diff --git a/embassy-stm32-wpan/Cargo.toml b/embassy-stm32-wpan/Cargo.toml new file mode 100644 index 00000000..058d0e29 --- /dev/null +++ b/embassy-stm32-wpan/Cargo.toml @@ -0,0 +1,39 @@ +[package] +name = "embassy-stm32-wpan" +version = "0.1.0" +edition = "2021" +license = "MIT OR Apache-2.0" + +[dependencies] +embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32" } +embassy-sync = { version = "0.2.0", path = "../embassy-sync" } +embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true } +embassy-futures = { version = "0.1.0", path = "../embassy-futures" } +embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common" } +embassy-embedded-hal = { version = "0.1.0", path = "../embassy-embedded-hal" } + +defmt = { version = "0.3", optional = true } +cortex-m = "0.7.6" +heapless = "0.7.16" + +bit_field = "0.10.2" + +[features] +defmt = ["dep:defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-common/defmt"] + +stm32wb10cc = [ "embassy-stm32/stm32wb10cc" ] +stm32wb15cc = [ "embassy-stm32/stm32wb15cc" ] +stm32wb30ce = [ "embassy-stm32/stm32wb30ce" ] +stm32wb35cc = [ "embassy-stm32/stm32wb35cc" ] +stm32wb35ce = [ "embassy-stm32/stm32wb35ce" ] +stm32wb50cg = [ "embassy-stm32/stm32wb50cg" ] +stm32wb55cc = [ "embassy-stm32/stm32wb55cc" ] +stm32wb55ce = [ "embassy-stm32/stm32wb55ce" ] +stm32wb55cg = [ "embassy-stm32/stm32wb55cg" ] +stm32wb55rc = [ "embassy-stm32/stm32wb55rc" ] +stm32wb55re = [ "embassy-stm32/stm32wb55re" ] +stm32wb55rg = [ "embassy-stm32/stm32wb55rg" ] +stm32wb55vc = [ "embassy-stm32/stm32wb55vc" ] +stm32wb55ve = [ "embassy-stm32/stm32wb55ve" ] +stm32wb55vg = [ "embassy-stm32/stm32wb55vg" ] +stm32wb55vy = [ "embassy-stm32/stm32wb55vy" ] \ No newline at end of file diff --git a/embassy-stm32-wpan/build.rs b/embassy-stm32-wpan/build.rs new file mode 100644 index 00000000..4edf73d5 --- /dev/null +++ b/embassy-stm32-wpan/build.rs @@ -0,0 +1,34 @@ +use std::env; + +fn main() { + match env::vars() + .map(|(a, _)| a) + .filter(|x| x.starts_with("CARGO_FEATURE_STM32")) + .get_one() + { + Ok(_) => {} + Err(GetOneError::None) => panic!("No stm32xx Cargo feature enabled"), + Err(GetOneError::Multiple) => panic!("Multiple stm32xx Cargo features enabled"), + } +} + +enum GetOneError { + None, + Multiple, +} + +trait IteratorExt: Iterator { + fn get_one(self) -> Result; +} + +impl IteratorExt for T { + fn get_one(mut self) -> Result { + match self.next() { + None => Err(GetOneError::None), + Some(res) => match self.next() { + Some(_) => Err(GetOneError::Multiple), + None => Ok(res), + }, + } + } +} diff --git a/embassy-stm32/src/tl_mbox/ble.rs b/embassy-stm32-wpan/src/ble.rs similarity index 50% rename from embassy-stm32/src/tl_mbox/ble.rs rename to embassy-stm32-wpan/src/ble.rs index 06237799..19955a8a 100644 --- a/embassy-stm32/src/tl_mbox/ble.rs +++ b/embassy-stm32-wpan/src/ble.rs @@ -1,26 +1,26 @@ -use embassy_futures::block_on; +use core::mem::MaybeUninit; -use super::cmd::CmdSerial; -use super::consts::TlPacketType; -use super::evt::EvtBox; -use super::unsafe_linked_list::LinkedListNode; -use super::{ - channels, BleTable, BLE_CMD_BUFFER, CS_BUFFER, EVT_QUEUE, HCI_ACL_DATA_BUFFER, TL_BLE_TABLE, TL_CHANNEL, - TL_REF_TABLE, +use embassy_stm32::ipcc::Ipcc; + +use crate::cmd::{CmdPacket, CmdSerial}; +use crate::consts::TlPacketType; +use crate::evt::EvtBox; +use crate::tables::BleTable; +use crate::unsafe_linked_list::LinkedListNode; +use crate::{ + channels, BLE_CMD_BUFFER, CS_BUFFER, EVT_CHANNEL, EVT_QUEUE, HCI_ACL_DATA_BUFFER, TL_BLE_TABLE, TL_REF_TABLE, }; -use crate::tl_mbox::cmd::CmdPacket; -use crate::tl_mbox::ipcc::Ipcc; pub struct Ble; impl Ble { - pub fn enable() { + pub(super) fn enable() { unsafe { LinkedListNode::init_head(EVT_QUEUE.as_mut_ptr()); - TL_BLE_TABLE.as_mut_ptr().write_volatile(BleTable { + TL_BLE_TABLE = MaybeUninit::new(BleTable { pcmd_buffer: BLE_CMD_BUFFER.as_mut_ptr().cast(), - pcs_buffer: CS_BUFFER.as_mut_ptr().cast(), + pcs_buffer: CS_BUFFER.as_ptr().cast(), pevt_queue: EVT_QUEUE.as_ptr().cast(), phci_acl_data_buffer: HCI_ACL_DATA_BUFFER.as_mut_ptr().cast(), }); @@ -29,7 +29,7 @@ impl Ble { Ipcc::c1_set_rx_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, true); } - pub fn evt_handler() { + pub(super) fn evt_handler() { unsafe { let mut node_ptr = core::ptr::null_mut(); let node_ptr_ptr: *mut _ = &mut node_ptr; @@ -40,25 +40,43 @@ impl Ble { let event = node_ptr.cast(); let event = EvtBox::new(event); - block_on(TL_CHANNEL.send(event)); + EVT_CHANNEL.try_send(event).unwrap(); } } Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL); } - pub fn send_cmd(buf: &[u8]) { + 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 ble_send_cmd(buf: &[u8]) { + debug!("writing ble cmd"); + unsafe { let pcmd_buffer: *mut CmdPacket = (*TL_REF_TABLE.assume_init().ble_table).pcmd_buffer; - let pcmd_serial: *mut CmdSerial = &mut (*pcmd_buffer).cmd_serial; + let pcmd_serial: *mut CmdSerial = &mut (*pcmd_buffer).cmdserial; let pcmd_serial_buf: *mut u8 = pcmd_serial.cast(); core::ptr::copy(buf.as_ptr(), pcmd_serial_buf, buf.len()); let cmd_packet = &mut *(*TL_REF_TABLE.assume_init().ble_table).pcmd_buffer; - cmd_packet.cmd_serial.ty = TlPacketType::BleCmd as u8; + cmd_packet.cmdserial.ty = TlPacketType::BleCmd as u8; } Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_BLE_CMD_CHANNEL); } + + #[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); + } } diff --git a/embassy-stm32/src/tl_mbox/channels.rs b/embassy-stm32-wpan/src/channels.rs similarity index 90% rename from embassy-stm32/src/tl_mbox/channels.rs rename to embassy-stm32-wpan/src/channels.rs index 25a065ba..9a2be1cf 100644 --- a/embassy-stm32/src/tl_mbox/channels.rs +++ b/embassy-stm32-wpan/src/channels.rs @@ -50,36 +50,30 @@ //! pub mod cpu1 { - use crate::tl_mbox::ipcc::IpccChannel; + use embassy_stm32::ipcc::IpccChannel; - // Not used currently but reserved pub const IPCC_BLE_CMD_CHANNEL: IpccChannel = IpccChannel::Channel1; - // Not used currently but reserved pub const IPCC_SYSTEM_CMD_RSP_CHANNEL: IpccChannel = IpccChannel::Channel2; - #[allow(dead_code)] // Not used currently but reserved pub const IPCC_THREAD_OT_CMD_RSP_CHANNEL: IpccChannel = IpccChannel::Channel3; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_ZIGBEE_CMD_APPLI_CHANNEL: IpccChannel = IpccChannel::Channel3; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_MAC_802_15_4_CMD_RSP_CHANNEL: IpccChannel = IpccChannel::Channel3; - // Not used currently but reserved - pub const IPCC_MM_RELEASE_BUFFER_CHANNEL: IpccChannel = IpccChannel::Channel4; #[allow(dead_code)] // Not used currently but reserved + pub const IPCC_MM_RELEASE_BUFFER_CHANNEL: IpccChannel = IpccChannel::Channel4; pub const IPCC_THREAD_CLI_CMD_CHANNEL: IpccChannel = IpccChannel::Channel5; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_LLDTESTS_CLI_CMD_CHANNEL: IpccChannel = IpccChannel::Channel5; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_BLE_LLD_CMD_CHANNEL: IpccChannel = IpccChannel::Channel5; - #[allow(dead_code)] // Not used currently but reserved pub const IPCC_HCI_ACL_DATA_CHANNEL: IpccChannel = IpccChannel::Channel6; } pub mod cpu2 { - use crate::tl_mbox::ipcc::IpccChannel; + use embassy_stm32::ipcc::IpccChannel; pub const IPCC_BLE_EVENT_CHANNEL: IpccChannel = IpccChannel::Channel1; pub const IPCC_SYSTEM_EVENT_CHANNEL: IpccChannel = IpccChannel::Channel2; - #[allow(dead_code)] // Not used currently but reserved pub const IPCC_THREAD_NOTIFICATION_ACK_CHANNEL: IpccChannel = IpccChannel::Channel3; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_ZIGBEE_APPLI_NOTIF_ACK_CHANNEL: IpccChannel = IpccChannel::Channel3; @@ -88,10 +82,8 @@ pub mod cpu2 { #[allow(dead_code)] // Not used currently but reserved pub const IPCC_LDDTESTS_M0_CMD_CHANNEL: IpccChannel = IpccChannel::Channel3; #[allow(dead_code)] // Not used currently but reserved - pub const IPCC_BLE_LLD_M0_CMD_CHANNEL: IpccChannel = IpccChannel::Channel3; - #[allow(dead_code)] // Not used currently but reserved + pub const IPCC_BLE_LLDÇM0_CMD_CHANNEL: IpccChannel = IpccChannel::Channel3; pub const IPCC_TRACES_CHANNEL: IpccChannel = IpccChannel::Channel4; - #[allow(dead_code)] // Not used currently but reserved pub const IPCC_THREAD_CLI_NOTIFICATION_ACK_CHANNEL: IpccChannel = IpccChannel::Channel5; #[allow(dead_code)] // Not used currently but reserved pub const IPCC_LLDTESTS_CLI_RSP_CHANNEL: IpccChannel = IpccChannel::Channel5; diff --git a/embassy-stm32-wpan/src/cmd.rs b/embassy-stm32-wpan/src/cmd.rs new file mode 100644 index 00000000..1f7dae7f --- /dev/null +++ b/embassy-stm32-wpan/src/cmd.rs @@ -0,0 +1,77 @@ +use crate::evt::{EvtPacket, EvtSerial}; +use crate::{PacketHeader, TL_EVT_HEADER_SIZE}; + +#[derive(Copy, Clone)] +#[repr(C, packed)] +pub struct Cmd { + pub cmd_code: u16, + pub payload_len: u8, + pub payload: [u8; 255], +} + +impl Default for Cmd { + fn default() -> Self { + Self { + cmd_code: 0, + payload_len: 0, + payload: [0u8; 255], + } + } +} + +#[derive(Copy, Clone, Default)] +#[repr(C, packed)] +pub struct CmdSerial { + pub ty: u8, + pub cmd: Cmd, +} + +#[derive(Copy, Clone, Default)] +#[repr(C, packed)] +pub struct CmdPacket { + pub header: PacketHeader, + pub cmdserial: CmdSerial, +} + +impl CmdPacket { + /// Writes an underlying CmdPacket into the provided buffer. + /// Returns a number of bytes that were written. + /// Returns an error if event kind is unknown or if provided buffer size is not enough. + #[allow(clippy::result_unit_err)] + pub fn write(&self, buf: &mut [u8]) -> Result { + unsafe { + let cmd_ptr: *const CmdPacket = self; + let self_as_evt_ptr: *const EvtPacket = cmd_ptr.cast(); + let evt_serial: *const EvtSerial = &(*self_as_evt_ptr).evt_serial; + + let acl_data: *const AclDataPacket = cmd_ptr.cast(); + let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial; + let acl_serial_buf: *const u8 = acl_serial.cast(); + + let len = (*evt_serial).evt.payload_len as usize + TL_EVT_HEADER_SIZE; + if len > buf.len() { + return Err(()); + } + + core::ptr::copy(acl_serial_buf, buf.as_mut_ptr(), len); + + Ok(len) + } + } +} + +#[derive(Copy, Clone)] +#[repr(C, packed)] +pub struct AclDataSerial { + pub ty: u8, + pub handle: u16, + pub length: u16, + pub acl_data: [u8; 1], +} + +#[derive(Copy, Clone)] +#[repr(C, packed)] +pub struct AclDataPacket { + pub header: PacketHeader, + pub acl_data_serial: AclDataSerial, +} diff --git a/embassy-stm32/src/tl_mbox/consts.rs b/embassy-stm32-wpan/src/consts.rs similarity index 96% rename from embassy-stm32/src/tl_mbox/consts.rs rename to embassy-stm32-wpan/src/consts.rs index e16a26cd..caf26c06 100644 --- a/embassy-stm32/src/tl_mbox/consts.rs +++ b/embassy-stm32-wpan/src/consts.rs @@ -1,4 +1,6 @@ -#[derive(PartialEq)] +use core::convert::TryFrom; + +#[derive(Debug)] #[repr(C)] pub enum TlPacketType { BleCmd = 0x01, diff --git a/embassy-stm32/src/tl_mbox/evt.rs b/embassy-stm32-wpan/src/evt.rs similarity index 62% rename from embassy-stm32/src/tl_mbox/evt.rs rename to embassy-stm32-wpan/src/evt.rs index 47a8b72f..b53fe506 100644 --- a/embassy-stm32/src/tl_mbox/evt.rs +++ b/embassy-stm32-wpan/src/evt.rs @@ -3,9 +3,11 @@ use core::mem::MaybeUninit; use super::cmd::{AclDataPacket, AclDataSerial}; use super::consts::TlPacketType; use super::{PacketHeader, TL_EVT_HEADER_SIZE}; -use crate::tl_mbox::mm::MemoryManager; +use crate::mm; -/// the payload of [`Evt`] for a command status event +/** + * The payload of `Evt` for a command status event + */ #[derive(Copy, Clone)] #[repr(C, packed)] pub struct CsEvt { @@ -14,16 +16,39 @@ pub struct CsEvt { pub cmd_code: u16, } -/// the payload of [`Evt`] for a command complete event -#[derive(Clone, Copy, Default)] +/** + * The payload of `Evt` for a command complete event + */ +#[derive(Copy, Clone, Default)] #[repr(C, packed)] pub struct CcEvt { pub num_cmd: u8, - pub cmd_code: u8, + pub cmd_code: u16, pub payload: [u8; 1], } -#[derive(Clone, Copy, Default)] +impl CcEvt { + pub fn write(&self, buf: &mut [u8]) { + unsafe { + let len = core::mem::size_of::(); + assert!(buf.len() >= len); + + let self_ptr: *const CcEvt = self; + let self_buf_ptr: *const u8 = self_ptr.cast(); + + core::ptr::copy(self_buf_ptr, buf.as_mut_ptr(), len); + } + } +} + +#[derive(Copy, Clone, Default)] +#[repr(C, packed)] +pub struct AsynchEvt { + sub_evt_code: u16, + payload: [u8; 1], +} + +#[derive(Copy, Clone, Default)] #[repr(C, packed)] pub struct Evt { pub evt_code: u8, @@ -31,7 +56,7 @@ pub struct Evt { pub payload: [u8; 1], } -#[derive(Clone, Copy, Default)] +#[derive(Copy, Clone, Default)] #[repr(C, packed)] pub struct EvtSerial { pub kind: u8, @@ -46,14 +71,26 @@ pub struct EvtSerial { /// Be careful that the asynchronous events reported by the CPU2 on the system channel do /// include the header and shall use `EvtPacket` format. Only the command response format on the /// system channel is different. -#[derive(Clone, Copy, Default)] +#[derive(Copy, Clone, Default)] #[repr(C, packed)] pub struct EvtPacket { pub header: PacketHeader, pub evt_serial: EvtSerial, } -/// Smart pointer to the [`EvtPacket`] that will dispose of it automatically on drop +impl EvtPacket { + pub fn kind(&self) -> u8 { + self.evt_serial.kind + } + + pub fn evt(&self) -> &Evt { + &self.evt_serial.evt + } +} + +/// smart pointer to the [`EvtPacket`] that will dispose of [`EvtPacket`] buffer automatically +/// on [`Drop`] +#[derive(Debug)] pub struct EvtBox { ptr: *mut EvtPacket, } @@ -64,7 +101,7 @@ impl EvtBox { Self { ptr } } - /// Copies the event data from inner pointer and returns and event structure + /// copies event data from inner pointer and returns an event structure pub fn evt(&self) -> EvtPacket { let mut evt = MaybeUninit::uninit(); unsafe { @@ -73,28 +110,11 @@ impl EvtBox { } } - /// Returns the size of a buffer required to hold this event - pub fn size(&self) -> Result { - unsafe { - let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?; - - if evt_kind == TlPacketType::AclData { - let acl_data: *const AclDataPacket = self.ptr.cast(); - let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial; - - Ok((*acl_serial).length as usize + 5) - } else { - let evt_data: *const EvtPacket = self.ptr.cast(); - let evt_serial: *const EvtSerial = &(*evt_data).evt_serial; - - Ok((*evt_serial).evt.payload_len as usize + TL_EVT_HEADER_SIZE) - } - } - } - - /// writes an underlying [`EvtPacket`] into the provided buffer. Returns the number of bytes that were - /// written. Returns an error if event kind is unkown or if provided buffer size is not enough - pub fn copy_into_slice(&self, buf: &mut [u8]) -> Result { + /// writes an underlying [`EvtPacket`] into the provided buffer. + /// Returns the number of bytes that were written. + /// Returns an error if event kind is unknown or if provided buffer size is not enough. + #[allow(clippy::result_unit_err)] + pub fn write(&self, buf: &mut [u8]) -> Result { unsafe { let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?; @@ -127,10 +147,30 @@ impl EvtBox { } } } + + /// returns the size of a buffer required to hold this event + #[allow(clippy::result_unit_err)] + pub fn size(&self) -> Result { + unsafe { + let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?; + + let evt_data: *const EvtPacket = self.ptr.cast(); + let evt_serial: *const EvtSerial = &(*evt_data).evt_serial; + + let acl_data: *const AclDataPacket = self.ptr.cast(); + let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial; + + if let TlPacketType::AclData = evt_kind { + Ok((*acl_serial).length as usize + 5) + } else { + Ok((*evt_serial).evt.payload_len as usize + TL_EVT_HEADER_SIZE) + } + } + } } impl Drop for EvtBox { fn drop(&mut self) { - MemoryManager::evt_drop(self.ptr); + mm::MemoryManager::evt_drop(self.ptr); } } diff --git a/embassy-stm32-wpan/src/fmt.rs b/embassy-stm32-wpan/src/fmt.rs new file mode 100644 index 00000000..06697081 --- /dev/null +++ b/embassy-stm32-wpan/src/fmt.rs @@ -0,0 +1,225 @@ +#![macro_use] +#![allow(unused_macros)] + +#[cfg(all(feature = "defmt", feature = "log"))] +compile_error!("You may not enable both `defmt` and `log` features."); + +macro_rules! assert { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::assert!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::assert!($($x)*); + } + }; +} + +macro_rules! assert_eq { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::assert_eq!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::assert_eq!($($x)*); + } + }; +} + +macro_rules! assert_ne { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::assert_ne!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::assert_ne!($($x)*); + } + }; +} + +macro_rules! debug_assert { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::debug_assert!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::debug_assert!($($x)*); + } + }; +} + +macro_rules! debug_assert_eq { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::debug_assert_eq!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::debug_assert_eq!($($x)*); + } + }; +} + +macro_rules! debug_assert_ne { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::debug_assert_ne!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::debug_assert_ne!($($x)*); + } + }; +} + +macro_rules! todo { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::todo!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::todo!($($x)*); + } + }; +} + +macro_rules! unreachable { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::unreachable!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::unreachable!($($x)*); + } + }; +} + +macro_rules! panic { + ($($x:tt)*) => { + { + #[cfg(not(feature = "defmt"))] + ::core::panic!($($x)*); + #[cfg(feature = "defmt")] + ::defmt::panic!($($x)*); + } + }; +} + +macro_rules! trace { + ($s:literal $(, $x:expr)* $(,)?) => { + { + #[cfg(feature = "log")] + ::log::trace!($s $(, $x)*); + #[cfg(feature = "defmt")] + ::defmt::trace!($s $(, $x)*); + #[cfg(not(any(feature = "log", feature="defmt")))] + let _ = ($( & $x ),*); + } + }; +} + +macro_rules! debug { + ($s:literal $(, $x:expr)* $(,)?) => { + { + #[cfg(feature = "log")] + ::log::debug!($s $(, $x)*); + #[cfg(feature = "defmt")] + ::defmt::debug!($s $(, $x)*); + #[cfg(not(any(feature = "log", feature="defmt")))] + let _ = ($( & $x ),*); + } + }; +} + +macro_rules! info { + ($s:literal $(, $x:expr)* $(,)?) => { + { + #[cfg(feature = "log")] + ::log::info!($s $(, $x)*); + #[cfg(feature = "defmt")] + ::defmt::info!($s $(, $x)*); + #[cfg(not(any(feature = "log", feature="defmt")))] + let _ = ($( & $x ),*); + } + }; +} + +macro_rules! warn { + ($s:literal $(, $x:expr)* $(,)?) => { + { + #[cfg(feature = "log")] + ::log::warn!($s $(, $x)*); + #[cfg(feature = "defmt")] + ::defmt::warn!($s $(, $x)*); + #[cfg(not(any(feature = "log", feature="defmt")))] + let _ = ($( & $x ),*); + } + }; +} + +macro_rules! error { + ($s:literal $(, $x:expr)* $(,)?) => { + { + #[cfg(feature = "log")] + ::log::error!($s $(, $x)*); + #[cfg(feature = "defmt")] + ::defmt::error!($s $(, $x)*); + #[cfg(not(any(feature = "log", feature="defmt")))] + let _ = ($( & $x ),*); + } + }; +} + +#[cfg(feature = "defmt")] +macro_rules! unwrap { + ($($x:tt)*) => { + ::defmt::unwrap!($($x)*) + }; +} + +#[cfg(not(feature = "defmt"))] +macro_rules! unwrap { + ($arg:expr) => { + match $crate::fmt::Try::into_result($arg) { + ::core::result::Result::Ok(t) => t, + ::core::result::Result::Err(e) => { + ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e); + } + } + }; + ($arg:expr, $($msg:expr),+ $(,)? ) => { + match $crate::fmt::Try::into_result($arg) { + ::core::result::Result::Ok(t) => t, + ::core::result::Result::Err(e) => { + ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e); + } + } + } +} + +#[derive(Debug, Copy, Clone, Eq, PartialEq)] +pub struct NoneError; + +pub trait Try { + type Ok; + type Error; + fn into_result(self) -> Result; +} + +impl Try for Option { + type Ok = T; + type Error = NoneError; + + #[inline] + fn into_result(self) -> Result { + self.ok_or(NoneError) + } +} + +impl Try for Result { + type Ok = T; + type Error = E; + + #[inline] + fn into_result(self) -> Self { + self + } +} diff --git a/embassy-stm32-wpan/src/lib.rs b/embassy-stm32-wpan/src/lib.rs new file mode 100644 index 00000000..c37b67dc --- /dev/null +++ b/embassy-stm32-wpan/src/lib.rs @@ -0,0 +1,266 @@ +#![no_std] + +// This must go FIRST so that all the other modules see its macros. +pub mod fmt; + +use core::mem::MaybeUninit; + +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::peripherals::IPCC; +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; +use embassy_sync::channel::Channel; +use embassy_sync::signal::Signal; +use evt::{CcEvt, EvtBox}; +use tables::{ + BleTable, DeviceInfoTable, Mac802_15_4Table, MemManagerTable, RefTable, SysTable, ThreadTable, TracesTable, + WirelessFwInfoTable, +}; +use unsafe_linked_list::LinkedListNode; + +pub mod ble; +pub mod channels; +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(); + +#[link_section = "MB_MEM1"] +static mut TL_DEVICE_INFO_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_BLE_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_THREAD_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_SYS_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_MEM_MANAGER_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_TRACES_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM1"] +static mut TL_MAC_802_15_4_TABLE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut FREE_BUF_QUEUE: MaybeUninit = MaybeUninit::uninit(); + +// Not in shared RAM +static mut LOCAL_FREE_BUF_QUEUE: MaybeUninit = MaybeUninit::uninit(); + +#[allow(dead_code)] // Not used currently but reserved +#[link_section = "MB_MEM2"] +static mut TRACES_EVT_QUEUE: MaybeUninit = MaybeUninit::uninit(); + +type PacketHeader = LinkedListNode; + +const TL_PACKET_HEADER_SIZE: usize = core::mem::size_of::(); +const TL_EVT_HEADER_SIZE: usize = 3; +const TL_CS_EVT_SIZE: usize = core::mem::size_of::(); + +#[link_section = "MB_MEM2"] +static mut CS_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE]> = + MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut EVT_QUEUE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut SYSTEM_EVT_QUEUE: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +pub static mut SYS_CMD_BUF: MaybeUninit = MaybeUninit::uninit(); + +/** + * Queue length of BLE Event + * This parameter defines the number of asynchronous events that can be stored in the HCI layer before + * being reported to the application. When a command is sent to the BLE core coprocessor, the HCI layer + * is waiting for the event with the Num_HCI_Command_Packets set to 1. The receive queue shall be large + * enough to store all asynchronous events received in between. + * When CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE is set to 27, this allow to store three 255 bytes long asynchronous events + * between the HCI command and its event. + * This parameter depends on the value given to CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE. When the queue size is to small, + * the system may hang if the queue is full with asynchronous events and the HCI layer is still waiting + * for a CC/CS event, In that case, the notification TL_BLE_HCI_ToNot() is called to indicate + * to the application a HCI command did not receive its command event within 30s (Default HCI Timeout). + */ +const CFG_TLBLE_EVT_QUEUE_LENGTH: usize = 5; +const CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE: usize = 255; +const TL_BLE_EVENT_FRAME_SIZE: usize = TL_EVT_HEADER_SIZE + CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE; + +const fn divc(x: usize, y: usize) -> usize { + ((x) + (y) - 1) / (y) +} + +const POOL_SIZE: usize = CFG_TLBLE_EVT_QUEUE_LENGTH * 4 * divc(TL_PACKET_HEADER_SIZE + TL_BLE_EVENT_FRAME_SIZE, 4); + +#[link_section = "MB_MEM2"] +static mut EVT_POOL: MaybeUninit<[u8; POOL_SIZE]> = MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut SYS_SPARE_EVT_BUF: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]> = + MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut BLE_SPARE_EVT_BUF: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]> = + MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +static mut BLE_CMD_BUFFER: MaybeUninit = MaybeUninit::uninit(); + +#[link_section = "MB_MEM2"] +// fuck these "magic" numbers from ST ---v---v +static mut HCI_ACL_DATA_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]> = MaybeUninit::uninit(); + +/// current event that is produced during IPCC IRQ handler execution +/// on SYS channel +static EVT_CHANNEL: Channel = Channel::new(); + +/// last received Command Complete event +static LAST_CC_EVT: Signal = Signal::new(); + +static STATE: Signal = Signal::new(); + +pub struct TlMbox<'d> { + _ipcc: PeripheralRef<'d, IPCC>, +} + +impl<'d> TlMbox<'d> { + pub fn init( + ipcc: impl Peripheral

+ 'd, + _irqs: impl interrupt::typelevel::Binding + + interrupt::typelevel::Binding, + config: Config, + ) -> Self { + into_ref!(ipcc); + + unsafe { + TL_REF_TABLE = MaybeUninit::new(RefTable { + device_info_table: TL_DEVICE_INFO_TABLE.as_mut_ptr(), + ble_table: TL_BLE_TABLE.as_ptr(), + thread_table: TL_THREAD_TABLE.as_ptr(), + sys_table: TL_SYS_TABLE.as_ptr(), + mem_manager_table: TL_MEM_MANAGER_TABLE.as_ptr(), + traces_table: TL_TRACES_TABLE.as_ptr(), + mac_802_15_4_table: TL_MAC_802_15_4_TABLE.as_ptr(), + }); + + TL_SYS_TABLE = MaybeUninit::zeroed(); + TL_DEVICE_INFO_TABLE = MaybeUninit::zeroed(); + TL_BLE_TABLE = MaybeUninit::zeroed(); + TL_THREAD_TABLE = MaybeUninit::zeroed(); + TL_MEM_MANAGER_TABLE = MaybeUninit::zeroed(); + TL_TRACES_TABLE = MaybeUninit::zeroed(); + TL_MAC_802_15_4_TABLE = MaybeUninit::zeroed(); + + EVT_POOL = MaybeUninit::zeroed(); + SYS_SPARE_EVT_BUF = MaybeUninit::zeroed(); + BLE_SPARE_EVT_BUF = MaybeUninit::zeroed(); + + CS_BUFFER = MaybeUninit::zeroed(); + BLE_CMD_BUFFER = MaybeUninit::zeroed(); + HCI_ACL_DATA_BUFFER = MaybeUninit::zeroed(); + } + + Ipcc::enable(config); + + sys::Sys::enable(); + ble::Ble::enable(); + mm::MemoryManager::enable(); + + // enable interrupts + interrupt::typelevel::IPCC_C1_RX::unpend(); + interrupt::typelevel::IPCC_C1_TX::unpend(); + + unsafe { interrupt::typelevel::IPCC_C1_RX::enable() }; + unsafe { interrupt::typelevel::IPCC_C1_TX::enable() }; + + STATE.reset(); + + Self { _ipcc: ipcc } + } + + /// Returns CPU2 wireless firmware information (if present). + pub fn wireless_fw_info(&self) -> Option { + let info = unsafe { &(*(*TL_REF_TABLE.as_ptr()).device_info_table).wireless_fw_info_table }; + + // Zero version indicates that CPU2 wasn't active and didn't fill the information table + if info.version != 0 { + Some(*info) + } else { + 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 new file mode 100644 index 00000000..ed13b0db --- /dev/null +++ b/embassy-stm32-wpan/src/mm.rs @@ -0,0 +1,75 @@ +//! Memory manager routines + +use core::mem::MaybeUninit; + +use embassy_stm32::ipcc::Ipcc; + +use crate::evt::EvtPacket; +use crate::tables::MemManagerTable; +use crate::unsafe_linked_list::LinkedListNode; +use crate::{ + channels, BLE_SPARE_EVT_BUF, EVT_POOL, FREE_BUF_QUEUE, LOCAL_FREE_BUF_QUEUE, POOL_SIZE, SYS_SPARE_EVT_BUF, + TL_MEM_MANAGER_TABLE, TL_REF_TABLE, +}; + +pub(super) struct MemoryManager; + +impl MemoryManager { + pub fn enable() { + unsafe { + LinkedListNode::init_head(FREE_BUF_QUEUE.as_mut_ptr()); + LinkedListNode::init_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()); + + TL_MEM_MANAGER_TABLE = MaybeUninit::new(MemManagerTable { + spare_ble_buffer: BLE_SPARE_EVT_BUF.as_ptr().cast(), + spare_sys_buffer: SYS_SPARE_EVT_BUF.as_ptr().cast(), + blepool: EVT_POOL.as_ptr().cast(), + blepoolsize: POOL_SIZE as u32, + pevt_free_buffer_queue: FREE_BUF_QUEUE.as_mut_ptr(), + traces_evt_pool: core::ptr::null(), + tracespoolsize: 0, + }); + } + } + + 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); + } + } + } + + /// gives free event buffers back to CPU2 from local buffer queue + pub fn send_free_buf() { + unsafe { + let mut node_ptr = core::ptr::null_mut(); + let node_ptr_ptr: *mut _ = &mut node_ptr; + + while !LinkedListNode::is_empty(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) { + LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), node_ptr_ptr); + LinkedListNode::insert_tail( + (*(*TL_REF_TABLE.as_ptr()).mem_manager_table).pevt_free_buffer_queue, + node_ptr, + ); + } + } + } + + /// 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); + } +} diff --git a/embassy-stm32-wpan/src/rc.rs b/embassy-stm32-wpan/src/rc.rs new file mode 100644 index 00000000..aae2265e --- /dev/null +++ b/embassy-stm32-wpan/src/rc.rs @@ -0,0 +1,50 @@ +use crate::ble::Ble; +use crate::consts::TlPacketType; +use crate::{shci, 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, buf: &[u8]) { + let cmd_code = buf[0]; + let cmd = TlPacketType::try_from(cmd_code).unwrap(); + + match &cmd { + TlPacketType::BleCmd => Ble::ble_send_cmd(buf), + _ => todo!(), + } + } + + pub async fn read(&mut self) -> &[u8] { + loop { + STATE.wait().await; + + while let Some(evt) = self.mbox.dequeue_event() { + let event = evt.evt(); + + evt.write(&mut self.rx_buf).unwrap(); + + if event.kind() == 18 { + shci::shci_ble_init(Default::default()); + self.rx_buf[0] = 0x04; + } + } + + if self.mbox.pop_last_cc_evt().is_some() { + continue; + } + + return &self.rx_buf; + } + } +} diff --git a/embassy-stm32/src/tl_mbox/shci.rs b/embassy-stm32-wpan/src/shci.rs similarity index 71% rename from embassy-stm32/src/tl_mbox/shci.rs rename to embassy-stm32-wpan/src/shci.rs index 6b5b2dd1..8537995f 100644 --- a/embassy-stm32/src/tl_mbox/shci.rs +++ b/embassy-stm32-wpan/src/shci.rs @@ -1,16 +1,10 @@ -//! HCI commands for system channel - use super::cmd::CmdPacket; use super::consts::TlPacketType; -use super::{channels, TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE, TL_SYS_TABLE}; -use crate::tl_mbox::ipcc::Ipcc; +use super::{sys, TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE, TL_SYS_TABLE}; const SCHI_OPCODE_BLE_INIT: u16 = 0xfc66; -pub const TL_BLE_EVT_CS_PACKET_SIZE: usize = TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE; -#[allow(dead_code)] -const TL_BLE_EVT_CS_BUFFER_SIZE: usize = TL_PACKET_HEADER_SIZE + TL_BLE_EVT_CS_PACKET_SIZE; -#[derive(Clone, Copy)] +#[derive(Debug, Clone, Copy)] #[repr(C, packed)] pub struct ShciBleInitCmdParam { /// NOT USED CURRENTLY @@ -63,39 +57,44 @@ impl Default for ShciBleInitCmdParam { } } -#[derive(Clone, Copy, Default)] +#[derive(Debug, Clone, Copy, Default)] #[repr(C, packed)] pub struct ShciHeader { metadata: [u32; 3], } -#[derive(Clone, Copy)] +#[derive(Debug, Clone, Copy)] #[repr(C, packed)] pub struct ShciBleInitCmdPacket { header: ShciHeader, param: ShciBleInitCmdParam, } +pub const TL_BLE_EVT_CS_PACKET_SIZE: usize = TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE; +#[allow(dead_code)] // Not used currently but reserved +const TL_BLE_EVT_CS_BUFFER_SIZE: usize = TL_PACKET_HEADER_SIZE + TL_BLE_EVT_CS_PACKET_SIZE; + pub fn shci_ble_init(param: ShciBleInitCmdParam) { + debug!("sending SHCI"); + let mut packet = ShciBleInitCmdPacket { header: ShciHeader::default(), param, }; - let packet_ptr: *mut ShciBleInitCmdPacket = &mut packet; + let packet_ptr: *mut _ = &mut packet; unsafe { let cmd_ptr: *mut CmdPacket = packet_ptr.cast(); - (*cmd_ptr).cmd_serial.cmd.cmd_code = SCHI_OPCODE_BLE_INIT; - (*cmd_ptr).cmd_serial.cmd.payload_len = core::mem::size_of::() as u8; + (*cmd_ptr).cmdserial.cmd.cmd_code = SCHI_OPCODE_BLE_INIT; + (*cmd_ptr).cmdserial.cmd.payload_len = core::mem::size_of::() as u8; - let cmd_buf = &mut *(*TL_SYS_TABLE.as_mut_ptr()).pcmd_buffer; - core::ptr::write(cmd_buf, *cmd_ptr); + let p_cmd_buffer = &mut *(*TL_SYS_TABLE.as_mut_ptr()).pcmd_buffer; + core::ptr::write(p_cmd_buffer, *cmd_ptr); - cmd_buf.cmd_serial.ty = TlPacketType::SysCmd as u8; + p_cmd_buffer.cmdserial.ty = TlPacketType::SysCmd as u8; - 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); + sys::Sys::send_cmd(); } } diff --git a/embassy-stm32/src/tl_mbox/sys.rs b/embassy-stm32-wpan/src/sys.rs similarity index 52% rename from embassy-stm32/src/tl_mbox/sys.rs rename to embassy-stm32-wpan/src/sys.rs index 9685fb92..a19d12d2 100644 --- a/embassy-stm32/src/tl_mbox/sys.rs +++ b/embassy-stm32-wpan/src/sys.rs @@ -1,11 +1,12 @@ -use embassy_futures::block_on; +use core::mem::MaybeUninit; -use super::cmd::{CmdPacket, CmdSerial}; -use super::consts::TlPacketType; -use super::evt::{CcEvt, EvtBox, EvtSerial}; -use super::unsafe_linked_list::LinkedListNode; -use super::{channels, SysTable, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_CHANNEL, TL_REF_TABLE, TL_SYS_TABLE}; -use crate::tl_mbox::ipcc::Ipcc; +use embassy_stm32::ipcc::Ipcc; + +use crate::cmd::{CmdPacket, CmdSerial}; +use crate::evt::{CcEvt, EvtBox, EvtSerial}; +use crate::tables::SysTable; +use crate::unsafe_linked_list::LinkedListNode; +use crate::{channels, EVT_CHANNEL, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_SYS_TABLE}; pub struct Sys; @@ -14,34 +15,15 @@ impl Sys { unsafe { LinkedListNode::init_head(SYSTEM_EVT_QUEUE.as_mut_ptr()); - TL_SYS_TABLE.as_mut_ptr().write_volatile(SysTable { + TL_SYS_TABLE = MaybeUninit::new(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 evt_handler() { - unsafe { - let mut node_ptr = core::ptr::null_mut(); - let node_ptr_ptr: *mut _ = &mut node_ptr; - - while !LinkedListNode::is_empty(SYSTEM_EVT_QUEUE.as_mut_ptr()) { - LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr(), node_ptr_ptr); - - let event = node_ptr.cast(); - let event = EvtBox::new(event); - - // TODO: not really happy about this - block_on(TL_CHANNEL.send(event)); - } - } - - Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL); - } - pub fn cmd_evt_handler() -> CcEvt { Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL, false); @@ -55,29 +37,34 @@ impl Sys { // 4. CcEvt type is the actual SHCI response // 5. profit unsafe { - let cmd: *const CmdPacket = (*TL_SYS_TABLE.as_ptr()).pcmd_buffer; - let cmd_serial: *const CmdSerial = &(*cmd).cmd_serial; + 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 = (*evt_serial).evt.payload.as_ptr().cast(); + let cc: *const CcEvt = (*evt_serial).evt.payload.as_ptr().cast(); *cc } } - #[allow(dead_code)] - pub fn send_cmd(buf: &[u8]) { + pub fn evt_handler() { unsafe { - // TODO: check this - let cmd_buffer = &mut *(*TL_REF_TABLE.assume_init().sys_table).pcmd_buffer; - let cmd_serial: *mut CmdSerial = &mut cmd_buffer.cmd_serial; - let cmd_serial_buf = cmd_serial.cast(); + let mut node_ptr = core::ptr::null_mut(); + let node_ptr_ptr: *mut _ = &mut node_ptr; - core::ptr::copy(buf.as_ptr(), cmd_serial_buf, buf.len()); + while !LinkedListNode::is_empty(SYSTEM_EVT_QUEUE.as_mut_ptr()) { + LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr(), node_ptr_ptr); - let cmd_packet = &mut *(*TL_REF_TABLE.assume_init().sys_table).pcmd_buffer; - cmd_packet.cmd_serial.ty = TlPacketType::SysCmd as u8; + let event = node_ptr.cast(); + let event = EvtBox::new(event); - 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); + EVT_CHANNEL.try_send(event).unwrap(); + } } + + Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL); + } + + pub fn send_cmd() { + 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); } } diff --git a/embassy-stm32-wpan/src/tables.rs b/embassy-stm32-wpan/src/tables.rs new file mode 100644 index 00000000..15121695 --- /dev/null +++ b/embassy-stm32-wpan/src/tables.rs @@ -0,0 +1,175 @@ +use bit_field::BitField; + +use crate::cmd::{AclDataPacket, CmdPacket}; +use crate::unsafe_linked_list::LinkedListNode; + +#[derive(Debug, Copy, Clone)] +#[repr(C, packed)] +pub struct SafeBootInfoTable { + version: u32, +} + +#[derive(Debug, Copy, Clone)] +#[repr(C, packed)] +pub struct RssInfoTable { + pub version: u32, + pub memory_size: u32, + pub rss_info: u32, +} + +/** + * Version + * [0:3] = Build - 0: Untracked - 15:Released - x: Tracked version + * [4:7] = branch - 0: Mass Market - x: ... + * [8:15] = Subversion + * [16:23] = Version minor + * [24:31] = Version major + * + * Memory Size + * [0:7] = Flash ( Number of 4k sector) + * [8:15] = Reserved ( Shall be set to 0 - may be used as flash extension ) + * [16:23] = SRAM2b ( Number of 1k sector) + * [24:31] = SRAM2a ( Number of 1k sector) + */ +#[derive(Debug, Copy, Clone)] +#[repr(C, packed)] +pub struct WirelessFwInfoTable { + pub version: u32, + pub memory_size: u32, + pub thread_info: u32, + pub ble_info: u32, +} + +impl WirelessFwInfoTable { + pub fn version_major(&self) -> u8 { + let version = self.version; + (version.get_bits(24..31) & 0xff) as u8 + } + + pub fn version_minor(&self) -> u8 { + let version = self.version; + (version.clone().get_bits(16..23) & 0xff) as u8 + } + + pub fn subversion(&self) -> u8 { + let version = self.version; + (version.clone().get_bits(8..15) & 0xff) as u8 + } + + /// Size of FLASH, expressed in number of 4K sectors. + pub fn flash_size(&self) -> u8 { + let memory_size = self.memory_size; + (memory_size.clone().get_bits(0..7) & 0xff) as u8 + } + + /// Size of SRAM2a, expressed in number of 1K sectors. + pub fn sram2a_size(&self) -> u8 { + let memory_size = self.memory_size; + (memory_size.clone().get_bits(24..31) & 0xff) as u8 + } + + /// Size of SRAM2b, expressed in number of 1K sectors. + pub fn sram2b_size(&self) -> u8 { + let memory_size = self.memory_size; + (memory_size.clone().get_bits(16..23) & 0xff) as u8 + } +} + +#[derive(Debug, Clone)] +#[repr(C, align(4))] +pub struct DeviceInfoTable { + pub safe_boot_info_table: SafeBootInfoTable, + pub rss_info_table: RssInfoTable, + pub wireless_fw_info_table: WirelessFwInfoTable, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct BleTable { + pub pcmd_buffer: *mut CmdPacket, + pub pcs_buffer: *const u8, + pub pevt_queue: *const u8, + pub phci_acl_data_buffer: *mut AclDataPacket, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct ThreadTable { + pub nostack_buffer: *const u8, + pub clicmdrsp_buffer: *const u8, + pub otcmdrsp_buffer: *const u8, +} + +// TODO: use later +#[derive(Debug)] +#[repr(C, align(4))] +pub struct LldTestsTable { + pub clicmdrsp_buffer: *const u8, + pub m0cmd_buffer: *const u8, +} + +// TODO: use later +#[derive(Debug)] +#[repr(C, align(4))] +pub struct BleLldTable { + pub cmdrsp_buffer: *const u8, + pub m0cmd_buffer: *const u8, +} + +// TODO: use later +#[derive(Debug)] +#[repr(C, align(4))] +pub struct ZigbeeTable { + pub notif_m0_to_m4_buffer: *const u8, + pub appli_cmd_m4_to_m0_bufer: *const u8, + pub request_m0_to_m4_buffer: *const u8, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct SysTable { + pub pcmd_buffer: *mut CmdPacket, + pub sys_queue: *const LinkedListNode, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct MemManagerTable { + pub spare_ble_buffer: *const u8, + pub spare_sys_buffer: *const u8, + + pub blepool: *const u8, + pub blepoolsize: u32, + + pub pevt_free_buffer_queue: *mut LinkedListNode, + + pub traces_evt_pool: *const u8, + pub tracespoolsize: u32, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct TracesTable { + pub traces_queue: *const u8, +} + +#[derive(Debug)] +#[repr(C, align(4))] +pub struct Mac802_15_4Table { + pub p_cmdrsp_buffer: *const u8, + pub p_notack_buffer: *const u8, + pub evt_queue: *const u8, +} + +/// Reference table. Contains pointers to all other tables. +#[derive(Debug, Copy, Clone)] +#[repr(C)] +pub struct RefTable { + pub device_info_table: *const DeviceInfoTable, + pub ble_table: *const BleTable, + pub thread_table: *const ThreadTable, + pub sys_table: *const SysTable, + pub mem_manager_table: *const MemManagerTable, + pub traces_table: *const TracesTable, + pub mac_802_15_4_table: *const Mac802_15_4Table, +} diff --git a/embassy-stm32/src/tl_mbox/unsafe_linked_list.rs b/embassy-stm32-wpan/src/unsafe_linked_list.rs similarity index 92% rename from embassy-stm32/src/tl_mbox/unsafe_linked_list.rs rename to embassy-stm32-wpan/src/unsafe_linked_list.rs index 482e2bf5..52c106fa 100644 --- a/embassy-stm32/src/tl_mbox/unsafe_linked_list.rs +++ b/embassy-stm32-wpan/src/unsafe_linked_list.rs @@ -57,6 +57,7 @@ impl LinkedListNode { }); } + /// Remove `node` from the linked list pub unsafe fn remove_node(mut node: *mut LinkedListNode) { interrupt::free(|_| { (*(*node).prev).next = (*node).next; @@ -64,6 +65,7 @@ impl LinkedListNode { }); } + /// Remove `list_head` into `node` pub unsafe fn remove_head(mut list_head: *mut LinkedListNode, mut node: *mut *mut LinkedListNode) { interrupt::free(|_| { *node = (*list_head).next; @@ -71,10 +73,11 @@ impl LinkedListNode { }); } - pub unsafe fn remove_tail(mut list_head: *mut LinkedListNode, mut node: *mut *mut LinkedListNode) { + /// Remove `list_tail` into `node` + pub unsafe fn remove_tail(mut list_tail: *mut LinkedListNode, mut node: *mut *mut LinkedListNode) { interrupt::free(|_| { - *node = (*list_head).prev; - Self::remove_node((*list_head).prev); + *node = (*list_tail).prev; + Self::remove_node((*list_tail).prev); }); } diff --git a/embassy-stm32/src/tl_mbox/ipcc.rs b/embassy-stm32/src/ipcc.rs similarity index 75% rename from embassy-stm32/src/tl_mbox/ipcc.rs rename to embassy-stm32/src/ipcc.rs index d1ac731e..8bb0774b 100644 --- a/embassy-stm32/src/tl_mbox/ipcc.rs +++ b/embassy-stm32/src/ipcc.rs @@ -167,8 +167,68 @@ impl sealed::Instance for crate::peripherals::IPCC { } unsafe fn _configure_pwr() { + let pwr = crate::pac::PWR; let rcc = crate::pac::RCC; + rcc.cfgr().modify(|w| w.set_stopwuck(true)); + + pwr.cr1().modify(|w| w.set_dbp(true)); + pwr.cr1().modify(|w| w.set_dbp(true)); + + // configure LSE + rcc.bdcr().modify(|w| w.set_lseon(true)); + + // select system clock source = PLL + // set PLL coefficients + // m: 2, + // n: 12, + // r: 3, + // q: 4, + // p: 3, + let src_bits = 0b11; + let pllp = (3 - 1) & 0b11111; + let pllq = (4 - 1) & 0b111; + let pllr = (3 - 1) & 0b111; + let plln = 12 & 0b1111111; + let pllm = (2 - 1) & 0b111; + rcc.pllcfgr().modify(|w| { + w.set_pllsrc(src_bits); + w.set_pllm(pllm); + w.set_plln(plln); + w.set_pllr(pllr); + w.set_pllp(pllp); + w.set_pllpen(true); + w.set_pllq(pllq); + w.set_pllqen(true); + }); + // enable PLL + rcc.cr().modify(|w| w.set_pllon(true)); + rcc.cr().write(|w| w.set_hsion(false)); + // while !rcc.cr().read().pllrdy() {} + + // configure SYSCLK mux to use PLL clocl + rcc.cfgr().modify(|w| w.set_sw(0b11)); + + // configure CPU1 & CPU2 dividers + rcc.cfgr().modify(|w| w.set_hpre(0)); // not divided + rcc.extcfgr().modify(|w| { + w.set_c2hpre(0b1000); // div2 + w.set_shdhpre(0); // not divided + }); + + // apply APB1 / APB2 values + rcc.cfgr().modify(|w| { + w.set_ppre1(0b000); // not divided + w.set_ppre2(0b000); // not divided + }); + + // TODO: required // set RF wake-up clock = LSE rcc.csr().modify(|w| w.set_rfwkpsel(0b01)); + + // set LPTIM1 & LPTIM2 clock source + rcc.ccipr().modify(|w| { + w.set_lptim1sel(0b00); // PCLK + w.set_lptim2sel(0b00); // PCLK + }); } diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs index f4ec0a80..6fde61c0 100644 --- a/embassy-stm32/src/lib.rs +++ b/embassy-stm32/src/lib.rs @@ -41,6 +41,8 @@ pub mod crc; pub mod flash; #[cfg(all(spi_v1, rcc_f4))] pub mod i2s; +#[cfg(stm32wb)] +pub mod ipcc; pub mod pwm; #[cfg(quadspi)] pub mod qspi; @@ -52,8 +54,6 @@ pub mod rtc; pub mod sdmmc; #[cfg(spi)] pub mod spi; -#[cfg(stm32wb)] -pub mod tl_mbox; #[cfg(usart)] pub mod usart; #[cfg(usb)] diff --git a/embassy-stm32/src/tl_mbox/cmd.rs b/embassy-stm32/src/tl_mbox/cmd.rs deleted file mode 100644 index 3507c323..00000000 --- a/embassy-stm32/src/tl_mbox/cmd.rs +++ /dev/null @@ -1,49 +0,0 @@ -use super::PacketHeader; - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct Cmd { - pub cmd_code: u16, - pub payload_len: u8, - pub payload: [u8; 255], -} - -impl Default for Cmd { - fn default() -> Self { - Self { - cmd_code: 0, - payload_len: 0, - payload: [0u8; 255], - } - } -} - -#[repr(C, packed)] -#[derive(Copy, Clone, Default)] -pub struct CmdSerial { - pub ty: u8, - pub cmd: Cmd, -} - -#[repr(C, packed)] -#[derive(Copy, Clone, Default)] -pub struct CmdPacket { - pub header: PacketHeader, - pub cmd_serial: CmdSerial, -} - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct AclDataSerial { - pub ty: u8, - pub handle: u16, - pub length: u16, - pub acl_data: [u8; 1], -} - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct AclDataPacket { - pub header: PacketHeader, - pub acl_data_serial: AclDataSerial, -} diff --git a/embassy-stm32/src/tl_mbox/mm.rs b/embassy-stm32/src/tl_mbox/mm.rs deleted file mode 100644 index e28a6aa0..00000000 --- a/embassy-stm32/src/tl_mbox/mm.rs +++ /dev/null @@ -1,67 +0,0 @@ -use super::evt::EvtPacket; -use super::unsafe_linked_list::LinkedListNode; -use super::{ - channels, MemManagerTable, BLE_SPARE_EVT_BUF, EVT_POOL, FREE_BUFF_QUEUE, LOCAL_FREE_BUF_QUEUE, POOL_SIZE, - SYS_SPARE_EVT_BUF, TL_MEM_MANAGER_TABLE, TL_REF_TABLE, -}; -use crate::tl_mbox::ipcc::Ipcc; - -pub struct MemoryManager; - -impl MemoryManager { - pub fn enable() { - unsafe { - LinkedListNode::init_head(FREE_BUFF_QUEUE.as_mut_ptr()); - LinkedListNode::init_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()); - - TL_MEM_MANAGER_TABLE.as_mut_ptr().write_volatile(MemManagerTable { - spare_ble_buffer: BLE_SPARE_EVT_BUF.as_ptr().cast(), - spare_sys_buffer: SYS_SPARE_EVT_BUF.as_ptr().cast(), - ble_pool: EVT_POOL.as_ptr().cast(), - ble_pool_size: POOL_SIZE as u32, - pevt_free_buffer_queue: FREE_BUFF_QUEUE.as_mut_ptr(), - traces_evt_pool: core::ptr::null(), - traces_pool_size: 0, - }); - } - } - - pub fn evt_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); - } - - pub fn evt_drop(evt: *mut EvtPacket) { - unsafe { - let list_node = evt.cast(); - - LinkedListNode::remove_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); - } - } - - fn send_free_buf() { - unsafe { - let mut node_ptr = core::ptr::null_mut(); - let node_ptr_ptr: *mut _ = &mut node_ptr; - - while !LinkedListNode::is_empty(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) { - LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), node_ptr_ptr); - LinkedListNode::insert_tail( - (*(*TL_REF_TABLE.as_ptr()).mem_manager_table).pevt_free_buffer_queue, - node_ptr, - ); - } - } - } -} diff --git a/embassy-stm32/src/tl_mbox/mod.rs b/embassy-stm32/src/tl_mbox/mod.rs deleted file mode 100644 index d39c78b2..00000000 --- a/embassy-stm32/src/tl_mbox/mod.rs +++ /dev/null @@ -1,417 +0,0 @@ -use core::mem::MaybeUninit; - -use atomic_polyfill::{compiler_fence, Ordering}; -use bit_field::BitField; -use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; -use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; -use embassy_sync::channel::Channel; - -use self::ble::Ble; -use self::cmd::{AclDataPacket, CmdPacket}; -use self::evt::{CsEvt, EvtBox}; -use self::mm::MemoryManager; -use self::shci::{shci_ble_init, ShciBleInitCmdParam}; -use self::sys::Sys; -use self::unsafe_linked_list::LinkedListNode; -use crate::interrupt; -use crate::interrupt::InterruptExt; -use crate::peripherals::IPCC; -pub use crate::tl_mbox::ipcc::Config; -use crate::tl_mbox::ipcc::Ipcc; - -mod ble; -mod channels; -mod cmd; -mod consts; -mod evt; -mod ipcc; -mod mm; -mod shci; -mod sys; -mod unsafe_linked_list; - -pub type PacketHeader = LinkedListNode; - -const TL_PACKET_HEADER_SIZE: usize = core::mem::size_of::(); -const TL_EVT_HEADER_SIZE: usize = 3; -const TL_CS_EVT_SIZE: usize = core::mem::size_of::(); - -const CFG_TL_BLE_EVT_QUEUE_LENGTH: usize = 5; -const CFG_TL_BLE_MOST_EVENT_PAYLOAD_SIZE: usize = 255; -const TL_BLE_EVENT_FRAME_SIZE: usize = TL_EVT_HEADER_SIZE + CFG_TL_BLE_MOST_EVENT_PAYLOAD_SIZE; - -const POOL_SIZE: usize = CFG_TL_BLE_EVT_QUEUE_LENGTH * 4 * divc(TL_PACKET_HEADER_SIZE + TL_BLE_EVENT_FRAME_SIZE, 4); - -const fn divc(x: usize, y: usize) -> usize { - (x + y - 1) / y -} - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct SafeBootInfoTable { - version: u32, -} - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct FusInfoTable { - version: u32, - memory_size: u32, - fus_info: u32, -} - -/// Interrupt handler. -pub struct ReceiveInterruptHandler {} - -impl interrupt::typelevel::Handler for ReceiveInterruptHandler { - unsafe fn on_interrupt() { - // info!("ipcc rx interrupt"); - - if Ipcc::is_rx_pending(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL) { - sys::Sys::evt_handler(); - } else if Ipcc::is_rx_pending(channels::cpu2::IPCC_BLE_EVENT_CHANNEL) { - ble::Ble::evt_handler(); - } else { - todo!() - } - } -} - -pub struct TransmitInterruptHandler {} - -impl interrupt::typelevel::Handler for TransmitInterruptHandler { - unsafe fn on_interrupt() { - // info!("ipcc tx interrupt"); - - if Ipcc::is_tx_pending(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL) { - // TODO: handle this case - let _ = sys::Sys::cmd_evt_handler(); - } else if Ipcc::is_tx_pending(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL) { - mm::MemoryManager::evt_handler(); - } else { - todo!() - } - } -} - -/// # Version -/// - 0 -> 3 = Build - 0: Untracked - 15:Released - x: Tracked version -/// - 4 -> 7 = branch - 0: Mass Market - x: ... -/// - 8 -> 15 = Subversion -/// - 16 -> 23 = Version minor -/// - 24 -> 31 = Version major -/// # Memory Size -/// - 0 -> 7 = Flash ( Number of 4k sector) -/// - 8 -> 15 = Reserved ( Shall be set to 0 - may be used as flash extension ) -/// - 16 -> 23 = SRAM2b ( Number of 1k sector) -/// - 24 -> 31 = SRAM2a ( Number of 1k sector) -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct WirelessFwInfoTable { - version: u32, - memory_size: u32, - info_stack: u32, - reserved: u32, -} - -impl WirelessFwInfoTable { - pub fn version_major(&self) -> u8 { - let version = self.version; - (version.get_bits(24..31) & 0xff) as u8 - } - - pub fn version_minor(&self) -> u8 { - let version = self.version; - (version.get_bits(16..23) & 0xff) as u8 - } - - pub fn subversion(&self) -> u8 { - let version = self.version; - (version.get_bits(8..15) & 0xff) as u8 - } - - /// size of FLASH, expressed in number of 4K sectors - pub fn flash_size(&self) -> u8 { - let memory_size = self.memory_size; - (memory_size.get_bits(0..7) & 0xff) as u8 - } - - /// size for SRAM2a, expressed in number of 1K sectors - pub fn sram2a_size(&self) -> u8 { - let memory_size = self.memory_size; - (memory_size.get_bits(24..31) & 0xff) as u8 - } - - /// size of SRAM2b, expressed in number of 1K sectors - pub fn sram2b_size(&self) -> u8 { - let memory_size = self.memory_size; - (memory_size.get_bits(16..23) & 0xff) as u8 - } -} - -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct DeviceInfoTable { - pub safe_boot_info_table: SafeBootInfoTable, - pub fus_info_table: FusInfoTable, - pub wireless_fw_info_table: WirelessFwInfoTable, -} - -#[repr(C, packed)] -struct BleTable { - pcmd_buffer: *mut CmdPacket, - pcs_buffer: *const u8, - pevt_queue: *const u8, - phci_acl_data_buffer: *mut AclDataPacket, -} - -#[repr(C, packed)] -struct ThreadTable { - no_stack_buffer: *const u8, - cli_cmd_rsp_buffer: *const u8, - ot_cmd_rsp_buffer: *const u8, -} - -#[repr(C, packed)] -struct SysTable { - pcmd_buffer: *mut CmdPacket, - sys_queue: *const LinkedListNode, -} - -#[allow(dead_code)] // Not used currently but reserved -#[repr(C, packed)] -struct LldTestTable { - cli_cmd_rsp_buffer: *const u8, - m0_cmd_buffer: *const u8, -} - -#[allow(dead_code)] // Not used currently but reserved -#[repr(C, packed)] -struct BleLldTable { - cmd_rsp_buffer: *const u8, - m0_cmd_buffer: *const u8, -} - -#[allow(dead_code)] // Not used currently but reserved -#[repr(C, packed)] -struct ZigbeeTable { - notif_m0_to_m4_buffer: *const u8, - appli_cmd_m4_to_m0_buffer: *const u8, - request_m0_to_m4_buffer: *const u8, -} - -#[repr(C, packed)] -struct MemManagerTable { - spare_ble_buffer: *const u8, - spare_sys_buffer: *const u8, - - ble_pool: *const u8, - ble_pool_size: u32, - - pevt_free_buffer_queue: *mut LinkedListNode, - - traces_evt_pool: *const u8, - traces_pool_size: u32, -} - -#[repr(C, packed)] -struct TracesTable { - traces_queue: *const u8, -} - -#[repr(C, packed)] -struct Mac802_15_4Table { - pcmd_rsp_buffer: *const u8, - pnotack_buffer: *const u8, - evt_queue: *const u8, -} - -/// reference table. Contains pointers to all other tables -#[repr(C, packed)] -#[derive(Copy, Clone)] -pub struct RefTable { - pub device_info_table: *const DeviceInfoTable, - ble_table: *const BleTable, - thread_table: *const ThreadTable, - sys_table: *const SysTable, - mem_manager_table: *const MemManagerTable, - traces_table: *const TracesTable, - mac_802_15_4_table: *const Mac802_15_4Table, - zigbee_table: *const ZigbeeTable, - lld_tests_table: *const LldTestTable, - ble_lld_table: *const BleLldTable, -} - -#[link_section = "TL_REF_TABLE"] -pub static mut TL_REF_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_DEVICE_INFO_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_BLE_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_THREAD_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_LLD_TESTS_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_BLE_LLD_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_SYS_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_MEM_MANAGER_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_TRACES_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_MAC_802_15_4_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM1"] -static mut TL_ZIGBEE_TABLE: MaybeUninit = MaybeUninit::uninit(); - -#[allow(dead_code)] // Not used currently but reserved -#[link_section = "MB_MEM1"] -static mut FREE_BUFF_QUEUE: MaybeUninit = MaybeUninit::uninit(); - -// not in shared RAM -static mut LOCAL_FREE_BUF_QUEUE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut CS_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE]> = - MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut EVT_QUEUE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut SYSTEM_EVT_QUEUE: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut SYS_CMD_BUF: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut EVT_POOL: MaybeUninit<[u8; POOL_SIZE]> = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut SYS_SPARE_EVT_BUF: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]> = - MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut BLE_SPARE_EVT_BUF: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]> = - MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -static mut BLE_CMD_BUFFER: MaybeUninit = MaybeUninit::uninit(); - -#[link_section = "MB_MEM2"] -// "magic" numbers from ST ---v---v -static mut HCI_ACL_DATA_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]> = MaybeUninit::uninit(); - -// TODO: get a better size, this is a placeholder -pub(crate) static TL_CHANNEL: Channel = Channel::new(); - -pub struct TlMbox<'d> { - _ipcc: PeripheralRef<'d, IPCC>, -} - -impl<'d> TlMbox<'d> { - /// initializes low-level transport between CPU1 and BLE stack on CPU2 - pub fn new( - ipcc: impl Peripheral

+ 'd, - _irqs: impl interrupt::typelevel::Binding - + interrupt::typelevel::Binding, - config: Config, - ) -> Self { - into_ref!(ipcc); - - unsafe { - compiler_fence(Ordering::AcqRel); - - TL_REF_TABLE.as_mut_ptr().write_volatile(RefTable { - device_info_table: TL_DEVICE_INFO_TABLE.as_ptr(), - ble_table: TL_BLE_TABLE.as_ptr(), - thread_table: TL_THREAD_TABLE.as_ptr(), - sys_table: TL_SYS_TABLE.as_ptr(), - mem_manager_table: TL_MEM_MANAGER_TABLE.as_ptr(), - traces_table: TL_TRACES_TABLE.as_ptr(), - mac_802_15_4_table: TL_MAC_802_15_4_TABLE.as_ptr(), - zigbee_table: TL_ZIGBEE_TABLE.as_ptr(), - lld_tests_table: TL_LLD_TESTS_TABLE.as_ptr(), - ble_lld_table: TL_BLE_LLD_TABLE.as_ptr(), - }); - - // info!("TL_REF_TABLE addr: {:x}", TL_REF_TABLE.as_ptr() as usize); - - compiler_fence(Ordering::AcqRel); - - TL_SYS_TABLE = MaybeUninit::zeroed(); - TL_DEVICE_INFO_TABLE = MaybeUninit::zeroed(); - TL_BLE_TABLE = MaybeUninit::zeroed(); - TL_THREAD_TABLE = MaybeUninit::zeroed(); - TL_MEM_MANAGER_TABLE = MaybeUninit::zeroed(); - TL_TRACES_TABLE = MaybeUninit::zeroed(); - TL_MAC_802_15_4_TABLE = MaybeUninit::zeroed(); - TL_ZIGBEE_TABLE = MaybeUninit::zeroed(); - TL_LLD_TESTS_TABLE = MaybeUninit::zeroed(); - TL_BLE_LLD_TABLE = MaybeUninit::zeroed(); - - EVT_POOL = MaybeUninit::zeroed(); - SYS_SPARE_EVT_BUF = MaybeUninit::zeroed(); - BLE_SPARE_EVT_BUF = MaybeUninit::zeroed(); - - CS_BUFFER = MaybeUninit::zeroed(); - BLE_CMD_BUFFER = MaybeUninit::zeroed(); - HCI_ACL_DATA_BUFFER = MaybeUninit::zeroed(); - - compiler_fence(Ordering::AcqRel); - } - - Ipcc::enable(config); - - Sys::enable(); - Ble::enable(); - MemoryManager::enable(); - - // enable interrupts - crate::interrupt::IPCC_C1_RX.unpend(); - crate::interrupt::IPCC_C1_TX.unpend(); - - unsafe { crate::interrupt::IPCC_C1_RX.enable() }; - unsafe { crate::interrupt::IPCC_C1_TX.enable() }; - - Self { _ipcc: ipcc } - } - - pub fn wireless_fw_info(&self) -> Option { - let info = unsafe { &(*(*TL_REF_TABLE.as_ptr()).device_info_table).wireless_fw_info_table }; - - // zero version indicates that CPU2 wasn't active and didn't fill the information table - if info.version != 0 { - Some(*info) - } else { - None - } - } - - pub fn shci_ble_init(&self, param: ShciBleInitCmdParam) { - shci_ble_init(param); - } - - pub fn send_ble_cmd(&self, buf: &[u8]) { - ble::Ble::send_cmd(buf); - } - - // pub fn send_sys_cmd(&self, buf: &[u8]) { - // sys::Sys::send_cmd(buf); - // } - - pub async fn read(&self) -> EvtBox { - TL_CHANNEL.recv().await - } -} diff --git a/examples/stm32wb/Cargo.toml b/examples/stm32wb/Cargo.toml index 14897b17..83a44375 100644 --- a/examples/stm32wb/Cargo.toml +++ b/examples/stm32wb/Cargo.toml @@ -9,6 +9,7 @@ embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["de embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] } embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] } embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32wb55rg", "time-driver-any", "memory-x", "exti"] } +embassy-stm32-wpan = { version = "0.1.0", path = "../../embassy-stm32-wpan", features = ["defmt", "stm32wb55rg"] } defmt = "0.3" defmt-rtt = "0.4" diff --git a/examples/stm32wb/src/bin/tl_mbox.rs b/examples/stm32wb/src/bin/tl_mbox.rs index 8f4e70af..ae36a7e7 100644 --- a/examples/stm32wb/src/bin/tl_mbox.rs +++ b/examples/stm32wb/src/bin/tl_mbox.rs @@ -4,14 +4,15 @@ use defmt::*; use embassy_executor::Spawner; -use embassy_stm32::tl_mbox::{Config, TlMbox}; -use embassy_stm32::{bind_interrupts, tl_mbox}; +use embassy_stm32::bind_interrupts; +use embassy_stm32::ipcc::Config; +use embassy_stm32_wpan::TlMbox; use embassy_time::{Duration, Timer}; use {defmt_rtt as _, panic_probe as _}; bind_interrupts!(struct Irqs{ - IPCC_C1_RX => tl_mbox::ReceiveInterruptHandler; - IPCC_C1_TX => tl_mbox::TransmitInterruptHandler; + IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; + IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; }); #[embassy_executor::main] @@ -44,7 +45,7 @@ async fn main(_spawner: Spawner) { info!("Hello World!"); let config = Config::default(); - let mbox = TlMbox::new(p.IPCC, Irqs, config); + let mbox = TlMbox::init(p.IPCC, Irqs, config); loop { let wireless_fw_info = mbox.wireless_fw_info(); diff --git a/examples/stm32wb/src/bin/tl_mbox_tx_rx.rs b/examples/stm32wb/src/bin/tl_mbox_tx_rx.rs index 1724d946..3132ab3e 100644 --- a/examples/stm32wb/src/bin/tl_mbox_tx_rx.rs +++ b/examples/stm32wb/src/bin/tl_mbox_tx_rx.rs @@ -4,13 +4,15 @@ use defmt::*; use embassy_executor::Spawner; -use embassy_stm32::tl_mbox::{Config, TlMbox}; -use embassy_stm32::{bind_interrupts, tl_mbox}; +use embassy_stm32::bind_interrupts; +use embassy_stm32::ipcc::Config; +use embassy_stm32_wpan::rc::RadioCoprocessor; +use embassy_stm32_wpan::TlMbox; use {defmt_rtt as _, panic_probe as _}; bind_interrupts!(struct Irqs{ - IPCC_C1_RX => tl_mbox::ReceiveInterruptHandler; - IPCC_C1_TX => tl_mbox::TransmitInterruptHandler; + IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; + IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; }); #[embassy_executor::main] @@ -43,55 +45,16 @@ async fn main(_spawner: Spawner) { info!("Hello World!"); let config = Config::default(); - let mbox = TlMbox::new(p.IPCC, Irqs, config); + let mbox = TlMbox::init(p.IPCC, Irqs, config); - info!("waiting for coprocessor to boot"); - let event_box = mbox.read().await; + let mut rc = RadioCoprocessor::new(mbox); - let mut payload = [0u8; 6]; - event_box.copy_into_slice(&mut payload).unwrap(); + let response = rc.read().await; + info!("coprocessor ready {}", response); - let event_packet = event_box.evt(); - let kind = event_packet.evt_serial.kind; - - // means recieved SYS event, which indicates in this case that the coprocessor is ready - if kind == 0x12 { - let code = event_packet.evt_serial.evt.evt_code; - let payload_len = event_packet.evt_serial.evt.payload_len; - - info!( - "==> kind: {:#04x}, code: {:#04x}, payload_length: {}, payload: {:#04x}", - kind, - code, - payload_len, - payload[3..] - ); - } - - // initialize ble stack, does not return a response - mbox.shci_ble_init(Default::default()); - - info!("resetting BLE"); - mbox.send_ble_cmd(&[0x01, 0x03, 0x0c, 0x00, 0x00]); - - let event_box = mbox.read().await; - - let mut payload = [0u8; 7]; - event_box.copy_into_slice(&mut payload).unwrap(); - - let event_packet = event_box.evt(); - let kind = event_packet.evt_serial.kind; - - let code = event_packet.evt_serial.evt.evt_code; - let payload_len = event_packet.evt_serial.evt.payload_len; - - info!( - "==> kind: {:#04x}, code: {:#04x}, payload_length: {}, payload: {:#04x}", - kind, - code, - payload_len, - payload[3..] - ); + rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]); + let response = rc.read().await; + info!("ble reset rsp {}", response); info!("Test OK"); cortex_m::asm::bkpt(); diff --git a/tests/stm32/Cargo.toml b/tests/stm32/Cargo.toml index 3f48bf3f..db97e929 100644 --- a/tests/stm32/Cargo.toml +++ b/tests/stm32/Cargo.toml @@ -12,7 +12,7 @@ stm32g071rb = ["embassy-stm32/stm32g071rb", "not-gpdma"] # Nucleo stm32c031c6 = ["embassy-stm32/stm32c031c6", "not-gpdma"] # Nucleo stm32g491re = ["embassy-stm32/stm32g491re", "not-gpdma"] # Nucleo stm32h755zi = ["embassy-stm32/stm32h755zi-cm7", "not-gpdma"] # Nucleo -stm32wb55rg = ["embassy-stm32/stm32wb55rg", "not-gpdma", "ble"] # Nucleo +stm32wb55rg = ["embassy-stm32/stm32wb55rg", "not-gpdma", "ble", "dep:embassy-stm32-wpan"] # Nucleo stm32h563zi = ["embassy-stm32/stm32h563zi"] # Nucleo stm32u585ai = ["embassy-stm32/stm32u585ai"] # IoT board @@ -29,6 +29,7 @@ embassy-executor = { version = "0.2.0", path = "../../embassy-executor", feature embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "tick-hz-32_768", "defmt-timestamp-uptime"] } embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "memory-x", "time-driver-any"] } embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } +embassy-stm32-wpan = { version = "0.1.0", path = "../../embassy-stm32-wpan", optional = true, features = ["defmt", "stm32wb55rg"] } defmt = "0.3.0" defmt-rtt = "0.4" diff --git a/tests/stm32/src/bin/tl_mbox.rs b/tests/stm32/src/bin/tl_mbox.rs index fab9f0e1..0f643d57 100644 --- a/tests/stm32/src/bin/tl_mbox.rs +++ b/tests/stm32/src/bin/tl_mbox.rs @@ -8,13 +8,14 @@ mod common; use common::*; use embassy_executor::Spawner; -use embassy_stm32::tl_mbox::{Config, TlMbox}; -use embassy_stm32::{bind_interrupts, tl_mbox}; +use embassy_stm32::bind_interrupts; +use embassy_stm32::ipcc::Config; +use embassy_stm32_wpan::TlMbox; use embassy_time::{Duration, Timer}; bind_interrupts!(struct Irqs{ - IPCC_C1_RX => tl_mbox::ReceiveInterruptHandler; - IPCC_C1_TX => tl_mbox::TransmitInterruptHandler; + IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; + IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; }); #[embassy_executor::main] @@ -23,7 +24,7 @@ async fn main(_spawner: Spawner) { info!("Hello World!"); let config = Config::default(); - let mbox = TlMbox::new(p.IPCC, Irqs, config); + let mbox = TlMbox::init(p.IPCC, Irqs, config); loop { let wireless_fw_info = mbox.wireless_fw_info();