o Naming pins.

o Correct prescaler for 1us resolution.
o Trying out a lock structure for locking between an ISR and a main loop.

9 files changed, 144 insertions, 36 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 75d1f7b..de75f5b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,16 +34,17 @@ target_sources(firmware PUBLIC
 
 mcucpp_process(TARGET firmware)
 
-# stm32cube sources
+# BSP sources
 mcu_include_directories_from_sources(
   SOURCE_DIR bsp/radio-controller-1
   EXCLUDE Templates
   EXCLUDE _template.c
   EXCLUDE Examples
   EXCLUDE DSP_Lib
-  SOURCES_VAR STM32_CUBEMX_SOURCES
-  HEADERS_VAR STM32_CUBEMX_HEADERS
-  INCLUDES_VAR STM32_CUBEMX_INCLUDES
+  SOURCES_VAR BSP_SOURCES
+  HEADERS_VAR BSP_HEADERS
+  INCLUDES_VAR BSP_INCLUDES
 )
-target_include_directories(firmware PUBLIC ${STM32_CUBEMX_INCLUDES})
-target_sources(firmware PUBLIC ${STM32_CUBEMX_SOURCES} ${STM32_CUBEMX_HEADERS})
+list(FILTER BSP_INCLUDES INCLUDE REGEX Inc)
+target_include_directories(firmware PUBLIC ${BSP_INCLUDES})
+target_sources(firmware PUBLIC ${BSP_SOURCES} ${BSP_HEADERS})
diff --git a/bsp/radio-controller-1/Inc/main.h b/bsp/radio-controller-1/Inc/main.h
index 6795087..be96275 100644
--- a/bsp/radio-controller-1/Inc/main.h
+++ b/bsp/radio-controller-1/Inc/main.h
@@ -49,7 +49,10 @@
 /* USER CODE END Includes */
 
 /* Private define ------------------------------------------------------------*/
-#define RX_TIMER_PRESCALER (72000000 / 72000)
+#define RX_TIMER_PRESCALER (7200 - 1)
+
+#define RADIO_RX_Pin GPIO_PIN_8
+#define RADIO_RX_GPIO_Port GPIOA
 
 /* USER CODE BEGIN Private defines */
 #ifdef __cplusplus
diff --git a/bsp/radio-controller-1/Src/main.c b/bsp/radio-controller-1/Src/main.c
index f57b555..4b49e82 100644
--- a/bsp/radio-controller-1/Src/main.c
+++ b/bsp/radio-controller-1/Src/main.c
@@ -47,6 +47,7 @@
 
 /* USER CODE BEGIN Includes */
 #include "radio-controller.h"
+#include <mcu/init.h>
 /* USER CODE END Includes */
 
 /* Private variables ---------------------------------------------------------*/
@@ -182,7 +183,7 @@ static void MX_TIM1_Init(void)
   htim1.Instance = TIM1;
   htim1.Init.Prescaler = RX_TIMER_PRESCALER;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 65535;
+  htim1.Init.Period = 0xffff;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_IC_Init(&htim1) != HAL_OK)
@@ -271,10 +272,7 @@ static void MX_GPIO_Init(void)
 void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler */
-  /* User can add his own implementation to report the HAL error return state */
-  while(1)
-  {
-  }
+  halt();
   /* USER CODE END Error_Handler */
 }
 
diff --git a/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c b/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
index b90d153..0b02774 100644
--- a/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
+++ b/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
@@ -103,10 +103,10 @@ void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* htim_ic)
     /**TIM1 GPIO Configuration
     PA8     ------> TIM1_CH1
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Pin = RADIO_RX_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    HAL_GPIO_Init(RADIO_RX_GPIO_Port, &GPIO_InitStruct);
 
     /* Peripheral DMA init*/
 
@@ -151,7 +151,7 @@ void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef* htim_ic)
     /**TIM1 GPIO Configuration
     PA8     ------> TIM1_CH1
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8);
+    HAL_GPIO_DeInit(RADIO_RX_GPIO_Port, RADIO_RX_Pin);
 
     /* Peripheral DMA DeInit*/
     HAL_DMA_DeInit(htim_ic->hdma[TIM_DMA_ID_CC1]);
diff --git a/bsp/radio-controller-1/Src/stm32f1xx_it.c b/bsp/radio-controller-1/Src/stm32f1xx_it.c
index ac5d604..8064fb8 100644
--- a/bsp/radio-controller-1/Src/stm32f1xx_it.c
+++ b/bsp/radio-controller-1/Src/stm32f1xx_it.c
@@ -234,7 +234,6 @@ void USB_LP_CAN1_RX0_IRQHandler(void)
 void TIM1_TRG_COM_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM1_TRG_COM_IRQn 0 */
-  it_tim1();
   /* USER CODE END TIM1_TRG_COM_IRQn 0 */
   HAL_TIM_IRQHandler(&htim1);
   /* USER CODE BEGIN TIM1_TRG_COM_IRQn 1 */
@@ -248,7 +247,6 @@ void TIM1_TRG_COM_IRQHandler(void)
 void TIM1_CC_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM1_CC_IRQn 0 */
-  it_tim1();
   /* USER CODE END TIM1_CC_IRQn 0 */
   HAL_TIM_IRQHandler(&htim1);
   /* USER CODE BEGIN TIM1_CC_IRQn 1 */
diff --git a/bsp/radio-controller-1/radio-controller-1.gpdsc b/bsp/radio-controller-1/radio-controller-1.gpdsc
index 7835cd1..dd069ed 100644
--- a/bsp/radio-controller-1/radio-controller-1.gpdsc
+++ b/bsp/radio-controller-1/radio-controller-1.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : radio-controller-1.gpdsc
- * Date        : 27/05/2017 10:57:24
+ * Date        : 27/05/2017 23:23:20
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -11,7 +11,7 @@
   <description>STM32CubeMX generated pack description</description>
   <releases>
     <release version="1.0.0">
-     - Generated: 27/05/2017 10:57:24
+     - Generated: 27/05/2017 23:23:20
     </release>
   </releases>
   <requirements>
diff --git a/bsp/radio-controller-1/radio-controller-1.ioc b/bsp/radio-controller-1/radio-controller-1.ioc
index 1948f13..c7f9ca7 100644
--- a/bsp/radio-controller-1/radio-controller-1.ioc
+++ b/bsp/radio-controller-1/radio-controller-1.ioc
@@ -38,7 +38,7 @@ Mcu.Pin7=PA11
 Mcu.Pin8=PA12
 Mcu.Pin9=PA13
 Mcu.PinsNb=13
-Mcu.UserConstants=RX_TIMER_PRESCALER,(72000000 / 72000)
+Mcu.UserConstants=RX_TIMER_PRESCALER,(7200 - 1)
 Mcu.UserName=STM32F103C6Tx
 MxCube.Version=4.20.1
 MxDb.Version=DB.4.0.200
@@ -69,6 +69,8 @@ PA2.Mode=Asynchronous
 PA2.Signal=USART2_TX
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PA8.GPIOParameters=GPIO_Label
+PA8.GPIO_Label=RADIO_RX
 PA8.Signal=S_TIM1_CH1
 PC14-OSC32_IN.Mode=LSE-External-Oscillator
 PC14-OSC32_IN.Signal=RCC_OSC32_IN
@@ -137,7 +139,7 @@ SH.S_TIM1_CH1.0=TIM1_CH1,Input_Capture1_from_TI1
 SH.S_TIM1_CH1.ConfNb=1
 TIM1.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM1.IPParameters=Channel-Input_Capture1_from_TI1,Prescaler,Period
-TIM1.Period=65535
+TIM1.Period=0xffff
 TIM1.Prescaler=RX_TIMER_PRESCALER
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
diff --git a/include/radio-controller.h b/include/radio-controller.h
index 58f2594..cad5f88 100644
--- a/include/radio-controller.h
+++ b/include/radio-controller.h
@@ -8,8 +8,6 @@ void main_pre_init();
 void main_post_init();
 void main_loop();
 
-void it_tim1();
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/radio-controller.cpp b/src/radio-controller.cpp
index 461a910..61cacfd 100644
--- a/src/radio-controller.cpp
+++ b/src/radio-controller.cpp
@@ -1,5 +1,6 @@
+#include <usbd_cdc_if.h>
+#include <cinttypes>
 #include "radio-controller.h"
-#include "stm32f1xx_hal.h"
 #include "mcu/arm/semihosting.h"
 #include "mcu/stm32cube/uart.h"
 #include "mcu/stm32cube/debug.h"
@@ -14,10 +15,89 @@ extern UART_HandleTypeDef huart2;
 mcu::stm32cube::uart::uart_port uart2(&huart2);
 mcu::stm32cube::debug::dbg<100> dbg(uart2);
 
-void main_pre_init() {
+using interval_us = uint16_t;
+
+class mutex {
+    volatile uint8_t locked;
+
+public:
+    mutex() : locked(0)
+    {}
+
+    __always_inline
+    bool try_lock()
+    {
+        auto l = __LDREXB(&locked);
+
+        if (l == 1) {
+            return false;
+        }
+
+        return __STREXB(1, &locked) == 0;
+    }
+
+    __always_inline
+    bool lock()
+    {
+        do {
+            while(__LDREXB(&locked) == 1);
+        } while(__STREXB(1, &locked) != 0);
+    }
+
+    __always_inline
+    bool unlock()
+    {
+        locked = 0;
+    }
+};
+
+template<unsigned int BufferSize>
+class sample_buffer {
+    interval_us samples[BufferSize];
+
+    volatile unsigned int _size;
+
+public:
+    void reset()
+    {
+        _size = 0;
+    }
+
+    unsigned int size()
+    {
+        return _size;
+    }
+
+    bool is_full()
+    {
+        return _size == BufferSize;
+    }
+
+    __noinline
+    void append(interval_us sample)
+    {
+        if (_size == BufferSize) {
+            return;
+        }
+
+        samples[_size++] = sample;
+    }
+
+    interval_us at(int i)
+    {
+        return samples[i];
+    }
+};
+
+sample_buffer<10> buffer;
+mutex buffer_lock;
+
+void main_pre_init()
+{
 }
 
-void main_post_init() {
+void main_post_init()
+{
     bool debugger_connected = (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) != 0;
     if (debugger_connected) {
         semihosting::enable();
@@ -25,36 +105,64 @@ void main_post_init() {
 
     printf("Radio Controller\n");
 
-    HAL_TIM_Base_Start_IT(&htim1);
-//    HAL_TIM_IC_Start_IT(&htim1, 1);
+//    HAL_TIM_Base_Start_IT(&htim1);
+    if (HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1) != HAL_OK) {
+        halt();
+    }
 
     uart2.enable();
+
+    buffer.reset();
 }
 
 static uint32_t tick_next = 0;
+static uint32_t cnt_prev = 0;
 
 static bool seen_high = false;
 
-void main_loop() {
+void main_loop()
+{
     auto now = HAL_GetTick();
 
     if (now >= tick_next) {
-//        puts(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8) ? "1" : "0");
-
         uint32_t cnt = __HAL_TIM_GET_COUNTER(&htim1);
-        dbg.println("cnt=%lu, now=%lu, seen_high=%d", cnt, now, seen_high);
+        auto diff = static_cast<int>(cnt - cnt_prev);
+        dbg.println("cnt=%lu, diff=%d, now=%" PRIu32 ", seen_high=%d, buffer_size=%d", cnt, diff, now, seen_high,
+                    buffer.size());
+        cnt_prev = cnt;
+
+        auto *str = "1234567890\n";
+        CDC_Transmit_FS(const_cast<uint8_t *>(reinterpret_cast<const uint8_t *>(str)), 5);
+
         tick_next += 1000;
         seen_high = false;
-        dbg.println("wat");
     }
 
-    seen_high |= HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8);
+    if (buffer.is_full()) {
+        buffer_lock.lock();
+
+        for (unsigned int i = 0; i < buffer.size(); i++) {
+            dbg.println("%d", static_cast<int>(buffer.at(i)));
+        }
+        dbg.println("\n");
+
+        buffer.reset();
+//        buffer_lock.unlock();
+    }
+
+    seen_high |= HAL_GPIO_ReadPin(RADIO_RX_GPIO_Port, RADIO_RX_Pin);
 
 #ifdef HAL_IWDG_MODULE_ENABLED
     HAL_IWDG_Refresh(&hiwdg);
 #endif
 }
 
-void it_tim1() {
-    ;
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+    auto input_capture = __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1);
+
+    if (buffer_lock.try_lock()) {
+        buffer.append(static_cast<uint16_t>(input_capture));
+        buffer_lock.unlock();
+    }
 }