RXPacket pool

latest/Firmware/.cproject

@@ -903,6 +903,8 @@
                                     									
                                     <listOptionValue builtIn="false" value="STM32L412xx"/>
                                     									
+                                    <listOptionValue builtIn="false" value="DEBUG"/>
+                                    								
                                 </option>
                                 								
                                 <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.asmlisting.1148532259" name="Generate assembler listing (-Wa,-adhlns=&quot;$@.lst&quot;)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.asmlisting" useByScannerDiscovery="false" value="true" valueType="boolean"/>
@@ -943,6 +945,8 @@
                                     									
                                     <listOptionValue builtIn="false" value="STM32L412xx"/>
                                     									
+                                    <listOptionValue builtIn="false" value="DEBUG"/>
+                                    								
                                 </option>
                                 								
                                 <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.asmlisting.1222462616" name="Generate assembler listing (-Wa,-adhlns=&quot;$@.lst&quot;)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.asmlisting" useByScannerDiscovery="false" value="true" valueType="boolean"/>

latest/Firmware/.settings/language.settings.xml

@@ -59,7 +59,7 @@
             			
             <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
             			
-            <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1852595269257746636" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+            <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1840966946621754188" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                 				
                 <language-scope id="org.eclipse.cdt.core.gcc"/>
                 				

latest/Firmware/Inc/CircularQueue.hpp

@@ -22,9 +22,9 @@
 #define CIRCULARQUEUE_HPP_
 
 
+#include <stddef.h>
 #include "_assert.h"
 
-
 template<typename T> class CircularQueue
 {
 public:
@@ -35,7 +35,7 @@ public:
     mWritePosition = 0;
     mSize = size;
     mBuffer = new T[mSize];
-    ASSERT(mBuffer);
+    ASSERT_VALID_PTR(mBuffer);
   }
 
   inline bool empty()
@@ -77,7 +77,7 @@ private:
   volatile int mReadPosition;
   volatile int mWritePosition;
   size_t mSize;
-  volatile T* mBuffer;
+  volatile T* mBuffer = nullptr;
 };
 
 #endif /* CIRCULARQUEUE_HPP_ */

latest/Firmware/Inc/EventQueue.hpp

@@ -27,6 +27,7 @@
 #include "FreeRTOS.h"
 #include "queue.h"
 
+
 using namespace std;
 
 class EventQueue

latest/Firmware/Inc/Events.hpp

@@ -29,6 +29,7 @@
 #include "RXPacket.hpp"
 #include "ObjectPool.hpp"
 #include "AISChannels.h"
+//#include "RadioManager.hpp"
 
 using namespace std;
 
@@ -67,23 +68,27 @@ typedef struct {
   uint8_t rssi;
 } RSSISample;
 
+
 class Event
 {
 public:
   EventType type;
   uint32_t flags;
 
-  Event()
+  Event();
-  : type(UNKNOWN_EVENT), flags(0) {
-  }
 
+#if 0
   Event(EventType t)
-  : type(t), flags(0)
+    : type(t), flags(0), rxPacket(nullptr)
   {
-
   }
+#endif
 
-  RXPacket rxPacket;
+
+  void reset();
+
+  // This is an object, so it can't be a member of the union ...
+  RXPacket *rxPacket;
 
   union {
     NMEABuffer nmeaBuffer;
@@ -108,7 +113,7 @@ public:
   virtual void processEvent(const Event &event)=0;
 };
 
-#if 1
+
 class EventPool
 {
 public:
@@ -119,11 +124,15 @@ public:
   void deleteEvent(Event *event);
   uint32_t utilization();
   uint32_t maxUtilization();
+  RXPacket *newRXPacket();
+  void releaseRXPacket(RXPacket *);
+private:
+  EventPool();
 
 private:
-  ObjectPool<Event> *mISRPool;
+  ObjectPool<Event>     mISRPool;
-  ObjectPool<Event> *mThreadPool;
+  ObjectPool<Event>     mThreadPool;
+  ObjectPool<RXPacket>  mRXPool;
 };
-#endif
 
 #endif /* EVENTS_HPP_ */

latest/Firmware/Inc/FreeRTOSConfig.h

@@ -64,7 +64,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)20480)
+#define configTOTAL_HEAP_SIZE                    ((size_t)22480)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        0

latest/Firmware/Inc/ObjectPool.hpp

@@ -41,11 +41,13 @@ public:
     mUtilization = 0;
     mMaxUtilization = 0;
 
+    //printf_serial_now("ObjectPool @%p\r\n", this);
     for ( uint32_t i = 0; i < mSize; ++i )
       {
         T *p = new T();
-        ASSERT(p);
+        ASSERT_VALID_PTR(p);
         mQueue.push(p);
+        //printf_serial_now("\t@%p\r\n", p);
       }
   }
 
@@ -61,7 +63,6 @@ public:
     mQueue.push(o);
   }
 
-
   uint32_t maxUtilization()
   {
     return mMaxUtilization;

latest/Firmware/Inc/RXPacket.hpp

@@ -25,6 +25,8 @@
 #include "_assert.h"
 #include "AISChannels.h"
 #include "config.h"
+#include "ObjectPool.hpp"
+
 
 using namespace std;
 

latest/Firmware/Inc/RadioManager.hpp

@@ -30,7 +30,7 @@
 #include "AISChannels.h"
 
 
-class RadioManager : public GPSDelegate, public EventConsumer
+class RadioManager : public GPSDelegate, EventConsumer
 {
 public:
   static RadioManager &instance();
@@ -49,7 +49,6 @@ public:
   void transmitCW(VHFChannel channel);
   VHFChannel alternateChannel(VHFChannel channel);
 
-
 private:
   RadioManager();
   void spiOff();
@@ -58,9 +57,9 @@ private:
   Transceiver *mTransceiverIC;
   Receiver *mReceiverIC;
   bool mInitializing;
-
-  CircularQueue<TXPacket*>    *mTXQueue;
   time_t mUTC;
+
+  CircularQueue<TXPacket*>  mTXQueue;
 };
 
 #endif /* RADIOMANAGER_HPP_ */

latest/Firmware/Inc/Receiver.hpp

@@ -57,7 +57,7 @@ protected:
   void processNRZIBit(uint8_t level);
   virtual void configureGPIOsForRX();
 protected:
-  RXPacket mRXPacket;
+  RXPacket *mRXPacket = nullptr;
   uint16_t mBitWindow;
   uint8_t mLastNRZIBit;
   uint32_t mBitCount;

latest/Firmware/Inc/Transceiver.hpp

@@ -23,10 +23,10 @@
 
 #include "Receiver.hpp"
 #include "TXPacket.hpp"
-#include "EventQueue.hpp"
+#include "Events.hpp"
 #include <map>
 
-class Transceiver : public Receiver, EventConsumer
+class Transceiver : public Receiver, public EventConsumer
 {
 public:
   Transceiver(GPIO_TypeDef *sdnPort,

latest/Firmware/Inc/_assert.h

@@ -20,16 +20,18 @@
 #ifndef ASSERT_H_
 #define ASSERT_H_
 
-#include <cassert>
-
-#include "config.h"
-#include "printf_serial.h"
 
 
-#if DEV_MODE
+#ifdef DEBUG
-#define ASSERT(b) if (!(b)) {assert_failed((uint8_t*)__FILE__, (uint32_t)__LINE__); }
+#define ASSERT(b) if (!(b)) {asm("bkpt 0");}
 #else
-#define ASSERT(b) assert(b);
+#define ASSERT(b)
+#endif
+
+#ifdef DEBUG
+#define ASSERT_VALID_PTR(p) ASSERT((uint32_t)p >= 0x20000000 && (uint32_t)p <= 0x20009FFF)
+#else
+#define ASSERT_VALID_PTR(p)
 #endif
 
 

latest/Firmware/Src/Events.cpp

@@ -21,17 +21,52 @@
 #include "Events.hpp"
 #include "printf_serial.h"
 
-#if 1
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// Event
+//
+///////////////////////////////////////////////////////////////////////////////
+
+Event::Event()
+  : type(UNKNOWN_EVENT), flags(0), rxPacket(nullptr)
+{
+}
+
+void Event::reset()
+{
+  if ( rxPacket )
+    {
+      ASSERT_VALID_PTR(rxPacket);
+      EventPool::instance().releaseRXPacket(rxPacket);
+    }
+
+  rxPacket = nullptr;
+
+  type = UNKNOWN_EVENT;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// EventPool
+//
+///////////////////////////////////////////////////////////////////////////////
+
 EventPool &EventPool::instance()
 {
   static EventPool __instance;
   return __instance;
 }
 
+
+EventPool::EventPool()
+  : mISRPool(25), mThreadPool(10), mRXPool(20)
+{
+
+}
+
 void EventPool::init()
 {
-  mISRPool = new ObjectPool<Event>(25);
-  mThreadPool = new ObjectPool<Event>(10);
 }
 
 Event *EventPool::newEvent(EventType type)
@@ -39,20 +74,22 @@ Event *EventPool::newEvent(EventType type)
   Event *result = nullptr;
   if ( Utils::inISR() )
     {
-      result = mISRPool->get();
+      result = mISRPool.get();
       if ( result )
         {
           result->type = type;
           result->flags = 1;
+          ASSERT(!result->rxPacket);
         }
     }
   else
     {
-      result = mThreadPool->get();
+      result = mThreadPool.get();
       if ( result )
         {
           result->type = type;
           result->flags = 0;
+          ASSERT(!result->rxPacket);
         }
     }
 
@@ -60,25 +97,43 @@ Event *EventPool::newEvent(EventType type)
   //if ( !result)
     //printf2_now("\r\n[DEBUG]newEvent(0x%.8x) failed\r\n", type);
 
+  if ( result == nullptr )
+    return result;
+
+  ASSERT_VALID_PTR(result);
   return result;
 }
 
 void EventPool::deleteEvent(Event *event)
 {
-  ASSERT(event);
+  ASSERT_VALID_PTR(event);
+  event->reset();
   if ( event->flags )
-    mISRPool->put(event);
+    mISRPool.put(event);
   else
-    mThreadPool->put(event);
+    mThreadPool.put(event);
 }
 
 uint32_t EventPool::maxUtilization()
 {
-  return std::max(mISRPool->maxUtilization(), mThreadPool->maxUtilization());
+  return std::max(mISRPool.maxUtilization(), mThreadPool.maxUtilization());
 }
 
 uint32_t EventPool::utilization()
 {
-  return std::max(mISRPool->utilization(), mThreadPool->utilization());
+  return std::max(mISRPool.utilization(), mThreadPool.utilization());
 }
-#endif
+
+RXPacket *EventPool::newRXPacket()
+{
+  RXPacket *p = mRXPool.get();
+  ASSERT_VALID_PTR(p);
+  return p;
+}
+
+void EventPool::releaseRXPacket(RXPacket *packet)
+{
+  ASSERT_VALID_PTR(packet);
+  mRXPool.put(packet);
+}
+

latest/Firmware/Src/GPS.cpp

@@ -182,15 +182,14 @@ void GPS::onPPS()
 
 void GPS::processEvent(const Event &event)
 {
-  //printf2("-> GPS::processEvent()\r\n");
-
   processLine(event.nmeaBuffer.sentence);
-  //printf2("<- GPS::processEvent()\r\n");
+  ASSERT(event.rxPacket == nullptr);
 }
 
 void GPS::processLine(const char* buff)
 {
-  if ( buff[0] == '$' && buff[1] != '$' ) {
+  if ( buff[0] == '$' && buff[1] != '$' )
+    {
       unsigned reportedHash;
       char *starPos = strstr(buff, "*");
       if ( starPos && sscanf(starPos + 1, "%x", &reportedHash) == 1 )

latest/Firmware/Src/RXPacketProcessor.cpp

@@ -19,7 +19,9 @@
 
 
 #include <stdio.h>
+#include "_assert.h"
 #include "config.h"
+#include "RadioManager.hpp"
 #include "RXPacketProcessor.hpp"
 #include "AISMessages.hpp"
 #include "DataTerminal.hpp"
@@ -51,13 +53,14 @@ void RXPacketProcessor::processEvent(const Event &e)
   {
   case AIS_PACKET_EVENT:
     {
-      if (e.rxPacket.isBad() || !e.rxPacket.checkCRC ())
+      ASSERT(e.rxPacket);
+      if (e.rxPacket->isBad() || !e.rxPacket->checkCRC ())
         return;
 
-      if ( e.rxPacket.messageType() == 15 )
+      if ( e.rxPacket->messageType() == 15 )
         {
           AISMessage15 msg;
-          if ( msg.decode(e.rxPacket) )
+          if ( msg.decode(*e.rxPacket) )
             {
               // Make sure we actually can transmit something
               if ( mStationData.magic != STATION_DATA_MAGIC )
@@ -100,9 +103,8 @@ void RXPacketProcessor::processEvent(const Event &e)
 
       mSentences.clear();
 
-      // Need to make a copy to mutate the packet
+      ASSERT_VALID_PTR(e.rxPacket);
-      RXPacket p(e.rxPacket);
+      mEncoder.encode(*(e.rxPacket), mSentences);
-      mEncoder.encode(p, mSentences);
       for (vector<string>::iterator i = mSentences.begin(); i != mSentences.end(); ++i)
         {
 #ifdef MULTIPLEXED_OUTPUT
@@ -116,7 +118,7 @@ void RXPacketProcessor::processEvent(const Event &e)
 
 
       // Special handling for specific messages that we care about
-      switch (e.rxPacket.messageType())
+      switch (e.rxPacket->messageType())
       {
       case 20:
         // TODO: This is a time slot reservation from a base station. Use this information to block those time slots.

latest/Firmware/Src/RadioManager.cpp

@@ -34,11 +34,12 @@ RadioManager &RadioManager::instance()
 }
 
 RadioManager::RadioManager()
+  : mTXQueue(4)
 {
   mTransceiverIC = NULL;
   mReceiverIC = NULL;
   mInitializing = true;
-  mTXQueue = new CircularQueue<TXPacket*>(4);
+  //mTXQueue = new CircularQueue<TXPacket*>(4);
   mUTC = 0;
   EventQueue::instance().addObserver(this, CLOCK_EVENT);
 }
@@ -104,11 +105,11 @@ void RadioManager::processEvent(const Event &e)
   // Evaluate the state of the transceiver IC and our queue ...
   if ( mTransceiverIC->assignedTXPacket() == NULL )
     {
-      if ( !mTXQueue->empty() )
+      if ( !mTXQueue.empty() )
         {
           // There is no current TX operation pending, so we assign one
           TXPacket *packet = NULL;
-          mTXQueue->pop(packet);
+          mTXQueue.pop(packet);
           ASSERT(packet);
 
           VHFChannel txChannel = packet->channel();
@@ -161,7 +162,7 @@ void RadioManager::timeSlotStarted(uint32_t slotNumber)
 
 void RadioManager::scheduleTransmission(TXPacket *packet)
 {
-  if ( mTXQueue->push(packet) )
+  if ( mTXQueue.push(packet) )
     {
       //DBG("RadioManager queued TX packet for channel %d\r\n", ORDINAL_TO_ITU(packet->channel()));
     }

latest/Firmware/Src/Receiver.cpp

@@ -40,6 +40,8 @@ Receiver::Receiver(GPIO_TypeDef *sdnPort, uint32_t sdnPin, GPIO_TypeDef *csPort,
   mSwitchToChannel = mChannel;
   mRXByte = 0;
   mBitWindow = 0;
+  mRXPacket = EventPool::instance().newRXPacket();
+  ASSERT_VALID_PTR(mRXPacket);
 }
 
 Receiver::~Receiver()
@@ -100,7 +102,7 @@ void Receiver::resetBitScanner()
   mRXByte = 0;
   mBitState = BIT_STATE_PREAMBLE_SYNC;
 
-  mRXPacket.reset();
+  mRXPacket->reset();
 }
 
 void Receiver::onBitClock()
@@ -109,20 +111,16 @@ void Receiver::onBitClock()
   if ( gRadioState == RADIO_TRANSMITTING )
     return;
 
-  bsp_signal_high();
+  //bsp_signal_high();
 
   uint8_t bit = HAL_GPIO_ReadPin(mDataPort, mDataPin);
   processNRZIBit(bit);
-#if 1
   if ( mSlotBitNumber != 0xffff && mSlotBitNumber++ == CCA_SLOT_BIT - 1 )
     {
       uint8_t rssi = reportRSSI();
-      mRXPacket.setRSSI(rssi);
+      mRXPacket->setRSSI(rssi);
     }
-#else
+  //bsp_signal_low();
-  ++mSlotBitNumber;
-#endif
-  bsp_signal_low();
 }
 
 void Receiver::timeSlotStarted(uint32_t slot)
@@ -136,7 +134,7 @@ void Receiver::timeSlotStarted(uint32_t slot)
   if ( mBitState == BIT_STATE_IN_PACKET )
     return;
 
-  mRXPacket.setSlot(slot);
+  mRXPacket->setSlot(slot);
   if ( mSwitchAtNextSlot )
     {
       mSwitchAtNextSlot = false;
@@ -168,14 +166,14 @@ void Receiver::processNRZIBit(uint8_t bit)
       if ( mBitWindow == 0b1010101001111110 || mBitWindow == 0b0101010101111110 )
         {
           mBitState = BIT_STATE_IN_PACKET;
-          mRXPacket.setChannel(mChannel);
+          mRXPacket->setChannel(mChannel);
         }
 
       break;
     }
   case BIT_STATE_IN_PACKET:
     {
-      if ( mRXPacket.size() >= MAX_AIS_RX_PACKET_SIZE )
+      if ( mRXPacket->size() >= MAX_AIS_RX_PACKET_SIZE )
         {
           // Start over
           startReceiving(mChannel);
@@ -240,7 +238,7 @@ bool Receiver::addBit(uint8_t bit)
   if ( mBitCount == 8 )
     {
       // Commit to the packet!
-      mRXPacket.addByte(mRXByte);
+      mRXPacket->addByte(mRXByte);
       mBitCount = 0;
       mRXByte = 0;
     }
@@ -251,14 +249,19 @@ bool Receiver::addBit(uint8_t bit)
 void Receiver::pushPacket()
 {
   Event *p = EventPool::instance().newEvent(AIS_PACKET_EVENT);
+  RXPacket *currPacket = mRXPacket;
+  mRXPacket = EventPool::instance().newRXPacket();
+  ASSERT_VALID_PTR(mRXPacket);
+
   if ( p )
     {
       bsp_signal_high();
-      p->rxPacket = mRXPacket;
+      p->rxPacket = currPacket;
-      bsp_signal_low();
       EventQueue::instance().push(p);
+      bsp_signal_low();
     }
-  mRXPacket.reset();
+
+  mRXPacket->reset();
 }
 
 uint8_t Receiver::reportRSSI()

latest/Firmware/Src/Transceiver.cpp

@@ -217,7 +217,7 @@ void Transceiver::onBitClock()
         }
       else if ( mUTC && mSlotBitNumber == CCA_SLOT_BIT && mTXPacket->channel() == mChannel )
         {
-          int rssi = mRXPacket.rssi();
+          int rssi = mRXPacket->rssi();
           int nf = NoiseFloorDetector::instance().getNoiseFloor(AIS_CHANNELS[mChannel].designation);
           if ( rssi <= nf + TX_CCA_HEADROOM )
             {

latest/Firmware/Src/main.cpp

@@ -97,7 +97,7 @@ int main(void)
   bsp_hw_init();
 
   TaskHandle_t xHandle;
-  if ( xTaskCreate(mainTask, "main", 2048u, NULL, tskIDLE_PRIORITY+4, &xHandle) != pdPASS )
+  if ( xTaskCreate(mainTask, "main", 2248u, NULL, tskIDLE_PRIORITY+4, &xHandle) != pdPASS )
     {
       asm("BKPT 0");
     }