slip working with int driven rx

bsp_z7/CMakeLists.txt

@@ -1,3 +1,4 @@
 add_subdirectory(freeRTOS)
+add_subdirectory(lwip)
 add_subdirectory(ps7_cortexa9_0)
 add_subdirectory(objects)

bsp_z7/lwip/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(lwip PRIVATE sys_arch_protect.c)

bsp_z7/lwip/arch/cc.h

@@ -20,4 +20,12 @@
 #define PACK_STRUCT_END
 
 #define LWIP_PLATFORM_ASSERT(x)
-#define LWIP_PLATFORM_DIAG(x) do { printf x; } while(0)
+#define LWIP_PLATFORM_DIAG(x) do { printf x; } while(0)
+
+
+//overwrite protection function, we need ISR aware one, which the default FreeRTOS port does not support
+#define SYS_ARCH_DECL_PROTECT(lev) uint32_t lev //caution, type is actually sys_prot_t, which is not available here.
+#define SYS_ARCH_PROTECT(lev) lev = sys_arch_protect_ca0()
+#define SYS_ARCH_UNPROTECT(lev) sys_arch_unprotect_ca0(lev)
+uint32_t sys_arch_protect_ca0(void); //caution, type is actually sys_prot_t, which is not available here.
+void sys_arch_unprotect_ca0(uint32_t pval); //caution, type is actually sys_prot_t, which is not available here.

bsp_z7/lwip/lwipopts.h

@@ -328,9 +328,17 @@ a lot of data that needs to be copied, this should be set high. */
 
 #endif /* LWIP_OPTTEST_FILE */
 
+// FreeRTOS defines
+#define LWIP_FREERTOS_CHECK_CORE_LOCKING 1
+
+// Disable slip task
+#define SLIP_USE_RX_THREAD 0
+#define SLIP_RX_FROM_ISR 1
+#define SLIP_RX_QUEUE 1
+
 /* The following defines must be done even in OPTTEST mode: */
 
-#define LWIP_FREERTOS_CHECK_CORE_LOCKING 1
+
 
 
 void sys_check_core_locking(void);
@@ -339,7 +347,6 @@ void sys_check_core_locking(void);
 void sys_mark_tcpip_thread(void);
 #define LWIP_MARK_TCPIP_THREAD()   sys_mark_tcpip_thread()
 
-// Disable slip task
-#define SLIP_USE_RX_THREAD 0
+
 
 #endif /* LWIP_LWIPOPTS_H */

bsp_z7/lwip/sys_arch_protect.c

@@ -0,0 +1,66 @@
+#include "lwip/sys.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+extern volatile uint32_t ulPortInterruptNesting;
+
+#if SYS_LIGHTWEIGHT_PROT
+
+sys_prot_t
+sys_arch_protect_ca0(void)
+{
+#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
+  BaseType_t ret;
+  LWIP_ASSERT("sys_arch_protect_mutex != NULL", sys_arch_protect_mutex != NULL);
+
+  ret = xSemaphoreTakeRecursive(sys_arch_protect_mutex, portMAX_DELAY);
+  LWIP_ASSERT("sys_arch_protect failed to take the mutex", ret == pdTRUE);
+#else /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
+  if ( ulPortInterruptNesting == 0) {
+    taskENTER_CRITICAL(); 
+  } else {
+    taskENTER_CRITICAL_FROM_ISR(); 
+  }
+#endif /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
+#if LWIP_FREERTOS_SYS_ARCH_PROTECT_SANITY_CHECK
+  {
+    /* every nested call to sys_arch_protect() returns an increased number */
+    sys_prot_t ret = sys_arch_protect_nesting;
+    sys_arch_protect_nesting++;
+    LWIP_ASSERT("sys_arch_protect overflow", sys_arch_protect_nesting > ret);
+    return ret;
+  }
+#else
+  return 1;
+#endif
+}
+
+void
+sys_arch_unprotect_ca0(sys_prot_t pval)
+{
+#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
+  BaseType_t ret;
+#endif
+#if LWIP_FREERTOS_SYS_ARCH_PROTECT_SANITY_CHECK
+  LWIP_ASSERT("unexpected sys_arch_protect_nesting", sys_arch_protect_nesting > 0);
+  sys_arch_protect_nesting--;
+  LWIP_ASSERT("unexpected sys_arch_protect_nesting", sys_arch_protect_nesting == pval);
+#endif
+
+#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
+  LWIP_ASSERT("sys_arch_protect_mutex != NULL", sys_arch_protect_mutex != NULL);
+
+  ret = xSemaphoreGiveRecursive(sys_arch_protect_mutex);
+  LWIP_ASSERT("sys_arch_unprotect failed to give the mutex", ret == pdTRUE);
+#else /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
+  if ( ulPortInterruptNesting == 0) {
+    taskEXIT_CRITICAL();
+  } else {
+    taskEXIT_CRITICAL_FROM_ISR(0);
+  }
+#endif /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
+  LWIP_UNUSED_ARG(pval);
+}
+
+#endif /* SYS_LIGHTWEIGHT_PROT */

bsp_z7/ps7_cortexa9_0/libsrc/standalone/src/outbyte.c

@@ -15,5 +15,5 @@ void outbyte(char c);
 #endif 
 
 void outbyte(char c) {
-	 //XUartPs_SendByte(STDOUT_BASEADDRESS, c);
+	 XUartPs_SendByte(STDOUT_BASEADDRESS, c);
 }

mission/main.cpp

@@ -212,7 +212,7 @@ void mission(void *){
   currPrio = 2;
 
   PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask(
-      "controller", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
+      "controller", currPrio, 1024, 1, nullptr);
   controllerTask->addComponent(123);
 
   printf("Created Tasks\n");

mission/testIp.cpp

@@ -9,8 +9,13 @@
 #include <netif/slipif.h>
 #include <sys/socket.h>
 
+#include <xscugic.h>
 #include <xuartps.h>
 
+#undef XUARTPS_IXR_RXOVR
+#define XUARTPS_IXR_RXOVR 0x00000020U /**< Rx Overrun error interrupt */
+#define XUARTPS_IXR_RTRIG 0x00000001U /**< RX FIFO trigger interrupt. */
+
 extern "C" {
 void slipif_rxbyte_input(struct netif *netif, u8_t c);
 
@@ -18,22 +23,41 @@ void myInitDone(void *arg) { puts("init done"); }
 
 struct netif netif;
 
-void pollUart(void *) {
+extern XScuGic xInterruptController; /* Interrupt controller instance */
+
+/** this is based on XUartPs_InterruptHandler() in xuartps_intr.c*/
+void handleUARTInt(void *) {
+  XUartPs_SendByte(STDOUT_BASEADDRESS, 'I');
+
+  u32 IsrStatus;
+
+  /*
+   * Read the interrupt ID register to determine which
+   * interrupt is active
+   */
+  IsrStatus = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_IMR_OFFSET);
+
+  IsrStatus &= XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET);
+
+  // Onlx RX intterupts are enabled
+  // We do not care which interrupt actually triggered, just get all bytes
+  // available into the stack
+  u32 RecievedByte;
+  while (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
+    RecievedByte = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_FIFO_OFFSET);
+    slipif_received_byte(&netif, (u8)RecievedByte);
+  }
+
+  /* Clear the interrupt status. */
+  XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET, IsrStatus);
+}
+
+void forwardPackets(void *) {
   while (1) {
-    if (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
-      u32 RecievedByte;
-      /* Wait until there is data */
-      while (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
-        RecievedByte = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_FIFO_OFFSET);
-        slipif_rxbyte_input(&netif, (u8)RecievedByte);
-      }
-    }
-    vTaskDelay(pdMS_TO_TICKS(5));
+    slipif_process_rxqueue(&netif);
+    vTaskDelay(pdMS_TO_TICKS(10));
   }
 }
-}
-
-
 
 uint32_t sio_data;
 
@@ -41,6 +65,8 @@ sio_fd_t sio_open(u8_t devnum) { return &sio_data; }
 
 void sio_send(u8_t c, sio_fd_t fd) { XUartPs_SendByte(STDOUT_BASEADDRESS, c); }
 
+} // extern "C"
+
 void testIp() {
 
   tcpip_init(myInitDone, nullptr);
@@ -59,14 +85,38 @@ void testIp() {
 
   vTaskDelay(pdMS_TO_TICKS(2000));
 
-  xTaskCreate(
-      pollUart, /* The function that implements the task. */
-      "uart", /* The text name assigned to the task - for debug only as it is not used by the
-                      kernel. */
-      2048, /* The size of the stack to allocate to the task. */
-      nullptr, /* The parameter passed to the task - not used in this simple case. */
-      1,               /* The priority assigned to the task. */
-      nullptr);
+  /* Install the UART Interrupt handler. */
+  BaseType_t xStatus =
+      XScuGic_Connect(&xInterruptController, XPAR_XUARTPS_1_INTR,
+                      (Xil_ExceptionHandler)handleUARTInt, nullptr);
+  configASSERT(xStatus == XST_SUCCESS);
+  (void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */
+
+  // Set trigger level to 62 of 64 bytes, giving interrupt some time to react
+  XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_RXWM_OFFSET, 62);
+
+  // Setting the rx timeout to n*4 -1 bits
+  XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_RXTOUT_OFFSET, 50);
+
+  // enable UART Interrupts
+  u32 mask = XUARTPS_IXR_RTRIG | XUARTPS_IXR_RXOVR | XUARTPS_IXR_RXFULL | XUARTPS_IXR_TOUT;
+  /* Write the mask to the IER Register */
+  XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_IER_OFFSET, mask);
+  /* Write the inverse of the Mask to the IDR register */
+  XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_IDR_OFFSET, (~mask));
+
+  /* Enable the interrupt for the UART1 in the interrupt controller. */
+  XScuGic_Enable(&xInterruptController, XPAR_XUARTPS_1_INTR);
+
+  // Start task to forwad packets from ISR to IP Task
+  xTaskCreate(forwardPackets, /* The function that implements the task. */
+              "slip forward", /* The text name assigned to the task - for debug
+                              only as it is not used by the kernel. */
+              1024,     /* The size of the stack to allocate to the task. */
+              nullptr, /* The parameter passed to the task - not used in this
+                          simple case. */
+              4,       /* The priority assigned to the task. */
+              nullptr);
 
   puts("socket");