_payload));
restoreDefaultServiceThread();
+
+ return Error::NO_ERROR;
}
-void CC3135::readPacketSync(CC3135Defs::OpCode opcode, CC3135::Buffer command,
- CC3135::Buffer payload)
+CC3135::Error CC3135::readPacketSync(CC3135Defs::OpCode opcode,
+ CC3135::Buffer command,
+ CC3135::Buffer payload)
{
installAsServiceThread();
// Lock the device interface
Lock<FastMutex> lock(iface_mutex);
- readPacket(opcode, command, payload);
+ TRY(readPacket(opcode, command, payload));
restoreDefaultServiceThread();
+
+ return Error::NO_ERROR;
}
-void CC3135::writePacketSync(CC3135Defs::OpCode opcode, CC3135::Buffer command,
- CC3135::Buffer payload)
+CC3135::Error CC3135::writePacketSync(CC3135Defs::OpCode opcode,
+ CC3135::Buffer command,
+ CC3135::Buffer payload)
{
// Lock the device interface
Lock<FastMutex> lock(iface_mutex);
- writePacket(opcode, command, payload);
+ TRY(writePacket(opcode, command, payload));
+
+ return Error::NO_ERROR;
}
-void CC3135::readPacket(OpCode opcode, CC3135::Buffer command,
- CC3135::Buffer payload)
+CC3135::Error CC3135::readPacket(OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
{
while (true)
{
@@ -232,7 +254,7 @@ void CC3135::readPacket(OpCode opcode, CC3135::Buffer command,
// Locking the interface is not needed
ResponseHeader header = {};
- readHeader(&header);
+ TRY(readHeader(&header));
if (header.inner.opcode != opcode)
{
@@ -253,25 +275,34 @@ void CC3135::readPacket(OpCode opcode, CC3135::Buffer command,
break;
}
}
+
+ return Error::NO_ERROR;
}
-void CC3135::writePacket(OpCode opcode, CC3135::Buffer command,
- CC3135::Buffer payload)
+CC3135::Error CC3135::writePacket(OpCode opcode, CC3135::Buffer command,
+ CC3135::Buffer payload)
{
RequestHeader header{opcode,
static_cast<uint16_t>(command.len + payload.len)};
- writeHeader(&header);
+ TRY(writeHeader(&header));
if (command.len > 0)
iface->write(command.ptr, command.len);
if (payload.len > 0)
iface->write(payload.ptr, payload.len);
+
+ return Error::NO_ERROR;
}
-void CC3135::readHeader(ResponseHeader *header)
+CC3135::Error CC3135::readHeader(ResponseHeader *header)
{
+ // 20 kernel ticks, or 100ms
+ const int TIMEOUT = 2000;
+
+ long long start = getTick();
+
// 1. Write CNYS pattern (only if SPI)
if (iface->is_spi())
{
@@ -293,8 +324,10 @@ void CC3135::readHeader(ResponseHeader *header)
// 3. Scan for device SYNC
while (true)
{
- // Reads in SPI are always more than 4 bytes
+ if ((getTick() - start) > TIMEOUT)
+ return Error::NWP_TIMEOUT;
+ // Reads in SPI are always more than 4 bytes
bool found = false;
int i;
for (i = 0; i < 4; i++)
@@ -303,11 +336,6 @@ void CC3135::readHeader(ResponseHeader *header)
uint32_t sync;
memcpy(&sync, &buf[i], 4);
- if (sync == 0x0a7b2d01)
- {
- // BRUH
- }
-
if (n2hSyncPatternMatch(sync, tx_seq_num))
{
found = true;
@@ -334,6 +362,9 @@ void CC3135::readHeader(ResponseHeader *header)
memcpy(&sync, &buf[0], 4);
while (n2hSyncPatternMatch(sync, tx_seq_num))
{
+ if ((getTick() - start) > TIMEOUT)
+ return Error::NWP_TIMEOUT;
+
memmove(&buf[0], &buf[4], 4);
iface->read(&buf[4], 4);
@@ -348,9 +379,11 @@ void CC3135::readHeader(ResponseHeader *header)
// 6. Adjust for bigger response header
header->inner.len -= sizeof(ResponseHeader) - sizeof(GenericHeader);
+
+ return Error::NO_ERROR;
}
-void CC3135::writeHeader(RequestHeader *header)
+CC3135::Error CC3135::writeHeader(RequestHeader *header)
{
// 1. Write SYNC pattern
if (iface->is_spi())
@@ -370,17 +403,25 @@ void CC3135::writeHeader(RequestHeader *header)
// 2. Write body
iface->write(reinterpret_cast<uint8_t *>(header), sizeof(RequestHeader));
+
+ return Error::NO_ERROR;
}
void CC3135::dummyRead(size_t n)
{
- uint8_t dummy[n];
- iface->read(dummy, n);
+ // Avoid HUGE stack allocations
+ uint8_t dummy[256];
+
+ while (n > 0)
+ {
+ iface->read(dummy, std::min(n, sizeof(dummy)));
+ n -= std::min(n, sizeof(dummy));
+ }
}
void CC3135::safeRead(size_t &len, Buffer buffer)
{
- if (buffer.len > 0)
+ if (buffer.len > 0 && len > 0)
{
iface->read(buffer.ptr, std::min(len, buffer.len));
len -= std::min(len, buffer.len);
diff --git a/src/shared/radio/CC3135/CC3135.h b/src/shared/radio/CC3135/CC3135.h
index 31d18cdaa3b486aee8fac758837a7da1bde890db..8a569d72efd2ebcc98cb84429ffacbc2cba9595c 100644
--- a/src/shared/radio/CC3135/CC3135.h
+++ b/src/shared/radio/CC3135/CC3135.h
@@ -43,13 +43,22 @@ namespace Boardcore
class CC3135 : ActiveObject
{
public:
+ enum class Error
+ {
+ NO_ERROR, //< No error occured.
+ NWP_TIMEOUT, //< The NWP did not respond.
+ NWP_STATUS_NON_ZERO, //< The NWD returned a non-zero status code.
+ };
+
explicit CC3135(std::unique_ptr<ICC3135Iface> &&iface);
+ CC3135::Error init(bool wait_for_init);
+
void handleIrq();
- CC3135Defs::DeviceVersion getVersion();
+ CC3135::Error getVersion(CC3135Defs::DeviceVersion &version);
- void setMode(CC3135Defs::Mode mode);
+ CC3135::Error setMode(CC3135Defs::Mode mode);
private:
//! Simple buffer for scatter/gather IO
@@ -72,7 +81,7 @@ private:
void defaultPacketHandler(CC3135Defs::ResponseHeader header);
- void devigeGet(uint8_t set_id, uint8_t option, Buffer result);
+ CC3135::Error devigeGet(uint8_t set_id, uint8_t option, Buffer result);
// Functions dedicated to interrupt servicing
@@ -86,26 +95,29 @@ private:
// 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);
+ CC3135::Error 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);
+ CC3135::Error readPacketSync(CC3135Defs::OpCode opcode, Buffer command,
+ Buffer payload);
//! Write a packet in output, with proper synchronization.
- void writePacketSync(CC3135Defs::OpCode opcode, Buffer command,
- Buffer payload);
+ CC3135::Error 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);
+ CC3135::Error readPacket(CC3135Defs::OpCode opcode, Buffer command,
+ Buffer payload);
//! Write a single packet.
- void writePacket(CC3135Defs::OpCode opcode, Buffer command, Buffer payload);
+ CC3135::Error writePacket(CC3135Defs::OpCode opcode, Buffer command,
+ Buffer payload);
//! Read a packet header.
- void readHeader(CC3135Defs::ResponseHeader *header);
+ CC3135::Error readHeader(CC3135Defs::ResponseHeader *header);
//! Write a packet header.
- void writeHeader(CC3135Defs::RequestHeader *header);
+ CC3135::Error writeHeader(CC3135Defs::RequestHeader *header);
//! Read dummy n bytes.
void dummyRead(size_t n);
diff --git a/src/tests/drivers/CC3135/test-cc3135.cpp b/src/tests/drivers/CC3135/test-cc3135.cpp
index 47e575d3c4bce62e6f42dadd116e4bd3c9a8a6a4..f3e2e034b3a3185bf2b3387b70db1f2e6287bd98 100644
--- a/src/tests/drivers/CC3135/test-cc3135.cpp
+++ b/src/tests/drivers/CC3135/test-cc3135.cpp
@@ -28,6 +28,14 @@
using namespace Boardcore;
using namespace miosix;
+#define CHECK(expr) \
+ do \
+ { \
+ Boardcore::CC3135::Error result = (expr); \
+ if (result != Boardcore::CC3135::Error::NO_ERROR) \
+ printf("[cc3135] NWP error!\n"); \
+ } while (0)
+
/*
Connection diagram:
cc3135:CC_SPI_CS -> stm32:pa1
@@ -170,6 +178,13 @@ int main()
initBoard();
+#ifdef CC3135_HIB
+ // Reset CC3135
+ hib::low();
+ Thread::sleep(100);
+ hib::high();
+#endif
+
#ifdef CC3135_SPI
SPIBus bus(CC3135_SPI);
GpioPin cs_pin = cs::getPin();
@@ -186,22 +201,29 @@ int main()
std::unique_ptr<ICC3135Iface> iface(new CC3135Uart(CC3135_UART));
#endif
+ Thread::sleep(5000);
+
printf("[cc3135] Initializing...\n");
cc3135 = new CC3135(std::move(iface));
- printf("[cc3135] Initialization complete!\n");
-#ifdef CC3135_HIB
- // Reset CC3135
- hib::low();
- Thread::sleep(100);
- hib::high();
-#endif
+ cc3135->handleIrq();
+
+ if (cc3135->init(true) != CC3135::Error::NO_ERROR)
+ {
+ printf("[cc3135] Failed to start cc3135, retrying...\n");
+ Thread::sleep(2000);
+ return;
+
+ // miosix::reboot();
+ }
+
+ printf("[cc3135] Initialization complete!\n");
- Thread::sleep(500);
- // cc3135->setMode(CC3135Defs::ROLE_AP);
+ // CHECK(cc3135->setMode(CC3135Defs::ROLE_STA));
// Thread::sleep(500);
- auto version = cc3135->getVersion();
+ CC3135Defs::DeviceVersion version = {};
+ CHECK(cc3135->getVersion(version));
printf(
"[cc3135] Chip Id: %lx\n"
"[cc3135] Fw version: %u.%u.%u.%u\n"
@@ -216,4 +238,6 @@ int main()
while (true)
;
+ // Thread::sleep(3000);
+ // miosix::reboot();
}