Finished flashloader and bootloader implementation

examples/rtic/Cargo.toml

@@ -9,16 +9,11 @@ cortex-m-rt = "0.7"
 embedded-hal = "1"
 embedded-io = "0.6"
 rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+
 # Even though we do not use this directly, we need to activate this feature explicitely
 # so that RTIC compiles because thumv6 does not have CAS operations natively.
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
-panic-rtt-target = { version = "0.1" }
-
-[dependencies.va108xx-hal]
-path = "../../va108xx-hal"
-
-[dependencies.vorago-reb1]
-path = "../../vorago-reb1"
 
 [dependencies.rtic]
 version = "2"
@@ -31,3 +26,19 @@ features = ["cortex-m-systick"]
 [dependencies.rtic-sync]
 version = "1.3"
 features = ["defmt-03"]
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.ringbuf]
+version = "0.4.7"
+default-features = false
+features = ["portable-atomic"]
+
+[dependencies.va108xx-hal]
+path = "../../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"

examples/rtic/src/bin/uart-echo-rtic.rs

@@ -0,0 +1,143 @@
+//! More complex UART application
+//!
+//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
+//! a non-blocking way. All received data will be sent back to the sender.
+#![no_main]
+#![no_std]
+
+use once_cell::sync::Lazy;
+use ringbuf::StaticRb;
+
+// Larger buffer for TC to be able to hold the possibly large memory write packets.
+const RX_RING_BUF_SIZE: usize = 1024;
+
+// Ring buffers to handling variable sized telemetry
+static mut RINGBUF: Lazy<StaticRb<u8, RX_RING_BUF_SIZE>> =
+    Lazy::new(StaticRb::<u8, RX_RING_BUF_SIZE>::default);
+
+#[rtic::app(device = pac, dispatchers = [OC4])]
+mod app {
+    use super::*;
+    use embedded_io::Write;
+    use panic_rtt_target as _;
+    use ringbuf::{
+        traits::{Consumer, Observer, Producer, SplitRef},
+        CachingCons, StaticProd,
+    };
+    use rtic_example::SYSCLK_FREQ;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_print};
+    use va108xx_hal::{
+        gpio::PinsA,
+        pac,
+        prelude::*,
+        uart::{self, RxWithIrq, Tx},
+    };
+
+    #[local]
+    struct Local {
+        data_producer: StaticProd<'static, u8, RX_RING_BUF_SIZE>,
+        data_consumer: CachingCons<&'static StaticRb<u8, RX_RING_BUF_SIZE>>,
+        rx: RxWithIrq<pac::Uarta>,
+        tx: Tx<pac::Uarta>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        rtt_init_print!();
+        rprintln!("-- VA108xx UART Echo with IRQ example application--");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mut dp = cx.device;
+        let gpioa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+        let tx = gpioa.pa9.into_funsel_2();
+        let rx = gpioa.pa8.into_funsel_2();
+
+        let irq_uart = uart::Uart::new(
+            &mut dp.sysconfig,
+            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
+            115200.Hz(),
+        );
+        let (tx, rx) = irq_uart.split();
+        let mut rx = rx.into_rx_with_irq(&mut dp.sysconfig, &mut dp.irqsel, pac::interrupt::OC3);
+
+        rx.start();
+
+        let (data_producer, data_consumer) = unsafe { RINGBUF.split_ref() };
+        echo_handler::spawn().unwrap();
+        (
+            Shared {},
+            Local {
+                data_producer,
+                data_consumer,
+                rx,
+                tx,
+            },
+        )
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[task(
+        binds = OC3,
+        shared = [],
+        local = [
+            rx,
+            data_producer
+        ],
+    )]
+    fn reception_task(cx: reception_task::Context) {
+        let mut buf: [u8; 16] = [0; 16];
+        let mut ringbuf_full = false;
+        let result = cx.local.rx.irq_handler(&mut buf);
+        if result.bytes_read > 0 && result.errors.is_none() {
+            if cx.local.data_producer.vacant_len() < result.bytes_read {
+                ringbuf_full = true;
+            } else {
+                cx.local
+                    .data_producer
+                    .push_slice(&buf[0..result.bytes_read]);
+            }
+        }
+        if ringbuf_full {
+            // Could also drop oldest data, but that would require the consumer to be shared.
+            rprintln!("buffer full, data was dropped");
+        }
+    }
+
+    #[task(shared = [], local = [
+        buf: [u8; RX_RING_BUF_SIZE] = [0; RX_RING_BUF_SIZE],
+        data_consumer,
+        tx
+    ], priority=1)]
+    async fn echo_handler(cx: echo_handler::Context) {
+        loop {
+            let bytes_to_read = cx.local.data_consumer.occupied_len();
+            if bytes_to_read > 0 {
+                let actual_read_bytes = cx
+                    .local
+                    .data_consumer
+                    .pop_slice(&mut cx.local.buf[0..bytes_to_read]);
+                cx.local
+                    .tx
+                    .write_all(&cx.local.buf[0..actual_read_bytes])
+                    .expect("Failed to write to TX");
+            }
+            Mono::delay(50.millis()).await;
+        }
+    }
+}

examples/rtic/src/bin/uart-rtic.rs

@@ -1,165 +0,0 @@
-//! More complex UART application
-//!
-//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
-//! a non-blocking way. You can send variably sized strings to the VA10820 which will be echoed
-//! back to the sender.
-//!
-//! This script was tested with an Arduino Due. You can find the test script in the
-//! [`/test/DueSerialTest`](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/test/DueSerialTest)
-//! folder.
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac, dispatchers = [OC4])]
-mod app {
-    use embedded_io::Write;
-    use panic_rtt_target as _;
-    use rtic_example::SYSCLK_FREQ;
-    use rtic_sync::make_channel;
-    use rtt_target::{rprintln, rtt_init_print};
-    use va108xx_hal::{
-        gpio::PinsB,
-        pac,
-        prelude::*,
-        uart::{self, IrqCfg, IrqResult, UartWithIrqBase},
-    };
-
-    #[local]
-    struct Local {
-        rx_info_tx: rtic_sync::channel::Sender<'static, RxInfo, 3>,
-        rx_info_rx: rtic_sync::channel::Receiver<'static, RxInfo, 3>,
-    }
-
-    #[shared]
-    struct Shared {
-        irq_uart: UartWithIrqBase<pac::Uartb>,
-        rx_buf: [u8; 64],
-    }
-
-    #[derive(Debug, Copy, Clone)]
-    struct RxInfo {
-        pub bytes_read: usize,
-        pub end_idx: usize,
-        pub timeout: bool,
-    }
-
-    rtic_monotonics::systick_monotonic!(Mono, 1_000);
-
-    #[init]
-    fn init(cx: init::Context) -> (Shared, Local) {
-        rtt_init_print!();
-        rprintln!("-- VA108xx UART IRQ example application--");
-
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
-
-        let mut dp = cx.device;
-        let gpiob = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
-        let tx = gpiob.pb21.into_funsel_1();
-        let rx = gpiob.pb20.into_funsel_1();
-
-        let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
-        let (mut irq_uart, _) =
-            uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uartb, (tx, rx), 115200.Hz())
-                .into_uart_with_irq(irq_cfg, Some(&mut dp.sysconfig), Some(&mut dp.irqsel))
-                .downgrade();
-        irq_uart
-            .read_fixed_len_using_irq(64, true)
-            .expect("Read initialization failed");
-
-        let (rx_info_tx, rx_info_rx) = make_channel!(RxInfo, 3);
-        let rx_buf: [u8; 64] = [0; 64];
-        (
-            Shared { irq_uart, rx_buf },
-            Local {
-                rx_info_tx,
-                rx_info_rx,
-            },
-        )
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        loop {
-            cortex_m::asm::nop();
-        }
-    }
-
-    #[task(
-        binds = OC3,
-        shared = [irq_uart, rx_buf],
-        local = [cnt: u32 = 0, result: IrqResult = IrqResult::new(), rx_info_tx],
-    )]
-    fn reception_task(cx: reception_task::Context) {
-        let result = cx.local.result;
-        let cnt: &mut u32 = cx.local.cnt;
-        let irq_uart = cx.shared.irq_uart;
-        let rx_buf = cx.shared.rx_buf;
-        let (completed, end_idx) = (irq_uart, rx_buf).lock(|irq_uart, rx_buf| {
-            match irq_uart.irq_handler(result, rx_buf) {
-                Ok(_) => {
-                    if result.complete() {
-                        // Initiate next transfer immediately
-                        irq_uart
-                            .read_fixed_len_using_irq(64, true)
-                            .expect("Read operation init failed");
-
-                        let mut end_idx = 0;
-                        for (idx, val) in rx_buf.iter().enumerate() {
-                            if (*val as char) == '\n' {
-                                end_idx = idx;
-                                break;
-                            }
-                        }
-                        (true, end_idx)
-                    } else {
-                        (false, 0)
-                    }
-                }
-                Err(e) => {
-                    rprintln!("reception error {:?}", e);
-                    (false, 0)
-                }
-            }
-        });
-        if completed {
-            rprintln!("counter: {}", cnt);
-            cx.local
-                .rx_info_tx
-                .try_send(RxInfo {
-                    bytes_read: result.bytes_read,
-                    end_idx,
-                    timeout: result.timeout(),
-                })
-                .expect("RX queue full");
-        }
-        *cnt += 1;
-    }
-
-    #[task(shared = [irq_uart, rx_buf], local = [rx_info_rx], priority=1)]
-    async fn reply_handler(cx: reply_handler::Context) {
-        let mut irq_uart = cx.shared.irq_uart;
-        let mut rx_buf = cx.shared.rx_buf;
-        loop {
-            match cx.local.rx_info_rx.recv().await {
-                Ok(rx_info) => {
-                    rprintln!("reception success, {} bytes read", rx_info.bytes_read);
-                    if rx_info.timeout {
-                        rprintln!("timeout occurred");
-                    }
-                    rx_buf.lock(|rx_buf| {
-                        let string = core::str::from_utf8(&rx_buf[0..rx_info.end_idx])
-                            .expect("Invalid string format");
-                        rprintln!("read string: {}", string);
-                        irq_uart.lock(|uart| {
-                            writeln!(uart.uart, "{}", string).expect("Sending reply failed");
-                        });
-                    });
-                }
-                Err(e) => {
-                    rprintln!("error receiving RX info: {:?}", e);
-                }
-            }
-        }
-    }
-}