Initial implementation of app state machine

CMakeLists.txt

@@ -49,7 +49,7 @@ add_executable(skl_tunnel
     radio/src/radio_gpio.c
     radio/src/radio_hw_instance.cpp
 
-    app/src/app_logging.cpp
+    app/src/app_board.cpp
     app/src/app_transparent_client.cpp
     main.cpp
     syscalls.c

app/include/app_logging.hpp

@@ -1,15 +0,0 @@
-//
-// Created by erki on 28.06.22.
-//
-
-#ifndef SKL_TUNNEL_APP_LOGGING_HPP
-#define SKL_TUNNEL_APP_LOGGING_HPP
-
-namespace App::Logging
-{
-
-void setup();
-
-}
-
-#endif //SKL_TUNNEL_APP_LOGGING_HPP

app/include/app_transparent_client.hpp

@@ -36,8 +36,23 @@ private:
   Utility::FunctionOwned<TransparentClient, void (radio::HwInstance*)> m_isr_cb_pointer;
   std::optional<radio::Interrupts> m_pending_irqs = std::nullopt;
 
+  enum class AppState
+  {
+    STARTUP,
+    PASSIVE,
+    ACTIVE_RX,
+    ACTIVE_TX,
+    RX_FRAME_READY
+  };
+
+  AppState m_state = AppState::STARTUP;
+
   void m_cbRadioIrqHandler(radio::HwInstance*);
-  void m_processInterrupts();
+  std::optional<AppState> m_hwInterruptToNewState();
+  void m_transitionToState(const AppState& new_state);
+  void m_processState();
+  void m_initiateTx();
+  bool m_txBufferIsReady();
 };
 
 }

app/include/skullc_samd21_hal.hpp

@@ -5,10 +5,6 @@
 #ifndef SKL_TUNNEL_SKULLC_SAMD21_HAL_HPP
 #define SKL_TUNNEL_SKULLC_SAMD21_HAL_HPP
 
-#include <array>
-#include <cstdint>
-#include <cassert>
-
 #include <hal_delay.h>
 #include <hal_io.h>
 #include <hal_usart_async.h>
@@ -16,6 +12,12 @@
 #include <utility_function.hpp>
 #include <utility_tag.hpp>
 
+#include <array>
+#include <cstdint>
+#include <cassert>
+
+#include "app_board.hpp"
+
 namespace Peripherals
 {
 namespace Hal
@@ -26,7 +28,14 @@ namespace Samd
 struct StaticHal
 {
   static void initialize()
-  { }
+  {
+    App::Board::setup();
+  }
+
+  static std::uint32_t getMillis()
+  {
+    return App::Board::systickGet();
+  }
 
   static void delay(const std::uint32_t milliseconds)
   {

app/src/app_board.cpp

@@ -2,15 +2,16 @@
 // Created by erki on 15.07.22.
 //
 
+#include "driver_init.h"
+
 #include "app_board.hpp"
 
-#include "driver_init.h"
+#include "skullc_samd21_hal.hpp"
 
 #include <utility_logging.hpp>
 #include <utility_asynclogger.hpp>
 #include <utility_staticpointer.hpp>
 
-#include "skullc_samd21_hal.hpp"
 
 namespace Hal = Peripherals::Hal::Samd;
 
@@ -46,7 +47,7 @@ void setup()
   m_logger.setup(usart0);
   Utility::setLogger(*m_logger);
 
-  SysTick_Config(1000);
+  SysTick_Config(F_CPU / 1000u);
 }
 
 std::uint32_t systickGet()

app/src/app_logging.cpp

@@ -1,43 +0,0 @@
-//
-// Created by erki on 28.06.22.
-//
-
-#include "app_logging.hpp"
-
-#include "driver_init.h"
-
-#include <utility_logging.hpp>
-#include <utility_asynclogger.hpp>
-#include <utility_staticpointer.hpp>
-
-#include "skullc_samd21_hal.hpp"
-
-namespace Hal = Peripherals::Hal::Samd;
-
-using Logger = Utility::AsyncLogger<Hal::SerialInterfaceAsync<usart_async_descriptor>, Hal::StaticHal, 5, 255>;
-
-namespace
-{
-
-Utility::StaticPointer<Logger> m_logger;
-
-void m_txCompleteCb(const usart_async_descriptor* const)
-{
-  m_logger->txCompleteCallback();
-}
-
-}
-
-namespace App::Logging
-{
-
-void setup()
-{
-  Hal::SerialInterfaceAsync<usart_async_descriptor> usart0{&USART_0};
-  usart0.registerTxCallback(m_txCompleteCb);
-
-  m_logger.setup(usart0);
-  Utility::setLogger(*m_logger);
-}
-
-}

app/src/app_transparent_client.cpp

@@ -5,6 +5,10 @@
 #include "radio_hw_instance.hpp"
 
 #include "app_transparent_client.hpp"
+#include "skullc_samd21_hal.hpp"
+#include "utility_logging.hpp"
+
+#include <utility_atomicscopeguard.hpp>
 
 namespace App
 {
@@ -14,7 +18,7 @@ TransparentClient::TransparentClient(const RadioSettings& initial_settings)
   , m_isr_cb_pointer(*this, &TransparentClient::m_cbRadioIrqHandler)
 {
   apply_settings(initial_settings);
-
+  m_radio->set_irq_handler(&m_isr_cb_pointer);
   m_radio->set_current_state(radio::HwInstance::States::PLL_ON);
 }
 
@@ -30,8 +34,21 @@ void TransparentClient::apply_settings(const RadioSettings& settings)
 
 void TransparentClient::process()
 {
-  if (m_pending_irqs)
+  std::optional<AppState> new_state_request = std::nullopt;
-    m_processInterrupts();
+
+  {
+    Utility::AtomicScopeGuard<Peripherals::Hal::Samd::StaticHal> irq_guard;
+    if (m_pending_irqs)
+      new_state_request = m_hwInterruptToNewState();
+  }
+
+  if (!new_state_request && m_txBufferIsReady())
+    new_state_request = AppState::ACTIVE_TX;
+
+  if (new_state_request)
+    m_transitionToState(*new_state_request);
+
+  m_processState();
 }
 
 void TransparentClient::m_cbRadioIrqHandler(radio::HwInstance*)
@@ -43,9 +60,86 @@ void TransparentClient::m_cbRadioIrqHandler(radio::HwInstance*)
     m_pending_irqs = new_irqs;
 }
 
-void TransparentClient::m_processInterrupts()
+std::optional<TransparentClient::AppState> TransparentClient::m_hwInterruptToNewState()
 {
+  const radio::Interrupts current_irqs = *m_pending_irqs;
   m_pending_irqs = std::nullopt;
+
+  SKULLC_LOG_DEBUG("APP: Processing IRQs: %d.", current_irqs);
+
+  const auto flag_is_set = [current_irqs](const radio::Interrupts& flag) -> bool
+    {
+      return std::underlying_type_t<radio::Interrupts>(current_irqs & flag);
+    };
+
+  switch (m_state)
+  {
+  case AppState::STARTUP:
+    if (flag_is_set(radio::Interrupts::PLL_LOCK))
+      return AppState::PASSIVE;
+    break;
+  case AppState::PASSIVE:
+    if (flag_is_set(radio::Interrupts::RX_START))
+      return AppState::ACTIVE_RX;
+    else if (flag_is_set(radio::Interrupts::AMI))
+      return AppState::RX_FRAME_READY;
+    break;
+  case AppState::ACTIVE_RX:
+    [[fallthrough]];
+  case AppState::ACTIVE_TX:
+    if (flag_is_set(radio::Interrupts::TRX_END))
+      return AppState::PASSIVE;
+    break;
+  default:
+    break;
+  }
+
+  return std::nullopt;
+}
+
+void TransparentClient::m_transitionToState(const AppState& new_state)
+{
+  SKULLC_LOG_DEBUG("APP: Trans. to state. %d -> %d.", m_state, new_state);
+
+  switch (m_state)
+  {
+  case AppState::STARTUP:
+    if (new_state == AppState::PASSIVE)
+      m_radio->set_current_state(radio::HwInstance::States::RX_ON);
+    break;
+  case AppState::PASSIVE:
+    // new_state == AppState::ACTIVE_RX is a HW transition. State machine simply locks itself.
+    // new_state == AppState::RX_FRAME_READY is handled in process state.
+    if (new_state == AppState::ACTIVE_TX)
+      m_initiateTx();
+    break;
+  case AppState::ACTIVE_RX:
+    // new_state == AppState::PASSIVE is a HW transition. State machine simply unlocks itself.
+    break;
+  case AppState::ACTIVE_TX:
+    if (new_state == AppState::PASSIVE)
+      m_radio->set_current_state(radio::HwInstance::States::RX_ON);
+    break;
+  case AppState::RX_FRAME_READY:
+    break;
+  }
+
+  m_state = new_state;
+}
+
+void TransparentClient::m_processState()
+{
+  return;
+}
+
+void TransparentClient::m_initiateTx()
+{
+  return;
+}
+
+bool TransparentClient::m_txBufferIsReady()
+{
+  return false;
 }
 
 }

main.cpp

@@ -6,7 +6,6 @@
 #include <utility_function.hpp>
 
 #include "radio_hw_instance.hpp"
-#include "app_logging.hpp"
 #include "skullc_samd21_hal.hpp"
 #include "app_transparent_client.hpp"
 
@@ -34,30 +33,28 @@ int main()
 	atmel_start_init();
 
   Utility::Assert::setHandler(m_faultHandler);
+  Hal::StaticHal::initialize();
 
   gpio_set_pin_level(OUT_LED_TX, false);
 
-  App::Logging::setup();
-
   SKULLC_LOG_DEBUG("Begin.");
 
   const App::RadioSettings settings;
 
   m_app.setup(settings);
-  radio::HwInstance* radio_hw = radio::HwInstance::instance();
+
+  std::uint32_t counter = 0;
 
 	/* Replace with your application code */
 	while (true)
   {
-    gpio_toggle_pin_level(OUT_LED_RX);
+    if (counter++ == 1000)
+    {
+      gpio_toggle_pin_level(OUT_LED_TX);
+      counter = 0;
+    }
 
-    gpio_toggle_pin_level(OUT_LED_TX);
+    m_app->process();
-
+    Hal::StaticHal::delay(1);
-    int16_t radio_status = radio_hw->register_read(radio::Registers::TRX_STATUS);
-    radio_status &= 0x1F;
-
-    SKULLC_LOG_INFO("Status: %d", radio_status);
-
-    delay_ms(1000);
 	}
 }

radio/src/radio_hw_instance.cpp

@@ -150,6 +150,7 @@ bool HwInstance::set_current_state(const States& new_state)
 
   register_write(Registers::TRX_STATE, std::uint8_t(new_state));
   m_wait_can_transition();
+  SKULLC_LOG_DEBUG("HW: New state. %d -> %d.", m_current_state, new_state);
   m_current_state = new_state;
   return true;
 }