max/embassy
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #1566 from xoviat/tl-mbox-2

Browse Source 
tl-mbox: switch to new ipcc mechanism
This commit is contained in:
xoviat 2023-06-17 20:48:37 +00:00 committed by GitHub
commit ae83e6f536
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 577 additions and 515 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
embassy-futures/src/block_on.rs
View File

@ -31,3 +31,15 @@ pub fn block_on<F: Future>(mut fut: F) -> F::Output {
} }
} }
} }
/// Poll a future once.
pub fn poll_once<F: Future>(mut fut: F) -> Poll<F::Output> {
// safety: we don't move the future after this line.
let mut fut = unsafe { Pin::new_unchecked(&mut fut) };
let raw_waker = RawWaker::new(ptr::null(), &VTABLE);
let waker = unsafe { Waker::from_raw(raw_waker) };
let mut cx = Context::from_waker(&waker);
fut.as_mut().poll(&mut cx)
}

84
embassy-stm32-wpan/src/ble.rs
View File

@ -1,18 +1,20 @@
use core::marker::PhantomData;
use embassy_stm32::ipcc::Ipcc; use embassy_stm32::ipcc::Ipcc;
use crate::cmd::{CmdPacket, CmdSerial}; use crate::cmd::CmdPacket;
use crate::consts::TlPacketType; use crate::consts::TlPacketType;
use crate::evt::EvtBox; use crate::evt::EvtBox;
use crate::tables::BleTable; use crate::tables::BleTable;
use crate::unsafe_linked_list::LinkedListNode; use crate::unsafe_linked_list::LinkedListNode;
use crate::{ use crate::{channels, BLE_CMD_BUFFER, CS_BUFFER, EVT_QUEUE, HCI_ACL_DATA_BUFFER, TL_BLE_TABLE};
channels, BLE_CMD_BUFFER, CS_BUFFER, EVT_CHANNEL, EVT_QUEUE, HCI_ACL_DATA_BUFFER, TL_BLE_TABLE, TL_REF_TABLE,
};
pub struct Ble; pub struct Ble {
phantom: PhantomData<Ble>,
}
impl Ble { impl Ble {
pub(super) fn enable() { pub(crate) fn new() -> Self {
unsafe { unsafe {
LinkedListNode::init_head(EVT_QUEUE.as_mut_ptr()); LinkedListNode::init_head(EVT_QUEUE.as_mut_ptr());
@ -24,54 +26,38 @@ impl Ble {
}); });
} }
Ipcc::c1_set_rx_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, true); Self { phantom: PhantomData }
} }
/// `HW_IPCC_BLE_EvtNot`
pub(super) fn evt_handler() { pub async fn read(&self) -> EvtBox {
unsafe { Ipcc::receive(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, || unsafe {
while !LinkedListNode::is_empty(EVT_QUEUE.as_mut_ptr()) { if let Some(node_ptr) = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr()) {
let node_ptr = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr()); Some(EvtBox::new(node_ptr.cast()))
} else {
let event = node_ptr.cast(); None
let event = EvtBox::new(event);
EVT_CHANNEL.try_send(event).unwrap();
} }
} })
.await
Ipcc::c1_clear_flag_channel(channels::cpu2::IPCC_BLE_EVENT_CHANNEL);
} }
pub(super) fn acl_data_handler() { /// `TL_BLE_SendCmd`
Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL, false); pub async fn write(&self, opcode: u16, payload: &[u8]) {
Ipcc::send(channels::cpu1::IPCC_BLE_CMD_CHANNEL, || unsafe {
// TODO: ACL data ack to the user CmdPacket::write_into(BLE_CMD_BUFFER.as_mut_ptr(), TlPacketType::BleCmd, opcode, payload);
})
.await;
} }
pub fn ble_send_cmd(buf: &[u8]) { /// `TL_BLE_SendAclData`
debug!("writing ble cmd"); pub async fn acl_write(&self, handle: u16, payload: &[u8]) {
Ipcc::send(channels::cpu1::IPCC_HCI_ACL_DATA_CHANNEL, || unsafe {
unsafe { CmdPacket::write_into(
let pcmd_buffer: *mut CmdPacket = (*TL_REF_TABLE.assume_init().ble_table).pcmd_buffer; HCI_ACL_DATA_BUFFER.as_mut_ptr() as *mut _,
let pcmd_serial: *mut CmdSerial = &mut (*pcmd_buffer).cmdserial; TlPacketType::AclData,
let pcmd_serial_buf: *mut u8 = pcmd_serial.cast(); handle,
payload,
core::ptr::copy(buf.as_ptr(), pcmd_serial_buf, buf.len()); );
})
let cmd_packet = &mut *(*TL_REF_TABLE.assume_init().ble_table).pcmd_buffer; .await;
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);
} }
} }

73
embassy-stm32-wpan/src/cmd.rs
View File

@ -1,5 +1,7 @@
use crate::evt::{EvtPacket, EvtSerial}; use core::ptr;
use crate::{PacketHeader, TL_EVT_HEADER_SIZE};
use crate::consts::TlPacketType;
use crate::PacketHeader;
#[derive(Copy, Clone)] #[derive(Copy, Clone)]
#[repr(C, packed)] #[repr(C, packed)]
@ -26,6 +28,14 @@ pub struct CmdSerial {
pub cmd: Cmd, pub cmd: Cmd,
} }
#[derive(Copy, Clone, Default)]
#[repr(C, packed)]
pub struct CmdSerialStub {
pub ty: u8,
pub cmd_code: u16,
pub payload_len: u8,
}
#[derive(Copy, Clone, Default)] #[derive(Copy, Clone, Default)]
#[repr(C, packed)] #[repr(C, packed)]
pub struct CmdPacket { pub struct CmdPacket {
@ -34,29 +44,20 @@ pub struct CmdPacket {
} }
impl CmdPacket { impl CmdPacket {
/// Writes an underlying CmdPacket into the provided buffer. pub unsafe fn write_into(cmd_buf: *mut CmdPacket, packet_type: TlPacketType, cmd_code: u16, payload: &[u8]) {
/// Returns a number of bytes that were written. let p_cmd_serial = &mut (*cmd_buf).cmdserial as *mut _ as *mut CmdSerialStub;
/// Returns an error if event kind is unknown or if provided buffer size is not enough. let p_payload = &mut (*cmd_buf).cmdserial.cmd.payload as *mut _;
#[allow(clippy::result_unit_err)]
pub fn write(&self, buf: &mut [u8]) -> Result<usize, ()> {
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(); ptr::write_volatile(
let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial; p_cmd_serial,
let acl_serial_buf: *const u8 = acl_serial.cast(); CmdSerialStub {
ty: packet_type as u8,
cmd_code: cmd_code,
payload_len: payload.len() as u8,
},
);
let len = (*evt_serial).evt.payload_len as usize + TL_EVT_HEADER_SIZE; ptr::copy_nonoverlapping(payload as *const _ as *const u8, p_payload, payload.len());
if len > buf.len() {
return Err(());
}
core::ptr::copy(acl_serial_buf, buf.as_mut_ptr(), len);
Ok(len)
}
} }
} }
@ -69,9 +70,35 @@ pub struct AclDataSerial {
pub acl_data: [u8; 1], pub acl_data: [u8; 1],
} }
#[derive(Copy, Clone)]
#[repr(C, packed)]
pub struct AclDataSerialStub {
pub ty: u8,
pub handle: u16,
pub length: u16,
}
#[derive(Copy, Clone)] #[derive(Copy, Clone)]
#[repr(C, packed)] #[repr(C, packed)]
pub struct AclDataPacket { pub struct AclDataPacket {
pub header: PacketHeader, pub header: PacketHeader,
pub acl_data_serial: AclDataSerial, pub acl_data_serial: AclDataSerial,
} }
impl AclDataPacket {
pub unsafe fn write_into(cmd_buf: *mut AclDataPacket, packet_type: TlPacketType, handle: u16, payload: &[u8]) {
let p_cmd_serial = &mut (*cmd_buf).acl_data_serial as *mut _ as *mut AclDataSerialStub;
let p_payload = &mut (*cmd_buf).acl_data_serial.acl_data as *mut _;
ptr::write_volatile(
p_cmd_serial,
AclDataSerialStub {
ty: packet_type as u8,
handle: handle,
length: payload.len() as u16,
},
);
ptr::copy_nonoverlapping(payload as *const _ as *const u8, p_payload, payload.len());
}
}

139
embassy-stm32-wpan/src/evt.rs
View File

@ -1,8 +1,6 @@
use core::mem::MaybeUninit; use core::{ptr, slice};
use super::cmd::{AclDataPacket, AclDataSerial}; use super::PacketHeader;
use super::consts::TlPacketType;
use super::{PacketHeader, TL_EVT_HEADER_SIZE};
use crate::mm; use crate::mm;
/** /**
@ -63,6 +61,12 @@ pub struct EvtSerial {
pub evt: Evt, pub evt: Evt,
} }
#[derive(Copy, Clone, Default)]
pub struct EvtStub {
pub kind: u8,
pub evt_code: u8,
}
/// This format shall be used for all events (asynchronous and command response) reported /// This format shall be used for all events (asynchronous and command response) reported
/// by the CPU2 except for the command response of a system command where the header is not there /// by the CPU2 except for the command response of a system command where the header is not there
/// and the format to be used shall be `EvtSerial`. /// and the format to be used shall be `EvtSerial`.
@ -101,76 +105,91 @@ impl EvtBox {
Self { ptr } Self { ptr }
} }
/// copies event data from inner pointer and returns an event structure /// Returns information about the event
pub fn evt(&self) -> EvtPacket { pub fn stub(&self) -> EvtStub {
let mut evt = MaybeUninit::uninit();
unsafe { unsafe {
self.ptr.copy_to(evt.as_mut_ptr(), 1); let p_evt_stub = &(*self.ptr).evt_serial as *const _ as *const EvtStub;
evt.assume_init()
ptr::read_volatile(p_evt_stub)
} }
} }
/// writes an underlying [`EvtPacket`] into the provided buffer. pub fn payload<'a>(&self) -> &'a [u8] {
/// 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<usize, ()> {
unsafe { unsafe {
let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?; let p_payload_len = &(*self.ptr).evt_serial.evt.payload_len as *const u8;
let p_payload = &(*self.ptr).evt_serial.evt.payload as *const u8;
let evt_data: *const EvtPacket = self.ptr.cast(); let payload_len = ptr::read_volatile(p_payload_len);
let evt_serial: *const EvtSerial = &(*evt_data).evt_serial;
let evt_serial_buf: *const u8 = evt_serial.cast();
let acl_data: *const AclDataPacket = self.ptr.cast(); slice::from_raw_parts(p_payload, payload_len as usize)
let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial;
let acl_serial_buf: *const u8 = acl_serial.cast();
if let TlPacketType::AclData = evt_kind {
let len = (*acl_serial).length as usize + 5;
if len > buf.len() {
return Err(());
}
core::ptr::copy(evt_serial_buf, buf.as_mut_ptr(), len);
Ok(len)
} else {
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)
}
} }
} }
/// returns the size of a buffer required to hold this event // TODO: bring back acl
#[allow(clippy::result_unit_err)]
pub fn size(&self) -> Result<usize, ()> {
unsafe {
let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?;
let evt_data: *const EvtPacket = self.ptr.cast(); // /// writes an underlying [`EvtPacket`] into the provided buffer.
let evt_serial: *const EvtSerial = &(*evt_data).evt_serial; // /// Returns the number of bytes that were written.
// /// Returns an error if event kind is unknown or if provided buffer size is not enough.
let acl_data: *const AclDataPacket = self.ptr.cast(); // #[allow(clippy::result_unit_err)]
let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial; // pub fn write(&self, buf: &mut [u8]) -> Result<usize, ()> {
// unsafe {
if let TlPacketType::AclData = evt_kind { // let evt_kind = TlPacketType::try_from((*self.ptr).evt_serial.kind)?;
Ok((*acl_serial).length as usize + 5) //
} else { // let evt_data: *const EvtPacket = self.ptr.cast();
Ok((*evt_serial).evt.payload_len as usize + TL_EVT_HEADER_SIZE) // let evt_serial: *const EvtSerial = &(*evt_data).evt_serial;
} // let evt_serial_buf: *const u8 = evt_serial.cast();
} //
} // let acl_data: *const AclDataPacket = self.ptr.cast();
// let acl_serial: *const AclDataSerial = &(*acl_data).acl_data_serial;
// let acl_serial_buf: *const u8 = acl_serial.cast();
//
// if let TlPacketType::AclData = evt_kind {
// let len = (*acl_serial).length as usize + 5;
// if len > buf.len() {
// return Err(());
// }
//
// core::ptr::copy(evt_serial_buf, buf.as_mut_ptr(), len);
//
// Ok(len)
// } else {
// 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)
// }
// }
// }
//
// /// returns the size of a buffer required to hold this event
// #[allow(clippy::result_unit_err)]
// pub fn size(&self) -> Result<usize, ()> {
// 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 { impl Drop for EvtBox {
fn drop(&mut self) { fn drop(&mut self) {
mm::MemoryManager::evt_drop(self.ptr); trace!("evt box drop packet");
unsafe { mm::MemoryManager::drop_event_packet(self.ptr) };
} }
} }

95
embassy-stm32-wpan/src/lib.rs
View File

@ -6,20 +6,21 @@ pub mod fmt;
use core::mem::MaybeUninit; use core::mem::MaybeUninit;
use core::sync::atomic::{compiler_fence, Ordering}; use core::sync::atomic::{compiler_fence, Ordering};
use ble::Ble;
use cmd::CmdPacket; use cmd::CmdPacket;
use embassy_futures::block_on;
use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
use embassy_stm32::interrupt; use embassy_stm32::interrupt;
use embassy_stm32::interrupt::typelevel::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_stm32::peripherals::IPCC;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::channel::Channel; use embassy_sync::channel::Channel;
use embassy_sync::signal::Signal; use embassy_sync::signal::Signal;
use evt::{CcEvt, EvtBox}; use evt::{CcEvt, EvtBox};
use mm::MemoryManager;
use sys::Sys;
use tables::{ use tables::{
BleTable, DeviceInfoTable, Mac802_15_4Table, MemManagerTable, RefTable, SysTable, ThreadTable, TracesTable, BleTable, DeviceInfoTable, Mac802_15_4Table, MemManagerTable, RefTable, SysTable, ThreadTable, TracesTable,
WirelessFwInfoTable,
}; };
use unsafe_linked_list::LinkedListNode; use unsafe_linked_list::LinkedListNode;
@ -29,50 +30,11 @@ pub mod cmd;
pub mod consts; pub mod consts;
pub mod evt; pub mod evt;
pub mod mm; pub mod mm;
pub mod rc;
pub mod shci; pub mod shci;
pub mod sys; pub mod sys;
pub mod tables; pub mod tables;
pub mod unsafe_linked_list; pub mod unsafe_linked_list;
/// Interrupt handler.
pub struct ReceiveInterruptHandler {}
impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_RX> 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<interrupt::typelevel::IPCC_C1_TX> 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"] #[link_section = "TL_REF_TABLE"]
pub static mut TL_REF_TABLE: MaybeUninit<RefTable> = MaybeUninit::uninit(); pub static mut TL_REF_TABLE: MaybeUninit<RefTable> = MaybeUninit::uninit();
@ -167,10 +129,14 @@ static mut BLE_CMD_BUFFER: MaybeUninit<CmdPacket> = MaybeUninit::uninit();
// fuck these "magic" numbers from ST ---v---v // fuck these "magic" numbers from ST ---v---v
static mut HCI_ACL_DATA_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]> = MaybeUninit::uninit(); static mut HCI_ACL_DATA_BUFFER: MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]> = MaybeUninit::uninit();
// TODO: remove these items
#[allow(dead_code)]
/// current event that is produced during IPCC IRQ handler execution /// current event that is produced during IPCC IRQ handler execution
/// on SYS channel /// on SYS channel
static EVT_CHANNEL: Channel<CriticalSectionRawMutex, EvtBox, 32> = Channel::new(); static EVT_CHANNEL: Channel<CriticalSectionRawMutex, EvtBox, 32> = Channel::new();
#[allow(dead_code)]
/// last received Command Complete event /// last received Command Complete event
static LAST_CC_EVT: Signal<CriticalSectionRawMutex, CcEvt> = Signal::new(); static LAST_CC_EVT: Signal<CriticalSectionRawMutex, CcEvt> = Signal::new();
@ -178,6 +144,10 @@ static STATE: Signal<CriticalSectionRawMutex, ()> = Signal::new();
pub struct TlMbox<'d> { pub struct TlMbox<'d> {
_ipcc: PeripheralRef<'d, IPCC>, _ipcc: PeripheralRef<'d, IPCC>,
pub sys_subsystem: Sys,
pub mm_subsystem: MemoryManager,
pub ble_subsystem: Ble,
} }
impl<'d> TlMbox<'d> { impl<'d> TlMbox<'d> {
@ -262,9 +232,9 @@ impl<'d> TlMbox<'d> {
Ipcc::enable(config); Ipcc::enable(config);
sys::Sys::enable(); let sys = sys::Sys::new();
ble::Ble::enable(); let ble = ble::Ble::new();
mm::MemoryManager::enable(); let mm = mm::MemoryManager::new();
// enable interrupts // enable interrupts
interrupt::typelevel::IPCC_C1_RX::unpend(); interrupt::typelevel::IPCC_C1_RX::unpend();
@ -275,36 +245,11 @@ impl<'d> TlMbox<'d> {
STATE.reset(); STATE.reset();
Self { _ipcc: ipcc } Self {
} _ipcc: ipcc,
sys_subsystem: sys,
/// Returns CPU2 wireless firmware information (if present). ble_subsystem: ble,
pub fn wireless_fw_info(&self) -> Option<WirelessFwInfoTable> { mm_subsystem: mm,
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<EvtBox> {
EVT_CHANNEL.try_recv().ok()
}
/// retrieves last Command Complete event and removes it from mailbox
pub fn pop_last_cc_evt(&mut self) -> Option<CcEvt> {
if LAST_CC_EVT.signaled() {
let cc = block_on(LAST_CC_EVT.wait());
LAST_CC_EVT.reset();
Some(cc)
} else {
None
} }
} }
} }

78
embassy-stm32-wpan/src/mm.rs
View File

@ -1,19 +1,29 @@
//! Memory manager routines //! Memory manager routines
use core::future::poll_fn;
use core::marker::PhantomData;
use core::task::Poll;
use cortex_m::interrupt;
use embassy_stm32::ipcc::Ipcc; use embassy_stm32::ipcc::Ipcc;
use embassy_sync::waitqueue::AtomicWaker;
use crate::evt::EvtPacket; use crate::evt::EvtPacket;
use crate::tables::MemManagerTable; use crate::tables::MemManagerTable;
use crate::unsafe_linked_list::LinkedListNode; use crate::unsafe_linked_list::LinkedListNode;
use crate::{ use crate::{
channels, BLE_SPARE_EVT_BUF, EVT_POOL, FREE_BUF_QUEUE, LOCAL_FREE_BUF_QUEUE, POOL_SIZE, SYS_SPARE_EVT_BUF, 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, TL_MEM_MANAGER_TABLE,
}; };
pub(super) struct MemoryManager; static MM_WAKER: AtomicWaker = AtomicWaker::new();
pub struct MemoryManager {
phantom: PhantomData<MemoryManager>,
}
impl MemoryManager { impl MemoryManager {
pub fn enable() { pub(crate) fn new() -> Self {
unsafe { unsafe {
LinkedListNode::init_head(FREE_BUF_QUEUE.as_mut_ptr()); LinkedListNode::init_head(FREE_BUF_QUEUE.as_mut_ptr());
LinkedListNode::init_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()); LinkedListNode::init_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr());
@ -28,44 +38,40 @@ impl MemoryManager {
tracespoolsize: 0, tracespoolsize: 0,
}); });
} }
Self { phantom: PhantomData }
} }
pub fn evt_drop(evt: *mut EvtPacket) { /// SAFETY: passing a pointer to something other than an event packet is UB
unsafe { pub(crate) unsafe fn drop_event_packet(evt: *mut EvtPacket) {
let list_node = evt.cast(); interrupt::free(|_| unsafe {
LinkedListNode::insert_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), evt as *mut _);
});
LinkedListNode::insert_tail(LOCAL_FREE_BUF_QUEUE.as_mut_ptr(), list_node); MM_WAKER.wake();
}
let channel_is_busy = Ipcc::c1_is_active_flag(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL); pub async fn run_queue(&self) {
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;
// postpone event buffer freeing to IPCC interrupt handler Ipcc::send(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL, || {
if channel_is_busy { interrupt::free(|_| unsafe {
Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL, true); // CS required while moving nodes
} else { while let Some(node_ptr) = LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) {
Self::send_free_buf(); LinkedListNode::insert_head(FREE_BUF_QUEUE.as_mut_ptr(), node_ptr);
Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_MM_RELEASE_BUFFER_CHANNEL); }
} })
})
.await;
} }
} }
/// gives free event buffers back to CPU2 from local buffer queue
pub fn send_free_buf() {
unsafe {
while !LinkedListNode::is_empty(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) {
let node_ptr = LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_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);
}
} }

50
embassy-stm32-wpan/src/rc.rs
View File

@ -1,50 +0,0 @@
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;
}
}
}

43
embassy-stm32-wpan/src/shci.rs
View File

@ -1,8 +1,8 @@
use super::cmd::CmdPacket; use core::{mem, slice};
use super::consts::TlPacketType;
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; use super::{TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE};
pub const SCHI_OPCODE_BLE_INIT: u16 = 0xfc66;
#[derive(Debug, Clone, Copy)] #[derive(Debug, Clone, Copy)]
#[repr(C, packed)] #[repr(C, packed)]
@ -32,6 +32,12 @@ pub struct ShciBleInitCmdParam {
pub hw_version: u8, pub hw_version: u8,
} }
impl ShciBleInitCmdParam {
pub fn payload<'a>(&self) -> &'a [u8] {
unsafe { slice::from_raw_parts(self as *const _ as *const u8, mem::size_of::<Self>()) }
}
}
impl Default for ShciBleInitCmdParam { impl Default for ShciBleInitCmdParam {
fn default() -> Self { fn default() -> Self {
Self { Self {
@ -66,35 +72,10 @@ pub struct ShciHeader {
#[derive(Debug, Clone, Copy)] #[derive(Debug, Clone, Copy)]
#[repr(C, packed)] #[repr(C, packed)]
pub struct ShciBleInitCmdPacket { pub struct ShciBleInitCmdPacket {
header: ShciHeader, pub header: ShciHeader,
param: ShciBleInitCmdParam, pub param: ShciBleInitCmdParam,
} }
pub const TL_BLE_EVT_CS_PACKET_SIZE: usize = TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE; 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 #[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; 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 _ = &mut packet;
unsafe {
let cmd_ptr: *mut CmdPacket = packet_ptr.cast();
(*cmd_ptr).cmdserial.cmd.cmd_code = SCHI_OPCODE_BLE_INIT;
(*cmd_ptr).cmdserial.cmd.payload_len = core::mem::size_of::<ShciBleInitCmdParam>() as u8;
let p_cmd_buffer = &mut *(*TL_SYS_TABLE.as_mut_ptr()).pcmd_buffer;
core::ptr::write(p_cmd_buffer, *cmd_ptr);
p_cmd_buffer.cmdserial.ty = TlPacketType::SysCmd as u8;
sys::Sys::send_cmd();
}
}

85
embassy-stm32-wpan/src/sys.rs
View File

@ -1,65 +1,70 @@
use embassy_stm32::ipcc::Ipcc; use core::marker::PhantomData;
use crate::cmd::{CmdPacket, CmdSerial}; use crate::cmd::CmdPacket;
use crate::evt::{CcEvt, EvtBox, EvtSerial}; use crate::consts::TlPacketType;
use crate::tables::SysTable; use crate::evt::EvtBox;
use crate::shci::{ShciBleInitCmdParam, SCHI_OPCODE_BLE_INIT};
use crate::tables::{SysTable, WirelessFwInfoTable};
use crate::unsafe_linked_list::LinkedListNode; use crate::unsafe_linked_list::LinkedListNode;
use crate::{channels, EVT_CHANNEL, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_SYS_TABLE}; use crate::{channels, Ipcc, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_DEVICE_INFO_TABLE, TL_SYS_TABLE};
pub struct Sys; pub struct Sys {
phantom: PhantomData<Sys>,
}
impl Sys { impl Sys {
pub fn enable() { /// TL_Sys_Init
pub(crate) fn new() -> Self {
unsafe { unsafe {
LinkedListNode::init_head(SYSTEM_EVT_QUEUE.as_mut_ptr()); LinkedListNode::init_head(SYSTEM_EVT_QUEUE.as_mut_ptr());
TL_SYS_TABLE.as_mut_ptr().write_volatile(SysTable { TL_SYS_TABLE.as_mut_ptr().write_volatile(SysTable {
pcmd_buffer: SYS_CMD_BUF.as_mut_ptr(), pcmd_buffer: SYS_CMD_BUF.as_mut_ptr(),
sys_queue: SYSTEM_EVT_QUEUE.as_ptr(), sys_queue: SYSTEM_EVT_QUEUE.as_ptr(),
}) });
} }
Ipcc::c1_set_rx_channel(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL, true); Self { phantom: PhantomData }
} }
pub fn cmd_evt_handler() -> CcEvt { /// Returns CPU2 wireless firmware information (if present).
Ipcc::c1_set_tx_channel(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL, false); pub fn wireless_fw_info(&self) -> Option<WirelessFwInfoTable> {
let info = unsafe { TL_DEVICE_INFO_TABLE.as_mut_ptr().read_volatile().wireless_fw_info_table };
// ST's command response data structure is really convoluted. // Zero version indicates that CPU2 wasn't active and didn't fill the information table
// if info.version != 0 {
// for command response events on SYS channel, the header is missing Some(info)
// and one should: } else {
// 1. interpret the content of CMD_BUFFER as CmdPacket None
// 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() { pub fn write(&self, opcode: u16, payload: &[u8]) {
unsafe { unsafe {
while !LinkedListNode::is_empty(SYSTEM_EVT_QUEUE.as_mut_ptr()) { CmdPacket::write_into(SYS_CMD_BUF.as_mut_ptr(), TlPacketType::SysCmd, opcode, payload);
let node_ptr = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr()); }
}
let event = node_ptr.cast(); pub async fn shci_c2_ble_init(&self, param: ShciBleInitCmdParam) {
let event = EvtBox::new(event); debug!("sending SHCI");
EVT_CHANNEL.try_send(event).unwrap(); 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(&self) -> 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
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);
} }
} }

35
embassy-stm32-wpan/src/unsafe_linked_list.rs
View File

@ -117,7 +117,12 @@ impl LinkedListNode {
/// Remove `node` from the linked list /// Remove `node` from the linked list
pub unsafe fn remove_node(mut p_node: *mut LinkedListNode) { pub unsafe fn remove_node(mut p_node: *mut LinkedListNode) {
interrupt::free(|_| { interrupt::free(|_| {
let node = ptr::read_volatile(p_node); // 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 { if node.next != node.prev {
let mut node_next = ptr::read_volatile(node.next); let mut node_next = ptr::read_volatile(node.next);
let mut node_prev = ptr::read_volatile(node.prev); let mut node_prev = ptr::read_volatile(node.prev);
@ -139,28 +144,36 @@ impl LinkedListNode {
} }
/// Remove `list_head` and return a pointer to the `node`. /// Remove `list_head` and return a pointer to the `node`.
pub unsafe fn remove_head(mut p_list_head: *mut LinkedListNode) -> *mut LinkedListNode { pub unsafe fn remove_head(mut p_list_head: *mut LinkedListNode) -> Option<*mut LinkedListNode> {
interrupt::free(|_| { interrupt::free(|_| {
let list_head = ptr::read_volatile(p_list_head); let list_head = ptr::read_volatile(p_list_head);
// Allowed because a removed node is not seen by another core if list_head.next == p_list_head {
let p_node = list_head.next; None
Self::remove_node(p_node); } else {
// Allowed because a removed node is not seen by another core
let p_node = list_head.next;
Self::remove_node(p_node);
p_node Some(p_node)
}
}) })
} }
/// Remove `list_tail` and return a pointer to the `node`. /// Remove `list_tail` and return a pointer to the `node`.
pub unsafe fn remove_tail(mut p_list_tail: *mut LinkedListNode) -> *mut LinkedListNode { pub unsafe fn remove_tail(mut p_list_tail: *mut LinkedListNode) -> Option<*mut LinkedListNode> {
interrupt::free(|_| { interrupt::free(|_| {
let list_tail = ptr::read_volatile(p_list_tail); let list_tail = ptr::read_volatile(p_list_tail);
// Allowed because a removed node is not seen by another core if list_tail.prev == p_list_tail {
let p_node = list_tail.prev; None
Self::remove_node(p_node); } else {
// Allowed because a removed node is not seen by another core
let p_node = list_tail.prev;
Self::remove_node(p_node);
p_node Some(p_node)
}
}) })
} }

295
embassy-stm32/src/ipcc.rs
View File

@ -1,7 +1,77 @@
use core::future::poll_fn;
use core::task::Poll;
use atomic_polyfill::{compiler_fence, Ordering};
use self::sealed::Instance; use self::sealed::Instance;
use crate::interrupt;
use crate::interrupt::typelevel::Interrupt;
use crate::peripherals::IPCC; use crate::peripherals::IPCC;
use crate::rcc::sealed::RccPeripheral; use crate::rcc::sealed::RccPeripheral;
/// Interrupt handler.
pub struct ReceiveInterruptHandler {}
impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_RX> 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<interrupt::typelevel::IPCC_C1_TX> 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] #[non_exhaustive]
#[derive(Clone, Copy, Default)] #[derive(Clone, Copy, Default)]
pub struct Config { pub struct Config {
@ -20,13 +90,6 @@ pub enum IpccChannel {
Channel6 = 5, 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; pub struct Ipcc;
impl Ipcc { impl Ipcc {
@ -45,114 +108,99 @@ impl Ipcc {
w.set_txfie(true); 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(); let regs = IPCC::regs();
// If bit is set to 1 then interrupt is disabled Self::flush(channel).await;
unsafe { regs.cpu(0).mr().modify(|w| w.set_chom(channel as usize, !enabled)) } compiler_fence(Ordering::SeqCst);
}
pub fn c1_get_rx_channel(channel: IpccChannel) -> bool { f();
let regs = IPCC::regs();
// If bit is set to 1 then interrupt is disabled compiler_fence(Ordering::SeqCst);
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();
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();
trace!("ipcc: ch {}: send data", channel as u8);
unsafe { regs.cpu(0).scr().write(|w| w.set_chs(channel as usize, true)) } unsafe { regs.cpu(0).scr().write(|w| w.set_chs(channel as usize, true)) }
} }
#[allow(dead_code)] /// Wait for the tx channel to become clear
pub fn c2_set_flag_channel(channel: IpccChannel) { pub async fn flush(channel: IpccChannel) {
let regs = IPCC::regs(); 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<R>(channel: IpccChannel, mut f: impl FnMut() -> Option<R>) -> R {
let regs = IPCC::regs(); 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 { poll_fn(|cx| {
let regs = IPCC::regs(); 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 { if unsafe { regs.cpu(1).sr().read() }.chf(channel as usize) {
!Self::c1_is_active_flag(channel) && Self::c1_get_tx_channel(channel) // 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 { Poll::Ready(())
Self::c2_is_active_flag(channel) && Self::c1_get_rx_channel(channel) } 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)) }
}
} }
} }
@ -164,9 +212,66 @@ impl sealed::Instance for crate::peripherals::IPCC {
fn set_cpu2(enabled: bool) { fn set_cpu2(enabled: bool) {
unsafe { crate::pac::PWR.cr4().modify(|w| w.set_c2boot(enabled)) } 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() { unsafe fn _configure_pwr() {
// TODO: move this to RCC
let pwr = crate::pac::PWR; let pwr = crate::pac::PWR;
let rcc = crate::pac::RCC; let rcc = crate::pac::RCC;

8
examples/stm32wb/src/bin/tl_mbox.rs
View File

@ -5,14 +5,14 @@
use defmt::*; use defmt::*;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_stm32::bind_interrupts; use embassy_stm32::bind_interrupts;
use embassy_stm32::ipcc::Config; use embassy_stm32::ipcc::{Config, ReceiveInterruptHandler, TransmitInterruptHandler};
use embassy_stm32_wpan::TlMbox; use embassy_stm32_wpan::TlMbox;
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
use {defmt_rtt as _, panic_probe as _}; use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs{ bind_interrupts!(struct Irqs{
IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; IPCC_C1_RX => ReceiveInterruptHandler;
IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; IPCC_C1_TX => TransmitInterruptHandler;
}); });
#[embassy_executor::main] #[embassy_executor::main]
@ -48,7 +48,7 @@ async fn main(_spawner: Spawner) {
let mbox = TlMbox::init(p.IPCC, Irqs, config); let mbox = TlMbox::init(p.IPCC, Irqs, config);
loop { loop {
let wireless_fw_info = mbox.wireless_fw_info(); let wireless_fw_info = mbox.sys_subsystem.wireless_fw_info();
match wireless_fw_info { match wireless_fw_info {
None => info!("not yet initialized"), None => info!("not yet initialized"),
Some(fw_info) => { Some(fw_info) => {

23
examples/stm32wb/src/bin/tl_mbox_tx_rx.rs
View File

@ -5,14 +5,13 @@
use defmt::*; use defmt::*;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_stm32::bind_interrupts; use embassy_stm32::bind_interrupts;
use embassy_stm32::ipcc::Config; use embassy_stm32::ipcc::{Config, ReceiveInterruptHandler, TransmitInterruptHandler};
use embassy_stm32_wpan::rc::RadioCoprocessor;
use embassy_stm32_wpan::TlMbox; use embassy_stm32_wpan::TlMbox;
use {defmt_rtt as _, panic_probe as _}; use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs{ bind_interrupts!(struct Irqs{
IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; IPCC_C1_RX => ReceiveInterruptHandler;
IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; IPCC_C1_TX => TransmitInterruptHandler;
}); });
#[embassy_executor::main] #[embassy_executor::main]
@ -47,14 +46,18 @@ async fn main(_spawner: Spawner) {
let config = Config::default(); let config = Config::default();
let mbox = TlMbox::init(p.IPCC, Irqs, config); let mbox = TlMbox::init(p.IPCC, Irqs, config);
let mut rc = RadioCoprocessor::new(mbox); let sys_event = mbox.sys_subsystem.read().await;
info!("sys event: {}", sys_event.payload());
let response = rc.read().await; mbox.sys_subsystem.shci_c2_ble_init(Default::default()).await;
info!("coprocessor ready {}", response);
rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]); info!("starting ble...");
let response = rc.read().await; mbox.ble_subsystem.write(0x0c, &[]).await;
info!("ble reset rsp {}", response);
info!("waiting for ble...");
let ble_event = mbox.ble_subsystem.read().await;
info!("ble event: {}", ble_event.payload());
info!("Test OK"); info!("Test OK");
cortex_m::asm::bkpt(); cortex_m::asm::bkpt();

72
tests/stm32/src/bin/tl_mbox.rs
View File

@ -6,60 +6,70 @@
#[path = "../common.rs"] #[path = "../common.rs"]
mod common; mod common;
use core::mem;
use common::*; use common::*;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_futures::poll_once;
use embassy_stm32::bind_interrupts; use embassy_stm32::bind_interrupts;
use embassy_stm32::ipcc::Config; use embassy_stm32::ipcc::{Config, ReceiveInterruptHandler, TransmitInterruptHandler};
use embassy_stm32_wpan::rc::RadioCoprocessor; use embassy_stm32_wpan::{mm, TlMbox};
use embassy_stm32_wpan::TlMbox;
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
bind_interrupts!(struct Irqs{ bind_interrupts!(struct Irqs{
IPCC_C1_RX => embassy_stm32_wpan::ReceiveInterruptHandler; IPCC_C1_RX => ReceiveInterruptHandler;
IPCC_C1_TX => embassy_stm32_wpan::TransmitInterruptHandler; IPCC_C1_TX => TransmitInterruptHandler;
}); });
#[embassy_executor::task]
async fn run_mm_queue(memory_manager: mm::MemoryManager) {
memory_manager.run_queue().await;
}
#[embassy_executor::main] #[embassy_executor::main]
async fn main(_spawner: Spawner) { async fn main(spawner: Spawner) {
let p = embassy_stm32::init(config()); let p = embassy_stm32::init(config());
info!("Hello World!"); info!("Hello World!");
let config = Config::default(); let config = Config::default();
let mbox = TlMbox::init(p.IPCC, Irqs, config); let mbox = TlMbox::init(p.IPCC, Irqs, config);
loop { spawner.spawn(run_mm_queue(mbox.mm_subsystem)).unwrap();
let wireless_fw_info = mbox.wireless_fw_info();
match wireless_fw_info {
None => {}
Some(fw_info) => {
let version_major = fw_info.version_major();
let version_minor = fw_info.version_minor();
let subversion = fw_info.subversion();
let sram2a_size = fw_info.sram2a_size(); let ready_event = mbox.sys_subsystem.read().await;
let sram2b_size = fw_info.sram2b_size(); let _ = poll_once(mbox.sys_subsystem.read()); // clear rx not
info!( info!("coprocessor ready {}", ready_event.payload());
"version {}.{}.{} - SRAM2a {} - SRAM2b {}",
version_major, version_minor, subversion, sram2a_size, sram2b_size
);
break; // test memory manager
} mem::drop(ready_event);
}
Timer::after(Duration::from_millis(50)).await; let fw_info = mbox.sys_subsystem.wireless_fw_info().unwrap();
} let version_major = fw_info.version_major();
let version_minor = fw_info.version_minor();
let subversion = fw_info.subversion();
let mut rc = RadioCoprocessor::new(mbox); let sram2a_size = fw_info.sram2a_size();
let sram2b_size = fw_info.sram2b_size();
let response = rc.read().await; info!(
info!("coprocessor ready {}", response); "version {}.{}.{} - SRAM2a {} - SRAM2b {}",
version_major, version_minor, subversion, sram2a_size, sram2b_size
);
rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]); Timer::after(Duration::from_millis(50)).await;
let response = rc.read().await;
info!("ble reset rsp {}", response);
mbox.sys_subsystem.shci_c2_ble_init(Default::default()).await;
info!("starting ble...");
mbox.ble_subsystem.write(0x0c, &[]).await;
info!("waiting for ble...");
let ble_event = mbox.ble_subsystem.read().await;
info!("ble event: {}", ble_event.payload());
Timer::after(Duration::from_millis(150)).await;
info!("Test OK"); info!("Test OK");
cortex_m::asm::bkpt(); cortex_m::asm::bkpt();
} }