A lot of WIP state

CMakeLists.txt

@@ -50,6 +50,7 @@ add_executable(skl_tunnel
     radio/src/radio_hw_instance.cpp
 
     app/src/app_logging.cpp
+    app/src/app_transparent_client.cpp
     main.cpp
     syscalls.c
 )

app/include/app_board.hpp

@@ -0,0 +1,19 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_BOARD_HPP
+#define SKL_TUNNEL_APP_BOARD_HPP
+
+#include <cstdint>
+
+namespace App::Board
+{
+
+void setup();
+
+std::uint32_t systickGet();
+
+}
+
+#endif //SKL_TUNNEL_APP_BOARD_HPP

app/include/app_settings.hpp

@@ -0,0 +1,25 @@
+//
+// Created by erki on 14.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_SETTINGS_HPP
+#define SKL_TUNNEL_APP_SETTINGS_HPP
+
+#include <cstdint>
+
+namespace App
+{
+
+struct RadioSettings
+{
+  std::uint16_t short_address = 0x0230;
+  std::uint64_t long_address = 0x1222334455667788;
+  std::uint8_t channel = 11;
+  std::uint16_t pan_id = 0x0023;
+  std::int16_t tx_power_dbm = 0;
+  std::uint8_t retries = 3;
+};
+
+}
+
+#endif //SKL_TUNNEL_APP_SETTINGS_HPP

app/include/app_transparent_client.hpp

@@ -0,0 +1,45 @@
+//
+// Created by erki on 13.07.22.
+//
+
+#ifndef SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP
+#define SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP
+
+#include <optional>
+#include <utility_function.hpp>
+
+#include "app_settings.hpp"
+#include "radio_interrupts.hpp"
+
+namespace radio
+{
+class HwInstance;
+}
+
+namespace App
+{
+
+class TransparentClient
+{
+public:
+  TransparentClient(const RadioSettings& initial_settings);
+
+  TransparentClient(const TransparentClient&) = delete;
+  TransparentClient(TransparentClient&&) = delete;
+  TransparentClient& operator=(const TransparentClient&) = delete;
+  TransparentClient& operator=(TransparentClient&&) = delete;
+
+  void apply_settings(const RadioSettings& settings);
+  void process();
+private:
+  radio::HwInstance* m_radio;
+  Utility::FunctionOwned<TransparentClient, void (radio::HwInstance*)> m_isr_cb_pointer;
+  std::optional<radio::Interrupts> m_pending_irqs = std::nullopt;
+
+  void m_cbRadioIrqHandler(radio::HwInstance*);
+  void m_processInterrupts();
+};
+
+}
+
+#endif //SKL_TUNNEL_APP_TRANSPARENT_CLIENT_HPP

app/src/app_board.cpp

@@ -0,0 +1,57 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#include "app_board.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;
+std::uint32_t m_systick_counter = 0;
+
+void m_txCompleteCb(const usart_async_descriptor* const)
+{
+  m_logger->txCompleteCallback();
+}
+
+}
+
+extern "C" void SysTick_Handler()
+{
+  m_systick_counter++;
+}
+
+namespace App::Board
+{
+
+void setup()
+{
+  // Logging
+  Hal::SerialInterfaceAsync<usart_async_descriptor> usart0{&USART_0};
+  usart0.registerTxCallback(m_txCompleteCb);
+
+  m_logger.setup(usart0);
+  Utility::setLogger(*m_logger);
+
+  SysTick_Config(1000);
+}
+
+std::uint32_t systickGet()
+{
+  return m_systick_counter;
+}
+
+}

app/src/app_transparent_client.cpp

@@ -0,0 +1,51 @@
+//
+// Created by erki on 14.07.22.
+//
+
+#include "radio_hw_instance.hpp"
+
+#include "app_transparent_client.hpp"
+
+namespace App
+{
+
+TransparentClient::TransparentClient(const RadioSettings& initial_settings)
+  : m_radio(radio::HwInstance::instance())
+  , m_isr_cb_pointer(*this, &TransparentClient::m_cbRadioIrqHandler)
+{
+  apply_settings(initial_settings);
+
+  m_radio->set_current_state(radio::HwInstance::States::PLL_ON);
+}
+
+void TransparentClient::apply_settings(const RadioSettings& settings)
+{
+  m_radio->set_address_short(settings.short_address);
+  m_radio->set_address_long(settings.long_address);
+  m_radio->set_channel(settings.channel);
+  m_radio->set_pan_id(settings.pan_id);
+  m_radio->set_tx_power(settings.tx_power_dbm);
+  m_radio->set_max_retries(settings.retries);
+}
+
+void TransparentClient::process()
+{
+  if (m_pending_irqs)
+    m_processInterrupts();
+}
+
+void TransparentClient::m_cbRadioIrqHandler(radio::HwInstance*)
+{
+  const radio::Interrupts new_irqs = m_radio->get_pending_irq();
+  if (m_pending_irqs)
+    m_pending_irqs = (*m_pending_irqs) | new_irqs;
+  else
+    m_pending_irqs = new_irqs;
+}
+
+void TransparentClient::m_processInterrupts()
+{
+  m_pending_irqs = std::nullopt;
+}
+
+}

atmel_start.c

@@ -6,4 +6,6 @@
 void atmel_start_init(void)
 {
 	system_init();
+
+  SysTick_Config(1000);
 }

main.cpp

@@ -2,16 +2,21 @@
 
 #include <utility_logging.hpp>
 #include <utility_assert.hpp>
+#include <utility_staticpointer.hpp>
+#include <utility_function.hpp>
 
 #include "radio_hw_instance.hpp"
 #include "app_logging.hpp"
 #include "skullc_samd21_hal.hpp"
+#include "app_transparent_client.hpp"
 
 namespace Hal = Peripherals::Hal::Samd;
 
 namespace
 {
 
+Utility::StaticPointer<App::TransparentClient> m_app;
+
 [[noreturn]] void m_faultHandler(const char* expression, const char* file, const int line)
 {
   SKULLC_LOG_FATAL("Expression failed: (%s), source: %s:%d", expression, file, line);
@@ -34,44 +39,25 @@ int main()
 
   App::Logging::setup();
 
-  radio::HwInstance radio_hw;
   SKULLC_LOG_DEBUG("Begin.");
 
+  const App::RadioSettings settings;
+
+  m_app.setup(settings);
+  radio::HwInstance* radio_hw = radio::HwInstance::instance();
+
 	/* Replace with your application code */
 	while (true)
   {
     gpio_toggle_pin_level(OUT_LED_RX);
 
-    const int16_t radio_num = radio_hw.register_read(radio::Registers::PART_NUM);
-    SKULLC_LOG_INFO("Reg 0x1C: %d", radio_num);
-
     gpio_toggle_pin_level(OUT_LED_TX);
 
-    int16_t radio_status = radio_hw.register_read(radio::Registers::TRX_STATUS);
+    int16_t radio_status = radio_hw->register_read(radio::Registers::TRX_STATUS);
     radio_status &= 0x1F;
 
     SKULLC_LOG_INFO("Status: %d", radio_status);
 
-    static int transitioned = 0;
-    if (radio_status == 0x08 && transitioned == 0)
-    {
-      SKULLC_LOG_DEBUG("Transitioning...");
-      radio_hw.set_current_state(radio::HwInstance::States::PLL_ON);
-      transitioned = 1;
-    }
-    else if (radio_status == 0x09 && transitioned == 1)
-    {
-      SKULLC_LOG_DEBUG("Transitioning 2...");
-      radio_hw.set_current_state(radio::HwInstance::States::RX_ON);
-      transitioned = 2;
-    }
-    else if (radio_status == 0x09 && transitioned == 1)
-    {
-      SKULLC_LOG_DEBUG("Transitioning 2...");
-      radio_hw.set_current_state(radio::HwInstance::States::RX_ON);
-      transitioned = 2;
-    }
-
     delay_ms(1000);
 	}
 }

radio/include/radio_hw_instance.hpp

@@ -6,8 +6,15 @@
 #define SKL_TUNNEL_RADIO_HW_INSTANCE_HPP
 
 #include <hal_spi_m_sync.h>
+#include <type_traits>
+#include <array>
+#include <cstring>
+#include <optional>
+
+#include <utility_function.hpp>
 
 #include "radio_hw_registers.hpp"
+#include "radio_interrupts.hpp"
 
 namespace radio
 {
@@ -17,17 +24,18 @@ struct HwInstance
   enum class States : std::uint8_t
   {
     P_ON = 0,
-    BUSY_RX,
-    BUSY_TX,
-    RX_ON,
-    TRX_OFF,
-    PLL_ON,
-    SLEEP,
-    PREP_DEEP_SLEEP,
-    BUSY_RX_AACK,
-    BUSY_TX_ARET,
-    RX_AACK_ON,
-    TX_ARET_ON
+    BUSY_RX = 0x1,
+    BUSY_TX = 0x2,
+    RX_ON = 0x06,
+    TRX_OFF = 0x08,
+    PLL_ON = 0x09,
+    SLEEP = 0x0F,
+    PREP_DEEP_SLEEP = 0x10,
+    BUSY_RX_AACK = 0x11,
+    BUSY_TX_ARET = 0x12,
+    RX_AACK_ON = 0x16,
+    TX_ARET_ON = 0x19,
+    TRANSITION_IN_PROGRESS = 0x1F
   };
 
   static HwInstance* instance();
@@ -38,19 +46,45 @@ struct HwInstance
   HwInstance& operator=(const HwInstance&) = delete;
   HwInstance& operator=(HwInstance&&) = delete;
 
-  void irq_handler();
+  void set_irq_handler(Utility::IFunction<void (HwInstance*)>* cb);
+  Interrupts get_pending_irq();
 
   uint8_t register_read(const Registers& address);
   void register_write(const Registers& address, const uint8_t value);
 
+  template<typename T>
+  void register_write(const Registers& initial_address, const T value)
+  {
+    static_assert(std::is_integral_v<T>, "T must be an integral type.");
+    std::array<std::uint8_t, sizeof(T)> data_array;
+    std::memcpy(data_array.data(), &value, sizeof(T));
+
+    for (std::uint8_t i = 0; i < sizeof(T); i++)
+    {
+      const std::uint8_t address = std::uint8_t(initial_address) + i;
+      register_write(Registers(address), std::uint8_t(data_array[i]));
+    }
+  }
+
   States current_state() const;
   bool set_current_state(const States& new_state);
+
+  void set_address_short(const std::uint16_t address);
+  void set_address_long(const std::uint64_t address);
+  void set_channel(const std::uint8_t channel);
+  void set_pan_id(const std::uint16_t pan_id);
+  void set_tx_power(std::int16_t power);
+  void set_max_retries(std::uint8_t retries);
+  void set_csma_max_retries(const std::optional<std::uint8_t>& retries);
+  void set_csma_backoff_exponential(std::uint8_t max, std::uint8_t min);
+  void set_csma_seed(const std::uint16_t entropy);
+
 private:
   spi_m_sync_descriptor* m_spi = nullptr;
   io_descriptor* m_spi_io = nullptr;
   States m_current_state = States::P_ON;
 
-  void m_wait_transition_complete();
+  void m_wait_can_transition();
 };
 
 }

radio/include/radio_interrupts.hpp

@@ -0,0 +1,30 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#ifndef SKL_TUNNEL_RADIO_INTERRUPTS_HPP
+#define SKL_TUNNEL_RADIO_INTERRUPTS_HPP
+
+#include <cstdint>
+#include <utility_enum_helpers.hpp>
+
+namespace radio
+{
+
+enum class Interrupts : std::uint8_t
+{
+  PLL_LOCK = (1 << 0),
+  PLL_UNLOCK = (1 << 1),
+  RX_START = (1 << 2),
+  TRX_END = (1 << 3),
+  CCA_ED_DONE = (1 << 4),
+  AMI = (1 << 5),
+  TRX_UR = (1 << 6),
+  BAT_LOW = (1 << 7)
+};
+
+SKULLC_ENUM_DECLARE_BITFLAG_OPERATORS(Interrupts)
+
+}
+
+#endif //SKL_TUNNEL_RADIO_INTERRUPTS_HPP

radio/src/radio_gpio.c

@@ -23,6 +23,11 @@ void radio_gpio_init()
 
   gpio_set_pin_direction(IN_RADIO_IRQ, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(IN_RADIO_IRQ, GPIO_PULL_OFF);
+
+  EIC->CONFIG[0].reg |= (1 << 0);
+  EIC->INTENSET.reg |= (1 << 0);
+  EIC->CTRL.reg |= (1 << 1);
+
   gpio_set_pin_function(IN_RADIO_IRQ, PINMUX_PB00A_EXTINT0);
 
 #undef PINMUX_PB00A_EXTINT0

radio/src/radio_hw_instance.cpp

@@ -7,23 +7,27 @@
 #include "radio_hardware_instance.h"
 #include "radio_gpio.h"
 #include "radio_spi.h"
-#include "utility_logging.hpp"
 
 #include <hal_delay.h>
 #include <hal_ext_irq.h>
 #include <utility_assert.hpp>
 #include <utility_staticpointer.hpp>
+#include <utility_logging.hpp>
 #include <optional>
+#include <algorithm>
 
 namespace
 {
 
 Utility::StaticPointer<radio::HwInstance> _INSTANCE;
+Utility::IFunction<void (radio::HwInstance*)>* _CALLBACK;
 
 void _irq_handler()
 {
-  SKULLC_ASSERT_DEBUG(_INSTANCE.isInitialized());
-  _INSTANCE->irq_handler();
+  SKULLC_ASSERT_DEBUG(_INSTANCE);
+
+  if (_CALLBACK)
+    (*_CALLBACK)(_INSTANCE.get());
 }
 
 }
@@ -53,9 +57,7 @@ HwInstance::HwInstance()
   gpio_set_pin_level(OUT_RADIO_SLP_TR, false);
   delay_ms(10);
 
-  ext_irq_enable(IN_RADIO_IRQ);
   ext_irq_register(IN_RADIO_IRQ, _irq_handler);
-  ext_irq_register(0, _irq_handler);
 
   gpio_set_pin_level(OUT_RADIO_RST, true);
   delay_ms(10);
@@ -70,7 +72,7 @@ HwInstance::HwInstance()
   register_write(Registers::TRX_CTRL_0, trx_ctrl);
 
   // Enable interrupts.
-  register_write(Registers::IRQ_MASK, 0x08);
+  register_write(Registers::IRQ_MASK, 0xFF);
 
   // clear interrupts.
   register_read(Registers::IRQ_STATUS);
@@ -78,9 +80,14 @@ HwInstance::HwInstance()
   set_current_state(States::TRX_OFF);
 }
 
-void HwInstance::irq_handler()
+void HwInstance::set_irq_handler(Utility::IFunction<void (HwInstance*)>* cb)
 {
-  SKULLC_LOG_DEBUG("IRQ set.");
+  _CALLBACK = cb;
+}
+
+Interrupts HwInstance::get_pending_irq()
+{
+  return Interrupts(register_read(Registers::IRQ_STATUS));
 }
 
 uint8_t HwInstance::register_read(const Registers& address)
@@ -113,88 +120,150 @@ void HwInstance::register_write(const Registers& address, const uint8_t value)
   gpio_set_pin_level(OUT_RADIO_CS, true);
 }
 
+HwInstance::States HwInstance::current_state() const
+{
+  return m_current_state;
+}
+
 bool HwInstance::set_current_state(const States& new_state)
 {
   if (new_state == m_current_state)
     return true;
 
-  m_wait_transition_complete();
-  bool can_transition = false;
-  std::optional<std::uint8_t> trx_state_value = std::nullopt;
+  m_wait_can_transition();
 
-  switch (m_current_state)
+  auto is_rx_state = [](const States& s) -> bool
     {
-  case States::P_ON:
-    if (new_state == States::TRX_OFF)
+      return s == States::RX_ON || s == States::RX_AACK_ON;
+    };
+
+  auto is_tx_state = [](const States& s) -> bool
     {
-      can_transition = true;
-      trx_state_value = 0x08;
-    }
-    break;
-  case States::TRX_OFF:
-    if (new_state == States::RX_ON)
+      return s == States::TX_ARET_ON;
+    };
+
+  if ((is_rx_state(m_current_state) && is_tx_state(new_state))
+        || (is_tx_state(m_current_state) && is_rx_state(new_state)))
   {
-      can_transition = true;
-      trx_state_value = 0x06;
-    }
-    else if (new_state == States::PLL_ON)
-    {
-      can_transition = true;
-      trx_state_value = 0x09;
-    }
-    break;
-  case States::RX_ON:
-    if (new_state == States::PLL_ON)
-    {
-      can_transition = true;
-      trx_state_value = 0x09;
-    }
-    else if (new_state == States::TRX_OFF)
-    {
-      can_transition = true;
-      trx_state_value = 0x08;
-    }
-    break;
-  case States::PLL_ON:
-    if (new_state == States::RX_ON)
-    {
-      can_transition = true;
-      trx_state_value = 0x06;
-    }
-    else if (new_state == States::TRX_OFF)
-    {
-      can_transition = true;
-      trx_state_value = 0x08;
-    }
-    break;
-  default:
-    SKULLC_ASSERT_DEBUG(false);
-    return false;
+    set_current_state(States::PLL_ON);
   }
 
-  if (can_transition)
-  {
-    register_write(Registers::TRX_STATE, *trx_state_value);
-    m_wait_transition_complete();
+  register_write(Registers::TRX_STATE, std::uint8_t(new_state));
+  m_wait_can_transition();
   m_current_state = new_state;
   return true;
 }
-  else
+
+void HwInstance::set_address_short(const std::uint16_t address)
 {
-    return false;
-  }
+  register_write(Registers::SHORT_ADDR_0, address);
 }
 
-void HwInstance::m_wait_transition_complete()
+void HwInstance::set_address_long(const std::uint64_t address)
 {
-  while (true)
-  {
-    int16_t radio_status = register_read(radio::Registers::TRX_STATUS);
-    radio_status &= 0x1F;
+  register_write(Registers::IEEE_ADDR_0, address);
+}
 
-    if (radio_status != 0x1F)
+void HwInstance::set_channel(const std::uint8_t channel)
+{
+  static constexpr std::uint8_t channel_min = 11;
+  static constexpr std::uint8_t channel_max = 26;
+
+  SKULLC_ASSERT_DEBUG(channel >= channel_min && channel <= channel_max);
+  if (channel > channel_max || channel < channel_min)
+  {
     return;
   }
+
+  std::uint8_t reg_value = register_read(Registers::PHY_CC_CCA);
+  reg_value &= ~0x1F;
+  reg_value |= channel & 0x1F;
+  register_write(Registers::PHY_CC_CCA, reg_value);
+}
+
+void HwInstance::set_pan_id(const std::uint16_t pan_id)
+{
+  register_write(Registers::PAN_ID_0, pan_id);
+}
+
+void HwInstance::set_tx_power(std::int16_t power)
+{
+  static constexpr std::array<std::uint8_t, 21> dbm_to_tx_power{
+      0x0F, 0x0F, 0x0F, 0x0E, 0x0E, 0x0E, 0x0E, 0x0D, 0x0D, 0x0C, 0x0C,
+      0x0B, 0x0B, 0x0A, 0x09, 0x08, 0x07, 0x06, 0x05, 0x03, 0x00
+  };
+
+  power += 17;
+  power = std::clamp(power, std::int16_t(0), std::int16_t(21));
+  register_write(Registers::PHY_TX_PWR, dbm_to_tx_power[power]);
+}
+
+void HwInstance::set_max_retries(std::uint8_t retries)
+{
+  retries = std::clamp<std::uint8_t>(retries, 0, 7);
+
+  constexpr std::uint8_t mask = 0xF0;
+
+  std::uint8_t reg_value = register_read(Registers::XAH_CTRL_0);
+  reg_value &= ~mask;
+  reg_value |= (retries << 4) & mask;
+  register_write(Registers::XAH_CTRL_0, reg_value);
+}
+
+void HwInstance::set_csma_max_retries(const std::optional<std::uint8_t>& retries)
+{
+  std::uint8_t value_to_write = 0;
+  if (!retries)
+    value_to_write = 7;
+  else
+    value_to_write = std::clamp<std::uint8_t>(*retries, 0, 5);
+
+  constexpr std::uint8_t mask = 0x0E;
+
+  std::uint8_t reg_value = register_read(Registers::XAH_CTRL_0);
+  reg_value &= ~mask;
+  reg_value |= (value_to_write << 1) & mask;
+  register_write(Registers::XAH_CTRL_0, reg_value);
+}
+
+void HwInstance::set_csma_backoff_exponential(std::uint8_t max, std::uint8_t min)
+{
+  max = std::clamp<std::uint8_t>(max, 0, 8);
+  min = std::clamp<std::uint8_t>(min, 0, max);
+
+  const std::uint8_t reg_value = (max << 4) | min;
+  register_write(Registers::CSMA_BE, reg_value);
+}
+
+void HwInstance::set_csma_seed(const std::uint16_t entropy)
+{
+  std::array<std::uint8_t, 2> entropy_data{ 0 };
+  std::memcpy(entropy_data.data(), &entropy, 2);
+
+  register_write(Registers::CSMA_SEED_0, entropy_data[0]);
+
+  constexpr std::uint8_t mask = 0x07;
+
+  std::uint8_t reg_value = register_read(Registers::CSMA_SEED_1);
+  reg_value &= ~mask;
+  reg_value |= entropy_data[1] & mask;
+  register_write(Registers::CSMA_SEED_1, reg_value);
+}
+
+/**
+ * @brief Blocks until a state transition can be initiated.
+ */
+void HwInstance::m_wait_can_transition()
+{
+  States radio_status = States::TRANSITION_IN_PROGRESS;
+
+  do
+  {
+    radio_status = States(register_read(Registers::TRX_STATUS) & 0x1F);
+
+  } while (radio_status == States::BUSY_RX || radio_status == States::BUSY_TX ||
+           radio_status == States::BUSY_RX_AACK || radio_status == States::BUSY_TX_ARET ||
+           radio_status == States::TRANSITION_IN_PROGRESS);
 }
 
 }