fport: Receive fport data (don't parse yet)

make/config.mk

@@ -34,6 +34,7 @@ TARGET_nodeflight_DEPENDS = freertos tinyprintf core lib
 TARGET_nodeflight_SOURCES = \
 	core/main.c \
 	lib/strops.c \
+	module/rc_rx/fport.c \
 	module/io/stdout.c
 
 TARGET_nodeflight_INCLUDES = .
@@ -125,7 +126,8 @@ TARGET_stm32_SOURCES = \
 	platform/stm32/hwacc/gpio.c \
 	platform/stm32/hwacc/uart.c \
 	platform/stm32/hwacc/usb_vcp.c \
-	platform/stm32/hwmap/resource_stm32.c
+	platform/stm32/hwmap/resource_stm32.c \
+	platform/stm32/fault_irq.c
 
 TARGET_stm32_CFLAGS = \
 	-DUSE_FULL_LL_DRIVER \

src/core/interface_types.h

@@ -32,6 +32,13 @@ struct interface_serial_config_s {
     uint16_t tx_buf_size;
     uint16_t rx_buf_size;
     uint32_t flags;
+
+    void (*rx_done)(
+        const uint8_t *buf,
+        uint16_t len,
+        void *storage);
+
+    void *storage;
 };
 
 struct interface_serial_s {

src/core/main.c

@@ -42,12 +42,13 @@ int main(
 
     config_init();
 
-    xTaskCreate(main_task,
-        "main",
-        1024,
-        NULL,
-        tskIDLE_PRIORITY,
-        NULL);
+    // xTaskCreate(main_task,
+    // "main",
+    // 1024,
+    // NULL,
+    // tskIDLE_PRIORITY,
+    // NULL);
+    (void) main_task;
 
     vTaskStartScheduler();
     asm ("bkpt 255");

src/module/rc_rx/fport.c

@@ -0,0 +1,127 @@
+/*
+ * NodeFlight - platform for embedded control systems
+ * Copyright (C) 2020  Max Sikström
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "core/module.h"
+#include "core/interface.h"
+#include "core/interface_types.h"
+#include "core/config.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "vendor/tinyprintf/tinyprintf.h"
+
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+#include <string.h>
+
+typedef struct fport_s fport_t;
+
+struct fport_s {
+    interface_header_t *if_ser;
+
+    uint8_t data[64];
+    uint16_t len;
+
+    TaskHandle_t task;
+};
+
+static int fport_init(
+    const char *tag);
+
+static void fport_task(
+    void *storage);
+
+MODULE_DECL(fport, fport_init);
+
+static void fport_rx_done(
+    const uint8_t *buf,
+    uint16_t len,
+    void *storage)
+{
+    fport_t *fport_if = storage;
+
+    memcpy(fport_if->data, buf, len);
+    fport_if->len = len;
+
+    BaseType_t should_switch = pdFALSE;
+    xTaskNotifyFromISR(fport_if->task, 0x00000001, eSetBits, &should_switch);
+    portYIELD_FROM_ISR(should_switch);
+}
+
+int fport_init(
+    const char *tag)
+{
+    const char *peripheral_config;
+    fport_t *fport_if;
+
+    peripheral_config = config_get_peripheral_config(tag);
+    if (peripheral_config == NULL) {
+        return -1;
+    }
+
+    fport_if = pvPortMalloc(sizeof(fport_t));
+    if (fport_if == NULL) {
+        return -1;
+    }
+
+    xTaskCreate(fport_task,
+        "fport_proc",
+        1024,
+        fport_if,
+        15,
+        &fport_if->task);
+
+    fport_if->if_ser = interface_create(peripheral_config);
+    if (fport_if->if_ser == NULL) {
+        return -1;
+    }
+    interface_serial_configure(fport_if->if_ser, &(const interface_serial_config_t) {
+        .baudrate = 115200,
+        .tx_buf_size = 16,
+        .rx_buf_size = 128,
+        .flags = (
+            INTERFACE_SERIAL_HALF_DUPLEX
+            | INTERFACE_SERIAL_INVERTED_RX
+            | INTERFACE_SERIAL_INVERTED_TX
+            ),
+        .rx_done = fport_rx_done,
+        .storage = fport_if
+    });
+
+    return 0;
+}
+
+void fport_task(
+    void *storage)
+{
+    fport_t *fport_if = storage;
+    int i;
+    uint32_t notify_value;
+
+    tfp_printf("fport loaded\n");
+
+    for (;;) {
+        xTaskNotifyWait(0x00, UINT32_MAX, &notify_value, 500 * portTICK_PERIOD_MS);
+        tfp_printf("fport:");
+        for (i = 0; i < fport_if->len; i++) {
+            tfp_printf(" %02x", fport_if->data[i]);
+        }
+        tfp_printf("\n");
+    }
+}

src/platform/stm32/FreeRTOSConfig.h

@@ -77,9 +77,9 @@
 #define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
 
 /* Interrupt nesting behaviour configuration. */
-#define configKERNEL_INTERRUPT_PRIORITY         4
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY    3
-#define configMAX_API_CALL_INTERRUPT_PRIORITY   3
+#define configKERNEL_INTERRUPT_PRIORITY         (0xFFUL)
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    8
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   8
 
 /* Define to trap errors during development. */
 #define configASSERT(x)                         if ( (x) == 0) asm ("bkpt 255")

src/platform/stm32/fault_irq.c

@@ -0,0 +1,28 @@
+/*
+ * NodeFlight - platform for embedded control systems
+ * Copyright (C) 2020  Max Sikström
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Don't do anything special, but keeping it separate from Default_Handler will make it easier to identify hardfaults
+ * from other unimplemented interrupts in GDB backtrace
+ */
+void HardFault_Handler(
+    void)
+{
+    for (;;) {
+    }
+}

src/platform/stm32/hwacc/dma.c

@@ -129,14 +129,8 @@ static void dma_irq_handler(
     /* Get flags, aligned to first bits */
     uint32_t flags = def->flags[0] >> def->flag_bit;
 
-    /* Clear all flags, always */
-    def->flags[2] = (
-        DMA_LIFCR_CFEIF0
-        | DMA_LIFCR_CDMEIF0
-        | DMA_LIFCR_CTEIF0
-        | DMA_LIFCR_CHTIF0
-        | DMA_LIFCR_CTCIF0
-        ) << def->flag_bit;
+    /* Clear the flags identified. Any missed flags will be taken next IRQ */
+    def->flags[2] = flags << def->flag_bit;
 
     if ((flags & DMA_LISR_FEIF0) && state->cb_fifo_error != NULL) {
         state->cb_fifo_error(def, state->storage);