Infrastructure, mostly.

Design.md

@@ -78,7 +78,7 @@ Conceptually, the firmware consists of two layers:
 2. The hardware-independent application logic, implementing the _policies_.
 
 ### About the code
-- All C modules, with the exception of the BSP, are less than 400 lines long.
+- All C modules, with the exception of the BSP, are less than 500 lines long.
 - Functions are short, or have low cyclomatic complexity.
 - Functions are _pure_ whenever possible.
 - There are no global variables, preventing unwanted coupling between modules as well as violation of invariants.

firmware/inc/attributes.h

@@ -22,15 +22,15 @@ typedef enum {
     AI_BOX_NAME, AI_PT_DESCRIPTOR_QUEUE
 } AttributeId;
 
-typedef void (*AttrNotifier)(void *target, AttributeId, ElementEncoding, uint8_t const *data, uint16_t size);
+typedef void (*AttrNotifier)(void *target, AttributeId, uint16_t trans_id, ElementEncoding, uint8_t const *data, uint16_t size);
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-SubscriptionId Attribute_awaitRead(AttributeId, AttrNotifier, void *target);
-SubscriptionId Attribute_subscribe(AttributeId, AttrNotifier, void *target);
-void Attribute_changed(AttributeId, ElementEncoding, uint8_t const *data, uint16_t size);
+SubscriptionId Attribute_awaitRead(AttributeId, uint16_t trans_id, AttrNotifier, void *target);
+SubscriptionId Attribute_subscribe(AttributeId, uint16_t trans_id, AttrNotifier, void *target);
+void Attribute_changed(AttributeId, uint16_t trans_id, ElementEncoding, uint8_t const *data, uint16_t size);
 
 #ifdef __cplusplus
 }

firmware/inc/bsp_app.h

@@ -38,7 +38,8 @@ int BSP_closeSerialPort(int fd);
 uint16_t BSP_setPrimaryVoltage_mV(uint16_t V_prim_mV);
 void BSP_primaryVoltageEnable(bool must_be_on);
 void BSP_startSequencerClock(uint32_t time_µs);
-void BSP_stopSequencerClock();
+void BSP_stopSequencerClock(void);
+uint32_t BSP_getSequencerClock(void);
 bool BSP_scheduleBurst(Burst const *);
 bool BSP_startBurst(Burst const *);
 

firmware/inc/burst.h

@@ -20,7 +20,7 @@
 #define MAX_PULSE_WIDTH_¼_µs    800
 
 #define MIN_PULSE_PACE_µs      5000
-#define MAX_PULSE_PACE_µs     63000
+#define MAX_PULSE_PACE_µs     62500             // 16 Hz.
 
 typedef struct {
     uint32_t start_time_µs;
@@ -30,6 +30,7 @@ typedef struct {
     uint16_t pulse_width_¼_µs;
     uint8_t  phase;
     uint8_t  amplitude;
+    uint8_t  flags;
 } Burst;
 
 typedef struct {
@@ -38,10 +39,18 @@ typedef struct {
 } Deltas;
 
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 bool Burst_isValid(Burst const *);
 uint32_t Burst_duration_µs(Burst const *);
 uint8_t Burst_pulseWidth_µs(Burst const *);
 void Burst_applyDeltas(Burst *, Deltas const *);
 void Burst_print(Burst const *);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

firmware/inc/pulse_train.h

@@ -17,8 +17,12 @@
 
 typedef struct _PulseTrain PulseTrain;          // Opaque type.
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // Class method.
-uint16_t PulseTrain_size();
+uint16_t PulseTrain_size(void);
 
 // Instance methods.
 PulseTrain *PulseTrain_init(PulseTrain *, uint8_t seq_nr, uint32_t timestamp, Burst const *burst);
@@ -33,4 +37,8 @@ Burst  const *PulseTrain_getBurst(PulseTrain const *, Burst *);
 Deltas const *PulseTrain_getDeltas(PulseTrain const *, uint16_t sz, Deltas *);
 void     PulseTrain_print(PulseTrain const *, uint16_t sz);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

firmware/inc/sequencer.h

@@ -7,7 +7,7 @@
  *
  *  Created on: 27 Feb 2024
  *      Author: mark
- *   Copyright  2024 Neostim™
+ *   Copyright  2024, 2025 Neostim™
  */
 
 #ifndef INC_SEQUENCER_H_
@@ -17,7 +17,7 @@
 
 typedef struct _Sequencer Sequencer;            // Opaque type.
 
-typedef enum { PS_UNKNOWN, PS_IDLE, PS_PAUSED, PS_PLAYING } PlayState;
+typedef enum { PS_UNKNOWN, PS_IDLE, PS_PAUSED, PS_PLAYING,PS_STREAMING } PlayState;
 
 // Class method.
 Sequencer *Sequencer_new(void);
@@ -34,7 +34,7 @@ uint8_t Sequencer_getIntensityPercentage(Sequencer const *);
 void Sequencer_notifyIntensity(Sequencer const *);
 void Sequencer_notifyPattern(Sequencer const *);
 void Sequencer_notifyPlayState(Sequencer const *);
-void Sequencer_notifyPtQueue(Sequencer const *);
+void Sequencer_notifyPtQueue(Sequencer const *, uint16_t trans_id);
 
 void Sequencer_stop(Sequencer *);
 void Sequencer_delete(Sequencer *);

firmware/maolib/inc/ao_event.h

@@ -25,7 +25,7 @@ typedef enum {
     ET_COMMS_CAN_ACCEPT_DATA, ET_COMMS_HAS_DATA_AVAILABLE, ET_COMMS_ERROR,
     ET_BUTTON_PUSHED, ET_BUTTON_HELD, ET_BUTTON_RELEASED,
     ET_CHARGING_STARTED, ET_CHARGING_STOPPED,
-    ET_APP_TIMER_EXPIRED,
+    ET_LOG_FROM_IRQ, ET_APP_TIMER_EXPIRED,
     // Application events start here.
     ET_AO_FIRST_APP_EVENT
 } EventType;

firmware/maolib/inc/bsp_dbg.h

@@ -3,7 +3,7 @@
  *
  *  Created on: 27 Mar 2021
  *      Author: mark
- *   Copyright  2021..2024 Neostim™
+ *   Copyright  2021..2025 Neostim™
  */
 
 #ifndef INC_BSP_DBG_H_
@@ -20,13 +20,13 @@
 extern "C" {
 #endif
 
-void BSP_initDebug();
+void BSP_initDebug(void);
 int  BSP_logf(char const *fmt, ...);            // Print logging and debugging information.
 int  BSP_vlogf(char const *fmt, va_list args);
 void BSP_assertionFailed(char const *filename, unsigned int line_number, char const *predicate);
 bool BSP_getKey(char *pch);
 int  BSP_readConsole(char *cbuf, int nr_of_chars);
-void BSP_closeDebug();
+void BSP_closeDebug(void);
 
 #ifdef __cplusplus
 }

firmware/maolib/inc/convenience.h

@@ -16,13 +16,20 @@
 #include <time.h>
 #include <stdint.h>
 
+#include "eventqueue.h"
+
 #define M_DIM(arr)      (sizeof arr / sizeof arr[0])
 
 typedef int8_t DeviceId;
 #define UNDEFINED_DEVICE_ID     ((DeviceId)(-1))
 
 typedef int (*CompareFunc)(const void *, const void *);
 typedef void (*Action)(void *target, uint32_t);
+typedef struct {
+    char const *fmt;
+    struct { uint32_t argv[4]; } as;
+} LogArgs;
+
 typedef struct {
     Action action;
     void *target;
@@ -38,6 +45,7 @@ void invokeSelector(Selector *, uint32_t);
 int dumpBuffer(const char *prefix, const uint8_t *bbuf, uint8_t nb);
 struct timespec *tsIncrementNanos(struct timespec *, int64_t nanoseconds);
 char const *bytesToHexString(uint8_t const *pb, uint16_t nb);
+void DBG_irqLogf(EventQueue *, char const *fmt, ...);
 
 #ifdef __cplusplus
 }

firmware/maolib/inc/ptd_queue.h

@@ -31,7 +31,7 @@ PtdQueue *PtdQueue_new(uint16_t nr_of_descriptors);
 void PtdQueue_clear(PtdQueue *);
 bool PtdQueue_isEmpty(PtdQueue const *);
 uint16_t PtdQueue_nrOfBytesFree(PtdQueue const *, uint16_t[2]);
-bool PtdQueue_addDescriptor(PtdQueue *, PulseTrain const *, uint16_t sz);
+bool PtdQueue_addDescriptor(PtdQueue *, PulseTrain const *, uint16_t sz, uint8_t *err);
 bool PtdQueue_getNextBurst(PtdQueue *, Burst *);
 void PtdQueue_delete(PtdQueue *);
 

firmware/src/attributes.c

@@ -58,26 +58,26 @@ static SubscriptionId setSubForId(AttributeId ai, AttrNotifier notify, void *tar
  * Below are the functions implementing this module's interface.
  */
 
-SubscriptionId Attribute_awaitRead(AttributeId ai, AttrNotifier notify, void *target)
+SubscriptionId Attribute_awaitRead(AttributeId ai, uint16_t trans_id, AttrNotifier notify, void *target)
 {
     // BSP_logf("%s for id=%hu\n", __func__, ai);
     return setSubForId(ai, notify, target, 1);
 }
 
 
-SubscriptionId Attribute_subscribe(AttributeId ai, AttrNotifier notify, void *target)
+SubscriptionId Attribute_subscribe(AttributeId ai, uint16_t trans_id, AttrNotifier notify, void *target)
 {
     // BSP_logf("%s for id=%hu\n", __func__, ai);
     return setSubForId(ai, notify, target, 0);
 }
 
 
-void Attribute_changed(AttributeId ai, ElementEncoding enc, uint8_t const *data, uint16_t size)
+void Attribute_changed(AttributeId ai, uint16_t trans_id, ElementEncoding enc, uint8_t const *data, uint16_t size)
 {
     Subscription *sub = findSubForId(ai);
     if (sub == NULL) return;
 
-    sub->notify(sub->target, ai, enc, data, size);
+    sub->notify(sub->target, ai, trans_id, enc, data, size);
     if (sub->times == 1) {                  // Subscription expired?
         // BSP_logf("Cancelling subscription for id=%hu\n", sub->ai);
         *sub = subscriptions[--nr_of_subs]; // Cancel it.

firmware/src/bsp_stm32g071.c

@@ -257,7 +257,7 @@ static void initAppTimer()
 static void initSequencerClock()
 {
     seq_clock->PSC = SystemCoreClock / SEQUENCER_CLOCK_FREQ_Hz - 1;
-    BSP_logf("%s: PSC=%u\n", __func__, seq_clock->PSC);
+    // BSP_logf("%s: PSC=%u\n", __func__, seq_clock->PSC);
     seq_clock->CCMR1 |= TIM_CCMR1_OC1M_0;
     seq_clock->DIER |= TIM_DIER_CC1IE;          // Interrupt on match with compare register.
     seq_clock->EGR |= TIM_EGR_UG;               // Force update of the shadow registers.
@@ -268,7 +268,7 @@ static void initSequencerClock()
 static void initPulseTimer()
 {
     pulse_timer->PSC = SystemCoreClock / PULSE_TIMER_FREQ_Hz - 1;
-    BSP_logf("%s: PSC=%u\n", __func__, pulse_timer->PSC);
+    // BSP_logf("%s: PSC=%u\n", __func__, pulse_timer->PSC);
     // PWM mode 1 for timer channels 1 and 2, enable preload.
     pulse_timer->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE
                        | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE;
@@ -542,7 +542,6 @@ void TIM1_CC_IRQHandler(void)
         // Burst_applyDeltas(&bsp.burst, &bsp.deltas);
     }
     if (bsp.pulse_seqnr == pulse_timer->RCR + 1) {
-        // BSP_logf("BC %hu\n", bsp.pulse_seqnr);
         EventQueue_postEvent(bsp.pulse_delegate, ET_BURST_COMPLETED, NULL, 0);
     }
     if (pulse_timer->SR & 0xcffe0) {
@@ -557,8 +556,10 @@ void TIM2_IRQHandler(void)
     if (seq_clock->SR & TIM_SR_CC1IF) {
         seq_clock->SR &= ~TIM_SR_CC1IF;         // Clear the interrupt.
         // BSP_logf("T2 at %u µs\n",seq_clock->CNT);
-        // Scale amplitude 0..255 to 0..8160 mV (for now).
-        BSP_setPrimaryVoltage_mV(bsp.burst.amplitude * 32);
+        if (bsp.burst.amplitude != 0) {
+            // Scale amplitude 0..255 to 0..8160 mV (for now).
+            BSP_setPrimaryVoltage_mV(bsp.burst.amplitude * 32);
+        }
         BSP_startBurst(&bsp.burst);
     } else {
         spuriousIRQ(&bsp);
@@ -697,7 +698,7 @@ void BSP_init()
 
 char const *BSP_firmwareVersion()
 {
-    return "v0.51-beta";
+    return "v0.52-beta";
 }
 
 
@@ -877,12 +878,18 @@ void BSP_stopSequencerClock()
 }
 
 
+uint32_t BSP_getSequencerClock(void)
+{
+    return seq_clock->CNT;
+}
+
+
 bool BSP_scheduleBurst(Burst const *burst)
 {
     bsp.burst = *burst;
-    // Burst_print(burst);
     seq_clock->CCR1 = burst->start_time_µs;
-    BSP_logf("SB(%hhu) for t=%u @ %d µs\n", burst->phase, burst->start_time_µs, seq_clock->CNT);
+    // BSP_logf("SB(%hhu) for t=%u @ %d µs\n", burst->phase, burst->start_time_µs, seq_clock->CNT);
+    // BSP_logf("SB(%hhu) d=%d µs\n", burst->phase, burst->start_time_µs - seq_clock->CNT);
     return true;
 }
 

firmware/src/burst.c

@@ -29,6 +29,7 @@ bool Burst_isValid(Burst const *me)
 
 uint32_t Burst_duration_µs(Burst const *me)
 {
+    // TODO Also account for delta_pace.
     return me->nr_of_pulses * me->pace_µs;
 }
 

firmware/src/controller.c

@@ -88,13 +88,13 @@ static void readPatternNames(Controller *me, AttributeAction const *aa)
 }
 
 
-static void attributeChanged(Controller *me, AttributeId ai, ElementEncoding enc, uint8_t const *data, uint16_t data_size)
+static void attributeChanged(Controller *me, AttributeId ai, uint16_t trans_id, ElementEncoding enc, uint8_t const *data, uint16_t data_size)
 {
     // BSP_logf("Controller_%s(%hu) size=%hu\n", __func__, ai, data_size);
     uint16_t nbtw = sizeof(PacketHeader) + sizeof(AttributeAction);
     uint8_t packet[nbtw + Matter_encodedDataLength(enc, data_size)];
     initResponsePacket((PacketHeader *)packet);
-    initAttributeAction((AttributeAction *)(packet + sizeof(PacketHeader)), 0, OC_REPORT_DATA, ai);
+    initAttributeAction((AttributeAction *)(packet + sizeof(PacketHeader)), trans_id, OC_REPORT_DATA, ai);
     nbtw += Matter_encode(packet + nbtw, enc, data, data_size);
     DataLink_sendDatagram(me->datalink, packet, nbtw);
 }
@@ -124,16 +124,16 @@ static void handleReadRequest(Controller *me, AttributeAction const *aa)
     {
         case AI_FIRMWARE_VERSION: {
             char const *fw_version = BSP_firmwareVersion();
-            attributeChanged(me, aa->attribute_id, EE_UTF8_1LEN, (uint8_t const *)fw_version, strlen(fw_version));
+            attributeChanged(me, aa->attribute_id, aa->transaction_id, EE_UTF8_1LEN, (uint8_t const *)fw_version, strlen(fw_version));
             break;
         }
         case AI_VOLTAGES:
-            Attribute_awaitRead(aa->attribute_id, (AttrNotifier)&attributeChanged, me);
+            Attribute_awaitRead(aa->attribute_id, aa->transaction_id, (AttrNotifier)&attributeChanged, me);
             BSP_triggerADC();
             break;
         case AI_CLOCK_MICROS: {
             uint64_t clock_micros = BSP_microsecondsSinceBoot();
-            attributeChanged(me, aa->attribute_id, EE_UNSIGNED_INT, (uint8_t const *)&clock_micros, sizeof clock_micros);
+            attributeChanged(me, aa->attribute_id, aa->transaction_id, EE_UNSIGNED_INT, (uint8_t const *)&clock_micros, sizeof clock_micros);
             break;
         }
         case AI_ALL_PATTERN_NAMES:
@@ -149,10 +149,10 @@ static void handleReadRequest(Controller *me, AttributeAction const *aa)
             Sequencer_notifyPlayState(me->sequencer);
             break;
         case AI_BOX_NAME:
-            attributeChanged(me, aa->attribute_id, EE_UTF8_1LEN, (uint8_t const *)me->box_name, strlen(me->box_name));
+            attributeChanged(me, aa->attribute_id, aa->transaction_id, EE_UTF8_1LEN, (uint8_t const *)me->box_name, strlen(me->box_name));
             break;
         case AI_PT_DESCRIPTOR_QUEUE:
-            Sequencer_notifyPtQueue(me->sequencer);
+            Sequencer_notifyPtQueue(me->sequencer, aa->transaction_id);
             break;
         default:
             BSP_logf("%s: unknown attribute id=%hu\n", __func__, aa->attribute_id);
@@ -253,12 +253,12 @@ static void handleRequest(Controller *me, AttributeAction const *aa)
             handleReadRequest(me, aa);
             break;
         case OC_WRITE_REQUEST:
-            logTransaction(aa, "write");
+            // logTransaction(aa, "write");
             handleWriteRequest(me, aa);
             break;
         case OC_SUBSCRIBE_REQUEST:
             logTransaction(aa, "subscribe to");
-            Attribute_subscribe(aa->attribute_id, (AttrNotifier)&attributeChanged, me);
+            Attribute_subscribe(aa->attribute_id, aa->transaction_id, (AttrNotifier)&attributeChanged, me);
             handleReadRequest(me, aa);
             break;
         case OC_INVOKE_REQUEST:
@@ -332,7 +332,7 @@ Controller *Controller_new()
 
 void Controller_init(Controller *me, Sequencer *sequencer, DataLink *datalink)
 {
-    strncpy(me->box_name, "Mean Machine", sizeof me->box_name - 1);
+    strncpy(me->box_name, "Neostim Mean Machine", sizeof me->box_name - 1);
     me->sequencer = sequencer;
     me->datalink  = datalink;
 }

firmware/src/datalink.c

@@ -203,10 +203,10 @@ static void rxErrorCallback(DataLink *me, uint32_t rx_error)
 
 static void txCallback(DataLink *me, uint8_t *dst)
 {
+    BSP_criticalSectionEnter();
     uint32_t nbr = CircBuffer_read(&me->output_buffer, dst, 1);
     M_ASSERT(nbr == 1);
     // Once the buffer is empty, disable this callback (atomic).
-    BSP_criticalSectionEnter();
     if (CircBuffer_availableData(&me->output_buffer) == 0) {
         BSP_doChannelAction(me->channel_fd, CA_TX_CB_DISABLE);
     }