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stm32: initial support for alternative ringbuffer implementation

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This commit is contained in:
Alexandros Liarokapis 2024-09-15 18:47:33 +03:00
parent 4f08d5bc5f
commit 2b10caafd4
8 changed files with 753 additions and 672 deletions
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2
embassy-stm32/Cargo.toml
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@ -93,6 +93,8 @@ aligned = "0.4.1"
[dev-dependencies] [dev-dependencies]
critical-section = { version = "1.1", features = ["std"] } critical-section = { version = "1.1", features = ["std"] }
proptest = "1.5.0"
proptest-state-machine = "0.3.0"
[build-dependencies] [build-dependencies]
proc-macro2 = "1.0.36" proc-macro2 = "1.0.36"

4
embassy-stm32/src/dma/dma_bdma.rs
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@ -763,10 +763,6 @@ impl<'a> DmaCtrl for DmaCtrlImpl<'a> {
self.0.get_remaining_transfers() as _ self.0.get_remaining_transfers() as _
} }
fn get_complete_count(&self) -> usize {
STATE[self.0.id as usize].complete_count.load(Ordering::Acquire)
}
fn reset_complete_count(&mut self) -> usize { fn reset_complete_count(&mut self) -> usize {
let state = &STATE[self.0.id as usize]; let state = &STATE[self.0.id as usize];
#[cfg(not(armv6m))] #[cfg(not(armv6m))]

668
embassy-stm32/src/dma/ringbuffer.rs
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@ -1,668 +0,0 @@
#![cfg_attr(gpdma, allow(unused))]
use core::future::poll_fn;
use core::ops::Range;
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::{Poll, Waker};
use super::word::Word;
/// A "read-only" ring-buffer to be used together with the DMA controller which
/// writes in a circular way, "uncontrolled" to the buffer.
///
/// A snapshot of the ring buffer state can be attained by setting the `ndtr` field
/// to the current register value. `ndtr` describes the current position of the DMA
/// write.
///
/// # Buffer layout
///
/// ```text
/// Without wraparound: With wraparound:
///
/// + buf +--- NDTR ---+ + buf +---------- NDTR ----------+
/// | | | | | |
/// v v v v v v
/// +-----------------------------------------+ +-----------------------------------------+
/// |oooooooooooXXXXXXXXXXXXXXXXoooooooooooooo| |XXXXXXXXXXXXXooooooooooooXXXXXXXXXXXXXXXX|
/// +-----------------------------------------+ +-----------------------------------------+
/// ^ ^ ^ ^ ^ ^
/// | | | | | |
/// +- start --+ | +- end ------+ |
/// | | | |
/// +- end --------------------+ +- start ----------------+
/// ```
pub struct ReadableDmaRingBuffer<'a, W: Word> {
pub(crate) dma_buf: &'a mut [W],
start: usize,
}
#[derive(Debug, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct OverrunError;
pub trait DmaCtrl {
/// Get the NDTR register value, i.e. the space left in the underlying
/// buffer until the dma writer wraps.
fn get_remaining_transfers(&self) -> usize;
/// Get the transfer completed counter.
/// This counter is incremented by the dma controller when NDTR is reloaded,
/// i.e. when the writing wraps.
fn get_complete_count(&self) -> usize;
/// Reset the transfer completed counter to 0 and return the value just prior to the reset.
fn reset_complete_count(&mut self) -> usize;
/// Set the waker for a running poll_fn
fn set_waker(&mut self, waker: &Waker);
}
impl<'a, W: Word> ReadableDmaRingBuffer<'a, W> {
pub fn new(dma_buf: &'a mut [W]) -> Self {
Self { dma_buf, start: 0 }
}
/// Reset the ring buffer to its initial state
pub fn clear(&mut self, dma: &mut impl DmaCtrl) {
self.start = 0;
dma.reset_complete_count();
}
/// The capacity of the ringbuffer
pub const fn cap(&self) -> usize {
self.dma_buf.len()
}
/// The current position of the ringbuffer
fn pos(&self, dma: &mut impl DmaCtrl) -> usize {
self.cap() - dma.get_remaining_transfers()
}
/// Read an exact number of elements from the ringbuffer.
///
/// Returns the remaining number of elements available for immediate reading.
/// OverrunError is returned if the portion to be read was overwritten by the DMA controller.
///
/// Async/Wake Behavior:
/// The underlying DMA peripheral only can wake us when its buffer pointer has reached the halfway point,
/// and when it wraps around. This means that when called with a buffer of length 'M', when this
/// ring buffer was created with a buffer of size 'N':
/// - If M equals N/2 or N/2 divides evenly into M, this function will return every N/2 elements read on the DMA source.
/// - Otherwise, this function may need up to N/2 extra elements to arrive before returning.
pub async fn read_exact(&mut self, dma: &mut impl DmaCtrl, buffer: &mut [W]) -> Result<usize, OverrunError> {
let mut read_data = 0;
let buffer_len = buffer.len();
poll_fn(|cx| {
dma.set_waker(cx.waker());
compiler_fence(Ordering::SeqCst);
match self.read(dma, &mut buffer[read_data..buffer_len]) {
Ok((len, remaining)) => {
read_data += len;
if read_data == buffer_len {
Poll::Ready(Ok(remaining))
} else {
Poll::Pending
}
}
Err(e) => Poll::Ready(Err(e)),
}
})
.await
}
/// Read elements from the ring buffer
/// Return a tuple of the length read and the length remaining in the buffer
/// If not all of the elements were read, then there will be some elements in the buffer remaining
/// The length remaining is the capacity, ring_buf.len(), less the elements remaining after the read
/// OverrunError is returned if the portion to be read was overwritten by the DMA controller.
pub fn read(&mut self, dma: &mut impl DmaCtrl, buf: &mut [W]) -> Result<(usize, usize), OverrunError> {
/*
This algorithm is optimistic: we assume we haven't overrun more than a full buffer and then check
after we've done our work to see we have. This is because on stm32, an interrupt is not guaranteed
to fire in the same clock cycle that a register is read, so checking get_complete_count early does
not yield relevant information.
Therefore, the only variable we really need to know is ndtr. If the dma has overrun by more than a full
buffer, we will do a bit more work than we have to, but algorithms should not be optimized for error
conditions.
After we've done our work, we confirm that we haven't overrun more than a full buffer, and also that
the dma has not overrun within the data we could have copied. We check the data we could have copied
rather than the data we actually copied because it costs nothing and confirms an error condition
earlier.
*/
let end = self.pos(dma);
if self.start == end && dma.get_complete_count() == 0 {
// No elements are available in the buffer
Ok((0, self.cap()))
} else if self.start < end {
// The available, unread portion in the ring buffer DOES NOT wrap
// Copy out the elements from the dma buffer
let len = self.copy_to(buf, self.start..end);
compiler_fence(Ordering::SeqCst);
/*
first, check if the dma has wrapped at all if it's after end
or more than once if it's before start
this is in a critical section to try to reduce mushy behavior.
it's not ideal but it's the best we can do
then, get the current position of of the dma write and check
if it's inside data we could have copied
*/
let (pos, complete_count) = critical_section::with(|_| (self.pos(dma), dma.get_complete_count()));
if (pos >= self.start && pos < end) || (complete_count > 0 && pos >= end) || complete_count > 1 {
Err(OverrunError)
} else {
self.start = (self.start + len) % self.cap();
Ok((len, self.cap() - self.start))
}
} else if self.start + buf.len() < self.cap() {
// The available, unread portion in the ring buffer DOES wrap
// The DMA writer has wrapped since we last read and is currently
// writing (or the next byte added will be) in the beginning of the ring buffer.
// The provided read buffer is not large enough to include all elements from the tail of the dma buffer.
// Copy out from the dma buffer
let len = self.copy_to(buf, self.start..self.cap());
compiler_fence(Ordering::SeqCst);
/*
first, check if the dma has wrapped around more than once
then, get the current position of of the dma write and check
if it's inside data we could have copied
*/
let pos = self.pos(dma);
if pos > self.start || pos < end || dma.get_complete_count() > 1 {
Err(OverrunError)
} else {
self.start = (self.start + len) % self.cap();
Ok((len, self.start + end))
}
} else {
// The available, unread portion in the ring buffer DOES wrap
// The DMA writer has wrapped since we last read and is currently
// writing (or the next byte added will be) in the beginning of the ring buffer.
// The provided read buffer is large enough to include all elements from the tail of the dma buffer,
// so the next read will not have any unread tail elements in the ring buffer.
// Copy out from the dma buffer
let tail = self.copy_to(buf, self.start..self.cap());
let head = self.copy_to(&mut buf[tail..], 0..end);
compiler_fence(Ordering::SeqCst);
/*
first, check if the dma has wrapped around more than once
then, get the current position of of the dma write and check
if it's inside data we could have copied
*/
let pos = self.pos(dma);
if pos > self.start || pos < end || dma.reset_complete_count() > 1 {
Err(OverrunError)
} else {
self.start = head;
Ok((tail + head, self.cap() - self.start))
}
}
}
/// Copy from the dma buffer at `data_range` into `buf`
fn copy_to(&mut self, buf: &mut [W], data_range: Range<usize>) -> usize {
// Limit the number of elements that can be copied
let length = usize::min(data_range.len(), buf.len());
// Copy from dma buffer into read buffer
// We need to do it like this instead of a simple copy_from_slice() because
// reading from a part of memory that may be simultaneously written to is unsafe
unsafe {
let dma_buf = self.dma_buf.as_ptr();
for i in 0..length {
buf[i] = core::ptr::read_volatile(dma_buf.offset((data_range.start + i) as isize));
}
}
length
}
}
pub struct WritableDmaRingBuffer<'a, W: Word> {
pub(crate) dma_buf: &'a mut [W],
end: usize,
}
impl<'a, W: Word> WritableDmaRingBuffer<'a, W> {
pub fn new(dma_buf: &'a mut [W]) -> Self {
Self { dma_buf, end: 0 }
}
/// Reset the ring buffer to its initial state
pub fn clear(&mut self, dma: &mut impl DmaCtrl) {
self.end = 0;
dma.reset_complete_count();
}
/// The capacity of the ringbuffer
pub const fn cap(&self) -> usize {
self.dma_buf.len()
}
/// The current position of the ringbuffer
fn pos(&self, dma: &mut impl DmaCtrl) -> usize {
self.cap() - dma.get_remaining_transfers()
}
/// Write elements directly to the buffer. This must be done before the DMA is started
/// or after the buffer has been cleared using `clear()`.
pub fn write_immediate(&mut self, buffer: &[W]) -> Result<(usize, usize), OverrunError> {
if self.end != 0 {
return Err(OverrunError);
}
let written = self.copy_from(buffer, 0..self.cap());
self.end = written % self.cap();
Ok((written, self.cap() - written))
}
/// Write an exact number of elements to the ringbuffer.
pub async fn write_exact(&mut self, dma: &mut impl DmaCtrl, buffer: &[W]) -> Result<usize, OverrunError> {
let mut written_data = 0;
let buffer_len = buffer.len();
poll_fn(|cx| {
dma.set_waker(cx.waker());
compiler_fence(Ordering::SeqCst);
match self.write(dma, &buffer[written_data..buffer_len]) {
Ok((len, remaining)) => {
written_data += len;
if written_data == buffer_len {
Poll::Ready(Ok(remaining))
} else {
Poll::Pending
}
}
Err(e) => Poll::Ready(Err(e)),
}
})
.await
}
/// Write elements from the ring buffer
/// Return a tuple of the length written and the capacity remaining to be written in the buffer
pub fn write(&mut self, dma: &mut impl DmaCtrl, buf: &[W]) -> Result<(usize, usize), OverrunError> {
let start = self.pos(dma);
if start > self.end {
// The occupied portion in the ring buffer DOES wrap
let len = self.copy_from(buf, self.end..start);
compiler_fence(Ordering::SeqCst);
// Confirm that the DMA is not inside data we could have written
let (pos, complete_count) = critical_section::with(|_| (self.pos(dma), dma.get_complete_count()));
if (pos >= self.end && pos < start) || (complete_count > 0 && pos >= start) || complete_count > 1 {
Err(OverrunError)
} else {
self.end = (self.end + len) % self.cap();
Ok((len, self.cap() - (start - self.end)))
}
} else if start == self.end && dma.get_complete_count() == 0 {
Ok((0, 0))
} else if start <= self.end && self.end + buf.len() < self.cap() {
// The occupied portion in the ring buffer DOES NOT wrap
// and copying elements into the buffer WILL NOT cause it to
// Copy into the dma buffer
let len = self.copy_from(buf, self.end..self.cap());
compiler_fence(Ordering::SeqCst);
// Confirm that the DMA is not inside data we could have written
let pos = self.pos(dma);
if pos > self.end || pos < start || dma.get_complete_count() > 1 {
Err(OverrunError)
} else {
self.end = (self.end + len) % self.cap();
Ok((len, self.cap() - (self.end - start)))
}
} else {
// The occupied portion in the ring buffer DOES NOT wrap
// and copying elements into the buffer WILL cause it to
let tail = self.copy_from(buf, self.end..self.cap());
let head = self.copy_from(&buf[tail..], 0..start);
compiler_fence(Ordering::SeqCst);
// Confirm that the DMA is not inside data we could have written
let pos = self.pos(dma);
if pos > self.end || pos < start || dma.reset_complete_count() > 1 {
Err(OverrunError)
} else {
self.end = head;
Ok((tail + head, self.cap() - (start - self.end)))
}
}
}
/// Copy into the dma buffer at `data_range` from `buf`
fn copy_from(&mut self, buf: &[W], data_range: Range<usize>) -> usize {
// Limit the number of elements that can be copied
let length = usize::min(data_range.len(), buf.len());
// Copy into dma buffer from read buffer
// We need to do it like this instead of a simple copy_from_slice() because
// reading from a part of memory that may be simultaneously written to is unsafe
unsafe {
let dma_buf = self.dma_buf.as_mut_ptr();
for i in 0..length {
core::ptr::write_volatile(dma_buf.offset((data_range.start + i) as isize), buf[i]);
}
}
length
}
}
#[cfg(test)]
mod tests {
use core::array;
use std::{cell, vec};
use super::*;
#[allow(dead_code)]
#[derive(PartialEq, Debug)]
enum TestCircularTransferRequest {
GetCompleteCount(usize),
ResetCompleteCount(usize),
PositionRequest(usize),
}
struct TestCircularTransfer {
len: usize,
requests: cell::RefCell<vec::Vec<TestCircularTransferRequest>>,
}
impl DmaCtrl for TestCircularTransfer {
fn get_remaining_transfers(&self) -> usize {
match self.requests.borrow_mut().pop().unwrap() {
TestCircularTransferRequest::PositionRequest(pos) => {
let len = self.len;
assert!(len >= pos);
len - pos
}
_ => unreachable!(),
}
}
fn get_complete_count(&self) -> usize {
match self.requests.borrow_mut().pop().unwrap() {
TestCircularTransferRequest::GetCompleteCount(complete_count) => complete_count,
_ => unreachable!(),
}
}
fn reset_complete_count(&mut self) -> usize {
match self.requests.get_mut().pop().unwrap() {
TestCircularTransferRequest::ResetCompleteCount(complete_count) => complete_count,
_ => unreachable!(),
}
}
fn set_waker(&mut self, waker: &Waker) {}
}
impl TestCircularTransfer {
pub fn new(len: usize) -> Self {
Self {
requests: cell::RefCell::new(vec![]),
len,
}
}
pub fn setup(&self, mut requests: vec::Vec<TestCircularTransferRequest>) {
requests.reverse();
self.requests.replace(requests);
}
}
#[test]
fn empty_and_read_not_started() {
let mut dma_buf = [0u8; 16];
let ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
}
#[test]
fn can_read() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(8),
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 2];
assert_eq!(2, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!([0, 1], buf);
assert_eq!(2, ringbuf.start);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::PositionRequest(12),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 2];
assert_eq!(2, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!([2, 3], buf);
assert_eq!(4, ringbuf.start);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(12),
TestCircularTransferRequest::PositionRequest(14),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 8];
assert_eq!(8, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!([4, 5, 6, 7, 8, 9], buf[..6]);
assert_eq!(12, ringbuf.start);
}
#[test]
fn can_read_with_wrap() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
/*
Read to close to the end of the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(14),
TestCircularTransferRequest::PositionRequest(16),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 14];
assert_eq!(14, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(14, ringbuf.start);
/*
Now, read around the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::PositionRequest(8),
TestCircularTransferRequest::ResetCompleteCount(1),
]);
let mut buf = [0; 6];
assert_eq!(6, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(4, ringbuf.start);
}
#[test]
fn can_read_when_dma_writer_is_wrapped_and_read_does_not_wrap() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
/*
Read to close to the end of the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(14),
TestCircularTransferRequest::PositionRequest(16),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 14];
assert_eq!(14, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(14, ringbuf.start);
/*
Now, read to the end of the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::PositionRequest(8),
TestCircularTransferRequest::ResetCompleteCount(1),
]);
let mut buf = [0; 2];
assert_eq!(2, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(0, ringbuf.start);
}
#[test]
fn can_read_when_dma_writer_wraps_once_with_same_ndtr() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
/*
Read to about the middle of the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 6];
assert_eq!(6, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(6, ringbuf.start);
/*
Now, wrap the DMA controller around
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::GetCompleteCount(1),
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::GetCompleteCount(1),
]);
let mut buf = [0; 6];
assert_eq!(6, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(12, ringbuf.start);
}
#[test]
fn cannot_read_when_dma_writer_overwrites_during_not_wrapping_read() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
/*
Read a few bytes
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(2),
TestCircularTransferRequest::PositionRequest(2),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 6];
assert_eq!(2, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(2, ringbuf.start);
/*
Now, overtake the reader
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(4),
TestCircularTransferRequest::PositionRequest(6),
TestCircularTransferRequest::GetCompleteCount(1),
]);
let mut buf = [0; 6];
assert_eq!(OverrunError, ringbuf.read(&mut dma, &mut buf).unwrap_err());
}
#[test]
fn cannot_read_when_dma_writer_overwrites_during_wrapping_read() {
let mut dma = TestCircularTransfer::new(16);
let mut dma_buf: [u8; 16] = array::from_fn(|idx| idx as u8); // 0, 1, ..., 15
let mut ringbuf = ReadableDmaRingBuffer::new(&mut dma_buf);
assert_eq!(0, ringbuf.start);
assert_eq!(16, ringbuf.cap());
/*
Read to close to the end of the buffer
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(14),
TestCircularTransferRequest::PositionRequest(16),
TestCircularTransferRequest::GetCompleteCount(0),
]);
let mut buf = [0; 14];
assert_eq!(14, ringbuf.read(&mut dma, &mut buf).unwrap().0);
assert_eq!(14, ringbuf.start);
/*
Now, overtake the reader
*/
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(8),
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::ResetCompleteCount(2),
]);
let mut buf = [0; 6];
assert_eq!(OverrunError, ringbuf.read(&mut dma, &mut buf).unwrap_err());
}
}

293
embassy-stm32/src/dma/ringbuffer/mod.rs Normal file
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@ -0,0 +1,293 @@
#![cfg_attr(gpdma, allow(unused))]
use core::future::poll_fn;
use core::task::{Poll, Waker};
use crate::dma::word::Word;
pub trait DmaCtrl {
/// Get the NDTR register value, i.e. the space left in the underlying
/// buffer until the dma writer wraps.
fn get_remaining_transfers(&self) -> usize;
/// Reset the transfer completed counter to 0 and return the value just prior to the reset.
fn reset_complete_count(&mut self) -> usize;
/// Set the waker for a running poll_fn
fn set_waker(&mut self, waker: &Waker);
}
#[derive(Debug, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct OverrunError;
#[derive(Debug, Clone, Copy, Default)]
struct DmaIndex {
completion_count: usize,
pos: usize,
}
fn pos(cap: usize, dma: &impl DmaCtrl) -> usize {
cap - dma.get_remaining_transfers()
}
impl DmaIndex {
fn reset(&mut self) {
self.pos = 0;
self.completion_count = 0;
}
fn as_index(&self, cap: usize, offset: usize) -> usize {
(self.pos + offset) % cap
}
fn dma_sync(&mut self, cap: usize, dma: &mut impl DmaCtrl) {
let fst_pos = pos(cap, dma);
let fst_count = dma.reset_complete_count();
let pos = pos(cap, dma);
let wrap_count = if pos >= fst_pos {
fst_count
} else {
fst_count + dma.reset_complete_count()
};
self.pos = pos;
self.completion_count += wrap_count;
}
fn advance(&mut self, cap: usize, steps: usize) {
let next = self.pos + steps;
self.completion_count += next / cap;
self.pos = next % cap;
}
fn normalize(lhs: &mut DmaIndex, rhs: &mut DmaIndex) {
let min_count = lhs.completion_count.min(rhs.completion_count);
lhs.completion_count -= min_count;
rhs.completion_count -= min_count;
}
fn diff(&mut self, cap: usize, rhs: &mut DmaIndex) -> isize {
Self::normalize(self, rhs);
(self.completion_count * cap + self.pos) as isize - (rhs.completion_count * cap + rhs.pos) as isize
}
}
pub struct ReadableDmaRingBuffer<'a, W: Word> {
dma_buf: &'a mut [W],
write_index: DmaIndex,
read_index: DmaIndex,
}
impl<'a, W: Word> ReadableDmaRingBuffer<'a, W> {
/// Construct an empty buffer.
pub fn new(dma_buf: &'a mut [W]) -> Self {
Self {
dma_buf,
write_index: Default::default(),
read_index: Default::default(),
}
}
/// Reset the ring buffer to its initial state
pub fn clear(&mut self, dma: &mut impl DmaCtrl) {
dma.reset_complete_count();
self.write_index.reset();
self.update_dma_index(dma);
self.read_index = self.write_index;
}
/// The capacity of the ringbuffer
pub const fn cap(&self) -> usize {
self.dma_buf.len()
}
/// Read elements from the ring buffer
/// Return a tuple of the length read and the length remaining in the buffer
/// If not all of the elements were read, then there will be some elements in the buffer remaining
/// The length remaining is the capacity, ring_buf.len(), less the elements remaining after the read
/// OverrunError is returned if the portion to be read was overwritten by the DMA controller.
pub fn read(&mut self, dma: &mut impl DmaCtrl, buf: &mut [W]) -> Result<(usize, usize), OverrunError> {
let readable = self.margin(dma)?.min(buf.len());
for i in 0..readable {
buf[i] = self.read_buf(i);
}
let available = self.margin(dma)?;
self.read_index.advance(self.cap(), readable);
Ok((readable, available - readable))
}
/// Read an exact number of elements from the ringbuffer.
///
/// Returns the remaining number of elements available for immediate reading.
/// OverrunError is returned if the portion to be read was overwritten by the DMA controller.
///
/// Async/Wake Behavior:
/// The underlying DMA peripheral only can wake us when its buffer pointer has reached the halfway point,
/// and when it wraps around. This means that when called with a buffer of length 'M', when this
/// ring buffer was created with a buffer of size 'N':
/// - If M equals N/2 or N/2 divides evenly into M, this function will return every N/2 elements read on the DMA source.
/// - Otherwise, this function may need up to N/2 extra elements to arrive before returning.
pub async fn read_exact(&mut self, dma: &mut impl DmaCtrl, buffer: &mut [W]) -> Result<usize, OverrunError> {
let mut read_data = 0;
let buffer_len = buffer.len();
poll_fn(|cx| {
dma.set_waker(cx.waker());
match self.read(dma, &mut buffer[read_data..buffer_len]) {
Ok((len, remaining)) => {
read_data += len;
if read_data == buffer_len {
Poll::Ready(Ok(remaining))
} else {
Poll::Pending
}
}
Err(e) => Poll::Ready(Err(e)),
}
})
.await
}
fn update_dma_index(&mut self, dma: &mut impl DmaCtrl) {
self.write_index.dma_sync(self.cap(), dma)
}
fn read_buf(&self, offset: usize) -> W {
unsafe {
core::ptr::read_volatile(
self.dma_buf
.as_ptr()
.offset(self.read_index.as_index(self.cap(), offset) as isize),
)
}
}
/// Returns available dma samples
fn margin(&mut self, dma: &mut impl DmaCtrl) -> Result<usize, OverrunError> {
self.update_dma_index(dma);
let diff: usize = self
.write_index
.diff(self.cap(), &mut self.read_index)
.try_into()
.unwrap();
if diff > self.cap() {
Err(OverrunError)
} else {
Ok(diff)
}
}
}
pub struct WritableDmaRingBuffer<'a, W: Word> {
dma_buf: &'a mut [W],
read_index: DmaIndex,
write_index: DmaIndex,
}
impl<'a, W: Word> WritableDmaRingBuffer<'a, W> {
/// Construct a ringbuffer filled with the given buffer data.
pub fn new(dma_buf: &'a mut [W]) -> Self {
let len = dma_buf.len();
Self {
dma_buf,
read_index: Default::default(),
write_index: DmaIndex {
completion_count: 0,
pos: len,
},
}
}
/// Reset the ring buffer to its initial state. The buffer after the reset will be full.
pub fn clear(&mut self, dma: &mut impl DmaCtrl) {
dma.reset_complete_count();
self.read_index.reset();
self.update_dma_index(dma);
self.write_index = self.read_index;
self.write_index.advance(self.cap(), self.cap());
}
/// Get the capacity of the ringbuffer.
pub const fn cap(&self) -> usize {
self.dma_buf.len()
}
/// Append data to the ring buffer.
/// Returns a tuple of the data written and the remaining write capacity in the buffer.
pub fn write(&mut self, dma: &mut impl DmaCtrl, buf: &[W]) -> Result<(usize, usize), OverrunError> {
let writable = self.margin(dma)?.min(buf.len());
for i in 0..writable {
self.write_buf(i, buf[i]);
}
let available = self.margin(dma)?;
self.write_index.advance(self.cap(), writable);
Ok((writable, available - writable))
}
/// Write elements directly to the buffer.
pub fn write_immediate(&mut self, buf: &[W]) -> Result<(usize, usize), OverrunError> {
for (i, data) in buf.iter().enumerate() {
self.write_buf(i, *data)
}
let written = buf.len().min(self.cap());
Ok((written, self.cap() - written))
}
/// Write an exact number of elements to the ringbuffer.
pub async fn write_exact(&mut self, dma: &mut impl DmaCtrl, buffer: &[W]) -> Result<usize, OverrunError> {
let mut written_data = 0;
let buffer_len = buffer.len();
poll_fn(|cx| {
dma.set_waker(cx.waker());
match self.write(dma, &buffer[written_data..buffer_len]) {
Ok((len, remaining)) => {
written_data += len;
if written_data == buffer_len {
Poll::Ready(Ok(remaining))
} else {
Poll::Pending
}
}
Err(e) => Poll::Ready(Err(e)),
}
})
.await
}
fn update_dma_index(&mut self, dma: &mut impl DmaCtrl) {
self.read_index.dma_sync(self.cap(), dma);
}
fn write_buf(&mut self, offset: usize, value: W) {
unsafe {
core::ptr::write_volatile(
self.dma_buf
.as_mut_ptr()
.offset(self.write_index.as_index(self.cap(), offset) as isize),
value,
)
}
}
fn margin(&mut self, dma: &mut impl DmaCtrl) -> Result<usize, OverrunError> {
self.update_dma_index(dma);
let diff = self.write_index.diff(self.cap(), &mut self.read_index);
if diff < 0 {
Err(OverrunError)
} else {
Ok(self.cap().saturating_sub(diff as usize))
}
}
}
#[cfg(test)]
mod tests;

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use std::{cell, vec};
use super::*;
#[allow(dead_code)]
#[derive(PartialEq, Debug)]
enum TestCircularTransferRequest {
ResetCompleteCount(usize),
PositionRequest(usize),
}
struct TestCircularTransfer {
len: usize,
requests: cell::RefCell<vec::Vec<TestCircularTransferRequest>>,
}
impl DmaCtrl for TestCircularTransfer {
fn get_remaining_transfers(&self) -> usize {
match self.requests.borrow_mut().pop().unwrap() {
TestCircularTransferRequest::PositionRequest(pos) => {
let len = self.len;
assert!(len >= pos);
len - pos
}
_ => unreachable!(),
}
}
fn reset_complete_count(&mut self) -> usize {
match self.requests.get_mut().pop().unwrap() {
TestCircularTransferRequest::ResetCompleteCount(complete_count) => complete_count,
_ => unreachable!(),
}
}
fn set_waker(&mut self, _waker: &Waker) {}
}
impl TestCircularTransfer {
pub fn new(len: usize) -> Self {
Self {
requests: cell::RefCell::new(vec![]),
len,
}
}
pub fn setup(&self, mut requests: vec::Vec<TestCircularTransferRequest>) {
requests.reverse();
self.requests.replace(requests);
}
}
const CAP: usize = 16;
#[test]
fn dma_index_dma_sync_syncs_position_to_last_read_if_sync_takes_place_on_same_dma_cycle() {
let mut dma = TestCircularTransfer::new(CAP);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(4),
TestCircularTransferRequest::ResetCompleteCount(0),
TestCircularTransferRequest::PositionRequest(7),
]);
let mut index = DmaIndex::default();
index.dma_sync(CAP, &mut dma);
assert_eq!(index.completion_count, 0);
assert_eq!(index.pos, 7);
}
#[test]
fn dma_index_dma_sync_updates_completion_count_properly_if_sync_takes_place_on_same_dma_cycle() {
let mut dma = TestCircularTransfer::new(CAP);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(4),
TestCircularTransferRequest::ResetCompleteCount(2),
TestCircularTransferRequest::PositionRequest(7),
]);
let mut index = DmaIndex::default();
index.completion_count = 1;
index.dma_sync(CAP, &mut dma);
assert_eq!(index.completion_count, 3);
assert_eq!(index.pos, 7);
}
#[test]
fn dma_index_dma_sync_syncs_to_last_position_if_reads_occur_on_different_dma_cycles() {
let mut dma = TestCircularTransfer::new(CAP);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::ResetCompleteCount(1),
TestCircularTransferRequest::PositionRequest(5),
TestCircularTransferRequest::ResetCompleteCount(0),
]);
let mut index = DmaIndex::default();
index.dma_sync(CAP, &mut dma);
assert_eq!(index.completion_count, 1);
assert_eq!(index.pos, 5);
}
#[test]
fn dma_index_dma_sync_detects_new_cycle_if_later_position_is_less_than_first_and_first_completion_count_occurs_on_first_cycle(
) {
let mut dma = TestCircularTransfer::new(CAP);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::ResetCompleteCount(1),
TestCircularTransferRequest::PositionRequest(5),
TestCircularTransferRequest::ResetCompleteCount(1),
]);
let mut index = DmaIndex::default();
index.completion_count = 1;
index.dma_sync(CAP, &mut dma);
assert_eq!(index.completion_count, 3);
assert_eq!(index.pos, 5);
}
#[test]
fn dma_index_dma_sync_detects_new_cycle_if_later_position_is_less_than_first_and_first_completion_count_occurs_on_later_cycle(
) {
let mut dma = TestCircularTransfer::new(CAP);
dma.setup(vec![
TestCircularTransferRequest::PositionRequest(10),
TestCircularTransferRequest::ResetCompleteCount(2),
TestCircularTransferRequest::PositionRequest(5),
TestCircularTransferRequest::ResetCompleteCount(0),
]);
let mut index = DmaIndex::default();
index.completion_count = 1;
index.dma_sync(CAP, &mut dma);
assert_eq!(index.completion_count, 3);
assert_eq!(index.pos, 5);
}
#[test]
fn dma_index_as_index_returns_index_mod_cap_by_default() {
let index = DmaIndex::default();
assert_eq!(index.as_index(CAP, 0), 0);
assert_eq!(index.as_index(CAP, 1), 1);
assert_eq!(index.as_index(CAP, 2), 2);
assert_eq!(index.as_index(CAP, 3), 3);
assert_eq!(index.as_index(CAP, 4), 4);
assert_eq!(index.as_index(CAP, CAP), 0);
assert_eq!(index.as_index(CAP, CAP + 1), 1);
}
#[test]
fn dma_index_advancing_increases_as_index() {
let mut index = DmaIndex::default();
assert_eq!(index.as_index(CAP, 0), 0);
index.advance(CAP, 1);
assert_eq!(index.as_index(CAP, 0), 1);
index.advance(CAP, 1);
assert_eq!(index.as_index(CAP, 0), 2);
index.advance(CAP, 1);
assert_eq!(index.as_index(CAP, 0), 3);
index.advance(CAP, 1);
assert_eq!(index.as_index(CAP, 0), 4);
index.advance(CAP, CAP - 4);
assert_eq!(index.as_index(CAP, 0), 0);
index.advance(CAP, 1);
assert_eq!(index.as_index(CAP, 0), 1);
}
mod prop_test;

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use std::task::Waker;
use proptest::prop_oneof;
use proptest::strategy::{self, BoxedStrategy, Strategy as _};
use proptest_state_machine::{prop_state_machine, ReferenceStateMachine, StateMachineTest};
use super::*;
const CAP: usize = 128;
#[derive(Debug, Default)]
struct DmaMock {
pos: usize,
wraps: usize,
}
impl DmaMock {
pub fn advance(&mut self, steps: usize) {
let next = self.pos + steps;
self.pos = next % CAP;
self.wraps += next / CAP;
}
}
impl DmaCtrl for DmaMock {
fn get_remaining_transfers(&self) -> usize {
CAP - self.pos
}
fn reset_complete_count(&mut self) -> usize {
core::mem::replace(&mut self.wraps, 0)
}
fn set_waker(&mut self, _waker: &Waker) {}
}
#[derive(Debug, Clone)]
enum Status {
Available(usize),
Failed,
}
impl Status {
pub fn new(capacity: usize) -> Self {
Self::Available(capacity)
}
}
mod reader;
mod writer;

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use core::fmt::Debug;
use super::*;
#[derive(Debug, Clone)]
enum ReaderTransition {
Write(usize),
Clear,
ReadUpTo(usize),
}
struct ReaderSM;
impl ReferenceStateMachine for ReaderSM {
type State = Status;
type Transition = ReaderTransition;
fn init_state() -> BoxedStrategy<Self::State> {
strategy::Just(Status::new(0)).boxed()
}
fn transitions(_state: &Self::State) -> BoxedStrategy<Self::Transition> {
prop_oneof![
(1..50_usize).prop_map(ReaderTransition::Write),
(1..50_usize).prop_map(ReaderTransition::ReadUpTo),
strategy::Just(ReaderTransition::Clear),
]
.boxed()
}
fn apply(status: Self::State, transition: &Self::Transition) -> Self::State {
match (status, transition) {
(_, ReaderTransition::Clear) => Status::Available(0),
(Status::Available(x), ReaderTransition::Write(y)) => {
if x + y > CAP {
Status::Failed
} else {
Status::Available(x + y)
}
}
(Status::Available(x), ReaderTransition::ReadUpTo(y)) => Status::Available(x.saturating_sub(*y)),
(Status::Failed, _) => Status::Failed,
}
}
}
struct ReaderSut {
status: Status,
buffer: *mut [u8],
producer: DmaMock,
consumer: ReadableDmaRingBuffer<'static, u8>,
}
impl Debug for ReaderSut {
fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
<DmaMock as Debug>::fmt(&self.producer, f)
}
}
struct ReaderTest;
impl StateMachineTest for ReaderTest {
type SystemUnderTest = ReaderSut;
type Reference = ReaderSM;
fn init_test(ref_status: &<Self::Reference as ReferenceStateMachine>::State) -> Self::SystemUnderTest {
let buffer = Box::into_raw(Box::new([0; CAP]));
ReaderSut {
status: ref_status.clone(),
buffer,
producer: DmaMock::default(),
consumer: ReadableDmaRingBuffer::new(unsafe { &mut *buffer }),
}
}
fn teardown(state: Self::SystemUnderTest) {
unsafe {
let _ = Box::from_raw(state.buffer);
};
}
fn apply(
mut sut: Self::SystemUnderTest,
ref_state: &<Self::Reference as ReferenceStateMachine>::State,
transition: <Self::Reference as ReferenceStateMachine>::Transition,
) -> Self::SystemUnderTest {
match transition {
ReaderTransition::Write(x) => sut.producer.advance(x),
ReaderTransition::Clear => {
sut.consumer.clear(&mut sut.producer);
}
ReaderTransition::ReadUpTo(x) => {
let status = sut.status;
let ReaderSut {
ref mut producer,
ref mut consumer,
..
} = sut;
let mut buf = vec![0; x];
let res = consumer.read(producer, &mut buf);
match status {
Status::Available(n) => {
let readable = x.min(n);
assert_eq!(res.unwrap().0, readable);
}
Status::Failed => assert!(res.is_err()),
}
}
}
ReaderSut {
status: ref_state.clone(),
..sut
}
}
}
prop_state_machine! {
#[test]
fn reader_state_test(sequential 1..20 => ReaderTest);
}

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use core::fmt::Debug;
use super::*;
#[derive(Debug, Clone)]
enum WriterTransition {
Read(usize),
WriteUpTo(usize),
Clear,
}
struct WriterSM;
impl ReferenceStateMachine for WriterSM {
type State = Status;
type Transition = WriterTransition;
fn init_state() -> BoxedStrategy<Self::State> {
strategy::Just(Status::new(CAP)).boxed()
}
fn transitions(_state: &Self::State) -> BoxedStrategy<Self::Transition> {
prop_oneof![
(1..50_usize).prop_map(WriterTransition::Read),
(1..50_usize).prop_map(WriterTransition::WriteUpTo),
strategy::Just(WriterTransition::Clear),
]
.boxed()
}
fn apply(status: Self::State, transition: &Self::Transition) -> Self::State {
match (status, transition) {
(_, WriterTransition::Clear) => Status::Available(CAP),
(Status::Available(x), WriterTransition::Read(y)) => {
if x < *y {
Status::Failed
} else {
Status::Available(x - y)
}
}
(Status::Available(x), WriterTransition::WriteUpTo(y)) => Status::Available((x + *y).min(CAP)),
(Status::Failed, _) => Status::Failed,
}
}
}
struct WriterSut {
status: Status,
buffer: *mut [u8],
producer: WritableDmaRingBuffer<'static, u8>,
consumer: DmaMock,
}
impl Debug for WriterSut {
fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
<DmaMock as Debug>::fmt(&self.consumer, f)
}
}
struct WriterTest;
impl StateMachineTest for WriterTest {
type SystemUnderTest = WriterSut;
type Reference = WriterSM;
fn init_test(ref_status: &<Self::Reference as ReferenceStateMachine>::State) -> Self::SystemUnderTest {
let buffer = Box::into_raw(Box::new([0; CAP]));
WriterSut {
status: ref_status.clone(),
buffer,
producer: WritableDmaRingBuffer::new(unsafe { &mut *buffer }),
consumer: DmaMock::default(),
}
}
fn teardown(state: Self::SystemUnderTest) {
unsafe {
let _ = Box::from_raw(state.buffer);
};
}
fn apply(
mut sut: Self::SystemUnderTest,
ref_status: &<Self::Reference as ReferenceStateMachine>::State,
transition: <Self::Reference as ReferenceStateMachine>::Transition,
) -> Self::SystemUnderTest {
match transition {
WriterTransition::Read(x) => sut.consumer.advance(x),
WriterTransition::Clear => {
sut.producer.clear(&mut sut.consumer);
}
WriterTransition::WriteUpTo(x) => {
let status = sut.status;
let WriterSut {
ref mut producer,
ref mut consumer,
..
} = sut;
let mut buf = vec![0; x];
let res = producer.write(consumer, &mut buf);
match status {
Status::Available(n) => {
let writable = x.min(CAP - n.min(CAP));
assert_eq!(res.unwrap().0, writable);
}
Status::Failed => assert!(res.is_err()),
}
}
}
WriterSut {
status: ref_status.clone(),
..sut
}
}
}
prop_state_machine! {
#[test]
fn writer_state_test(sequential 1..20 => WriterTest);
}