diff --git a/embassy-stm32-wpan/src/ble.rs b/embassy-stm32-wpan/src/ble.rs index 3a6cc6f0..b7d15263 100644 --- a/embassy-stm32-wpan/src/ble.rs +++ b/embassy-stm32-wpan/src/ble.rs @@ -1,10 +1,11 @@ use core::mem::MaybeUninit; +use core::ptr; use embassy_stm32::ipcc::Ipcc; -use crate::cmd::CmdPacket; +use crate::cmd::{Cmd, CmdPacket, CmdSerial}; use crate::consts::TlPacketType; -use crate::evt::EvtBox; +use crate::evt::{EvtBox, EvtPacket}; use crate::tables::BleTable; use crate::unsafe_linked_list::LinkedListNode; use crate::{ @@ -25,45 +26,26 @@ impl Ble { phci_acl_data_buffer: HCI_ACL_DATA_BUFFER.as_mut_ptr().cast(), }); } - - Ipcc::c1_set_rx_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, true); } - - pub(super) fn evt_handler() { - unsafe { - while let Some(node_ptr) = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr()) { - let event = EvtBox::new(node_ptr.cast()); - - EVT_CHANNEL.try_send(event).unwrap(); + /// `HW_IPCC_BLE_EvtNot` + pub async fn read() -> EvtBox { + Ipcc::receive(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, || unsafe { + if let Some(node_ptr) = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr()) { + Some(EvtBox::new(node_ptr.cast())) + } else { + None } - } - - Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL); + }) + .await } - pub(super) fn acl_data_handler() { - Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL, false); - - // TODO: ACL data ack to the user - } - - pub fn send_cmd(opcode: u16, payload: &[u8]) { - debug!("writing ble cmd"); - - unsafe { + /// `TL_BLE_SendCmd` + pub async fn write(opcode: u16, payload: &[u8]) { + Ipcc::send(channels::cpu1::IPCC_BLE_CMD_CHANNEL, || unsafe { CmdPacket::write_into(BLE_CMD_BUFFER.as_mut_ptr(), TlPacketType::BleCmd, opcode, payload); - } - - Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_BLE_CMD_CHANNEL); + }) + .await; } - #[allow(dead_code)] // Not used currently but reserved - pub(super) fn ble_send_acl_data() { - let cmd_packet = unsafe { &mut *(*TL_REF_TABLE.assume_init().ble_table).phci_acl_data_buffer }; - - cmd_packet.acl_data_serial.ty = TlPacketType::AclData as u8; - - Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL); - Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL, true); - } + // TODO: acl commands } diff --git a/embassy-stm32-wpan/src/evt.rs b/embassy-stm32-wpan/src/evt.rs index b53fe506..82f73a6f 100644 --- a/embassy-stm32-wpan/src/evt.rs +++ b/embassy-stm32-wpan/src/evt.rs @@ -171,6 +171,8 @@ impl EvtBox { impl Drop for EvtBox { fn drop(&mut self) { - mm::MemoryManager::evt_drop(self.ptr); + trace!("evt box drop packet"); + + unsafe { mm::MemoryManager::drop_event_packet(self.ptr) }; } } diff --git a/embassy-stm32-wpan/src/lib.rs b/embassy-stm32-wpan/src/lib.rs index 2852d627..78516263 100644 --- a/embassy-stm32-wpan/src/lib.rs +++ b/embassy-stm32-wpan/src/lib.rs @@ -7,11 +7,10 @@ use core::mem::MaybeUninit; use core::sync::atomic::{compiler_fence, Ordering}; use cmd::CmdPacket; -use embassy_futures::block_on; use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; use embassy_stm32::interrupt; use embassy_stm32::interrupt::typelevel::Interrupt; -use embassy_stm32::ipcc::{Config, Ipcc}; +use embassy_stm32::ipcc::{Config, Ipcc, ReceiveInterruptHandler, TransmitInterruptHandler}; use embassy_stm32::peripherals::IPCC; use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::channel::Channel; @@ -29,50 +28,11 @@ pub mod cmd; pub mod consts; pub mod evt; pub mod mm; -pub mod rc; pub mod shci; pub mod sys; pub mod tables; pub mod unsafe_linked_list; -/// Interrupt handler. -pub struct ReceiveInterruptHandler {} - -impl interrupt::typelevel::Handler for ReceiveInterruptHandler { - unsafe fn on_interrupt() { - if Ipcc::is_rx_pending(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL) { - debug!("RX SYS evt"); - sys::Sys::evt_handler(); - } else if Ipcc::is_rx_pending(channels::cpu2::IPCC_BLE_EVENT_CHANNEL) { - debug!("RX BLE evt"); - ble::Ble::evt_handler(); - } - - STATE.signal(()); - } -} - -pub struct TransmitInterruptHandler {} - -impl interrupt::typelevel::Handler for TransmitInterruptHandler { - unsafe fn on_interrupt() { - if Ipcc::is_tx_pending(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL) { - debug!("TX SYS cmd rsp"); - let cc = sys::Sys::cmd_evt_handler(); - - LAST_CC_EVT.signal(cc); - } else if Ipcc::is_tx_pending(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL) { - debug!("TX MM release"); - mm::MemoryManager::free_buf_handler(); - } else if Ipcc::is_tx_pending(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL) { - debug!("TX HCI acl"); - ble::Ble::acl_data_handler(); - } - - STATE.signal(()); - } -} - #[link_section = "TL_REF_TABLE"] pub static mut TL_REF_TABLE: MaybeUninit = MaybeUninit::uninit(); @@ -289,22 +249,4 @@ impl<'d> TlMbox<'d> { None } } - - /// picks single [`EvtBox`] from internal event queue. - /// - /// Internal event queu is populated in IPCC_RX_IRQ handler - pub fn dequeue_event(&mut self) -> Option { - EVT_CHANNEL.try_recv().ok() - } - - /// retrieves last Command Complete event and removes it from mailbox - pub fn pop_last_cc_evt(&mut self) -> Option { - if LAST_CC_EVT.signaled() { - let cc = block_on(LAST_CC_EVT.wait()); - LAST_CC_EVT.reset(); - Some(cc) - } else { - None - } - } } diff --git a/embassy-stm32-wpan/src/mm.rs b/embassy-stm32-wpan/src/mm.rs index 4ccae06f..d0551d69 100644 --- a/embassy-stm32-wpan/src/mm.rs +++ b/embassy-stm32-wpan/src/mm.rs @@ -1,6 +1,11 @@ //! Memory manager routines +use core::future::poll_fn; +use core::task::Poll; + +use cortex_m::interrupt; use embassy_stm32::ipcc::Ipcc; +use embassy_sync::waitqueue::AtomicWaker; use crate::evt::EvtPacket; use crate::tables::MemManagerTable; @@ -10,7 +15,9 @@ use crate::{ TL_MEM_MANAGER_TABLE, }; -pub(super) struct MemoryManager; +static MM_WAKER: AtomicWaker = AtomicWaker::new(); + +pub struct MemoryManager; impl MemoryManager { pub fn enable() { @@ -30,37 +37,36 @@ impl MemoryManager { } } - pub fn evt_drop(evt: *mut EvtPacket) { - // unsafe { - // let list_node = evt.cast(); - // - // LinkedListNode::insert_tail(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), list_node); - // - // let channel_is_busy = Ipcc::c1_is_active_flag(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL); - // - // // postpone event buffer freeing to IPCC interrupt handler - // if channel_is_busy { - // Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL, true); - // } else { - // Self::send_free_buf(); - // Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL); - // } - // } + /// SAFETY: passing a pointer to something other than an event packet is UB + pub unsafe fn drop_event_packet(evt: *mut EvtPacket) { + interrupt::free(|_| unsafe { + LinkedListNode::insert_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), evt as *mut _); + }); + + MM_WAKER.wake(); } - /// gives free event buffers back to CPU2 from local buffer queue - pub fn send_free_buf() { - // unsafe { - // while let Some(node_ptr) = LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) { - // LinkedListNode::insert_head(FREE_BUF_QUEUE.as_mut_ptr(), node_ptr); - // } - // } - } + pub async fn run_queue() { + loop { + poll_fn(|cx| unsafe { + MM_WAKER.register(cx.waker()); + if LinkedListNode::is_empty(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) { + Poll::Pending + } else { + Poll::Ready(()) + } + }) + .await; - /// free buffer channel interrupt handler - pub fn free_buf_handler() { - // Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL, false); - // Self::send_free_buf(); - // Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL); + Ipcc::send(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL, || { + interrupt::free(|_| unsafe { + // CS required while moving nodes + while let Some(node_ptr) = LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) { + LinkedListNode::insert_head(FREE_BUF_QUEUE.as_mut_ptr(), node_ptr); + } + }) + }) + .await; + } } } diff --git a/embassy-stm32-wpan/src/rc.rs b/embassy-stm32-wpan/src/rc.rs deleted file mode 100644 index e67350f7..00000000 --- a/embassy-stm32-wpan/src/rc.rs +++ /dev/null @@ -1,43 +0,0 @@ -use crate::ble::Ble; -use crate::consts::TlPacketType; -use crate::{TlMbox, STATE}; - -pub struct RadioCoprocessor<'d> { - mbox: TlMbox<'d>, - rx_buf: [u8; 500], -} - -impl<'d> RadioCoprocessor<'d> { - pub fn new(mbox: TlMbox<'d>) -> Self { - Self { - mbox, - rx_buf: [0u8; 500], - } - } - - pub fn write(&self, opcode: u16, buf: &[u8]) { - let cmd_code = buf[0]; - let cmd = TlPacketType::try_from(cmd_code).unwrap(); - - match &cmd { - TlPacketType::BleCmd => Ble::send_cmd(opcode, buf), - _ => todo!(), - } - } - - pub async fn read(&mut self) -> &[u8] { - loop { - STATE.wait().await; - - while let Some(evt) = self.mbox.dequeue_event() { - evt.write(&mut self.rx_buf).unwrap(); - } - - if self.mbox.pop_last_cc_evt().is_some() { - continue; - } - - return &self.rx_buf; - } - } -} diff --git a/embassy-stm32-wpan/src/sys.rs b/embassy-stm32-wpan/src/sys.rs index 36b4a144..f10327b9 100644 --- a/embassy-stm32-wpan/src/sys.rs +++ b/embassy-stm32-wpan/src/sys.rs @@ -1,19 +1,18 @@ use core::mem::MaybeUninit; -use core::sync::atomic::{compiler_fence, Ordering}; +use core::{mem, ptr}; -use embassy_stm32::ipcc::Ipcc; - -use crate::cmd::{CmdPacket, CmdSerial}; +use crate::cmd::{CmdPacket, CmdSerialStub}; use crate::consts::TlPacketType; -use crate::evt::{CcEvt, EvtBox, EvtSerial}; -use crate::shci::{ShciBleInitCmdParam, SCHI_OPCODE_BLE_INIT}; +use crate::evt::{CcEvt, EvtBox, EvtPacket, EvtSerial}; +use crate::shci::{ShciBleInitCmdPacket, ShciBleInitCmdParam, ShciHeader, SCHI_OPCODE_BLE_INIT}; use crate::tables::SysTable; use crate::unsafe_linked_list::LinkedListNode; -use crate::{channels, EVT_CHANNEL, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_SYS_TABLE}; +use crate::{channels, mm, Ipcc, EVT_CHANNEL, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_SYS_TABLE}; pub struct Sys; impl Sys { + /// TL_Sys_Init pub fn enable() { unsafe { LinkedListNode::init_head(SYSTEM_EVT_QUEUE.as_mut_ptr()); @@ -21,59 +20,47 @@ impl Sys { TL_SYS_TABLE.as_mut_ptr().write_volatile(SysTable { pcmd_buffer: SYS_CMD_BUF.as_mut_ptr(), sys_queue: SYSTEM_EVT_QUEUE.as_ptr(), - }) - } - - Ipcc::c1_set_rx_channel(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL, true); - } - - pub fn cmd_evt_handler() -> CcEvt { - Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL, false); - - // ST's command response data structure is really convoluted. - // - // for command response events on SYS channel, the header is missing - // and one should: - // 1. interpret the content of CMD_BUFFER as CmdPacket - // 2. Access CmdPacket's cmdserial field and interpret its content as EvtSerial - // 3. Access EvtSerial's evt field (as Evt) and interpret its payload as CcEvt - // 4. CcEvt type is the actual SHCI response - // 5. profit - unsafe { - let pcmd: *const CmdPacket = (*TL_SYS_TABLE.as_ptr()).pcmd_buffer; - let cmd_serial: *const CmdSerial = &(*pcmd).cmdserial; - let evt_serial: *const EvtSerial = cmd_serial.cast(); - let cc: *const CcEvt = (*evt_serial).evt.payload.as_ptr().cast(); - *cc + }); } } - pub fn evt_handler() { - unsafe { - while let Some(node_ptr) = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr()) { - let event = EvtBox::new(node_ptr.cast()); + // pub async fn shci_c2_ble_init(&mut self, param: ShciBleInitCmdParam) -> SchiCommandStatus { + // let command_event = self + // .write_and_get_response(TlPacketType::SysCmd, ShciOpcode::BleInit as u16, param.payload()) + // .await; + // + // let payload = command_event.payload[0]; + // // info!("payload: {:x}", payload); + // + // payload.try_into().unwrap() + // } - EVT_CHANNEL.try_send(event).unwrap(); - } - } - - Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL); - } - - pub fn shci_ble_init(param: ShciBleInitCmdParam) { - debug!("sending SHCI"); - - Self::send_cmd(SCHI_OPCODE_BLE_INIT, param.payload()); - } - - pub fn send_cmd(opcode: u16, payload: &[u8]) { + pub fn write(opcode: u16, payload: &[u8]) { unsafe { CmdPacket::write_into(SYS_CMD_BUF.as_mut_ptr(), TlPacketType::SysCmd, opcode, payload); } + } - compiler_fence(Ordering::SeqCst); + pub async fn shci_c2_ble_init(param: ShciBleInitCmdParam) { + debug!("sending SHCI"); - Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL); - Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL, true); + Ipcc::send(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL, || { + Self::write(SCHI_OPCODE_BLE_INIT, param.payload()); + }) + .await; + + Ipcc::flush(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL).await; + } + + /// `HW_IPCC_SYS_EvtNot` + pub async fn read() -> EvtBox { + Ipcc::receive(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL, || unsafe { + if let Some(node_ptr) = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr()) { + Some(EvtBox::new(node_ptr.cast())) + } else { + None + } + }) + .await } } diff --git a/embassy-stm32-wpan/src/unsafe_linked_list.rs b/embassy-stm32-wpan/src/unsafe_linked_list.rs index a2d2840f..d8bc2976 100644 --- a/embassy-stm32-wpan/src/unsafe_linked_list.rs +++ b/embassy-stm32-wpan/src/unsafe_linked_list.rs @@ -117,9 +117,11 @@ impl LinkedListNode { /// Remove `node` from the linked list pub unsafe fn remove_node(mut p_node: *mut LinkedListNode) { interrupt::free(|_| { - trace!("remove node: {:x}", p_node); - let node = ptr::read_volatile(p_node); - trace!("remove node: prev/next {:x}/{:x}", node.prev, node.next); + // trace!("remove node: {:x}", p_node); + // apparently linked list nodes are not always aligned. + // if more hardfaults occur, more of these may need to be converted to unaligned. + let node = ptr::read_unaligned(p_node); + // trace!("remove node: prev/next {:x}/{:x}", node.prev, node.next); if node.next != node.prev { let mut node_next = ptr::read_volatile(node.next); diff --git a/embassy-stm32/src/ipcc.rs b/embassy-stm32/src/ipcc.rs index 28f51baa..609c4d2c 100644 --- a/embassy-stm32/src/ipcc.rs +++ b/embassy-stm32/src/ipcc.rs @@ -1,7 +1,77 @@ +use core::future::poll_fn; +use core::task::Poll; + +use atomic_polyfill::{compiler_fence, Ordering}; + use self::sealed::Instance; +use crate::interrupt; +use crate::interrupt::typelevel::Interrupt; use crate::peripherals::IPCC; use crate::rcc::sealed::RccPeripheral; +/// Interrupt handler. +pub struct ReceiveInterruptHandler {} + +impl interrupt::typelevel::Handler for ReceiveInterruptHandler { + unsafe fn on_interrupt() { + let regs = IPCC::regs(); + + let channels = [ + IpccChannel::Channel1, + IpccChannel::Channel2, + IpccChannel::Channel3, + IpccChannel::Channel4, + IpccChannel::Channel5, + IpccChannel::Channel6, + ]; + + // Status register gives channel occupied status. For rx, use cpu1. + let sr = unsafe { regs.cpu(1).sr().read() }; + regs.cpu(0).mr().modify(|w| { + for channel in channels { + if sr.chf(channel as usize) { + // If bit is set to 1 then interrupt is disabled; we want to disable the interrupt + w.set_chom(channel as usize, true); + + // There shouldn't be a race because the channel is masked only if the interrupt has fired + IPCC::state().rx_waker_for(channel).wake(); + } + } + }) + } +} + +pub struct TransmitInterruptHandler {} + +impl interrupt::typelevel::Handler for TransmitInterruptHandler { + unsafe fn on_interrupt() { + let regs = IPCC::regs(); + + let channels = [ + IpccChannel::Channel1, + IpccChannel::Channel2, + IpccChannel::Channel3, + IpccChannel::Channel4, + IpccChannel::Channel5, + IpccChannel::Channel6, + ]; + + // Status register gives channel occupied status. For tx, use cpu0. + let sr = unsafe { regs.cpu(0).sr().read() }; + regs.cpu(0).mr().modify(|w| { + for channel in channels { + if !sr.chf(channel as usize) { + // If bit is set to 1 then interrupt is disabled; we want to disable the interrupt + w.set_chfm(channel as usize, true); + + // There shouldn't be a race because the channel is masked only if the interrupt has fired + IPCC::state().tx_waker_for(channel).wake(); + } + } + }); + } +} + #[non_exhaustive] #[derive(Clone, Copy, Default)] pub struct Config { @@ -20,13 +90,6 @@ pub enum IpccChannel { Channel6 = 5, } -pub mod sealed { - pub trait Instance: crate::rcc::RccPeripheral { - fn regs() -> crate::pac::ipcc::Ipcc; - fn set_cpu2(enabled: bool); - } -} - pub struct Ipcc; impl Ipcc { @@ -45,115 +108,99 @@ impl Ipcc { w.set_txfie(true); }) } + + // enable interrupts + crate::interrupt::typelevel::IPCC_C1_RX::unpend(); + crate::interrupt::typelevel::IPCC_C1_TX::unpend(); + + unsafe { crate::interrupt::typelevel::IPCC_C1_RX::enable() }; + unsafe { crate::interrupt::typelevel::IPCC_C1_TX::enable() }; } - pub fn c1_set_rx_channel(channel: IpccChannel, enabled: bool) { + /// Send data to an IPCC channel. The closure is called to write the data when appropriate. + pub async fn send(channel: IpccChannel, f: impl FnOnce()) { let regs = IPCC::regs(); - // If bit is set to 1 then interrupt is disabled - unsafe { regs.cpu(0).mr().modify(|w| w.set_chom(channel as usize, !enabled)) } - } + Self::flush(channel).await; + compiler_fence(Ordering::SeqCst); - pub fn c1_get_rx_channel(channel: IpccChannel) -> bool { - let regs = IPCC::regs(); + f(); - // If bit is set to 1 then interrupt is disabled - unsafe { !regs.cpu(0).mr().read().chom(channel as usize) } - } - - #[allow(dead_code)] - pub fn c2_set_rx_channel(channel: IpccChannel, enabled: bool) { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { regs.cpu(1).mr().modify(|w| w.set_chom(channel as usize, !enabled)) } - } - - #[allow(dead_code)] - pub fn c2_get_rx_channel(channel: IpccChannel) -> bool { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { !regs.cpu(1).mr().read().chom(channel as usize) } - } - - pub fn c1_set_tx_channel(channel: IpccChannel, enabled: bool) { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { regs.cpu(0).mr().modify(|w| w.set_chfm(channel as usize, !enabled)) } - } - - pub fn c1_get_tx_channel(channel: IpccChannel) -> bool { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { !regs.cpu(0).mr().read().chfm(channel as usize) } - } - - #[allow(dead_code)] - pub fn c2_set_tx_channel(channel: IpccChannel, enabled: bool) { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { regs.cpu(1).mr().modify(|w| w.set_chfm(channel as usize, !enabled)) } - } - - #[allow(dead_code)] - pub fn c2_get_tx_channel(channel: IpccChannel) -> bool { - let regs = IPCC::regs(); - - // If bit is set to 1 then interrupt is disabled - unsafe { !regs.cpu(1).mr().read().chfm(channel as usize) } - } - - /// clears IPCC receive channel status for CPU1 - pub fn c1_clear_flag_channel(channel: IpccChannel) { - let regs = IPCC::regs(); - - trace!("ipcc: ch {}: clear rx", channel as u8); - unsafe { regs.cpu(0).scr().write(|w| w.set_chc(channel as usize, true)) } - } - - #[allow(dead_code)] - /// clears IPCC receive channel status for CPU2 - pub fn c2_clear_flag_channel(channel: IpccChannel) { - let regs = IPCC::regs(); - - unsafe { regs.cpu(1).scr().write(|w| w.set_chc(channel as usize, true)) } - } - - pub fn c1_set_flag_channel(channel: IpccChannel) { - let regs = IPCC::regs(); + compiler_fence(Ordering::SeqCst); + trace!("ipcc: ch {}: send data", channel as u8); unsafe { regs.cpu(0).scr().write(|w| w.set_chs(channel as usize, true)) } } - #[allow(dead_code)] - pub fn c2_set_flag_channel(channel: IpccChannel) { + /// Wait for the tx channel to become clear + pub async fn flush(channel: IpccChannel) { let regs = IPCC::regs(); - unsafe { regs.cpu(1).scr().write(|w| w.set_chs(channel as usize, true)) } + // This is a race, but is nice for debugging + if unsafe { regs.cpu(0).sr().read() }.chf(channel as usize) { + trace!("ipcc: ch {}: wait for tx free", channel as u8); + } + + poll_fn(|cx| { + IPCC::state().tx_waker_for(channel).register(cx.waker()); + // If bit is set to 1 then interrupt is disabled; we want to enable the interrupt + unsafe { regs.cpu(0).mr().modify(|w| w.set_chfm(channel as usize, false)) } + + compiler_fence(Ordering::SeqCst); + + if !unsafe { regs.cpu(0).sr().read() }.chf(channel as usize) { + // If bit is set to 1 then interrupt is disabled; we want to disable the interrupt + unsafe { regs.cpu(0).mr().modify(|w| w.set_chfm(channel as usize, true)) } + + Poll::Ready(()) + } else { + Poll::Pending + } + }) + .await; } - pub fn c1_is_active_flag(channel: IpccChannel) -> bool { + /// Receive data from an IPCC channel. The closure is called to read the data when appropriate. + pub async fn receive(channel: IpccChannel, mut f: impl FnMut() -> Option) -> R { let regs = IPCC::regs(); - unsafe { regs.cpu(0).sr().read().chf(channel as usize) } - } + loop { + // This is a race, but is nice for debugging + if !unsafe { regs.cpu(1).sr().read() }.chf(channel as usize) { + trace!("ipcc: ch {}: wait for rx occupied", channel as u8); + } - pub fn c2_is_active_flag(channel: IpccChannel) -> bool { - let regs = IPCC::regs(); + poll_fn(|cx| { + IPCC::state().rx_waker_for(channel).register(cx.waker()); + // If bit is set to 1 then interrupt is disabled; we want to enable the interrupt + unsafe { regs.cpu(0).mr().modify(|w| w.set_chom(channel as usize, false)) } - unsafe { regs.cpu(1).sr().read().chf(channel as usize) } - } + compiler_fence(Ordering::SeqCst); - pub fn is_tx_pending(channel: IpccChannel) -> bool { - !Self::c1_is_active_flag(channel) && Self::c1_get_tx_channel(channel) - } + if unsafe { regs.cpu(1).sr().read() }.chf(channel as usize) { + // If bit is set to 1 then interrupt is disabled; we want to disable the interrupt + unsafe { regs.cpu(0).mr().modify(|w| w.set_chfm(channel as usize, true)) } - pub fn is_rx_pending(channel: IpccChannel) -> bool { - Self::c2_is_active_flag(channel) && Self::c1_get_rx_channel(channel) + Poll::Ready(()) + } else { + Poll::Pending + } + }) + .await; + + trace!("ipcc: ch {}: read data", channel as u8); + compiler_fence(Ordering::SeqCst); + + match f() { + Some(ret) => return ret, + None => {} + } + + trace!("ipcc: ch {}: clear rx", channel as u8); + compiler_fence(Ordering::SeqCst); + // If the channel is clear and the read function returns none, fetch more data + unsafe { regs.cpu(0).scr().write(|w| w.set_chc(channel as usize, true)) } + } } } @@ -165,9 +212,66 @@ impl sealed::Instance for crate::peripherals::IPCC { fn set_cpu2(enabled: bool) { unsafe { crate::pac::PWR.cr4().modify(|w| w.set_c2boot(enabled)) } } + + fn state() -> &'static self::sealed::State { + static STATE: self::sealed::State = self::sealed::State::new(); + &STATE + } +} + +pub(crate) mod sealed { + use embassy_sync::waitqueue::AtomicWaker; + + use super::*; + + pub struct State { + rx_wakers: [AtomicWaker; 6], + tx_wakers: [AtomicWaker; 6], + } + + impl State { + pub const fn new() -> Self { + const WAKER: AtomicWaker = AtomicWaker::new(); + + Self { + rx_wakers: [WAKER; 6], + tx_wakers: [WAKER; 6], + } + } + + pub fn rx_waker_for(&self, channel: IpccChannel) -> &AtomicWaker { + match channel { + IpccChannel::Channel1 => &self.rx_wakers[0], + IpccChannel::Channel2 => &self.rx_wakers[1], + IpccChannel::Channel3 => &self.rx_wakers[2], + IpccChannel::Channel4 => &self.rx_wakers[3], + IpccChannel::Channel5 => &self.rx_wakers[4], + IpccChannel::Channel6 => &self.rx_wakers[5], + } + } + + pub fn tx_waker_for(&self, channel: IpccChannel) -> &AtomicWaker { + match channel { + IpccChannel::Channel1 => &self.tx_wakers[0], + IpccChannel::Channel2 => &self.tx_wakers[1], + IpccChannel::Channel3 => &self.tx_wakers[2], + IpccChannel::Channel4 => &self.tx_wakers[3], + IpccChannel::Channel5 => &self.tx_wakers[4], + IpccChannel::Channel6 => &self.tx_wakers[5], + } + } + } + + pub trait Instance: crate::rcc::RccPeripheral { + fn regs() -> crate::pac::ipcc::Ipcc; + fn set_cpu2(enabled: bool); + fn state() -> &'static State; + } } unsafe fn _configure_pwr() { + // TODO: move this to RCC + let pwr = crate::pac::PWR; let rcc = crate::pac::RCC; diff --git a/tests/stm32/src/bin/tl_mbox.rs b/tests/stm32/src/bin/tl_mbox.rs index 5a230926..bb38204b 100644 --- a/tests/stm32/src/bin/tl_mbox.rs +++ b/tests/stm32/src/bin/tl_mbox.rs @@ -8,27 +8,41 @@ mod common; use common::*; use embassy_executor::Spawner; +use embassy_futures::poll_once; use embassy_stm32::bind_interrupts; -use embassy_stm32::ipcc::Config; +use embassy_stm32::ipcc::{Config, ReceiveInterruptHandler, TransmitInterruptHandler}; use embassy_stm32_wpan::ble::Ble; -use embassy_stm32_wpan::rc::RadioCoprocessor; use embassy_stm32_wpan::sys::Sys; -use embassy_stm32_wpan::TlMbox; +use embassy_stm32_wpan::{mm, TlMbox}; use embassy_time::{Duration, Timer}; bind_interrupts!(struct Irqs{ - IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; - IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; + IPCC_C1_RX => ReceiveInterruptHandler; + IPCC_C1_TX => TransmitInterruptHandler; }); +#[embassy_executor::task] +async fn run_mm_queue() { + mm::MemoryManager::run_queue().await; +} + #[embassy_executor::main] -async fn main(_spawner: Spawner) { +async fn main(spawner: Spawner) { let p = embassy_stm32::init(config()); info!("Hello World!"); + spawner.spawn(run_mm_queue()).unwrap(); + let config = Config::default(); let mbox = TlMbox::init(p.IPCC, Irqs, config); + let mut rx_buf = [0u8; 500]; + let ready_event = Sys::read().await; + let _ = poll_once(Sys::read()); // clear rx not + ready_event.write(&mut rx_buf).unwrap(); + + info!("coprocessor ready {}", rx_buf); + loop { let wireless_fw_info = mbox.wireless_fw_info(); match wireless_fw_info { @@ -53,19 +67,18 @@ async fn main(_spawner: Spawner) { Timer::after(Duration::from_millis(50)).await; } - let mut rc = RadioCoprocessor::new(mbox); + Sys::shci_c2_ble_init(Default::default()).await; - let response = rc.read().await; - info!("coprocessor ready {}", response); + info!("starting ble..."); + Ble::write(0x0c, &[]).await; - Sys::shci_ble_init(Default::default()); + info!("waiting for ble..."); + let ble_event = Ble::read().await; + ble_event.write(&mut rx_buf).unwrap(); - // rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]); - Ble::send_cmd(0x0c, &[]); - - let response = rc.read().await; - info!("ble reset rsp {}", response); + info!("ble event: {}", rx_buf); + // Timer::after(Duration::from_secs(3)).await; info!("Test OK"); cortex_m::asm::bkpt(); }