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stm32/wpan: improve linked list ergonomics

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This commit is contained in:
xoviat 2023-06-16 20:15:03 -05:00
parent af451b5462
commit e1161dfc80
8 changed files with 70 additions and 62 deletions
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27
embassy-stm32-wpan/src/ble.rs
View File

@ -1,6 +1,8 @@
use core::mem::MaybeUninit;
use embassy_stm32::ipcc::Ipcc;
use crate::cmd::{CmdPacket, CmdSerial};
use crate::cmd::CmdPacket;
use crate::consts::TlPacketType;
use crate::evt::EvtBox;
use crate::tables::BleTable;
@ -14,6 +16,11 @@ pub struct Ble;
impl Ble {
pub(super) fn enable() {
unsafe {
// Ensure reproducible behavior
BLE_CMD_BUFFER
.as_mut_ptr()
.write_volatile(MaybeUninit::zeroed().assume_init());
LinkedListNode::init_head(EVT_QUEUE.as_mut_ptr());
TL_BLE_TABLE.as_mut_ptr().write_volatile(BleTable {
@ -29,11 +36,8 @@ impl Ble {
pub(super) fn evt_handler() {
unsafe {
while !LinkedListNode::is_empty(EVT_QUEUE.as_mut_ptr()) {
let node_ptr = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr());
let event = node_ptr.cast();
let event = EvtBox::new(event);
while let Some(node_ptr) = LinkedListNode::remove_head(EVT_QUEUE.as_mut_ptr()) {
let event = EvtBox::new(node_ptr.cast());
EVT_CHANNEL.try_send(event).unwrap();
}
@ -48,18 +52,11 @@ impl Ble {
// TODO: ACL data ack to the user
}
pub fn send_cmd(buf: &[u8]) {
pub fn send_cmd(opcode: u16, payload: &[u8]) {
debug!("writing ble cmd");
unsafe {
let pcmd_buffer: *mut CmdPacket = BLE_CMD_BUFFER.as_mut_ptr();
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.cmdserial.ty = TlPacketType::BleCmd as u8;
CmdPacket::write_into(BLE_CMD_BUFFER.as_mut_ptr(), TlPacketType::BleCmd, opcode, payload);
}
Ipcc::c1_set_flag_channel(channels::cpu1::IPCC_BLE_CMD_CHANNEL);

19
embassy-stm32-wpan/src/cmd.rs
View File

@ -1,3 +1,6 @@
use core::ptr;
use crate::consts::TlPacketType;
use crate::evt::{EvtPacket, EvtSerial};
use crate::{PacketHeader, TL_EVT_HEADER_SIZE};
@ -42,6 +45,22 @@ pub struct CmdPacket {
}
impl CmdPacket {
pub unsafe fn write_into(cmd_buf: *mut CmdPacket, packet_type: TlPacketType, cmd_code: u16, payload: &[u8]) {
let p_cmd_serial = &mut (*cmd_buf).cmdserial as *mut _ as *mut CmdSerialStub;
let p_payload = &mut (*cmd_buf).cmdserial.cmd.payload as *mut _;
ptr::write_volatile(
p_cmd_serial,
CmdSerialStub {
ty: packet_type as u8,
cmd_code: cmd_code,
payload_len: payload.len() as u8,
},
);
ptr::copy_nonoverlapping(payload as *const _ as *const u8, p_payload, payload.len());
}
/// 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.

11
embassy-stm32-wpan/src/mm.rs
View File

@ -7,7 +7,7 @@ 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,
TL_MEM_MANAGER_TABLE,
};
pub(super) struct MemoryManager;
@ -51,13 +51,8 @@ impl MemoryManager {
/// 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,
);
while let Some(node_ptr) = LinkedListNode::remove_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr()) {
LinkedListNode::insert_head(FREE_BUF_QUEUE.as_mut_ptr(), node_ptr);
}
}
}

8
embassy-stm32-wpan/src/rc.rs
View File

@ -1,6 +1,6 @@
use crate::ble::Ble;
use crate::consts::TlPacketType;
use crate::{shci, TlMbox, STATE};
use crate::{TlMbox, STATE};
pub struct RadioCoprocessor<'d> {
mbox: TlMbox<'d>,
@ -15,12 +15,12 @@ impl<'d> RadioCoprocessor<'d> {
}
}
pub fn write(&self, buf: &[u8]) {
pub fn write(&self, opcode: u16, buf: &[u8]) {
let cmd_code = buf[0];
let cmd = TlPacketType::try_from(cmd_code).unwrap();
match &cmd {
TlPacketType::BleCmd => Ble::send_cmd(buf),
TlPacketType::BleCmd => Ble::send_cmd(opcode, buf),
_ => todo!(),
}
}
@ -30,8 +30,6 @@ impl<'d> RadioCoprocessor<'d> {
STATE.wait().await;
while let Some(evt) = self.mbox.dequeue_event() {
let event = evt.evt();
evt.write(&mut self.rx_buf).unwrap();
}

4
embassy-stm32-wpan/src/shci.rs
View File

@ -1,8 +1,6 @@
use core::{mem, slice};
use super::cmd::CmdPacket;
use super::consts::TlPacketType;
use super::{sys, TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE, TL_SYS_TABLE};
use super::{TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE};
pub const SCHI_OPCODE_BLE_INIT: u16 = 0xfc66;

30
embassy-stm32-wpan/src/sys.rs
View File

@ -1,9 +1,9 @@
use core::ptr;
use core::mem::MaybeUninit;
use core::sync::atomic::{compiler_fence, Ordering};
use embassy_stm32::ipcc::Ipcc;
use crate::cmd::{CmdPacket, CmdSerial, CmdSerialStub};
use crate::cmd::{CmdPacket, CmdSerial};
use crate::consts::TlPacketType;
use crate::evt::{CcEvt, EvtBox, EvtSerial};
use crate::shci::{ShciBleInitCmdParam, SCHI_OPCODE_BLE_INIT};
@ -16,6 +16,11 @@ pub struct Sys;
impl Sys {
pub fn enable() {
unsafe {
// Ensure reproducible behavior
SYS_CMD_BUF
.as_mut_ptr()
.write_volatile(MaybeUninit::zeroed().assume_init());
LinkedListNode::init_head(SYSTEM_EVT_QUEUE.as_mut_ptr());
TL_SYS_TABLE.as_mut_ptr().write_volatile(SysTable {
@ -50,11 +55,8 @@ impl Sys {
pub fn evt_handler() {
unsafe {
while !LinkedListNode::is_empty(SYSTEM_EVT_QUEUE.as_mut_ptr()) {
let node_ptr = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr());
let event = node_ptr.cast();
let event = EvtBox::new(event);
while let Some(node_ptr) = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr()) {
let event = EvtBox::new(node_ptr.cast());
EVT_CHANNEL.try_send(event).unwrap();
}
@ -71,19 +73,7 @@ impl Sys {
pub fn send_cmd(opcode: u16, payload: &[u8]) {
unsafe {
let p_cmd_serial = &mut (*SYS_CMD_BUF.as_mut_ptr()).cmdserial as *mut _ as *mut CmdSerialStub;
let p_payload = &mut (*SYS_CMD_BUF.as_mut_ptr()).cmdserial.cmd.payload as *mut _;
ptr::write_volatile(
p_cmd_serial,
CmdSerialStub {
ty: TlPacketType::SysCmd as u8,
cmd_code: opcode,
payload_len: payload.len() as u8,
},
);
ptr::copy_nonoverlapping(payload as *const _ as *const u8, p_payload, payload.len());
CmdPacket::write_into(SYS_CMD_BUF.as_mut_ptr(), TlPacketType::SysCmd, opcode, payload);
}
compiler_fence(Ordering::SeqCst);

28
embassy-stm32-wpan/src/unsafe_linked_list.rs
View File

@ -139,28 +139,36 @@ impl LinkedListNode {
}
/// 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(|_| {
let list_head = ptr::read_volatile(p_list_head);
// Allowed because a removed node is not seen by another core
let p_node = list_head.next;
Self::remove_node(p_node);
if list_head.next == p_list_head {
None
} 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`.
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(|_| {
let list_tail = ptr::read_volatile(p_list_tail);
// Allowed because a removed node is not seen by another core
let p_node = list_tail.prev;
Self::remove_node(p_node);
if list_tail.prev == p_list_tail {
None
} 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)
}
})
}

5
tests/stm32/src/bin/tl_mbox.rs
View File

@ -10,6 +10,7 @@ use common::*;
use embassy_executor::Spawner;
use embassy_stm32::bind_interrupts;
use embassy_stm32::ipcc::Config;
use embassy_stm32_wpan::ble::Ble;
use embassy_stm32_wpan::rc::RadioCoprocessor;
use embassy_stm32_wpan::sys::Sys;
use embassy_stm32_wpan::TlMbox;
@ -59,7 +60,9 @@ async fn main(_spawner: Spawner) {
Sys::shci_ble_init(Default::default());
rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]);
// rc.write(&[0x01, 0x03, 0x0c, 0x00, 0x00]);
Ble::send_cmd(0x0c, &[]);
let response = rc.read().await;
info!("ble reset rsp {}", response);