From cfc59a959325b003068540d552cb2cad4ddd0bff Mon Sep 17 00:00:00 2001 From: Hector van der Aa Date: Tue, 2 Jun 2026 16:52:07 +0200 Subject: [PATCH] Ring buffer impl Implemented ring buffer with inline push and pop functions Updated copyrights on main.c and ring_buffer files --- STM32/CM7/Core/Inc/ring_buffer.h | 14 ++ STM32/CM7/Core/Src/main.c | 251 ++++++++++++++----------------- STM32/CM7/Core/Src/ring_buffer.c | 28 ++++ 3 files changed, 152 insertions(+), 141 deletions(-) create mode 100644 STM32/CM7/Core/Inc/ring_buffer.h create mode 100644 STM32/CM7/Core/Src/ring_buffer.c diff --git a/STM32/CM7/Core/Inc/ring_buffer.h b/STM32/CM7/Core/Inc/ring_buffer.h new file mode 100644 index 0000000..70e808e --- /dev/null +++ b/STM32/CM7/Core/Inc/ring_buffer.h @@ -0,0 +1,14 @@ +// Copyright (C) 2026 Hector van der Aa +// Copyright (C) 2026 Association Exergie +// SPDX-License-Identifier: GPL-3.0-or-later + +#include +typedef struct ring_buffer_t { + uint32_t buffer[256]; + uint8_t w_head; + uint8_t r_head; +} ring_buffer_t; + +inline void ringBufferPush(ring_buffer_t *rb, uint32_t value); + +inline int ringBufferPop(ring_buffer_t *rb, uint32_t *output); diff --git a/STM32/CM7/Core/Src/main.c b/STM32/CM7/Core/Src/main.c index a132e1e..3f9eac6 100644 --- a/STM32/CM7/Core/Src/main.c +++ b/STM32/CM7/Core/Src/main.c @@ -1,20 +1,8 @@ /* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.c - * @brief : Main program body - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ +// Copyright (C) 2026 Hector van der Aa +// Copyright (C) 2026 Pierre Barbier +// Copyright (C) 2026 Association Exergie +// SPDX-License-Identifier: GPL-3.0-or-later /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" @@ -62,33 +50,33 @@ TIM_HandleTypeDef htim2; /* Definitions for defaultTask */ osThreadId_t defaultTaskHandle; const osThreadAttr_t defaultTask_attributes = { - .name = "defaultTask", - .stack_size = 128 * 4, - .priority = (osPriority_t) osPriorityNormal, + .name = "defaultTask", + .stack_size = 128 * 4, + .priority = (osPriority_t)osPriorityNormal, }; /* Definitions for crankTask */ osThreadId_t crankTaskHandle; -uint32_t crankTaskBuffer[ 128 ]; +uint32_t crankTaskBuffer[128]; osStaticThreadDef_t crankTaskControlBlock; const osThreadAttr_t crankTask_attributes = { - .name = "crankTask", - .cb_mem = &crankTaskControlBlock, - .cb_size = sizeof(crankTaskControlBlock), - .stack_mem = &crankTaskBuffer[0], - .stack_size = sizeof(crankTaskBuffer), - .priority = (osPriority_t) osPriorityRealtime7, + .name = "crankTask", + .cb_mem = &crankTaskControlBlock, + .cb_size = sizeof(crankTaskControlBlock), + .stack_mem = &crankTaskBuffer[0], + .stack_size = sizeof(crankTaskBuffer), + .priority = (osPriority_t)osPriorityRealtime7, }; /* Definitions for camTask */ osThreadId_t camTaskHandle; -uint32_t camTaskBuffer[ 128 ]; +uint32_t camTaskBuffer[128]; osStaticThreadDef_t camTaskControlBlock; const osThreadAttr_t camTask_attributes = { - .name = "camTask", - .cb_mem = &camTaskControlBlock, - .cb_size = sizeof(camTaskControlBlock), - .stack_mem = &camTaskBuffer[0], - .stack_size = sizeof(camTaskBuffer), - .priority = (osPriority_t) osPriorityRealtime7, + .name = "camTask", + .cb_mem = &camTaskControlBlock, + .cb_size = sizeof(camTaskControlBlock), + .stack_mem = &camTaskBuffer[0], + .stack_size = sizeof(camTaskBuffer), + .priority = (osPriority_t)osPriorityRealtime7, }; /* USER CODE BEGIN PV */ @@ -110,32 +98,31 @@ void camHandler(void *argument); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) { - if (htim->Instance == TIM2) { - switch (htim->Channel) { - //HAL_TIM_ACTIVE_CHANNEL_2 is the channel used for cam interupts - case HAL_TIM_ACTIVE_CHANNEL_2: - // TODO push timestamp to the cam ring buffer - osThreadFlagsSet(camTaskHandle,0x01); - break; - //HAL_TIM_ACTIVE_CHANNEL_1 is the channel used for crank interupts - case HAL_TIM_ACTIVE_CHANNEL_1: - // TODO push timestamp to the crank ring buffer - osThreadFlagsSet(crankTaskHandle,0x01); - break; - default: - break; - } + if (htim->Instance == TIM2) { + switch (htim->Channel) { + // HAL_TIM_ACTIVE_CHANNEL_2 is the channel used for cam interupts + case HAL_TIM_ACTIVE_CHANNEL_2: + // TODO push timestamp to the cam ring buffer + osThreadFlagsSet(camTaskHandle, 0x01); + break; + // HAL_TIM_ACTIVE_CHANNEL_1 is the channel used for crank interupts + case HAL_TIM_ACTIVE_CHANNEL_1: + // TODO push timestamp to the crank ring buffer + osThreadFlagsSet(crankTaskHandle, 0x01); + break; + default: + break; + } } } /* USER CODE END 0 */ /** - * @brief The application entry point. - * @retval int - */ -int main(void) -{ + * @brief The application entry point. + * @retval int + */ +int main(void) { /* USER CODE BEGIN 1 */ @@ -144,7 +131,7 @@ int main(void) #if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE) int32_t timeout; #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */ -/* USER CODE END Boot_Mode_Sequence_0 */ + /* USER CODE END Boot_Mode_Sequence_0 */ /* MPU Configuration--------------------------------------------------------*/ MPU_Config(); @@ -159,10 +146,11 @@ int main(void) Error_Handler(); } #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */ -/* USER CODE END Boot_Mode_Sequence_1 */ + /* USER CODE END Boot_Mode_Sequence_1 */ /* MCU Configuration--------------------------------------------------------*/ - /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + /* Reset of all peripherals, Initializes the Flash interface and the Systick. + */ HAL_Init(); /* USER CODE BEGIN Init */ @@ -189,7 +177,7 @@ int main(void) Error_Handler(); } #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */ -/* USER CODE END Boot_Mode_Sequence_2 */ + /* USER CODE END Boot_Mode_Sequence_2 */ /* USER CODE BEGIN SysInit */ @@ -223,7 +211,8 @@ int main(void) /* Create the thread(s) */ /* creation of defaultTask */ - defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); + defaultTaskHandle = + osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); /* creation of crankTask */ crankTaskHandle = osThreadNew(crankHandler, NULL, &crankTask_attributes); @@ -255,27 +244,27 @@ int main(void) } /** - * @brief System Clock Configuration - * @retval None - */ -void SystemClock_Config(void) -{ + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Supply configuration update enable - */ + */ HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY); /** Configure the main internal regulator output voltage - */ + */ __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0); - while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {} + while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) { + } /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ + * in the RCC_OscInitTypeDef structure. + */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; @@ -288,16 +277,15 @@ void SystemClock_Config(void) RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3; RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE; RCC_OscInitStruct.PLL.PLLFRACN = 0; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) - { + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK - |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2 - |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1; + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | + RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 | + RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2; @@ -306,19 +294,17 @@ void SystemClock_Config(void) RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2; RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2; - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) - { + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM2_Init(void) -{ + * @brief TIM2 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ @@ -337,50 +323,42 @@ static void MX_TIM2_Init(void) htim2.Init.Period = 4294967295; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim2) != HAL_OK) - { + if (HAL_TIM_Base_Init(&htim2) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) - { + if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } - if (HAL_TIM_IC_Init(&htim2) != HAL_OK) - { + if (HAL_TIM_IC_Init(&htim2) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { + if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICFilter = 0; - if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) - { + if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } - if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) - { + if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */ - } /** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ + * @brief GPIO Initialization Function + * @param None + * @retval None + */ +static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; /* USER CODE BEGIN MX_GPIO_Init_1 */ @@ -416,8 +394,7 @@ static void MX_GPIO_Init(void) * @retval None */ /* USER CODE END Header_StartDefaultTask */ -void StartDefaultTask(void *argument) -{ +void StartDefaultTask(void *argument) { /* USER CODE BEGIN 5 */ /* Infinite loop */ for (;;) { @@ -428,53 +405,48 @@ void StartDefaultTask(void *argument) /* USER CODE BEGIN Header_crankHandler */ /** -* @brief Function implementing the crankTask thread. -* @param argument: Not used -* @retval None -*/ + * @brief Function implementing the crankTask thread. + * @param argument: Not used + * @retval None + */ /* USER CODE END Header_crankHandler */ -void crankHandler(void *argument) -{ +void crankHandler(void *argument) { /* USER CODE BEGIN crankHandler */ /* Infinite loop */ - for(;;) - { - osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever); - //TODO Handle the call + for (;;) { + osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever); + // TODO Handle the call } /* USER CODE END crankHandler */ } /* USER CODE BEGIN Header_camHandler */ /** -* @brief Function implementing the camTask thread. -* @param argument: Not used -* @retval None -*/ + * @brief Function implementing the camTask thread. + * @param argument: Not used + * @retval None + */ /* USER CODE END Header_camHandler */ -void camHandler(void *argument) -{ +void camHandler(void *argument) { /* USER CODE BEGIN camHandler */ /* Infinite loop */ - for(;;) - { - osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever); - //TODO Handle the call + for (;;) { + osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever); + // TODO Handle the call } /* USER CODE END camHandler */ } - /* MPU Configuration */ +/* MPU Configuration */ -void MPU_Config(void) -{ +void MPU_Config(void) { MPU_Region_InitTypeDef MPU_InitStruct = {0}; /* Disables the MPU */ HAL_MPU_Disable(); /** Initializes and configures the Region and the memory to be protected - */ + */ MPU_InitStruct.Enable = MPU_REGION_ENABLE; MPU_InitStruct.Number = MPU_REGION_NUMBER0; MPU_InitStruct.BaseAddress = 0x0; @@ -490,15 +462,13 @@ void MPU_Config(void) HAL_MPU_ConfigRegion(&MPU_InitStruct); /* Enables the MPU */ HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT); - } /** - * @brief This function is executed in case of error occurrence. - * @retval None - */ -void Error_Handler(void) -{ + * @brief This function is executed in case of error occurrence. + * @retval None + */ +void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); @@ -508,14 +478,13 @@ void Error_Handler(void) } #ifdef USE_FULL_ASSERT /** - * @brief Reports the name of the source file and the source line number - * where the assert_param error has occurred. - * @param file: pointer to the source file name - * @param line: assert_param error line source number - * @retval None - */ -void assert_failed(uint8_t *file, uint32_t line) -{ + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ +void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, diff --git a/STM32/CM7/Core/Src/ring_buffer.c b/STM32/CM7/Core/Src/ring_buffer.c new file mode 100644 index 0000000..22b904c --- /dev/null +++ b/STM32/CM7/Core/Src/ring_buffer.c @@ -0,0 +1,28 @@ +// Copyright (C) 2026 Hector van der Aa +// Copyright (C) 2026 Association Exergie +// SPDX-License-Identifier: GPL-3.0-or-later + +#include +#include +#include + +inline void ringBufferPush(ring_buffer_t *rb, uint32_t value) { + rb->buffer[rb->w_head] = value; + rb->w_head++; + if (rb->w_head == rb->r_head) { + // if write head catches up to read head, crash program as consumer task + // should keep up with write head + assert(false); + } + return; +} + +inline int ringBufferPop(ring_buffer_t *rb, uint32_t *output) { + if (rb->w_head == rb->r_head) { + // if read head is at write head, buffer is empty so nothing to pop + return 1; + } + *output = rb->buffer[rb->r_head]; + rb->r_head++; + return 0; +}