diff --git a/src/main.rs b/src/main.rs
index 9354cafb09bdeb7d9e81b9bfa33ca6d1ffb4c4a8..6c670af3c66c7ddf62f18fd4bd01d04d9a7a4147 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -12,10 +12,12 @@ mod packet;
#[rtic::app(device = stm32f4xx_hal::pac, peripherals = true)]
mod app {
use hal::block;
+ use hal::dma;
use hal::gpio::{self, Speed};
- use hal::pac::{SPI1, TIM5, USART1};
+ use hal::pac::{self, SPI1, TIM5, USART1};
use hal::prelude::*;
use hal::serial::{Config, Event, Serial};
+ use hal::spi;
use hal::spi::{Mode, Phase, Polarity, Spi};
use hal::timer::Delay;
use rf4463::config::RADIO_CONFIG_500_2;
@@ -28,6 +30,13 @@ mod app {
// in # packets
const BUFFER_LEN: usize = 50;
+ // in bytes
+ // explicitly make this smaller than a packet so that we don't buffer things in the tx DMA for a while
+ const PI_RX_BUFFER_LEN: usize = 256;
+
+ // in bytes
+ const PI_TX_BUFFER_LEN: usize = 1;
+
const MODE: Mode = Mode {
polarity: Polarity::IdleLow,
phase: Phase::CaptureOnFirstTransition,
@@ -41,21 +50,33 @@ mod app {
Delay<TIM5, 1000000>,
>;
+ type RxTransfer = dma::Transfer<
+ dma::StreamX<pac::DMA1, 3>,
+ 0,
+ spi::Rx<pac::SPI2>,
+ dma::PeripheralToMemory,
+ &'static mut [u8; PI_RX_BUFFER_LEN],
+ >;
+
+ type TxTransfer = dma::Transfer<
+ dma::StreamX<pac::DMA1, 4>,
+ 0,
+ spi::Tx<pac::SPI2>,
+ dma::MemoryToPeripheral,
+ &'static mut [u8; PI_TX_BUFFER_LEN],
+ >;
+
#[derive(Debug)]
enum SlaveCmd {
- BufferStatus,
SendPacket,
GetTemp,
- Sync,
}
impl SlaveCmd {
pub fn from_u8(i: u8) -> Option<Self> {
match i {
- 0x00 => Some(Self::BufferStatus),
0x01 => Some(Self::SendPacket),
0x02 => Some(Self::GetTemp),
- 0x03 => Some(Self::Sync),
_ => None,
}
}
@@ -72,13 +93,18 @@ mod app {
radio: Radio,
radio_temp: f32,
tx_buf: ConstGenericRingBuffer<Packet, BUFFER_LEN>,
+
+ pi_tx: TxTransfer,
+ other_tx_buf: Option<&'static mut [u8; PI_TX_BUFFER_LEN]>,
}
#[local]
struct Local {
radio_irq: gpio::Pin<'B', 2, gpio::Input>,
- usart: Serial<USART1>,
state: SlaveState,
+
+ pi_rx: RxTransfer,
+ other_rx_buf: Option<&'static mut [u8; PI_RX_BUFFER_LEN]>,
}
#[init]
@@ -99,6 +125,7 @@ mod app {
let mut sys_cfg = ctx.device.SYSCFG.constrain();
// setup 4463 spi
+
let mosi = gpioa.pa7.into_alternate().speed(Speed::VeryHigh);
let miso = gpioa.pa6.into_alternate().speed(Speed::VeryHigh);
let sclk = gpioa.pa5.into_alternate().speed(Speed::VeryHigh);
@@ -116,36 +143,78 @@ mod app {
radio_irq.enable_interrupt(&mut ctx.device.EXTI);
radio_irq.trigger_on_edge(&mut ctx.device.EXTI, gpio::Edge::Falling);
- // setup Pi UART
- let tx = gpioa.pa9;
- let rx = gpioa.pa10;
-
- let mut usart = Serial::new(
- ctx.device.USART1,
- (tx, rx),
- Config::default().baudrate(921_600.bps()),
- &clocks,
- )
- .unwrap();
-
- usart.listen(Event::Rxne);
+ // setup Pi SPI
+ let pi_mosi = gpiob.pb15.internal_resistor(gpio::Pull::Up);
+ let pi_miso = gpiob.pb14.internal_resistor(gpio::Pull::Down);
+ let pi_sclk = gpiob.pb13.internal_resistor(gpio::Pull::Down);
+
+ // TODO nss?
+
+ let mut pi_spi = ctx
+ .device
+ .SPI2
+ .spi_slave((pi_sclk, pi_miso, pi_mosi, None), MODE);
+ pi_spi.set_internal_nss(false);
+
+ let (tx, rx) = pi_spi.use_dma().txrx();
+
+ let streams = dma::StreamsTuple::new(ctx.device.DMA1);
+
+ let tx_buffer =
+ cortex_m::singleton!(: [u8; PI_TX_BUFFER_LEN] = [0x02; PI_TX_BUFFER_LEN]).unwrap();
+ let other_tx_buf =
+ Some(cortex_m::singleton!(: [u8; PI_TX_BUFFER_LEN] = [0u8; PI_TX_BUFFER_LEN]).unwrap());
+
+ let mut pi_tx = dma::Transfer::init_memory_to_peripheral(
+ streams.4,
+ tx,
+ tx_buffer,
+ None,
+ dma::config::DmaConfig::default().memory_increment(false),
+ );
+
+ pi_tx.start(|_tx| {});
+
+ let rx_buffer =
+ cortex_m::singleton!(: [u8; PI_RX_BUFFER_LEN] = [0u8; PI_RX_BUFFER_LEN]).unwrap();
+ let other_rx_buf =
+ Some(cortex_m::singleton!(: [u8; PI_RX_BUFFER_LEN] = [0u8; PI_RX_BUFFER_LEN]).unwrap());
+
+ let mut pi_rx = dma::Transfer::init_peripheral_to_memory(
+ streams.3,
+ rx,
+ rx_buffer,
+ None,
+ dma::config::DmaConfig::default()
+ .memory_increment(true)
+ .fifo_enable(true)
+ .fifo_error_interrupt(true)
+ .transfer_complete_interrupt(true),
+ );
+
+ pi_rx.start(|_rx| {});
(
Shared {
radio,
radio_temp: 0.0,
tx_buf: ConstGenericRingBuffer::new(),
+
+ pi_tx,
+ other_tx_buf,
},
Local {
radio_irq,
- usart,
state: SlaveState::Idle,
+
+ pi_rx,
+ other_rx_buf,
},
init::Monotonics(),
)
}
- #[idle(shared=[radio, tx_buf, radio_temp])]
+ #[idle(shared=[radio, tx_buf, radio_temp, pi_tx, other_tx_buf])]
fn idle(mut ctx: idle::Context) -> ! {
let mut i = 0;
let mut iterations_since_last_packet = 0;
@@ -176,6 +245,15 @@ mod app {
}
}
+ // update our SPI bus to say if we have free space or not
+ let b = if ctx.shared.tx_buf.lock(|b| b.len() >= b.capacity() - 2) {
+ 0x01 // not enough space for packet
+ } else {
+ 0x02 // space for packet
+ };
+
+ set_spi_tx_byte(b, &mut ctx.shared.pi_tx, &mut ctx.shared.other_tx_buf);
+
iterations_since_last_packet = 0;
} else {
iterations_since_last_packet += 1;
@@ -194,43 +272,74 @@ mod app {
}
}
- #[task(binds = USART1, priority = 2, local = [state, usart], shared = [tx_buf, radio_temp])]
- fn usart1(mut ctx: usart1::Context) {
- let state = ctx.local.state;
- let usart = ctx.local.usart;
- let mut buf = ctx.shared.tx_buf;
+ #[task(binds = DMA1_STREAM3, priority = 2, local = [state, pi_rx, other_rx_buf], shared = [tx_buf, pi_tx, other_tx_buf])]
+ fn pi_spi_recv(mut ctx: pi_spi_recv::Context) {
+ let rx = ctx.local.pi_rx;
+
+ let (old_buf, _) = rx
+ .next_transfer(ctx.local.other_rx_buf.take().unwrap())
+ .unwrap();
+
+ for b in old_buf.iter() {
+ handle_incoming_byte(
+ *b,
+ ctx.local.state,
+ &mut ctx.shared.tx_buf,
+ &mut ctx.shared.pi_tx,
+ &mut ctx.shared.other_tx_buf,
+ );
+ }
+
+ *ctx.local.other_rx_buf = Some(old_buf);
- let x = block!(usart.read()).unwrap();
+ rx.clear_transfer_complete_interrupt();
+ rx.clear_fifo_error_interrupt();
+ }
+
+ #[task(binds = EXTI2, shared = [radio], local = [radio_irq])]
+ fn radio_irq(mut ctx: radio_irq::Context) {
+ ctx.shared.radio.lock(|r| r.interrupt()).unwrap();
+ let irq = ctx.local.radio_irq;
+ if irq.is_high() {
+ irq.clear_interrupt_pending_bit();
+ }
+ }
+
+ fn handle_incoming_byte<
+ T: rtic::Mutex<T = ConstGenericRingBuffer<Packet, BUFFER_LEN>>,
+ A: rtic::Mutex<T = TxTransfer>,
+ B: rtic::Mutex<T = Option<&'static mut [u8; PI_TX_BUFFER_LEN]>>,
+ >(
+ x: u8,
+ state: &mut SlaveState,
+ buf: &mut T,
+ tx: &mut A,
+ other_tx: &mut B,
+ ) {
match state {
SlaveState::Idle => {
if let Some(cmd) = SlaveCmd::from_u8(x) {
match cmd {
- SlaveCmd::BufferStatus => {
- if buf.lock(|b| b.is_full()) {
- block!(usart.write(0x01)).unwrap(); // not enough space for a new packet
- } else {
- block!(usart.write(0x02)).unwrap(); // safe to send a packet
- }
- }
-
SlaveCmd::SendPacket => {
- if buf.lock(|b| b.len() >= b.capacity() - 1) {
- block!(usart.write(0x01)).unwrap(); // not enough space for a new packet
+ let b = if buf.lock(|b| b.len() >= b.capacity() - 2) {
+ 0x01 // not enough space for packet
} else {
- block!(usart.write(0x02)).unwrap(); // safe to send a packet
- }
+ 0x02 // space for packet
+ };
+
+ set_spi_tx_byte(b, tx, other_tx);
*state = SlaveState::RecvPacket(Packet::default());
}
SlaveCmd::GetTemp => {
- let temp = ctx.shared.radio_temp.lock(|x| *x);
- usart.bwrite_all(&temp.to_le_bytes()).unwrap();
- }
+ todo!();
- SlaveCmd::Sync => {
- usart.bwrite_all(&[0x03]).unwrap();
+ /*
+ let temp = ctx.shared.radio_temp.lock(|x| *x);
+ usart.bwrite_all(&temp.to_le_bytes()).unwrap();
+ */
}
}
}
@@ -247,13 +356,23 @@ mod app {
};
}
- #[task(binds = EXTI2, shared = [radio], local = [radio_irq])]
- fn radio_irq(mut ctx: radio_irq::Context) {
- ctx.shared.radio.lock(|r| r.interrupt()).unwrap();
-
- let irq = ctx.local.radio_irq;
- if irq.is_high() {
- irq.clear_interrupt_pending_bit();
- }
+ fn set_spi_tx_byte<
+ A: rtic::Mutex<T = TxTransfer>,
+ B: rtic::Mutex<T = Option<&'static mut [u8; PI_TX_BUFFER_LEN]>>,
+ >(
+ b: u8,
+ tx: &mut A,
+ other_tx: &mut B,
+ ) {
+ other_tx.lock(|t| t.as_mut().unwrap()[0] = b);
+
+ other_tx.lock(|t| {
+ let (tx, _) =
+ tx.lock(|tx_transfer| tx_transfer.next_transfer(t.take().unwrap()).unwrap());
+
+ t.replace(tx);
+ });
}
}
+
+// TODO need an interrupt to clear TX errors