Commit 40ae65a4 authored by Rahix's avatar Rahix
Browse files

Merge 'Funnel serial output through a stream buffer'

See merge request !254
parents c0ba5e0c 48a84389
......@@ -39,7 +39,7 @@ int main(void)
(const char *)"Serial",
configMINIMAL_STACK_SIZE * 2,
NULL,
tskIDLE_PRIORITY + 1,
tskIDLE_PRIORITY + 3,
NULL) != pdPASS) {
LOG_CRIT("startup", "Failed to create %s task!", "Serial");
abort();
......@@ -134,6 +134,11 @@ int main(void)
abort();
}
/*
* Initialize serial driver data structures.
*/
serial_init();
LOG_DEBUG("startup", "Starting FreeRTOS ...");
vTaskStartScheduler();
......
......@@ -24,10 +24,18 @@ void return_to_menu(void);
/* ---------- Serial ------------------------------------------------------- */
#define SERIAL_READ_BUFFER_SIZE 128
#define SERIAL_WRITE_STREAM_BUFFER_SIZE 512
void serial_init();
void vSerialTask(void *pvParameters);
void serial_enqueue_char(char chr);
extern TaskHandle_t serial_task_id;
// For the eSetBit xTaskNotify task semaphore trigger
enum serial_notify{
SERIAL_WRITE_NOTIFY = 0x01,
SERIAL_READ_NOTIFY = 0x02,
};
/* ---------- LED Animation / Personal States ------------------------------ */
#define PERSONAL_STATE_LED 14
void vLedTask(void *pvParameters);
......
......@@ -10,40 +10,115 @@
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "stream_buffer.h"
#include <stdint.h>
#include <stdio.h>
/* The serial console in use (UART0) */
extern mxc_uart_regs_t *ConsoleUart;
/* Task ID for the serial handler */
TaskHandle_t serial_task_id = NULL;
/* The serial console in use (UART0) */
extern mxc_uart_regs_t *ConsoleUart;
/* Read queue, filled by both UART and CDCACM */
static QueueHandle_t read_queue;
/* Stream Buffer for handling all writes to serial */
static StreamBufferHandle_t write_stream_buffer = NULL;
void serial_init()
{
/* Setup read queue */
static uint8_t buffer[sizeof(char) * SERIAL_READ_BUFFER_SIZE];
static StaticQueue_t read_queue_data;
read_queue = xQueueCreateStatic(
SERIAL_READ_BUFFER_SIZE, sizeof(char), buffer, &read_queue_data
);
/* Setup write queue */
static uint8_t ucWrite_stream_buffer[SERIAL_WRITE_STREAM_BUFFER_SIZE];
static StaticStreamBuffer_t xStream_buffer_struct;
write_stream_buffer = xStreamBufferCreateStatic(
sizeof(ucWrite_stream_buffer),
1,
ucWrite_stream_buffer,
&xStream_buffer_struct
);
}
/*
* API-call to write a string. Output goes to both CDCACM and UART
*/
void epic_uart_write_str(const char *str, intptr_t length)
{
uint32_t basepri = __get_BASEPRI();
if (xPortIsInsideInterrupt()) {
taskENTER_CRITICAL_FROM_ISR();
} else {
taskENTER_CRITICAL();
if (length == 0) {
return;
}
/*
* Check if the stream buffer is even initialized yet
*/
if (write_stream_buffer == NULL) {
UART_Write(ConsoleUart, (uint8_t *)str, length);
cdcacm_write((uint8_t *)str, length);
return;
}
if (xPortIsInsideInterrupt()) {
BaseType_t resched1 = pdFALSE;
BaseType_t resched2 = pdFALSE;
/*
* Enter a critial section so no other task can write to the
* stream buffer.
*/
uint32_t basepri = __get_BASEPRI();
taskENTER_CRITICAL_FROM_ISR();
xStreamBufferSendFromISR(
write_stream_buffer, str, length, &resched1
);
taskEXIT_CRITICAL_FROM_ISR(basepri);
if (serial_task_id != NULL) {
xTaskNotifyFromISR(
serial_task_id,
SERIAL_WRITE_NOTIFY,
eSetBits,
&resched2
);
}
/* Yield if this write woke up a higher priority task */
portYIELD_FROM_ISR(resched1 || resched2);
} else {
size_t bytes_sent = 0;
size_t index = 0;
do {
taskENTER_CRITICAL();
/*
* Wait time needs to be zero, because we are in a
* critical section.
*/
bytes_sent = xStreamBufferSend(
write_stream_buffer,
&str[index],
length - index,
0
);
index += bytes_sent;
taskEXIT_CRITICAL();
if (serial_task_id != NULL) {
xTaskNotify(
serial_task_id,
SERIAL_WRITE_NOTIFY,
eSetBits
);
portYIELD();
}
} while (index < length);
}
cdcacm_write((uint8_t *)str, length);
ble_uart_write((uint8_t *)str, length);
}
/*
......@@ -101,7 +176,12 @@ void UART0_IRQHandler(void)
static void uart_callback(uart_req_t *req, int error)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(serial_task_id, &xHigherPriorityTaskWoken);
xTaskNotifyFromISR(
serial_task_id,
SERIAL_READ_NOTIFY,
eSetBits,
&xHigherPriorityTaskWoken
);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
......@@ -122,16 +202,8 @@ void serial_enqueue_char(char chr)
void vSerialTask(void *pvParameters)
{
static uint8_t buffer[sizeof(char) * SERIAL_READ_BUFFER_SIZE];
static StaticQueue_t read_queue_data;
serial_task_id = xTaskGetCurrentTaskHandle();
/* Setup read queue */
read_queue = xQueueCreateStatic(
SERIAL_READ_BUFFER_SIZE, sizeof(char), buffer, &read_queue_data
);
/* Setup UART interrupt */
NVIC_ClearPendingIRQ(UART0_IRQn);
NVIC_DisableIRQ(UART0_IRQn);
......@@ -145,6 +217,9 @@ void vSerialTask(void *pvParameters)
.callback = uart_callback,
};
uint8_t rx_data[20];
size_t received_bytes;
while (1) {
int ret = UART_ReadAsync(ConsoleUart, &read_req);
if (ret != E_NO_ERROR && ret != E_BUSY) {
......@@ -152,8 +227,44 @@ void vSerialTask(void *pvParameters)
vTaskDelay(portMAX_DELAY);
}
ulTaskNotifyTake(pdTRUE, portTICK_PERIOD_MS * 1000);
ret = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
if (ret & SERIAL_WRITE_NOTIFY) {
do {
received_bytes = xStreamBufferReceive(
write_stream_buffer,
(void *)rx_data,
sizeof(rx_data),
0
);
if (received_bytes == 0) {
break;
}
/*
* The SDK-driver for UART is not reentrant
* which means we need to perform UART writes
* in a critical section.
*/
taskENTER_CRITICAL();
UART_Write(
ConsoleUart,
(uint8_t *)&rx_data,
received_bytes
);
taskEXIT_CRITICAL();
cdcacm_write(
(uint8_t *)&rx_data, received_bytes
);
ble_uart_write(
(uint8_t *)&rx_data, received_bytes
);
} while (received_bytes > 0);
}
if (ret & SERIAL_READ_NOTIFY) {
if (read_req.num > 0) {
serial_enqueue_char(*read_req.data);
}
......@@ -166,4 +277,5 @@ void vSerialTask(void *pvParameters)
serial_enqueue_char(cdcacm_read());
}
}
}
}
......@@ -17,6 +17,7 @@
#include "cdc_acm.h"
#include "modules/log.h"
#include "modules/modules.h"
#include "FreeRTOS.h"
#include "task.h"
......@@ -118,8 +119,11 @@ void USB_IRQHandler(void)
if (serial_task_id != NULL) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(
serial_task_id, &xHigherPriorityTaskWoken
xTaskNotifyFromISR(
serial_task_id,
SERIAL_READ_NOTIFY,
eSetBits,
&xHigherPriorityTaskWoken
);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
......
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