From d168512f9559992b7c9aef281690855ce23c6d83 Mon Sep 17 00:00:00 2001 From: tdk-opensource Date: Thu, 17 Oct 2024 08:27:32 -0700 Subject: [PATCH] Release 4.4.1. --- invn/icu_interface/shasta_external_regs.h | 9 +- invn/soniclib/ch_api.c | 58 ++ invn/soniclib/ch_common.c | 10 +- invn/soniclib/ch_driver.c | 219 +++-- invn/soniclib/ch_log.c | 148 ++-- invn/soniclib/ch_log.h | 5 + invn/soniclib/chbsp_dummy.c | 29 + invn/soniclib/chirp_bsp.h | 40 +- invn/soniclib/details/ch_driver.h | 57 +- .../icu_gpt/_icu_gpt_plugin_version.c | 2 +- invn/soniclib/sensor_fw/icu_gpt/icu_gpt.c | 11 +- invn/soniclib/sensor_fw/icu_gpt/icu_gpt_fw.c | 813 +++++++++--------- .../icu_init/_icu_init_plugin_version.c | 2 +- .../soniclib/sensor_fw/icu_init/icu_init_fw.c | 523 +++++------ invn/soniclib/soniclib.h | 141 ++- 15 files changed, 1230 insertions(+), 837 deletions(-) diff --git a/invn/icu_interface/shasta_external_regs.h b/invn/icu_interface/shasta_external_regs.h index 7080ec1..b1ce6a6 100644 --- a/invn/icu_interface/shasta_external_regs.h +++ b/invn/icu_interface/shasta_external_regs.h @@ -10,6 +10,7 @@ #include "shasta_pmut_instruction.h" #include "shasta_atp_format.h" #include "shasta_iq_format.h" +#include "icu_algo_info.h" #define REG_FMT_MAJOR (1) #define REG_FMT_MINOR (0) @@ -23,7 +24,7 @@ typedef struct raw_output_data{ volatile uint8_t odr_out; //output ODR volatile uint8_t iq_output_format;//the format of the IQdata buffer (See IQ_OUTPUT_*) volatile int8_t reserved; //used for INTCONFIG_ON_TARGET; -1 by default if no algo present - volatile uint16_t reserved2; //hack to align this struct... + volatile uint16_t reserved2; // address to read IQ data from //! Number of IQ bytes in last measurement volatile uint16_t num_iq_bytes; #ifndef INVN_NO_VIRTUAL_REGS @@ -55,19 +56,23 @@ typedef struct measurement{ // size: 172 bytes #define TRIGSRC_HWTRIGGER_INT2 (1<<1) #define TRIGSRC_RTC (1<<2) #define TRIGSRC_CONTINUOUS_RX (1<<3) +#define TRIGSRC_MEMS_DIRECT_CONNECT (1<<4) #define INTCONFIG_DR_INT2 (1<<0) //if this bit is set, use int2 for DATAREADY #define INTCONFIG_ON_TARGET (1<<1) //if this bit is set, only output DATAREADY when a target is detected #define INTCONFIG_PULSE_INT (1<<2) //if this bit is set, pulse the configured INT rather than latch it til next SPI read #define INTCONFIG_PUSH_PULL_INT (1<<3) // if this bit is set, int will be actively driven high instead of using PU resistor +#define READOUT_OPTIONS_DOUBLE_BUFFER_BM (1) // if set, double buffering mode is enabled +#define READOUT_OPTIONS_METADATA_IN_S0_BM (1<<1) // if set, IQ buffer address and last_measurement idx will be placed in IQ sample 0 + typedef struct measurement_queue{ // size: 142 bytes volatile uint8_t intconfig; // 0x02 switch interrupts to INT2 (see INTCONFIG_*) volatile uint8_t meas_start; // 0x03 which measurement do we start on volatile uint8_t meas_stop; // 0x04 which measurement do we stop on volatile uint8_t current_meas; // 0x05 which measurement do we do next volatile uint8_t trigsrc;// 0x06 add optional triggers from hardware pins (falling edge of INT1 or INT2) or LPWKUP timer (see TRIGSRC_*) - volatile uint8_t reserved; // 0x07 future use + volatile uint8_t reserved; // for double buffering and metadata packing options volatile measurement_t meas[MEAS_QUEUE_MAX_MEAS]; // 0x08 up to MEAS_QUEUE_MAX_MEAS measurements can be held at one time }measurement_queue_t; diff --git a/invn/soniclib/ch_api.c b/invn/soniclib/ch_api.c index c57ccb0..9049c50 100644 --- a/invn/soniclib/ch_api.c +++ b/invn/soniclib/ch_api.c @@ -243,6 +243,9 @@ uint8_t ch_get_dev_num(ch_dev_t *dev_ptr) { ch_dev_t *ch_get_dev_ptr(ch_group_t *grp_ptr, uint8_t dev_num) { + if (dev_num >= grp_ptr->num_ports) { + return NULL; + } return grp_ptr->device[dev_num]; } @@ -649,6 +652,11 @@ uint8_t ch_io_start_nb(ch_group_t *grp_ptr) { return ret_val; } +uint8_t ch_minimal_int_handler(ch_group_t *grp_ptr, uint8_t dev_num) { + + return chdrv_int_notify(grp_ptr, dev_num); +} + /*! * \brief Notify SonicLib that a sensor interrupt occurred. * @@ -773,6 +781,52 @@ ch_interrupt_drive_t ch_get_interrupt_drive(ch_dev_t *dev_ptr) { return ch_common_get_interrupt_drive(dev_ptr); } + +uint8_t ch_enable_double_buffer(ch_dev_t *dev_ptr, uint8_t enable) { + int ret_val = RET_OK; + + if (enable) { + dev_ptr->meas_queue.reserved |= READOUT_OPTIONS_DOUBLE_BUFFER_BM; + } else { + dev_ptr->meas_queue.reserved &= ~READOUT_OPTIONS_DOUBLE_BUFFER_BM; + } + + ret_val = ch_common_meas_write_config(dev_ptr); + + return ret_val; +} + +uint8_t ch_enable_metadata_in_iq0(ch_dev_t *dev_ptr, uint8_t enable) { + int ret_val = RET_OK; + + if (enable) { + dev_ptr->meas_queue.reserved |= READOUT_OPTIONS_METADATA_IN_S0_BM; + } else { + dev_ptr->meas_queue.reserved &= ~READOUT_OPTIONS_METADATA_IN_S0_BM; + } + + ret_val = ch_common_meas_write_config(dev_ptr); + + return ret_val; +} + +uint8_t ch_update_metadata_from_iq0(ch_dev_t *dev_ptr, ch_iq_sample_t *iq_data) { + uint16_t *buf_ptr = (uint16_t *)iq_data; + const uint16_t next_buf_addr = *buf_ptr; + buf_ptr += 1; // move to next word + const uint8_t is_valid = (*buf_ptr) >> 8; // get MSByte + const uint8_t last_meas_num = (*buf_ptr) & 0xFF; // get LSByte + if (is_valid) { + dev_ptr->last_measurement = last_meas_num; + dev_ptr->buf_addr = next_buf_addr; + } + // set the first IQ sample to 0 after extracting metadata since many downstream + // tools expect the first IQ sample to be 0 (ASIC always writes 0 as first sample). + iq_data[0].i = 0; + iq_data[0].q = 0; + return (is_valid) ? 0 : 1; +} + #endif uint8_t ch_set_rx_low_gain(ch_dev_t *dev_ptr, uint16_t num_samples) { @@ -1021,6 +1075,10 @@ uint8_t ch_meas_get_last_num(ch_dev_t *dev_ptr) { return ch_common_meas_get_last_num(dev_ptr); } +uint16_t ch_get_next_buf_addr(ch_dev_t *dev_ptr) { + return dev_ptr->buf_addr; +} + uint8_t ch_meas_write_config(ch_dev_t *dev_ptr) { return ch_common_meas_write_config(dev_ptr); diff --git a/invn/soniclib/ch_common.c b/invn/soniclib/ch_common.c index db396c6..6b14d03 100644 --- a/invn/soniclib/ch_common.c +++ b/invn/soniclib/ch_common.c @@ -1033,14 +1033,7 @@ static uint8_t get_sample_data(ch_dev_t *dev_ptr, ch_iq_sample_t *buf_ptr, uint1 } #ifdef INCLUDE_SHASTA_SUPPORT - const uint8_t last_meas = ch_common_meas_get_last_num(dev_ptr); - const uint8_t is_continuous = dev_ptr->is_continuous; - iq_data_addr = (uint16_t)(uintptr_t) & ((dev_ptr->sens_cfg_addr)->raw.IQdata); // start of I/Q data - if (is_continuous && last_meas == 1) { - // start from middle of buffer in continuous mode when reading the - // result of meas 1. Mult by 4 to convert to bytes then divide by 2 - iq_data_addr += (dev_ptr->current_fw->max_samples << 2) >> 1; - } + iq_data_addr = dev_ptr->buf_addr; iq_data_addr += (start_sample * sample_size_in_bytes); // add sample offset if (mode == CH_IO_MODE_BLOCK) { @@ -2929,6 +2922,7 @@ uint8_t ch_common_read_meas_config(ch_dev_t *dev_ptr) { dev_ptr->odr_out = odr_out; dev_ptr->iq_output_format = iq_output_format; dev_ptr->num_iq_bytes = num_iq_bytes; + err = chdrv_read_buf_addr(dev_ptr); } return err; diff --git a/invn/soniclib/ch_driver.c b/invn/soniclib/ch_driver.c index d2cc0f9..7107300 100644 --- a/invn/soniclib/ch_driver.c +++ b/invn/soniclib/ch_driver.c @@ -47,9 +47,6 @@ #endif #endif /* #ifdef INCLUDE_WHITNEY_SUPPORT */ -/* Local variables */ -static volatile uint32_t interrupt_sensors = 0; // one bit for each possible sensor - #if IS_CH_LOG_USED static inline void print_connected_sensors(int prog_status, const ch_group_t *grp_ptr, uint32_t start_time) { @@ -197,7 +194,6 @@ static int init_ram(ch_dev_t *dev_ptr) { static int reset_and_halt(ch_dev_t *dev_ptr) { int ch_err = 0; #ifdef INCLUDE_SHASTA_SUPPORT - dev_ptr->asic_ready = 0; // enter debug mode and clear active-low reset bit to do reset ch_err |= chdrv_sys_ctrl_write(dev_ptr, SYS_CTRL_DEBUG); @@ -659,28 +655,124 @@ uint8_t chdrv_event_trigger(ch_dev_t *dev_ptr, uint16_t event) { err = chdrv_write_word(dev_ptr, event_trigger_reg_addr, event); return err; } + +static inline uint8_t event_wait(ch_dev_t *dev_ptr) { + uint8_t err = 0; + + chbsp_event_wait_setup((1 << dev_ptr->io_index)); + chdrv_int_interrupt_enable(dev_ptr); // *** enable interrupt ***/ + +#ifdef CHDRV_WAIT_DEBUG + chbsp_debug_on(1); +#endif /* CHDRV_WAIT_DEBUG */ + + err = chbsp_event_wait(CHDRV_EVENT_TIMEOUT_MS, (1 << dev_ptr->io_index)); + /* The interrupts are disabled in the entry of chdrv_int_callback */ + +#ifdef CHDRV_WAIT_DEBUG + chbsp_debug_off(1); +#endif /* CHDRV_WAIT_DEBUG */ + +#ifdef USE_DEFERRED_INTERRUPT_PROCESSING + if (!err) { + chdrv_int_callback_deferred(dev_ptr->group, dev_ptr->io_index); + } #endif + return err; +} + +uint8_t chdrv_event_trigger_and_wait(ch_dev_t *dev_ptr, uint16_t event) { + ch_io_int_callback_t app_io_int_callback = NULL; + uint8_t err = 0; + + if (dev_ptr->group->io_int_callback != NULL) { + /* If an application callback has already been defined + * avoid to trigger it when event will happen + */ + app_io_int_callback = dev_ptr->group->io_int_callback; + dev_ptr->group->io_int_callback = NULL; + } + + chbsp_event_wait_setup((1 << dev_ptr->io_index)); + chdrv_int_interrupt_enable(dev_ptr); // *** enable interrupt *** + err |= chdrv_event_trigger(dev_ptr, event); // trigger event + +#ifdef CHDRV_WAIT_DEBUG + chbsp_debug_on(1); +#endif /* CHDRV_WAIT_DEBUG */ + + err |= chbsp_event_wait(CHDRV_EVENT_TIMEOUT_MS, (1 << dev_ptr->io_index)); /* Wait for sensor to interrupt */ + /* The interrupts are disabled in the entry of chdrv_int_callback */ + +#ifdef CHDRV_WAIT_DEBUG + chbsp_debug_off(1); +#endif /* CHDRV_WAIT_DEBUG */ + +#ifdef USE_DEFERRED_INTERRUPT_PROCESSING + chdrv_int_callback_deferred(dev_ptr->group, dev_ptr->io_index); +#endif + + if (app_io_int_callback != NULL) { + /* Restore previously saved callback */ + dev_ptr->group->io_int_callback = app_io_int_callback; + } + + return err; +} +#endif + +// grp_ptr below can likely be const, but we need to fix lower level functions first +uint8_t chdrv_int_notify(ch_group_t *grp_ptr, uint8_t dev_num) { + ch_dev_t *dev_ptr = grp_ptr->device[dev_num]; + + /* Get interrupt type */ + if (dev_ptr->asic_gen == CH_ASIC_GEN_2_SHASTA) { +#ifdef INCLUDE_SHASTA_SUPPORT + if (grp_ptr->status != CH_GROUP_STAT_INIT_OK) { + // dummy read needed in this case because we have not yet read the + // sensor config address, but we still need the asic to release the + // interrupt line + int16_t int_type; + chdrv_read_word(dev_ptr, SHASTA_DATA_MEM_ADDR, (uint16_t *)&int_type); + } +#endif + } + + chbsp_event_notify(1 << dev_num); + return (grp_ptr->status == CH_GROUP_STAT_INIT_OK) ? 0 : 1; +} + void chdrv_int_callback(ch_group_t *grp_ptr, uint8_t dev_num) { - ch_dev_t *dev_ptr = grp_ptr->device[dev_num]; - ch_io_int_callback_t func_ptr = grp_ptr->io_int_callback; // application callback routine - ch_interrupt_type_t int_type = CH_INTERRUPT_TYPE_UNKNOWN; + ch_dev_t *dev_ptr = grp_ptr->device[dev_num]; /* avoid being retriggered when pin control changes */ chdrv_int_interrupt_disable(dev_ptr); + /* Notify the application context of the event */ + chbsp_event_notify(1 << dev_num); + +#ifndef USE_DEFERRED_INTERRUPT_PROCESSING + chdrv_int_callback_deferred(grp_ptr, dev_num); +#endif +} + +void chdrv_int_callback_deferred(ch_group_t *grp_ptr, uint8_t dev_num) { + ch_dev_t *dev_ptr = grp_ptr->device[dev_num]; + ch_io_int_callback_t func_ptr = grp_ptr->io_int_callback; // application callback routine + ch_interrupt_type_t int_type = CH_INTERRUPT_TYPE_UNKNOWN; + /* Get interrupt type */ if (dev_ptr->asic_gen == CH_ASIC_GEN_2_SHASTA) { #ifdef INCLUDE_SHASTA_SUPPORT uint16_t int_source_reg_addr = (uint16_t)(uintptr_t) & ((dev_ptr->sens_cfg_addr)->common.int_source); - if (!dev_ptr->asic_ready) { + if (grp_ptr->status != CH_GROUP_STAT_INIT_OK) { // dummy read needed in this case because we have not yet read the // sensor config address, but we still need the asic to release the // interrupt line chdrv_read_word(dev_ptr, SHASTA_DATA_MEM_ADDR, (uint16_t *)&int_type); // manually set this because dummy read result is garbage - int_type = CH_INTERRUPT_TYPE_PGM_LOADED; - dev_ptr->asic_ready = 1; + int_type = CH_INTERRUPT_TYPE_PGM_LOADED; } else if (dev_ptr->sens_cfg_addr != 0) { chdrv_read_word(dev_ptr, int_source_reg_addr, (uint16_t *)&int_type); @@ -697,6 +789,8 @@ void chdrv_int_callback(ch_group_t *grp_ptr, uint8_t dev_num) { chdrv_read_byte(dev_ptr, last_fmt_reg_addr, &last_fmt); dev_ptr->iq_output_format = last_fmt; + + chdrv_read_buf_addr(dev_ptr); } } #endif @@ -704,8 +798,6 @@ void chdrv_int_callback(ch_group_t *grp_ptr, uint8_t dev_num) { int_type = CH_INTERRUPT_TYPE_DATA_RDY; // Whitney only has data ready interrupt } - interrupt_sensors |= (1 << dev_num); - /* Call application callback function - pass device number to identify device within group */ if ((func_ptr != NULL) && (grp_ptr->status == CH_GROUP_STAT_INIT_OK)) { (*func_ptr)(grp_ptr, dev_num, int_type); @@ -889,81 +981,6 @@ uint8_t chdrv_otpmem_copy(ch_dev_t *dev_ptr, otp_copy_t *otp_ptr) { return err; } -static inline uint8_t event_wait(ch_dev_t *dev_ptr) { - uint8_t err = 0; - uint32_t start_time = chbsp_timestamp_ms(); - interrupt_sensors = 0; // re-init bitmask - - chdrv_int_interrupt_enable(dev_ptr); // *** enable interrupt *** - -#ifdef CHDRV_WAIT_DEBUG - chbsp_debug_on(1); -#endif /* CHDRV_WAIT_DEBUG */ - - while (interrupt_sensors == 0) { - uint32_t new_time = chbsp_timestamp_ms(); - if (new_time >= (start_time + CHDRV_EVENT_TIMEOUT_MS)) { - err = 1; // timeout - break; - } else if (new_time < start_time) { // if rollover - start_time = new_time; // just re-start timeout - } - } - chdrv_int_interrupt_disable(dev_ptr); // *** disable interrupt *** - -#ifdef CHDRV_WAIT_DEBUG - chbsp_debug_off(1); -#endif /* CHDRV_WAIT_DEBUG */ - - return err; -} - -uint8_t chdrv_event_trigger_and_wait(ch_dev_t *dev_ptr, uint16_t event) { - ch_io_int_callback_t app_io_int_callback = NULL; - uint32_t start_time = chbsp_timestamp_ms(); - uint8_t err = 0; - - if (dev_ptr->group->io_int_callback != NULL) { - /* If an application callback has already been defined - * avoid to trigger it when event will happen - */ - app_io_int_callback = dev_ptr->group->io_int_callback; - dev_ptr->group->io_int_callback = NULL; - } - - interrupt_sensors = 0; // re-init bitmask - chdrv_int_interrupt_enable(dev_ptr); // *** enable interrupt *** - - err |= chdrv_event_trigger(dev_ptr, event); // trigger event - -#ifdef CHDRV_WAIT_DEBUG - chbsp_debug_on(1); -#endif /* CHDRV_WAIT_DEBUG */ - - /* Wait for sensor to interrupt */ - while (!err && (interrupt_sensors == 0)) { - uint32_t new_time = chbsp_timestamp_ms(); - if (new_time >= (start_time + CHDRV_EVENT_TIMEOUT_MS)) { - err = 1; // timeout - break; - } else if (new_time < start_time) { // if rollover - start_time = new_time; // just re-start timeout - } - } - chdrv_int_interrupt_disable(dev_ptr); // *** disable interrupt *** - - if (app_io_int_callback != NULL) { - /* Restore previously saved callback */ - dev_ptr->group->io_int_callback = app_io_int_callback; - } - -#ifdef CHDRV_WAIT_DEBUG - chbsp_debug_off(1); -#endif /* CHDRV_WAIT_DEBUG */ - - return err; -} - static const int max_num_trx = sizeof(((measurement_t *)0)->trx_inst) / sizeof(((measurement_t *)0)->trx_inst[0]); //! Clear all interrupts from instruction array and perform some basic error checking @@ -2296,8 +2313,7 @@ static inline uint8_t whitney_detect_and_program(ch_dev_t *dev_ptr) { * This function resets and runs a sensor device by writing to the control registers. */ static int reset_and_run(ch_dev_t *dev_ptr) { - int ch_err = 0; - dev_ptr->asic_ready = 0; + int ch_err = 0; ch_err |= chdrv_sys_ctrl_write(dev_ptr, SYS_CTRL_DEBUG); // reset (SYS_CTRL_RESET_N is low) ch_err |= chdrv_sys_ctrl_write(dev_ptr, (SYS_CTRL_DEBUG | SYS_CTRL_RESET_N)); @@ -2323,6 +2339,22 @@ static uint8_t exit_debug(ch_dev_t *dev_ptr) { return err; } +int chdrv_read_buf_addr(ch_dev_t *dev_ptr) { + int ch_err = 0; + uint16_t buf_addr; + uint16_t buf_addr_reg_addr = (uint16_t)(uintptr_t) & ((dev_ptr->sens_cfg_addr)->raw.reserved2); + + ch_err = chdrv_read_word(dev_ptr, buf_addr_reg_addr, &buf_addr); + if (buf_addr != 0) { + dev_ptr->buf_addr = buf_addr; + } else { + // for backwards compatibility before the reserved2 field was used + // to store the buffer address + dev_ptr->buf_addr = (uint16_t)(uintptr_t) & ((dev_ptr->sens_cfg_addr)->raw.IQdata); + } + return ch_err; +} + static inline uint8_t shasta_detect_and_program(ch_dev_t *dev_ptr) { uint8_t ch_err; @@ -2345,7 +2377,7 @@ static inline uint8_t shasta_detect_and_program(ch_dev_t *dev_ptr) { ch_err = reset_and_halt(dev_ptr); // reset and enter debug mode for programming ch_err |= init_ram(dev_ptr); // init ram values - interrupt_sensors = 0; + chbsp_event_wait_setup((1 << dev_ptr->io_index)); chdrv_int_interrupt_enable(dev_ptr); // *** enable interrupt *** ch_err |= write_firmware(dev_ptr); // transfer program @@ -2354,6 +2386,9 @@ static inline uint8_t shasta_detect_and_program(ch_dev_t *dev_ptr) { if (!ch_err) { ch_err |= event_wait(dev_ptr); // wait for sensor to interrupt + if (ch_err) { + CH_LOG_ERR("No reset event from sensor %u", dev_ptr->io_index); + } } /* Get addr of shared config mem and algo info */ @@ -2368,6 +2403,9 @@ static inline uint8_t shasta_detect_and_program(ch_dev_t *dev_ptr) { ch_err = chdrv_read_word(dev_ptr, SHASTA_ALGO_INFO_PTR_ADDR, &algo_info_addr); dev_ptr->sens_algo_info_addr = (ICU_ALGO_SHASTA_INFO *)(uintptr_t)algo_info_addr; } + if (!ch_err) { + ch_err = chdrv_read_buf_addr(dev_ptr); + } CH_LOG_INFO("Sensor shared mem addr = 0x%04x", (uint16_t)(uintptr_t)dev_ptr->sens_cfg_addr); CH_LOG_INFO("Sensor algo info addr = 0x%04x", (uint16_t)(uintptr_t)dev_ptr->sens_algo_info_addr); @@ -2423,7 +2461,6 @@ int chdrv_prog_ping(ch_dev_t *dev_ptr) { #ifdef INCLUDE_SHASTA_SUPPORT uint16_t reg_val = 0; uint8_t sys_ctrl_reg_val = 0; - dev_ptr->asic_ready = 0; ch_err |= chdrv_sys_ctrl_read(dev_ptr, (uint8_t *)&sys_ctrl_reg_val); diff --git a/invn/soniclib/ch_log.c b/invn/soniclib/ch_log.c index 975a3a5..3c5e78a 100644 --- a/invn/soniclib/ch_log.c +++ b/invn/soniclib/ch_log.c @@ -21,117 +21,161 @@ #include #include -#define MSG_BUFFER_LENGTH 200 -#define MODULE_NAME_LENGTH 7 /* log module name max size in char */ -#define FUNC_NAME_LENGTH 30 -#define HEADER_LENGTH (1 + 1 + MODULE_NAME_LENGTH + 1 + FUNC_NAME_LENGTH + 1) -#define INDEX_LOG_MESSAGE (HEADER_LENGTH - 1) -#define END_OF_LINE_PATTERN "\r\n" -#define END_OF_LINE_LENGTH 2 - -/* Get size available in buffer removing header length and the \r\n at the end of the string. */ -#define SIZEOF_BUF_FOR_DATA(buf) (sizeof(buf) - (HEADER_LENGTH + END_OF_LINE_LENGTH)) - -static char buf_msg[MSG_BUFFER_LENGTH]; - -static inline void add_header(const char level, const char *name, const char *func_name, char *out_buf) { - /* Write the header : - - 1 letter for the criticality, - - 1 space, - - module name space complemented if less than MODULE_NAME_LENGTH, - - 1 space, - - '\0' char */ - snprintf(out_buf, HEADER_LENGTH + 1, "%c %-*.*s %-*.*s ", level, MODULE_NAME_LENGTH, MODULE_NAME_LENGTH, name, - FUNC_NAME_LENGTH, FUNC_NAME_LENGTH, func_name); +#define MODULE_NAME_LENGTH 7 /* log module name max size in char */ +#define FUNC_NAME_LENGTH 30 +#define HEADER_LENGTH (1 + 1 + MODULE_NAME_LENGTH + 1 + FUNC_NAME_LENGTH + 1) +#define INDEX_LOG_MESSAGE (HEADER_LENGTH - 1) +#define END_OF_LINE_PATTERN "\r\n" +#define END_OF_LINE_LENGTH 2 +#define MESSAGE_MINIMAL_SIZE 50 + +#if CH_LOG_BUFFER_SIZE < (HEADER_LENGTH + MESSAGE_MINIMAL_SIZE + END_OF_LINE_LENGTH) +#error Please define a greater size for CH_LOG_BUFFER_SIZE +#endif + +static char buf_msg[CH_LOG_BUFFER_SIZE]; +static uint16_t buf_idx = 0; + +static inline void print(void) { + chbsp_print_str(&buf_msg[0]); + buf_idx = 0; } -static inline void add_eof(char *out_buf, size_t out_buf_len) { - uint32_t len; +static __attribute__((format(printf, 1, 0))) int print_to_buf(const char *format, va_list va) { + size_t buf_max_space_available; + int rc = 0; + + for (uint8_t retry = 2; retry > 0; --retry) { + buf_max_space_available = sizeof(buf_msg) - buf_idx; + + rc = vsnprintf(&buf_msg[buf_idx], buf_max_space_available, format, va); + if (rc < 0) { + /* encoding error , string not put to buf_msg*/ + + } else if ((size_t)rc > buf_max_space_available) { + /* Buffer is full, can't append new argument + * Print current buffer and rollover */ + buf_msg[buf_idx] = '\0'; + print(); + } else { + buf_idx += rc; + break; + } + } + return rc; +} + +static inline void add_header(const char level, const char *name, const char *func_name) { + size_t buf_max_space_available; + int rc = 0; + + for (uint8_t retry = 2; retry > 0; --retry) { + buf_max_space_available = sizeof(buf_msg) - buf_idx; + /* Write the header : + - 1 letter for the criticality, + - 1 space, + - module name space complemented if less than MODULE_NAME_LENGTH, + - 1 space, + - '\0' char */ + rc = snprintf(&buf_msg[buf_idx], buf_max_space_available, "%c %-*.*s %-*.*s ", level, MODULE_NAME_LENGTH, + MODULE_NAME_LENGTH, name, FUNC_NAME_LENGTH, FUNC_NAME_LENGTH, func_name); + if (rc < 0) { + /* encoding error , string not put to buf_msg*/ + } else if ((size_t)rc > buf_max_space_available) { + /* Buffer is full, can't append new argument + * Print current buffer and rollover */ + buf_msg[buf_idx] = '\0'; + print(); + } else { + buf_idx += rc; + break; + } + } +} +static inline void add_eof(void) { + const size_t buf_idx_eof_max = (sizeof(buf_msg) - END_OF_LINE_LENGTH - sizeof('\0')); + + if (buf_idx > buf_idx_eof_max) { + buf_idx = buf_idx_eof_max; + } /* Add the carriage return */ - out_buf[out_buf_len - 1] = '\0'; /* be sure there is at least one '\0' in buffer */ - len = strlen(out_buf); - snprintf(&out_buf[len], out_buf_len, END_OF_LINE_PATTERN); + memcpy(&buf_msg[buf_idx], END_OF_LINE_PATTERN, sizeof(END_OF_LINE_PATTERN)); + buf_msg[sizeof(buf_msg) - 1] = '\0'; /* be sure there is at least one '\0' in buffer */ } __attribute__((format(printf, 1, 2))) void ch_log_printf(const char *format, ...) { - char buf[MSG_BUFFER_LENGTH] = {0}; va_list va; va_start(va, format); - vsnprintf(&buf[0], sizeof(buf), format, va); + print_to_buf(format, va); va_end(va); - chbsp_print_str(buf); + print(); } __attribute__((format(printf, 1, 2))) void ch_log_printf_eol(const char *format, ...) { - char buf[MSG_BUFFER_LENGTH] = {0}; va_list va; va_start(va, format); - vsnprintf(&buf[0], sizeof(buf), format, va); + print_to_buf(format, va); va_end(va); - add_eof(buf, sizeof(buf)); + add_eof(); - chbsp_print_str(buf); + print(); } __attribute__((format(printf, 4, 5))) void ch_log_prefix_printf(const char level, const char *name, const char *func_name, const char *format, ...) { - char buf[MSG_BUFFER_LENGTH] = {0}; va_list va; - add_header(level, name, func_name, &buf[0]); + buf_idx = 0; + add_header(level, name, func_name); va_start(va, format); /* Copy all after the header */ - vsnprintf(&buf[INDEX_LOG_MESSAGE], SIZEOF_BUF_FOR_DATA(buf), format, va); + print_to_buf(format, va); va_end(va); - add_eof(buf, sizeof(buf)); + add_eof(); - chbsp_print_str(buf); + print(); } __attribute__((format(printf, 4, 5))) void ch_log_prefix_start(const char level, const char *name, const char *func_name, const char *format, ...) { va_list va; - add_header(level, name, func_name, &buf_msg[0]); + buf_idx = 0; + add_header(level, name, func_name); + buf_msg[sizeof(buf_msg) - 1] = '\0'; /* be sure there is at least one '\0' in buffer */ va_start(va, format); - /* Copy all after the header. Save room for the \r\n at the end of the string. */ - vsnprintf(&buf_msg[INDEX_LOG_MESSAGE], SIZEOF_BUF_FOR_DATA(buf_msg), format, va); + print_to_buf(format, va); va_end(va); - buf_msg[MSG_BUFFER_LENGTH - 1] = '\0'; } __attribute__((format(printf, 1, 2))) void ch_log_start(const char *format, ...) { va_list va; + buf_msg[sizeof(buf_msg) - 1] = '\0'; /* be sure there is at least one '\0' in buffer */ va_start(va, format); /* Copy all after the header. Save room for the \r\n at the end of the string. */ - vsnprintf(&buf_msg[0], SIZEOF_BUF_FOR_DATA(buf_msg), format, va); + print_to_buf(format, va); va_end(va); - buf_msg[MSG_BUFFER_LENGTH - 1] = '\0'; } __attribute__((format(printf, 1, 2))) void ch_log_msg(const char *format, ...) { va_list va; - uint32_t len; buf_msg[sizeof(buf_msg) - 1] = '\0'; /* be sure there is at least one '\0' in buffer */ - len = strlen(buf_msg); va_start(va, format); - /* Copy all after the header. Save room for the \r\n at the end of the string. */ - vsnprintf(&buf_msg[len], SIZEOF_BUF_FOR_DATA(buf_msg), format, va); + print_to_buf(format, va); va_end(va); } void ch_log_end(void) { - add_eof(buf_msg, sizeof(buf_msg)); - - chbsp_print_str(buf_msg); + add_eof(); + print(); } \ No newline at end of file diff --git a/invn/soniclib/ch_log.h b/invn/soniclib/ch_log.h index ab222dc..91716cd 100644 --- a/invn/soniclib/ch_log.h +++ b/invn/soniclib/ch_log.h @@ -34,6 +34,11 @@ extern "C" { #define CH_LOG_MODULE_LEVEL CH_LOG_LEVEL_ERROR #endif +#ifndef CH_LOG_BUFFER_SIZE +/* Size of the internal buffer to save messages before printing */ +#define CH_LOG_BUFFER_SIZE (200) +#endif + #define IS_CH_LOG_USED (CH_LOG_MODULE_LEVEL <= CH_LOG_LEVEL_DISABLE) #define IS_CH_LOG_LEVEL_USED(level) (level >= CH_LOG_MODULE_LEVEL) diff --git a/invn/soniclib/chbsp_dummy.c b/invn/soniclib/chbsp_dummy.c index 078bb64..39329bb 100644 --- a/invn/soniclib/chbsp_dummy.c +++ b/invn/soniclib/chbsp_dummy.c @@ -14,6 +14,7 @@ * Copyright (c) 2017-2021 Chirp Microsystems. All rights reserved. */ #include +#include /* Functions supporting debugging */ @@ -165,3 +166,31 @@ __attribute__((weak)) int chbsp_spi_mem_read_nb(ch_dev_t *dev_ptr, uint16_t mem_ (void)(num_bytes); return 1; } + +/* Local variables */ +static volatile uint32_t interrupt_sensors = 0; // one bit for each possible sensor + +__attribute__((weak)) void chbsp_event_wait_setup(uint32_t event_mask) { + interrupt_sensors &= ~event_mask; // re-init bitmask +} + +__attribute__((weak)) uint8_t chbsp_event_wait(uint16_t time_out_ms, uint32_t event_mask) { + uint8_t err = 0; + uint32_t start_time = chbsp_timestamp_ms(); + + /* Wait for sensor to interrupt */ + while (!err && ((interrupt_sensors & event_mask) == 0)) { + uint32_t new_time = chbsp_timestamp_ms(); + if (new_time >= (start_time + time_out_ms)) { + err = 1; // timeout + // break; + } else if (new_time < start_time) { // if rollover + start_time = new_time; // just re-start timeout + } + } + return err; +} + +__attribute__((weak)) void chbsp_event_notify(uint32_t event_mask) { + interrupt_sensors |= event_mask; +} diff --git a/invn/soniclib/chirp_bsp.h b/invn/soniclib/chirp_bsp.h index e1a30e5..4ad319b 100644 --- a/invn/soniclib/chirp_bsp.h +++ b/invn/soniclib/chirp_bsp.h @@ -189,6 +189,7 @@ #ifndef __CHIRP_BSP_H_ #define __CHIRP_BSP_H_ +#include #ifdef __cplusplus extern "C" { #endif @@ -661,6 +662,33 @@ void chbsp_delay_ms(uint32_t ms); */ uint32_t chbsp_timestamp_ms(void); +/** + * @brief Wait for any interrupt event + * + * @param time_out_ms time-out of the wait loop + * @return 0 if an event has been received on INT pin, 1 if time-out happened + * + * This function is called during initialization when an event is triggered on sensor + * and we wait the the result. This event is called in "application" context + */ +uint8_t chbsp_event_wait(uint16_t time_out_ms, uint32_t event_mask); + +/** + * @brief Notify an interrupt event for the selected device + * + * @param event_mask Each bit of the mask represents a device + * + * This function is called from \a ch_interrupt , in interrupt context + */ +void chbsp_event_notify(uint32_t event_mask); + +/** + * @brief Prepare the mechanism to wait for an event + * + * This function is called before \a chbsp_event_wait + */ +void chbsp_event_wait_setup(uint32_t event_mask); + /*! * \brief Initialize the host's I2C hardware. * @@ -743,9 +771,9 @@ int chbsp_i2c_write(ch_dev_t *dev_ptr, const uint8_t *data, uint16_t num_bytes); * a header. * * The byte sequence being sent should look like the following: - * 0 | 1 | 2 | 3 | 4 | 5 | etc... - * :------: | :------: | :------: | :------: | :------: | :-------: | :------: - * I2C Addr | \a mem_addr | \a num_bytes | *\a data | *(\a data + 1)| *(\a data + 2)| ... + * 0 | 1 | 2 | 3 | 4 | etc... + * :------: | :------: | :------: | :------: | :------: | :------: + * I2C Addr | \a mem_addr | *\a data | *(\a data + 1)| *(\a data + 2)| ... * * This function is REQUIRED for CH101 and CH201 sensors. It is not used for ICU sensors. * @@ -773,9 +801,9 @@ int chbsp_i2c_mem_write(ch_dev_t *dev_ptr, uint16_t mem_addr, uint8_t *data, uin * The I2C interface must have already been initialized using \a chbsp_i2c_init(). * * The byte sequence being sent should look like the following: - * 0 | 1 | 2 | 3 | 4 | 5 | etc... - * :------: | :------: | :------: | :------: | :------: | :-------: | :------: - * I2C Addr | \a mem_addr | \a num_bytes | *\a data | *(\a data + 1)| *(\a data + 2)| ... + * 0 | 1 | 2 | 3 | 4 | etc... + * :------: | :------: | :------: | :------: | :------: | :------: + * I2C Addr | \a mem_addr | *\a data | *(\a data + 1)| *(\a data + 2)| ... * * This function is OPTIONAL for CH101 and CH201 sensors. It is not used for ICU sensors. * diff --git a/invn/soniclib/details/ch_driver.h b/invn/soniclib/details/ch_driver.h index 833cda5..b1942ed 100644 --- a/invn/soniclib/details/ch_driver.h +++ b/invn/soniclib/details/ch_driver.h @@ -478,6 +478,16 @@ int chdrv_read_word(ch_dev_t *dev_ptr, uint16_t mem_addr, uint16_t *data); */ int chdrv_burst_read(ch_dev_t *dev_ptr, uint16_t mem_addr, uint8_t *data, uint16_t len); +/*! + * \brief Read the IQ buffer address from the sensor and store in dev_ptr. + * + * \param dev_ptr pointer to the ch_dev_t descriptor structure for a sensor + * + * \return 0 if successful, non-zero otherwise + * + */ +int chdrv_read_buf_addr(ch_dev_t *dev_ptr); + /*! * \brief Write multiple bytes to a sensor application register location. * @@ -683,22 +693,65 @@ uint8_t chdrv_dbg_reg_read(ch_dev_t *dev_ptr, uint8_t reg_id, uint16_t *reg_valu uint8_t chdrv_dbg_reg_write(ch_dev_t *dev_ptr, uint8_t reg_id, uint16_t reg_value); /*! - * \brief Driver callback routine for sensor interrupt. + * \brief Notify SonicLib that a sensor interrupt was received * * \param grp_ptr pointer to the ch_group_t config structure for a group of sensors * \param dev_num interrupting sensor's device number within group + * \return 0 for success, non-zero otherwise. * * * This function should be called from the board support package when * an interrupt from the sensor is received. The \a dev_num parameter * indicates which sensor interrupted. * + * Unlike \a chdrv_int_callback(), this function does not call the user supplied + * callback. It is intended to be used when the user would like more control + * of exactly what happens when an interrupt is received from the sensor. + * + * Other differences from \a chdrv_int_callback(): + * + * - This function does not disable interrupt handling. This must be done in + * user code if needed. + * - This function does not read any metadata from the sensor, with one exception. + * During sensor programming, this funciton performs one SPI read in order + * to cause the ASIC to release the interrupt line. + * - This function does not update state of the dev_ptr + * + */ +uint8_t chdrv_int_notify(ch_group_t *grp_ptr, uint8_t dev_num); + +/*! + * \brief Driver callback routine for sensor interrupt. + * + * \param grp_ptr pointer to the ch_group_t config structure for a group of sensors + * \param dev_num interrupting sensor's device number within group + * + * + * This function is called from \a ch_interrupt() when + * an interrupt from the sensor is received. The \a dev_num parameter + * indicates which sensor interrupted. + * + */ +void chdrv_int_callback(ch_group_t *grp_ptr, uint8_t dev_num); + +/*! + * \brief Driver callback deferred routine for sensor interrupt. + * + * \param grp_ptr pointer to the ch_group_t config structure for a group of sensors + * \param dev_num interrupting sensor's device number within group + * + * + * This function is called from \a ch_interrupt() when + * an interrupt from the sensor is received. Or shall be called in app context + * if USE_DEFERRED_INTERRUPT_PROCESSING is defined. + * The \a dev_num parameter indicates which sensor interrupted. + * * For sensor data-ready interrupts, this routine will in turn call the * application's callback routine which was set using \a ch_io_int_callback_set(). * * See also \a ch_io_int_callback_set() */ -void chdrv_int_callback(ch_group_t *grp_ptr, uint8_t dev_num); +void chdrv_int_callback_deferred(ch_group_t *grp_ptr, uint8_t dev_num); #ifdef INCLUDE_SHASTA_SUPPORT diff --git a/invn/soniclib/sensor_fw/icu_gpt/_icu_gpt_plugin_version.c b/invn/soniclib/sensor_fw/icu_gpt/_icu_gpt_plugin_version.c index 912e1e7..9f90170 100644 --- a/invn/soniclib/sensor_fw/icu_gpt/_icu_gpt_plugin_version.c +++ b/invn/soniclib/sensor_fw/icu_gpt/_icu_gpt_plugin_version.c @@ -1 +1 @@ -const char *icu_gpt_plugin_version = "2.2.0+1.7.0"; +const char *icu_gpt_plugin_version = "2.3.0+1.8.0"; diff --git a/invn/soniclib/sensor_fw/icu_gpt/icu_gpt.c b/invn/soniclib/sensor_fw/icu_gpt/icu_gpt.c index 675a47e..c7780c8 100644 --- a/invn/soniclib/sensor_fw/icu_gpt/icu_gpt.c +++ b/invn/soniclib/sensor_fw/icu_gpt/icu_gpt.c @@ -381,13 +381,13 @@ uint32_t icu_gpt_algo_get_target_range(ch_dev_t *dev_ptr, uint8_t target_num, ch err = 1; } - CH_LOG_DEBUG("meas_num=%d num_iq_bytes=%d\n", dev_ptr->last_measurement, dev_ptr->num_iq_bytes); + CH_LOG_DEBUG("meas_num=%d num_iq_bytes=%d", dev_ptr->last_measurement, dev_ptr->num_iq_bytes); if (!err) { /* Report specified target from list */ time_of_flight = (uint32_t)tgt_list_ptr->targets[target_num].range; - CH_LOG_DEBUG("target list: num_valid_targets=%d odr_out=%d range[0]=%d amp[0]=%d\n\r", + CH_LOG_DEBUG("target list: num_valid_targets=%d odr_out=%d range[0]=%d amp[0]=%d", tgt_list_ptr->num_valid_targets, dev_ptr->odr_out, tgt_list_ptr->targets[0].range, tgt_list_ptr->targets[0].amplitude); @@ -402,7 +402,7 @@ uint32_t icu_gpt_algo_get_target_range(ch_dev_t *dev_ptr, uint8_t target_num, ch time_of_flight -= tof_offset_lsb; - CH_LOG_TRACE_MSG("adjusted time_of_flight = %lu\n", time_of_flight); + CH_LOG_TRACE_MSG("adjusted time_of_flight = %lu", time_of_flight); CH_LOG_TRACE_END(); range = ch_common_range_lsb_to_mm(dev_ptr, time_of_flight, range_type); @@ -578,10 +578,12 @@ uint8_t icu_gpt_set_thresholds(ch_dev_t *dev_ptr, uint8_t meas_num, const ch_thr uint8_t ret_val = RET_ERR; InvnAlgoRangeFinderConfig *sens_algo_cfg_addr = (InvnAlgoRangeFinderConfig *)(uintptr_t)dev_ptr->algo_info.algo_cfg_ptr; + InvnAlgoRangeFinderConfig *algo_cfg_ptr = (InvnAlgoRangeFinderConfig *)(dev_ptr->algo_cfg_ptr); if (dev_ptr->sensor_connected && (lib_thresh_buf_ptr != NULL)) { /* Convert and write new threshold values to local copy of algo measurement config */ - thresholds_t *sens_thresh_ptr = (thresholds_t *)&(sens_algo_cfg_addr->meas_cfg[meas_num].thresholds); + /* Drop the volatile qualifier by casting because not running on MSP430 */ + thresholds_t *sens_thresh_ptr = (thresholds_t *)&(algo_cfg_ptr->meas_cfg[meas_num].thresholds); thresh_lib_to_sensor(dev_ptr, lib_thresh_buf_ptr, sens_thresh_ptr); @@ -602,7 +604,6 @@ uint8_t icu_gpt_get_thresholds(ch_dev_t *dev_ptr, uint8_t meas_num, ch_threshold InvnAlgoRangeFinderConfig *sens_algo_cfg_addr = (InvnAlgoRangeFinderConfig *)(uintptr_t)dev_ptr->algo_info.algo_cfg_ptr; - // thresholds_t *sens_thresh_ptr = (thresholds_t *)&(sens_algo_cfg_addr->meas_cfg[meas_num].thresholds); thresholds_t sens_thresh; uint16_t thresh_start_addr = (uint16_t)(uintptr_t) & (sens_algo_cfg_addr->meas_cfg[meas_num].thresholds); diff --git a/invn/soniclib/sensor_fw/icu_gpt/icu_gpt_fw.c b/invn/soniclib/sensor_fw/icu_gpt/icu_gpt_fw.c index 576546e..7a71972 100644 --- a/invn/soniclib/sensor_fw/icu_gpt/icu_gpt_fw.c +++ b/invn/soniclib/sensor_fw/icu_gpt/icu_gpt_fw.c @@ -1,7 +1,7 @@ // // InvenSense Firmware Header Generator v2.5 (Python 3.11.4) // -// File generated at 2024-04-25 07:59:48.519697 by jenkins +// File generated at 2024-09-12 12:23:53.511415 by jenkins // Script input parameters: // - Input file: shasta-gpt.hex // - Output file: icu_gpt_fw.c @@ -11,8 +11,8 @@ // - PMEM start address: 0xe800 // - Firmware name: gpt // - Firmware name (sanitized): gpt -// - Firmware git version: 1.7.0 -// - Firmware git sha1: ad13ef5cc8efb97e95006a07f3f5b5b6b8278e71 +// - Firmware git version: 1.8.0 +// - Firmware git sha1: bee970eda571a9de9f3dff8c77f01614989fe095 // // Copyright (c) 2024, InvenSense. All rights reserved. // @@ -21,8 +21,8 @@ #include #include "icu_gpt.h" -const char * icu_gpt_version = "gpt_1.7.0"; -const char * icu_gpt_gitsha1 = "ad13ef5cc8efb97e95006a07f3f5b5b6b8278e71"; +const char * icu_gpt_version = "gpt_1.8.0"; +const char * icu_gpt_gitsha1 = "bee970eda571a9de9f3dff8c77f01614989fe095"; #define RAM_INIT_ADDRESS 4096 #define RAM_INIT_WRITE_SIZE 566 @@ -31,415 +31,422 @@ uint16_t get_icu_gpt_fw_ram_init_addr(void) { return (uint16_t)RAM_INIT_ADDRESS; uint16_t get_icu_gpt_fw_ram_init_size(void) { return (uint16_t)RAM_INIT_WRITE_SIZE;} const unsigned char ram_icu_gpt_init[RAM_INIT_WRITE_SIZE] = { -0x66, 0x10, 0x3A, 0x10, 0x14, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x50, 0x00, 0xC8, 0x00, 0x03, 0x00, 0x50, 0x00, 0x2C, 0x01, -0x00, 0x00, 0x00, 0x40, 0x00, 0x20, 0xE4, 0x12, 0xFB, 0x09, 0x11, 0x05, 0x8B, 0x02, 0x46, 0x01, -0xA3, 0x00, 0x51, 0x00, 0x29, 0x00, 0x14, 0x00, 0x0A, 0x00, 0x05, 0x00, 0x03, 0x00, 0x01, 0x00, -0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x02, 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0x43, 0xb0, 0x17, 0x30, 0x40, 0x28, 0xf7, +0x1a, 0x53, 0x82, 0x4a, 0x68, 0x1f, 0x1d, 0x42, 0x66, 0x1f, 0x4e, 0x3f, 0x81, 0x49, 0x22, 0x00, +0x30, 0x40, 0x96, 0xf4, 0x45, 0x43, 0x05, 0x99, 0x81, 0x37, 0xa2, 0x43, 0x66, 0x1f, 0x0d, 0x8e, +0x09, 0x9d, 0xa3, 0x37, 0x3a, 0x53, 0x82, 0x4a, 0x68, 0x1f, 0x9f, 0x3f, 0x00, 0x13, 0x00, 0x13, +0x00, 0x13, 0x00, 0x13, 0x00, 0x13, 0x0c, 0x12, 0x82, 0x93, 0x18, 0x18, 0x07, 0x20, 0x92, 0x43, +0xa8, 0x01, 0xb1, 0xc0, 0xf0, 0x00, 0x02, 0x00, 0x3c, 0x41, 0x00, 0x13, 0x5c, 0x42, 0x7b, 0x10, +0x0c, 0x93, 0x0b, 0x24, 0x3c, 0x40, 0x7e, 0x10, 0x82, 0x4c, 0xa6, 0x01, 0x92, 0x43, 0xa8, 0x01, +0xb1, 0xc0, 0xf0, 0x00, 0x02, 0x00, 0x3c, 0x41, 0x00, 0x13, 0x3c, 0x40, 0x02, 0x11, 0x82, 0x4c, +0xa6, 0x01, 0xf4, 0x3f, 0x0a, 0x12, 0x09, 0x12, 0xb2, 0x40, 0x80, 0x5a, 0x20, 0x01, 0xf2, 0x42, +0x58, 0x00, 0xf2, 0x40, 0x05, 0x00, 0x57, 0x00, 0xe2, 0x43, 0xd8, 0x01, 0xc2, 0x43, 0xb0, 0x17, +0xf2, 0xf0, 0xcf, 0xff, 0xe9, 0x01, 0x39, 0x40, 0xa6, 0x11, 0x4a, 0x43, 0xc2, 0x4a, 0xe8, 0x01, +0xe2, 0xd3, 0xe9, 0x01, 0x7c, 0x40, 0x10, 0x00, 0xb0, 0x12, 0x10, 0xe9, 0x29, 0x53, 0x99, 0x42, +0xea, 0x01, 0xfe, 0xff, 0xe2, 0xc3, 0xe9, 0x01, 0x2a, 0x53, 0x3a, 0x90, 0x40, 0x00, 0xee, 0x23, +0xe2, 0x92, 0xa7, 0x11, 0x04, 0x20, 0x5c, 0x42, 0xb2, 0x11, 0x82, 0x4c, 0x60, 0x10, 0x1c, 0x42, +0x60, 0x10, 0xa2, 0x43, 0xa8, 0x01, 0x3c, 0x90, 0x03, 0x00, 0x0f, 0x24, 0xb2, 0x40, 0x33, 0x20, +0xa2, 0x01, 0x2c, 0x93, 0x59, 0x24, 0x7c, 0x40, 0x12, 0x00, 0x3c, 0xd0, 0x40, 0x00, 0x82, 0x4c, +0xac, 0x01, 0xb2, 0x40, 0x12, 0x00, 0xa0, 0x01, 0x06, 0x3c, 0xb2, 0x40, 0x35, 0x20, 0xa2, 0x01, +0xb2, 0x40, 0x30, 0x00, 0xa0, 0x01, 0xb2, 0x40, 0x03, 0x00, 0x7e, 0x10, 0xb2, 0x40, 0x03, 0x00, +0x02, 0x11, 0x82, 0x43, 0xa8, 0x01, 0xb2, 0x40, 0x36, 0x12, 0x02, 0x18, 0xb2, 0x40, 0x10, 0x18, +0x06, 0x18, 0xb2, 0x40, 0x0e, 0x18, 0x08, 0x18, 0xb2, 0x40, 0x34, 0x12, 0x04, 0x18, 0xb2, 0x40, +0x30, 0x12, 0x0a, 0x18, 0xb2, 0x40, 0x7b, 0x10, 0x0c, 0x18, 0xb2, 0x40, 0x36, 0x12, 0x16, 0x18, +0xb2, 0xd0, 0x03, 0x00, 0x04, 0x02, 0xc2, 0x43, 0xe2, 0x01, 0xc2, 0x43, 0xe6, 0x01, 0x3c, 0x40, +0x00, 0x08, 0xb0, 0x12, 0x16, 0xe9, 0xb2, 0x40, 0xb2, 0x17, 0x3e, 0x10, 0xb2, 0x40, 0x86, 0x17, +0x42, 0x10, 0xb2, 0x40, 0x1a, 0x18, 0x46, 0x10, 0x32, 0xc2, 0x03, 0x43, 0x1c, 0x42, 0x72, 0x1f, +0x0c, 0x93, 0x0c, 0x24, 0xb2, 0xb0, 0x00, 0xff, 0x72, 0x1f, 0x0b, 0x24, 0x32, 0xd0, 0x18, 0x00, +0x32, 0xc2, 0x03, 0x43, 0x1c, 0x42, 0x72, 0x1f, 0x0c, 0x93, 0xf4, 0x23, 0x32, 0xd0, 0x78, 0x00, +0xeb, 0x3f, 0x32, 0xd0, 0x58, 0x00, 0xe8, 0x3f, 0x7c, 0x42, 0xa7, 0x3f, 0x34, 0x41, 0x35, 0x41, +0x36, 0x41, 0x37, 0x41, 0x38, 0x41, 0x39, 0x41, 0x3a, 0x41, 0x30, 0x41, 0x3e, 0x53, 0x0c, 0x5c, +0x0d, 0x6d, 0x0e, 0x93, 0xfb, 0x23, 0x30, 0x41, 0x3d, 0x53, 0x0c, 0x11, 0x0d, 0x93, 0xfc, 0x23, +0x30, 0x41, 0x3d, 0x53, 0x12, 0xc3, 0x0c, 0x10, 0x0d, 0x93, 0xfb, 0x23, 0x30, 0x41, 0x3e, 0x53, +0x12, 0xc3, 0x0d, 0x10, 0x0c, 0x10, 0x0e, 0x93, 0xfa, 0x23, 0x30, 0x41, 0x0a, 0x12, 0x09, 0x12, +0x0f, 0x4d, 0x0f, 0x5e, 0x0d, 0x9c, 0x02, 0x2c, 0x0c, 0x9f, 0x07, 0x28, 0x0e, 0x4c, 0x0d, 0x9f, +0x0a, 0x24, 0xfe, 0x4d, 0x00, 0x00, 0x1e, 0x53, 0xfa, 0x3f, 0x09, 0x4e, 0x39, 0xe3, 0x4d, 0x43, +0x3d, 0x53, 0x09, 0x9d, 0x01, 0x20, 0xcf, 0x3f, 0x0b, 0x4e, 0x0b, 0x5d, 0x0b, 0x5c, 0x0a, 0x4f, +0x0a, 0x5d, 0xeb, 0x4a, 0x00, 0x00, 0xf4, 0x3f, 0x0e, 0x5c, 0x0f, 0x4c, 0x0f, 0x9e, 0x01, 0x20, 0x30, 0x41, 0x1f, 0x53, 0xcf, 0x4d, 0xff, 0xff, 0xf9, 0x3f, }; const unsigned char icu_gpt_fw_vec[ICU_GPT_VEC_SIZE] = { -0x92, 0xfc, 0x94, 0xfc, 0x96, 0xfc, 0xd8, 0xea, 0xa4, 0xea, 0x70, 0xea, 0x8e, 0xfc, 0x90, 0xfc, -0x4c, 0xf0, 0x3e, 0xf0, 0x4c, 0xea, 0x00, 0xeb, 0x26, 0xef, 0xa6, 0xeb, 0x8c, 0xfc, 0x00, 0xe8, +0x02, 0xfd, 0x04, 0xfd, 0x06, 0xfd, 0x30, 0xeb, 0x02, 0xeb, 0xd4, 0xea, 0xfe, 0xfc, 0x00, 0xfd, +0xac, 0xf0, 0x9e, 0xf0, 0xb0, 0xea, 0x58, 0xeb, 0x86, 0xef, 0xfe, 0xeb, 0xfc, 0xfc, 0x00, 0xe8, }; diff --git a/invn/soniclib/sensor_fw/icu_init/_icu_init_plugin_version.c b/invn/soniclib/sensor_fw/icu_init/_icu_init_plugin_version.c index e5bd8e5..9687f90 100644 --- a/invn/soniclib/sensor_fw/icu_init/_icu_init_plugin_version.c +++ b/invn/soniclib/sensor_fw/icu_init/_icu_init_plugin_version.c @@ -1 +1 @@ -const char *icu_init_plugin_version = "2.0.0-rc1+1.6.0"; +const char *icu_init_plugin_version = "2.1.0+1.8.0"; diff --git a/invn/soniclib/sensor_fw/icu_init/icu_init_fw.c b/invn/soniclib/sensor_fw/icu_init/icu_init_fw.c index 25a8100..8fa8036 100644 --- a/invn/soniclib/sensor_fw/icu_init/icu_init_fw.c +++ b/invn/soniclib/sensor_fw/icu_init/icu_init_fw.c @@ -1,7 +1,7 @@ // // InvenSense Firmware Header Generator v2.5 (Python 3.11.4) // -// File generated at 2023-09-28 11:42:25.611005 by jenkins +// File generated at 2024-09-12 12:20:48.841041 by jenkins // Script input parameters: // - Input file: shasta-init.hex // - Output file: icu_init_fw.c @@ -11,18 +11,18 @@ // - PMEM start address: 0xe800 // - Firmware name: init // - Firmware name (sanitized): init -// - Firmware git version: 1.6.0 -// - Firmware git sha1: 3d5b3ac5172b12b273ead1cea4e6ac6c1bd29492 +// - Firmware git version: 1.8.0 +// - Firmware git sha1: bee970eda571a9de9f3dff8c77f01614989fe095 // -// Copyright (c) 2023, InvenSense. All rights reserved. +// Copyright (c) 2024, InvenSense. All rights reserved. // #include #include #include "icu_init.h" -const char * icu_init_version = "init_1.6.0"; -const char * icu_init_gitsha1 = "3d5b3ac5172b12b273ead1cea4e6ac6c1bd29492"; +const char * icu_init_version = "init_1.8.0"; +const char * icu_init_gitsha1 = "bee970eda571a9de9f3dff8c77f01614989fe095"; #define RAM_INIT_ADDRESS 4096 #define RAM_INIT_WRITE_SIZE 552 @@ -64,11 +64,11 @@ const unsigned char ram_icu_init_init[RAM_INIT_WRITE_SIZE] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, -0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, }; +0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x12, 0x00, 0x00, }; const unsigned char * get_ram_icu_init_init_ptr(void) { return &ram_icu_init_init[0];} -#define ICU_INIT_TEXT_SIZE 4516 +#define ICU_INIT_TEXT_SIZE 4700 #define ICU_INIT_VEC_SIZE 32 const uint16_t icu_init_text_size = ICU_INIT_TEXT_SIZE; @@ -76,23 +76,23 @@ const uint16_t icu_init_vec_size = ICU_INIT_VEC_SIZE; const unsigned char icu_init_fw_text[ICU_INIT_TEXT_SIZE] = { 0x31, 0x40, 0x00, 0x20, 0x3c, 0x40, 0xc8, 0x1c, 0x0d, 0x43, 0x3e, 0x40, 0xf2, 0x01, 0xb0, 0x12, -0x92, 0xf9, 0x3c, 0x40, 0x3a, 0x10, 0x3d, 0x40, 0x3a, 0x10, 0x0d, 0x9c, 0x04, 0x24, 0x3e, 0x40, -0xee, 0x01, 0xb0, 0x12, 0x56, 0xf9, 0x0c, 0x43, 0xb0, 0x12, 0x4a, 0xf7, 0x0a, 0x12, 0x09, 0x12, +0x4a, 0xfa, 0x3c, 0x40, 0x3a, 0x10, 0x3d, 0x40, 0x3a, 0x10, 0x0d, 0x9c, 0x04, 0x24, 0x3e, 0x40, +0xee, 0x01, 0xb0, 0x12, 0x0e, 0xfa, 0x0c, 0x43, 0xb0, 0x12, 0xec, 0xf7, 0x0a, 0x12, 0x09, 0x12, 0x08, 0x12, 0x07, 0x12, 0x18, 0x42, 0xb4, 0x1e, 0x08, 0x93, 0x8d, 0x24, 0x1c, 0x42, 0xae, 0x1e, 0x0c, 0x5c, 0x0c, 0x5c, 0x1c, 0x52, 0xaa, 0x1e, 0xbc, 0xf0, 0xff, 0xf8, 0x00, 0x00, 0x1a, 0x42, 0xae, 0x1e, 0x0a, 0x5a, 0x0a, 0x5a, 0x1a, 0x52, 0xaa, 0x1e, 0x29, 0x4a, 0x1c, 0x42, 0xb4, 0x1e, -0x7d, 0x42, 0xb0, 0x12, 0x26, 0xf9, 0x3c, 0xf0, 0x00, 0x07, 0x0c, 0xd9, 0x8a, 0x4c, 0x00, 0x00, -0xb2, 0x53, 0xb4, 0x1e, 0x48, 0x43, 0x0c, 0x48, 0x30, 0x40, 0x18, 0xf9, 0x0d, 0x4c, 0x3d, 0x53, +0x7d, 0x42, 0xb0, 0x12, 0xde, 0xf9, 0x3c, 0xf0, 0x00, 0x07, 0x0c, 0xd9, 0x8a, 0x4c, 0x00, 0x00, +0xb2, 0x53, 0xb4, 0x1e, 0x48, 0x43, 0x0c, 0x48, 0x30, 0x40, 0xd0, 0xf9, 0x0d, 0x4c, 0x3d, 0x53, 0x82, 0x4d, 0xac, 0x1e, 0x0c, 0x5c, 0x1a, 0x4c, 0x98, 0x1e, 0x5c, 0x4a, 0x05, 0x00, 0x1c, 0x52, 0xae, 0x1e, 0x0c, 0x5c, 0x0c, 0x5c, 0x1c, 0x52, 0xaa, 0x1e, 0xbc, 0xf0, 0xff, 0x0f, 0x00, 0x00, 0x59, 0x4a, 0x05, 0x00, 0x19, 0x52, 0xae, 0x1e, 0x09, 0x59, 0x09, 0x59, 0x19, 0x52, 0xaa, 0x1e, -0x27, 0x49, 0x5c, 0x4a, 0x04, 0x00, 0x7d, 0x40, 0x0c, 0x00, 0xb0, 0x12, 0x26, 0xf9, 0x0c, 0xd7, +0x27, 0x49, 0x5c, 0x4a, 0x04, 0x00, 0x7d, 0x40, 0x0c, 0x00, 0xb0, 0x12, 0xde, 0xf9, 0x0c, 0xd7, 0x3c, 0xd0, 0x20, 0x00, 0x89, 0x4c, 0x00, 0x00, 0x1d, 0x4a, 0x02, 0x00, 0x0d, 0x93, 0x28, 0x20, 0x8a, 0x93, 0x00, 0x00, 0x31, 0x20, 0x1a, 0x42, 0xae, 0x1e, 0x1d, 0x42, 0xae, 0x1e, 0x1c, 0x42, 0xb0, 0x1e, 0x0c, 0x5d, 0x0a, 0x9c, 0x04, 0x28, 0xb2, 0x40, 0x03, 0x00, 0xb4, 0x1e, 0xc3, 0x3f, 0x6c, 0x42, 0x0d, 0x9a, 0x01, 0x24, 0x5c, 0x43, 0x09, 0x4a, 0x09, 0x59, 0x09, 0x59, 0x1d, 0x42, 0xaa, 0x1e, 0x0d, 0x59, 0xbd, 0xf0, 0xff, 0xf8, 0x00, 0x00, 0x19, 0x52, 0xaa, 0x1e, 0x27, 0x49, -0x7d, 0x42, 0xb0, 0x12, 0x26, 0xf9, 0x0c, 0xd7, 0x89, 0x4c, 0x00, 0x00, 0x1a, 0x53, 0xdd, 0x3f, +0x7d, 0x42, 0xb0, 0x12, 0xde, 0xf9, 0x0c, 0xd7, 0x89, 0x4c, 0x00, 0x00, 0x1a, 0x53, 0xdd, 0x3f, 0x1c, 0x42, 0xac, 0x1e, 0x6e, 0x42, 0x0e, 0x9c, 0x07, 0x28, 0x0e, 0x4c, 0x1e, 0x53, 0x82, 0x4e, 0xac, 0x1e, 0x0c, 0x5c, 0x8c, 0x4d, 0x9a, 0x1e, 0x2d, 0x4a, 0x0d, 0x93, 0x0c, 0x24, 0x1c, 0x42, 0xac, 0x1e, 0x6e, 0x42, 0x0e, 0x9c, 0x07, 0x28, 0x0e, 0x4c, 0x1e, 0x53, 0x82, 0x4e, 0xac, 0x1e, @@ -110,257 +110,268 @@ const unsigned char icu_init_fw_text[ICU_INIT_TEXT_SIZE] = { 0x0f, 0x00, 0x0d, 0x5b, 0x0d, 0x5d, 0xcd, 0x4e, 0x1e, 0x1d, 0x5e, 0x4f, 0x05, 0x00, 0x5e, 0x53, 0xcd, 0x4e, 0x1f, 0x1d, 0x8f, 0x48, 0x02, 0x00, 0x4d, 0x4a, 0x7d, 0x53, 0x4a, 0x4d, 0x4e, 0x49, 0xb0, 0x12, 0x7a, 0xe9, 0x0c, 0x93, 0x05, 0x20, 0x0f, 0x48, 0xad, 0x3f, 0x5e, 0x53, 0xe7, 0x3f, -0x6c, 0x43, 0x30, 0x40, 0x1a, 0xf9, 0x4c, 0x43, 0xfc, 0x3f, 0x0a, 0x12, 0x09, 0x12, 0x08, 0x12, +0x6c, 0x43, 0x30, 0x40, 0xd2, 0xf9, 0x4c, 0x43, 0xfc, 0x3f, 0x0a, 0x12, 0x09, 0x12, 0x08, 0x12, 0x07, 0x12, 0x06, 0x12, 0x05, 0x12, 0x04, 0x12, 0x21, 0x83, 0x09, 0x4c, 0x0a, 0x4d, 0x46, 0x4e, 0x81, 0x4f, 0x00, 0x00, 0x4c, 0x43, 0x0c, 0x9d, 0x26, 0x34, 0x4d, 0x43, 0x0d, 0x89, 0x09, 0x4d, 0x35, 0x40, 0x00, 0xc0, 0x0a, 0x11, 0x09, 0x11, 0x37, 0x40, 0x18, 0x10, 0x48, 0x43, 0x0c, 0x4a, -0x0d, 0x48, 0xb0, 0x12, 0x30, 0xf9, 0x04, 0x4c, 0x0c, 0x49, 0x0d, 0x48, 0xb0, 0x12, 0x30, 0xf9, +0x0d, 0x48, 0xb0, 0x12, 0xe8, 0xf9, 0x04, 0x4c, 0x0c, 0x49, 0x0d, 0x48, 0xb0, 0x12, 0xe8, 0xf9, 0x3d, 0x47, 0x4e, 0x43, 0x0e, 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0x1c, 0xb2, 0x40, 0xc8, 0x1c, 0xd0, 0x1c, 0xb2, 0x40, 0xc8, 0x1c, 0xd4, 0x1c, 0x82, 0x43, +0x82, 0x11, 0xc2, 0x43, 0x3e, 0x10, 0x32, 0xc2, 0x03, 0x43, 0x1c, 0x42, 0x12, 0x1d, 0x0c, 0x93, +0x1a, 0x24, 0xb2, 0xb0, 0x00, 0xff, 0x12, 0x1d, 0x13, 0x24, 0x32, 0xd0, 0x18, 0x00, 0xf3, 0x3f, +0xb2, 0x40, 0x33, 0x20, 0xa2, 0x01, 0x7c, 0x42, 0x2d, 0x93, 0x02, 0x24, 0x7c, 0x40, 0x12, 0x00, +0x3c, 0xd0, 0x40, 0x00, 0x82, 0x4c, 0xac, 0x01, 0xb2, 0x40, 0x12, 0x00, 0xa0, 0x01, 0xae, 0x3f, +0x32, 0xd0, 0x58, 0x00, 0xe0, 0x3f, 0x32, 0xd0, 0x78, 0x00, 0xdd, 0x3f, 0x0d, 0x12, 0x0c, 0x12, +0x92, 0x43, 0xa8, 0x01, 0x1c, 0x42, 0x04, 0x1d, 0x0d, 0x4c, 0x1d, 0x53, 0x82, 0x4d, 0x04, 0x1d, +0x0c, 0x93, 0x1a, 0x20, 0x5c, 0x42, 0xd6, 0x11, 0x6c, 0x93, 0x16, 0x20, 0x5c, 0x42, 0xd7, 0x11, +0x6c, 0x93, 0x12, 0x20, 0xd2, 0x43, 0xd6, 0x11, 0xc2, 0x43, 0xd7, 0x11, 0x5d, 0x42, 0xd6, 0x11, +0x5c, 0x42, 0xd7, 0x11, 0xc2, 0x4d, 0xc0, 0x01, 0xc2, 0x4c, 0xc1, 0x01, 0xb1, 0xc0, 0xf0, 0x00, +0x04, 0x00, 0x3c, 0x41, 0x3d, 0x41, 0x00, 0x13, 0x5c, 0x42, 0xd6, 0x11, 0x0c, 0x93, 0xee, 0x27, +0xd2, 0x53, 0xd7, 0x11, 0x5c, 0x42, 0xd7, 0x11, 0x7d, 0x40, 0x07, 0x00, 0x4d, 0x9c, 0xe6, 0x2f, +0xc2, 0x43, 0xd7, 0x11, 0xd2, 0x53, 0xd6, 0x11, 0x5c, 0x42, 0xd6, 0x11, 0x4d, 0x9c, 0xde, 0x2f, +0xd2, 0x43, 0xd6, 0x11, 0xdb, 0x3f, 0x0f, 0x4c, 0x7c, 0x40, 0x11, 0x00, 0x5b, 0x43, 0x0d, 0x9f, +0x05, 0x2c, 0x3c, 0x53, 0x0c, 0x93, 0x05, 0x24, 0x0d, 0x93, 0x07, 0x34, 0x4c, 0x43, 0x0b, 0x93, +0x07, 0x20, 0x0e, 0x93, 0x01, 0x24, 0x0c, 0x4f, 0x30, 0x41, 0x0d, 0x5d, 0x0b, 0x5b, 0xef, 0x3f, +0x0f, 0x9d, 0x02, 0x28, 0x0f, 0x8d, 0x0c, 0xdb, 0x12, 0xc3, 0x0b, 0x10, 0x12, 0xc3, 0x0d, 0x10, +0xee, 0x3f, 0x4e, 0x43, 0xb0, 0x12, 0x86, 0xf9, 0x30, 0x41, 0x34, 0x41, 0x35, 0x41, 0x36, 0x41, +0x37, 0x41, 0x38, 0x41, 0x39, 0x41, 0x3a, 0x41, 0x30, 0x41, 0x3d, 0x53, 0x0c, 0x5c, 0x0d, 0x93, +0xfc, 0x23, 0x30, 0x41, 0x3d, 0x53, 0x0c, 0x11, 0x0d, 0x93, 0xfc, 0x23, 0x30, 0x41, 0x3d, 0x53, +0x12, 0xc3, 0x0c, 0x10, 0x0d, 0x93, 0xfb, 0x23, 0x30, 0x41, 0x02, 0x12, 0x32, 0xc2, 0x03, 0x43, +0x82, 0x4c, 0x30, 0x01, 0x82, 0x4d, 0x38, 0x01, 0x1c, 0x42, 0x3a, 0x01, 0x00, 0x13, 0x0a, 0x12, +0x09, 0x12, 0x0f, 0x4d, 0x0f, 0x5e, 0x0d, 0x9c, 0x02, 0x2c, 0x0c, 0x9f, 0x07, 0x28, 0x0e, 0x4c, +0x0d, 0x9f, 0x0a, 0x24, 0xfe, 0x4d, 0x00, 0x00, 0x1e, 0x53, 0xfa, 0x3f, 0x09, 0x4e, 0x39, 0xe3, +0x4d, 0x43, 0x3d, 0x53, 0x09, 0x9d, 0x01, 0x20, 0xcd, 0x3f, 0x0b, 0x4e, 0x0b, 0x5d, 0x0b, 0x5c, +0x0a, 0x4f, 0x0a, 0x5d, 0xeb, 0x4a, 0x00, 0x00, 0xf4, 0x3f, 0x0e, 0x5c, 0x0f, 0x4c, 0x0f, 0x9e, +0x01, 0x20, 0x30, 0x41, 0x1f, 0x53, 0xcf, 0x4d, 0xff, 0xff, 0xf9, 0x3f, }; const unsigned char icu_init_fw_vec[ICU_INIT_VEC_SIZE] = { -0x34, 0xec, 0x36, 0xec, 0x54, 0xf8, 0xb4, 0xec, 0x88, 0xec, 0x5c, 0xec, 0x30, 0xec, 0x32, 0xec, -0x60, 0xf1, 0x52, 0xf1, 0x38, 0xec, 0xdc, 0xec, 0xa0, 0xf0, 0x5a, 0xed, 0x2e, 0xec, 0x00, 0xe8, +0x68, 0xec, 0x6a, 0xec, 0x0c, 0xf9, 0xec, 0xec, 0xbe, 0xec, 0x90, 0xec, 0x64, 0xec, 0x66, 0xec, +0xa8, 0xf1, 0x9a, 0xf1, 0x6c, 0xec, 0x14, 0xed, 0xda, 0xf0, 0x92, 0xed, 0x62, 0xec, 0x00, 0xe8, }; diff --git a/invn/soniclib/soniclib.h b/invn/soniclib/soniclib.h index 5fa4b03..787b364 100644 --- a/invn/soniclib/soniclib.h +++ b/invn/soniclib/soniclib.h @@ -112,8 +112,8 @@ extern "C" { /*============== SonicLib Version Info ===================*/ /* SonicLib API/Driver version */ #define SONICLIB_VER_MAJOR (4) /*!< SonicLib major version. */ -#define SONICLIB_VER_MINOR (2) /*!< SonicLib minor version. */ -#define SONICLIB_VER_REV (5) /*!< SonicLib revision. */ +#define SONICLIB_VER_MINOR (4) /*!< SonicLib minor version. */ +#define SONICLIB_VER_REV (1) /*!< SonicLib revision. */ #define SONICLIB_VER_SUFFIX "" /*!< SonicLib version suffix (contains pre-release info) */ /***** DO NOT MODIFY ANY VALUES BEYOND THIS POINT! *****/ @@ -239,7 +239,7 @@ typedef enum { } ch_mode_t; //! Sensor group status. -typedef enum { +typedef enum ch_group_status { CH_GROUP_STAT_NOT_INIT = 0, /*!< Group not initialized. */ CH_GROUP_STAT_INIT_PENDING = 1, /*!< Group initialization pending. */ CH_GROUP_STAT_INIT_OK = 2 /*!< Group initialized. */ @@ -718,9 +718,11 @@ struct ch_group_t { completes */ ch_dev_t *device[CHIRP_MAX_NUM_SENSORS]; /*!< Array of pointers to ch_dev_t structures for individual sensors */ - uint8_t num_connected[CHIRP_NUM_BUSES]; /*!< Array of counters for connected sensors per bus */ - chdrv_queue_t queue[CHIRP_NUM_BUSES]; /*!< Array of SPI/I2C non-blocking transaction - queues (one per bus) */ +#ifdef INCLUDE_WHITNEY_SUPPORT + uint8_t num_connected[CHIRP_NUM_BUSES]; /*!< Array of counters for connected sensors per bus */ +#endif + chdrv_queue_t queue[CHIRP_NUM_BUSES]; /*!< Array of SPI/I2C non-blocking transaction + queues (one per bus) */ }; //! Chirp sensor device descriptor structure. @@ -793,6 +795,7 @@ struct ch_dev_t { uint8_t odr_out; /*!< Output ODR used in last measurement */ uint8_t iq_output_format; /*!< I/Q output format in last measurement */ uint16_t num_iq_bytes; /*!< Number of valid I/Q bytes in last measurement */ + uint16_t buf_addr; /*!< Address of buffer containing the raw data */ /* Sensor algorithm */ ICU_ALGO_SHASTA_INFO *sens_algo_info_addr; /*!< Algorithm info addr on sensor */ @@ -2093,7 +2096,35 @@ uint16_t ch_iq_to_amplitude(ch_iq_sample_t *iq_sample_ptr); uint8_t ch_io_start_nb(ch_group_t *grp_ptr); /*! - * \brief Notify SonicLib that a sensor interrupt occurred. + * \brief Notify SonicLib that a sensor interrupt was received + * + * \param grp_ptr pointer to the ch_group_t config structure for a group of sensors + * \param dev_num interrupting sensor's device number within group + * \return 0 for success, non-zero otherwise. + * + * This function should be called from the board support package when + * an interrupt from the sensor is received. The \a dev_num parameter + * indicates which sensor interrupted. + * + * Unlike \a ch_interrupt(), this function does not call the user supplied + * callback. It is intended to be used when the user would like more control + * of exactly what happens when an interrupt is received from the sensor. + * + * Other differences from \a ch_interrupt(): + * + * - This function does not disable interrupt handling. This must be done in + * user code if needed. + * - This function does not read any metadata from the sensor, with one exception. + * During sensor programming, this funciton performs one SPI read in order + * to cause the ASIC to release the interrupt line. + * - This function does not update state of the dev_ptr + * + * See also \a ch_interrupt(). + */ +uint8_t ch_minimal_int_handler(ch_group_t *grp_ptr, uint8_t dev_num); + +/*! + * \brief Run SonicLib's full-featured interrupt handler * * \param grp_ptr pointer to the ch_group_t sensor group descriptor structure * \param dev_num device number within group for interrupting sensor @@ -2103,12 +2134,17 @@ uint8_t ch_io_start_nb(ch_group_t *grp_ptr); * occurred. \a dev_num identifies which sensor has interrupted. * * The SonicLib driver layer will handle further processing of - * the interrupt, including calling the application-supplied callback - * function. + * the interrupt, including disabling the interrupt processing (to allow + * for next trigger), reading sensor metadata, and calling the application-supplied + * callback function. + * + * Only one of ch_interrupt() and \a ch_minimal_int_handler() should be called. + * The latter function is a simplified handler that gives the user more control + * of exactly what happens during the interrupt handling. * * \note Upon return from this routine, the sensor interrupt is disabled. * - * See also \a ch_io_int_callback_set(). + * See also \a ch_io_int_callback_set() and \a ch_minimal_int_handler(). */ void ch_interrupt(ch_group_t *grp_ptr, uint8_t dev_num); @@ -2386,6 +2422,75 @@ uint8_t ch_set_interrupt_drive(ch_dev_t *dev_ptr, ch_interrupt_drive_t drive); */ ch_interrupt_drive_t ch_get_interrupt_drive(ch_dev_t *dev_ptr); +/** + * \brief Enable or disable the double buffering mode + * + * IMPORTANT: This function is currently only supported with gpt and init firmware. + * + * The ICU-X0201 sensors can be put into a double buffering mode which does the + * following: + * + * - Splits the IQ buffer in two + * - Swaps which half of the buffer is written after every measurement + * + * This enables a measurement to be triggered before the readout of the previous + * measurement is finished (or even started). The disadvantage is that the maximum + * number of supported samples is reduced by a factor of 2. + * + * You must not exceed the maximum number of supported samples, which can be found + * as ch_get_max_samples(...)/2. SonicLib will not check this! + * + * \param dev_ptr The device pointer + * \param enable Set to 1 to enable the double buffer mode or 0 to disable it + * + * \return 0 for success and non-zero otherwise + */ +uint8_t ch_enable_double_buffer(ch_dev_t *dev_ptr, uint8_t enable); + +/** + * \brief Enable or disable placing metadata in the first IQ sample + + * IMPORTANT: This function is currently only supported with gpt and init firmware. + * + * The ICU-X0201 can be configured to place metadata in the first IQ sample, + * which is otherwise always read out as 0. If enabled, this will place the IQ + * buffer address as well as the last measurement index in the first IQ sample. + * + * \param dev_ptr The device pointer + * \param enable Set to 1 to enable metadata in IQ sample 0 or 0 to disable. + * + * \return 0 for success and non-zero otherwise + */ +uint8_t ch_enable_metadata_in_iq0(ch_dev_t *dev_ptr, uint8_t enable); + +/** + * \brief Extract the metadata from the first IQ sample and update the device pointer + * + * The ICU-X0201 can be configured to place metadata in the first IQ sample, + * which is otherwise always read out as 0. If enabled, this will place the IQ + * buffer address as well as the last measurement index in the first IQ sample. + * See \a ch_enable_metadata_in_iq0(). + * + * This function is used to extract metadata from the read IQ data. The metadata + * will be updated into \a dev_ptr. That is, after calling this function, the device + * pointer will be updated with the correct buffer address and last measurement index. + * + * After running this function and getting a 0 exit status, the last measurement index + * can be retrieved using ch_meas_get_last_num() and the next buffer address with + * ch_get_next_buf_addr(). + * + * \param dev_ptr The device pointer + * \param iq_data Pointer to the read IQ data. The metadata is extracted from + * the first sample, then the first sample is set back to 0. + * + * \return 0 for success and non-zero otherwise. If this function returns non-zero, + * then the device pointer is not updated. This most likely means that + * data was read from the incorrect buffer in double buffer mode. The situation + * should resolve itself on the next read since the same buffer will be + * read again, and the ASIC will swap write buffers on each measurement. + */ +uint8_t ch_update_metadata_from_iq0(ch_dev_t *dev_ptr, ch_iq_sample_t *iq_data); + /*! * \brief Set the receive holdoff sample count. * @@ -2997,6 +3102,22 @@ uint8_t ch_meas_switch(ch_dev_t *dev_ptr); */ uint8_t ch_meas_get_last_num(ch_dev_t *dev_ptr); +/*! + * \brief Get the address of the IQ buffer that will be written by the next measurement. + * + * \param dev_ptr pointer to the ch_dev_t descriptor structure + * + * \return 0 if success, 1 if error + * + * This function returns the address of the buffer that will be written by the next + * measurement. This is useful in the double buffer mode. + * + * See also ch_update_metadata_from_iq0(). + * + * \note This feature is only available for ICU sensors. + */ +uint16_t ch_get_next_buf_addr(ch_dev_t *dev_ptr); + /*! * \brief Get measurement queue values for a sensor. *