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.clang
View file @ 71be1dde
flags = -DBOARD_CARD10=1 -D_FILE_OFFSET_BITS=64 -DTARGET=32665 -DTARGET_REV=0x4131 -target thumbv7m-none-eabi -Ibuild/epicardium -Ibuild/epicardium/366573f@@api-caller@sta -Ibuild/epicardium/366573f@@api-dispatcher@sta -Ibuild/epicardium/366573f@@epicardium.elf@exe -Ibuild/epicardium/366573f@@freertos@sta -Ibuild/lib/card10 -Ibuild/lib/card10/7eaaaa5@@card10@sta -Ibuild/lib/ff13 -Ibuild/lib/ff13/a277df3@@ff13@sta -Ibuild/lib/gfx -Ibuild/lib/gfx/2308dff@@gfx@sta -Ibuild/lib/micropython -Ibuild/lib/micropython/a57cd11@@mpy-cross-wrapper@exe -Ibuild/lib/mx25lba -Ibuild/lib/mx25lba/c7b864b@@mx25lba@sta -Ibuild/lib/sdk/Libraries/Boards/card10 -Ibuild/lib/sdk/Libraries/Boards/card10/9eeeac4@@board-card10@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core0@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core1@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup@sta -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver/0d96707@@PeriphDriver@sta -Ibuild/lib/sdk/Libraries/MAXUSB -Ibuild/lib/sdk/Libraries/MAXUSB/9a51a91@@maxusb@sta -Ibuild/lib/vendor/Bosch/BHy1 -Ibuild/lib/vendor/Bosch/BHy1/6298ab9@@bhy1@sta -Ibuild/lib/vendor/Bosch/BMA400 -Ibuild/lib/vendor/Bosch/BMA400/b6b0216@@bma400@sta -Ibuild/lib/vendor/Bosch/BME680 -Ibuild/lib/vendor/Bosch/BME680/ef6f079@@bme680@sta -Ibuild/lib/vendor/Maxim/MAX77650 -Ibuild/lib/vendor/Maxim/MAX77650/cc369b8@@max77650@sta -Ibuild/lib/vendor/Maxim/MAX86150 -Ibuild/lib/vendor/Maxim/MAX86150/21e3a66@@max86150@sta -Ibuild/pycardium -Ibuild/pycardium/1f90fd2@@micropython@sta -Ibuild/pycardium/1f90fd2@@pycardium.elf@exe -Iepicardium -Ilib/card10 -Ilib/ff13 -Ilib/ff13/Source -Ilib/ff13/util -Ilib/FreeRTOS/Source/include -Ilib/FreeRTOS/Source/portable/GCC/ARM_CM4F -Ilib/gfx -Ilib/gfx/Fonts -Ilib/gfx/GUI_DEV -Ilib/gfx/LCD -Ilib/micropython -Ilib/micropython/micropython -Ilib/micropython/micropython/extmod -Ilib/micropython/micropython/lib/utils -Ilib/mx25lba -Ilib/sdk/Libraries/Boards/card10 -Ilib/sdk/Libraries/Boards/card10/Include -Ilib/sdk/Libraries/Boards/Include -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/Include -Ilib/sdk/Libraries/CMSIS/Include -Ilib/sdk/Libraries/MAX32665PeriphDriver -Ilib/sdk/Libraries/MAX32665PeriphDriver/Include -Ilib/sdk/Libraries/MAXUSB -Ilib/sdk/Libraries/MAXUSB/include/core -Ilib/sdk/Libraries/MAXUSB/include/core/musbhsfc -Ilib/sdk/Libraries/MAXUSB/include/dbg_log -Ilib/sdk/Libraries/MAXUSB/include/devclass -Ilib/sdk/Libraries/MAXUSB/include/enumerate -Ilib/sdk/Libraries/MAXUSB/include/util -Ilib/vendor/Bosch/BHy1 -Ilib/vendor/Bosch/BHy1/driver/inc -Ilib/vendor/Bosch/BHy1/examples/firmware -Ilib/vendor/Bosch/BMA400 -Ilib/vendor/Bosch/BME680 -Ilib/vendor/Maxim/MAX77650 -Ilib/vendor/Maxim/MAX86150 -Ipycardium
flags = -DBOARD_CARD10=1 -D_FILE_OFFSET_BITS=64 -DTARGET=32665 -DTARGET_REV=0x4131 -target thumbv7m-none-eabi -Ibuild/epicardium -Ibuild/epicardium/366573f@@api-caller@sta -Ibuild/epicardium/366573f@@api-dispatcher@sta -Ibuild/epicardium/366573f@@epicardium.elf@exe -Ibuild/epicardium/366573f@@freertos@sta -Ibuild/lib/card10 -Ibuild/lib/card10/7eaaaa5@@card10@sta -Ibuild/lib/ff13 -Ibuild/lib/ff13/a277df3@@ff13@sta -Ibuild/lib/gfx -Ibuild/lib/gfx/2308dff@@gfx@sta -Ibuild/lib/micropython -Ibuild/lib/micropython/a57cd11@@mpy-cross-wrapper@exe -Ibuild/lib/mx25lba -Ibuild/lib/mx25lba/c7b864b@@mx25lba@sta -Ibuild/lib/sdk/Libraries/Boards/card10 -Ibuild/lib/sdk/Libraries/Boards/card10/9eeeac4@@board-card10@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core0@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core1@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup@sta -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver/0d96707@@PeriphDriver@sta -Ibuild/lib/sdk/Libraries/MAXUSB -Ibuild/lib/sdk/Libraries/MAXUSB/9a51a91@@maxusb@sta -Ibuild/lib/vendor/Bosch/BHy1 -Ibuild/lib/vendor/Bosch/BHy1/6298ab9@@bhy1@sta -Ibuild/lib/vendor/Bosch/BMA400 -Ibuild/lib/vendor/Bosch/BMA400/b6b0216@@bma400@sta -Ibuild/lib/vendor/Bosch/BME680 -Ibuild/lib/vendor/Bosch/BME680/ef6f079@@bme680@sta -Ibuild/lib/vendor/Maxim/MAX77650 -Ibuild/lib/vendor/Maxim/MAX77650/cc369b8@@max77650@sta -Ibuild/lib/vendor/Maxim/MAX86150 -Ibuild/lib/vendor/Maxim/MAX86150/21e3a66@@max86150@sta -Ibuild/pycardium -Ibuild/pycardium/1f90fd2@@micropython@sta -Ibuild/pycardium/1f90fd2@@pycardium.elf@exe -Iepicardium -Ilib/card10 -Ilib/ff13 -Ilib/ff13/Source -Ilib/ff13/util -Ilib/FreeRTOS/Source/include -Ilib/FreeRTOS/Source/portable/GCC/ARM_CM4F -Ilib/gfx -Ilib/gfx/Fonts -Ilib/gfx/GUI_DEV -Ilib/gfx/LCD -Ilib/micropython -Ilib/micropython/micropython -Ilib/micropython/micropython/extmod -Ilib/micropython/micropython/lib/utils -Ilib/mx25lba -Ilib/sdk/Libraries/Boards/card10 -Ilib/sdk/Libraries/Boards/card10/Include -Ilib/sdk/Libraries/Boards/Include -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/Include -Ilib/sdk/Libraries/CMSIS/Include -Ilib/sdk/Libraries/MAX32665PeriphDriver -Ilib/sdk/Libraries/MAX32665PeriphDriver/Include -Ilib/sdk/Libraries/MAXUSB -Ilib/sdk/Libraries/MAXUSB/include/core -Ilib/sdk/Libraries/MAXUSB/include/core/musbhsfc -Ilib/sdk/Libraries/MAXUSB/include/dbg_log -Ilib/sdk/Libraries/MAXUSB/include/devclass -Ilib/sdk/Libraries/MAXUSB/include/enumerate -Ilib/sdk/Libraries/MAXUSB/include/util -Ilib/vendor/Bosch/BHy1 -Ilib/vendor/Bosch/BHy1/driver/inc -Ilib/vendor/Bosch/BHy1/examples/firmware -Ilib/vendor/Bosch/BMA400 -Ilib/vendor/Bosch/BME680 -Ilib/vendor/Maxim/MAX77650 -Ilib/vendor/Maxim/MAX86150 -Ipycardium -Ilib/ctx
.clang-tidy 0 → 100644
View file @ 71be1dde
---
Checks: 'clang-diagnostic-*,clang-analyzer-*,bugprone-*'
WarningsAsErrors: ''
HeaderFilterRegex: ''
AnalyzeTemporaryDtors: false
FormatStyle: none
User: swym
CheckOptions:
- key: cert-dcl16-c.NewSuffixes
value: 'L;LL;LU;LLU'
- key: cppcoreguidelines-non-private-member-variables-in-classes.IgnoreClassesWithAllMemberVariablesBeingPublic
value: '1'
- key: google-readability-braces-around-statements.ShortStatementLines
value: '1'
- key: google-readability-function-size.StatementThreshold
value: '800'
- key: google-readability-namespace-comments.ShortNamespaceLines
value: '10'
- key: google-readability-namespace-comments.SpacesBeforeComments
value: '2'
- key: modernize-loop-convert.MaxCopySize
value: '16'
- key: modernize-loop-convert.MinConfidence
value: reasonable
- key: modernize-loop-convert.NamingStyle
value: CamelCase
- key: modernize-pass-by-value.IncludeStyle
value: llvm
- key: modernize-replace-auto-ptr.IncludeStyle
value: llvm
- key: modernize-use-nullptr.NullMacros
value: 'NULL'
...
.gitignore
View file @ 71be1dde
build/
/build/
/Documentation/output/
__pycache__/
*.pyc
.*.swp
*~
compile_commands.json
/tags
/release-*/
.gitlab-ci.yml
View file @ 71be1dde
# maintained by q3k, built using docker/build-env
image: "registry.k0.hswaw.net/q3k/card10-build-env:20190729-231409Z-635fb98"
image: "derq3k/card10-build-env:20190806-195837Z-f95b541-dirty"
build:
stage: build
script:
- ./bootstrap.sh
- git submodule deinit --all -f
- ./bootstrap.sh --werror
- ninja -C build/
- arm-none-eabi-size build/bootloader/bootloader.elf build/epicardium/epicardium.elf build/pycardium/pycardium.elf
- cp build/pycardium/pycardium_epicardium.bin card10.bin
only:
- merge_requests
- master
artifacts:
expose_as: Firmware Binaries
expire_in: 1 week
paths:
- build/epicardium/epicardium.elf
- build/pycardium/pycardium.elf
- card10.bin
release:
stage: build
script:
- git submodule deinit --all -f
- ./bootstrap.sh --werror
- ninja -C build/
- arm-none-eabi-size build/bootloader/bootloader.elf build/epicardium/epicardium.elf build/pycardium/pycardium.elf
only:
- tag
artifacts:
expire_in: never
paths:
- build/bootloader/bootloader.elf
- build/epicardium/epicardium.elf
- build/pycardium/pycardium.elf
- build/pycardium/pycardium_epicardium.bin
lint:
stage: test
image: "registry.k0.hswaw.net/q3k/card10-lint-env:20190728-233522Z-ded74f0-dirty"
image: "derq3k/card10-lint-env:20190806-201106Z-f95b541-dirty"
script:
# Annoyatron is maintained by q3k. Its job is to serve MR comments that are friendlier than just a failing pipeline.
# source code: https://git.card10.badge.events.ccc.de/q3k/annoyatron/
......@@ -21,8 +47,9 @@ lint:
# If this starts failing for any reason, just remove this curl ping.
- curl --fail https://annoyatron-prod.q3k.org/ping/mr?mr=${CI_MERGE_REQUEST_IID}
- git remote rm card10 || true # old gitlab runners might have this remote.
- git fetch https://git.card10.badge.events.ccc.de/card10/firmware.git master:card10/master
- git diff --name-only $(git merge-base --fork-point card10/master)...HEAD | xargs tools/code-style.sh
- git -c http.sslVerify=false fetch https://git.card10.badge.events.ccc.de/card10/firmware.git master:card10/master
- git merge-base card10/master HEAD || ( echo "Your change needs to be rebased against current master."; exit 1; )
- git diff --name-only --diff-filter=d card10/master...HEAD | xargs tools/code-style.sh
- git diff --exit-code
only:
- merge_requests
......@@ -30,7 +57,7 @@ lint:
pages:
stage: deploy
# maintaned by q3k, build using docker/deploy-env
image: "registry.k0.hswaw.net/q3k/card10-deploy-env:20190725-112709Z-4c5d8e8"
image: "registry.k0.hswaw.net/q3k/card10-deploy-env:20210403-110003Z-4d929ee0"
script:
- export LD_LIBRARY_PATH=$(llvm-config --libdir)
- echo $LD_LIBRARY_PATH
......
.gitmodules
View file @ 71be1dde
[submodule "lib/micropython/micropython"]
path = lib/micropython/micropython
url = https://github.com/micropython/micropython.git
[submodule "lib/micropython/micropython-lib"]
path = lib/micropython/micropython-lib
url = https://github.com/micropython/micropython-lib.git
[submodule "lib/crypto/tiny-AES-c"]
path = lib/crypto/tiny-AES-c
url = https://github.com/kokke/tiny-AES-c
[submodule "lib/crypto/SHA256"]
path = lib/crypto/SHA256
url = https://github.com/ilvn/SHA256
[submodule "lib/lodepng/lodepng"]
path = lib/lodepng/lodepng
url = https://github.com/lvandeve/lodepng
CHANGELOG.md 0 → 100644
View file @ 71be1dde
This diff is collapsed.
Documentation/bluetooth/card10.rst 0 → 100644
View file @ 71be1dde
.. _bluetooth_card10_service:
Bluetooth Card10 Service
========================
.. warning::
The specification is still work in progress
The Card10 Service implemented a direct Hardware access of the card10.
BLE Service
-----------
The current draft uses following service specification:
- Service
UUID: ``42230200-2342-2342-2342-234223422342``
- Time update characteristic:
UUID: ``42230201-2342-2342-2342-234223422342``
read and write no response
- Vibra characteristic:
UUID: ``4223020f-2342-2342-2342-234223422342``
write no response
- Rockets characteristic:
UUID: ``42230210-2342-2342-2342-234223422342``
read and write no response
- Background LED Bottom Left characteristic:
UUID: ``42230211-2342-2342-2342-234223422342``
read and write no response
- Background LED Bottom Right characteristic:
UUID: ``42230212-2342-2342-2342-234223422342``
read and write no response
- Background LED Top Right characteristic:
UUID: ``42230213-2342-2342-2342-234223422342``
read and write no response
- Background LED Top Left characteristic:
UUID: ``42230214-2342-2342-2342-234223422342``
read and write no reponse
- LEDS dim bottom characteristic:
UUID: ``42230215-2342-2342-2342-234223422342``
write with response
- LEDs dim top characteristic:
UUID: ``42230216-2342-2342-2342-234223422342``
write with response
- LEDs powersafe characteristic:
UUID: ``42230217-2342-2342-2342-234223422342``
write no response
- Flashlight characteristic:
UUID: ``42230218-2342-2342-2342-234223422342``
write no response
- Personal State characteristic:
UUID: ``42230219-2342-2342-2342-234223422342``
read and write with response
- LEDs above characteristic:
UUID: ``42230220-2342-2342-2342-234223422342``
read and write no reponse
- Light sensor characteristic:
UUID: ``422302f0-2342-2342-2342-234223422342``
read no response
Time update characteristic
---------------------------------
The time update characteristic makes it possible to set and get the current time given in milliseconds after 1.1.1970 in the UTC timezone. The value is represented as a big endian ``uint64``
- Thu Aug 15 19:40:45 UTC 2019 : ``0x0 0x0 0x1 0x6c 0x96 0xcb 0xf8 0xcc``
Vibra characteristic
---------------------------------
The vibra characteristic makes it possible to let the card10 for given millisecound in a ``uint16`` vibrate.
- One secound: ``0xe803``
Rockets characteristic
---------------------------------
The Rockets characteristic makes it possible to address every three rockets.
Just write there three byte array, one for evey rocket.
On read you get the current value of all three rockets.
Range is between 0 and 31 (``0x1f``) if send higher value it will set to max of 31.
Dataformat:
======= ======= =======
0 1 2
------- ------- -------
Rocket0 Rocket1 Rocket2
======= ======= =======
- Enable only Rocket0: ``0x1f0000``
- Enable all rockets with 50% brightness: ``0x0f0f0f``
Background LED <Position> characteristic
----------------------------------------
The Background LEDs <Position> characteristic makes it possible to address the bottom LEDs by position.
Just write there three ``uint8`` for the rgb color or read the current value.
Dataformat:
===== ======= =======
0 1 2
----- ------- -------
red green blue
===== ======= =======
- set led blue: ``0x0000ff``
- disabled: ``0x000000``
LEDs dim <Position> characteristic
----------------------------------
The LEDs dim <Position> characteristic makes it possible to dim LEDs by position.
Just write a ``uint8`` between ``1`` and ``8``.
LEDs powersafe characteristic
---------------------------------
This characteristic makes it possible to set the LEDs in powersafe mode.
Even when set to zero, the RGB LEDs still individually consume ~1mA.
Powersave intelligently switches the supply power in groups.
This introduces delays in the magnitude of ~10µs, so it can be disabled for high speed applications such as POV
- enabled: ``0x01``
- disabled: ``0x00``
Flashlight characteristic
---------------------------------
This characteristic makes it possible to activate the flashlight.
- enabled: ``0x01``
- disabled: ``0x00``
Personal state characteristic
---------------------------------
This characteristic makes it possible to read and write the personal state.
It writes always as persistant and it gives feedback if the value is in range and your firmware support it.
- No State ``0x0000``
- No Contact ``0x0100``
- Chaos ``0x0200``
- ...
LEDs above characteristic
---------------------------------
This characteristic set or read the current value of every 11 leds on the top module at once.
By defining 11x rgb from left to right. You need also to set exchange a bigger MTU to use this feature.
- set a rainbow beginnig with red on the right edge: ``0xff0000ff8b00e8ff005dff0000ff2e00ffb900b9ff002eff5d00ffe800ffff008b``
Light sensor characteristic
---------------------------------
The light sensor characteristic makes it possible to read the current value of the light sensor by receiving a ``uint16``.
The range of this sensor is between 0 (``0x0``) and 400 (``0x9001``).
- reading of ``0x0e00`` means **14**
Access via btgatt-client
---------------------------------
Accessing services from a linux system is possible via ``btgatt-client``. The inbuilt gatt client of ``bluetoothctl`` as well as ``libgatt`` were tested, but struggled with the card10's BLE stack.
**Example**:
.. code-block::
# pairing the card10:
$ bluetoothctl
[bluetooth]# power on
[bluetooth]# scan on
[bluetooth]# pair CA:4D:10:xx:xx:xx #replace xx:xx:xx with scan result
# if this query doesn't appear, remove and re-pair:
[agent] Confirm passkey ###### (yes/no): [CHG] Device CA:4D:10:xx:xx:xx Name: card10
[card10-xxxxxx]# disconnect CA:4D:10:xx:xx:xx
# using a service:
$ btgatt-client -d CA:4D:10:xx:xx:xx
# wait until services have been discovered, may take a minute
[GATT client]# write-value 0x0926 31 31 31
# if this error appears remove and re-pair:
[GATT client]# Device disconnected: Software caused connection abort
ARM Cordio Sources
------------------
The BLE stack is based on the ARM Cordio stack. This stack has been developed by a 3rd party and was bought by ARM and open-sourced.
There are many copies of it floating around on the Internet and some are more up to date than others. To keep track here is a list:
- mbed
- mbed has a reasonably up to date version of the stack in their GitHub repository.
- It is scattered below the CORDIO directories in https://github.com/ARMmbed/mbed-os/tree/master/features/FEATURE_BLE/targets
- ble-profiles are not included. mbed has written their own adaptation layer to interface with the stack and implements profiles in C++
- Ambiq Suite SDK
- Can be found here: https://github.com/sparkfun/AmbiqSuiteSDK/tree/master/third_party/exactle
- Patches on top might be here: https://support.ambiqmicro.com/hc/en-us/categories/115000239012-Software
- Reasonably up to date
- Intersting part: has their own FreeRTOS integration (but apparently on older WSF)
- BLE 5.1 (?)
- Packetcraft
- Apparently tasked with maintaining the stack in general
- Most up to date version
- https://github.com/packetcraft-inc/cordio
- Apparently developing (security) fixes, distributing them to customers, but not applying them to master: https://github.com/ARMmbed/mbed-os/commit/c92777311578eb003b4546c4e5e6f2c1f8ba3c84
- BLE 5.1
- Maxim
- Distributed via Maxim Toolchain Installation tool, no repository available
- Contains software implementation of the base band
- ble-host and ble-profiles might be compatible with the one directly from Packetcraft
- Developing their own low-power enhancements
- BLE 5.0
Documentation/bluetooth/ecg.rst 0 → 100644
View file @ 71be1dde
.. _bluetooth_ecg_service:
Bluetooth ECG Service
========================
.. warning::
The service is still work in progress and subject to change
The ECG service provides access to the ECG sensor of the card10
BLE Service
-----------
The current draft uses following service specification:
- Service:
UUID: ``42230300-2342-2342-2342-234223422342``
- ECG samples characteristic:
UUID: ``42230301-2342-2342-2342-234223422342``
notify
ECG samples characteristic
--------------------------
List of 16 bit samples (big endian). Enable notifications to
receive a stream of samples while the ECG app is open.
The first 16 bit are a sample counter (big endian).
Documentation/bluetooth/ess.rst 0 → 100644
View file @ 71be1dde
.. _ESS:
Environmental Sensing Service
=============================
The Environmental Sensing Service (ESS) implements access to
the BME680 environmental sensor of the card10.
It provides:
- Temperature
- Relative humidity
- Pressure
If :ref:`bsec_api` is enabled the following additional estimates are available:
- Indoor air quality (IAQ estimate
- Equivalent CO2 (eCO2) estimate
Please refer to :py:mod:`bme680` for more information about BSEC.
If notifcations are enabled a measurement of all values is performed every 3 seconds. For each measurement a notification is sent for the characteristics which have notifications enabled.
A measurement can also be triggered by reading from a characteristic. A measurement takes roughly 200 ms. A notifciation will be sent to all characteristics which have notifications enabled except the one which was used to trigger the measurement.
.. note::
If :ref:`bsec_api` is enabled, reading a characteristic will not trigger a new measurement.
.. note::
This service will be available in version v1.17.
BLE Service
-----------
- Service
UUID: ``181A``
- Temperature characteristic:
UUID: ``2A6E``
read and notify
- Humidity characteristic:
UUID: ``2A6F``
read and notify
- Pressure characteristic:
UUID: ``2A6D``
read and notify
- Indoor air quality (IAQ) characteristic:
UUID: ``422302f1-2342-2342-2342-234223422342``
read and notify
Temperature characteristic
--------------------------
- 16 bit little endian value representing the measured temperature.
- Unit: 0.01 deg C
Humidity characteristic
-----------------------
- 16 bit little endian value representing the measured relative humidity.
- Unit: 0.01%
Pressure characteristic
-----------------------
- 32 bit little endian value representing the measured pressure.
- Unit: 0.1 Pa (0.001 hPa)
Indoor air quality (IAQ) characteristic
---------------------------------------
Data format:
======== =========================== ===========================
Byte 0 Bytes 1-2 Bytes 3-4
-------- --------------------------- ---------------------------
Accuracy IAQ (16-bit little endian) eCO2 (16-bit little endian)
======== =========================== ===========================
Units:
- Accuracy and IAQ units: See :ref:`bsec_api` API description
- CO2 unit: [ppm]
Documentation/bluetooth/file-transfer.rst 0 → 100644
View file @ 71be1dde
.. _bluetooth_file_transfer:
Bluetooth File Transfer
=======================
.. warning::
The file transfer specification is still work in progress
File transfer to the card10 is implemented using the custom Low Effort File
Transfer Protocol.
BLE Service
-----------
The service consists of two GATT characteristics that act as a bidrectional
link, similar to many BLE UART implementations. The two channels are seen from
the Central perspective and hence named Central TX and Central RX.
The current version uses following service specification:
- Service
UUID: 42230100-2342-2342-2342-234223422342
- Central TX characteristic:
UUID: 42230101-2342-2342-2342-234223422342
write
- Central RX characteristic:
UUID 42230102-2342-2342-2342-234223422342
read, notify
Low Effort File Transfer Protocol
---------------------------------
(Version 1)
This protocol was designed to strike a balance between ease of implementation
and reasonable levels of functionality.
Features:
- File push from Central (e.g. Android) to Peripheral (card10)
- Path and file name support
- Chunked data transfer for variable MTUs
- CRC32 error-detection
- Basic error handling
All communication between Central and Peripheral is packet based. The first
byte specifies the packet type using a char followed by an optional CRC and/or
payload, depending on the packet type.
START:
===== ====
0 1-N
----- ----
s path
===== ====
START_ACK:
===== ===
0 1-4
----- ---
S CRC
===== ===
CHUNK:
===== ====== =======
0 1-4 4-N
----- ------ -------
c offset payload
===== ====== =======
CHUNK_ACK:
===== ===
0 1-4
----- ---
C CRC(*)
===== ===
CRC32 of the whole CHUNK packet including first byte, offset and payload.
FINISH:
=== ===
0
--- ---
f
=== ===
FINISH_ACK:
=== ===
0
--- ---
F
=== ===
ERROR:
=== ===
0
--- ---
e
=== ===
ERROR_ACK:
=== ===
0
--- ---
E
=== ===
Flow
----
The file transfer process can be described as a series of states from the view
of the Central role:
.. image:: ../static/ble-low-effort-flow.png
``IDLE`` state:
- Send ``START`` to initiate transfer
``START_SENT`` state:
- Wait for ``START_ACK``
``SEND_READY`` state:
- Send first ``CHUNK``
``CHUNK_SENT`` state:
- Wait for ``CHUNK_ACK``
``SEND_READY`` state:
- Repeat previous two steps until all data is sent
- If the last chunk was sent, send ``FINISH``
``FINISH_SENT`` state:
- Wait for ``FINISH_ACK``
After ``FINISH_ACK`` was received, the transfer is complete and the process can
return to ``IDLE``.
Error Handling
--------------
Three types of errors are currently supported:
- CRC errors:
If an ``ACK`` packet contains a CRC that fails the verification, then the
original packet must be retransmitted. If three consecutive attempts to
send a packet fail, then the transfer is aborted.
- ACK timeouts:
If the Central does not receive a required ``ACK`` within 10 seconds, then
the original packet must be retransmitted. If three consecutive attempts to
send a packet fail, then the transfer is aborted.
- Unexpected response:
All steps in the flow described above have exactly one expected response.
If any other packet is received, then the transfer is aborted.
Aborting Transfer
-----------------
To abort the transfer, the Central role sends an ``ERROR`` packet and returns
to ``IDLE`` after receiving the ``ERROR_ACK``.
If the Peripheral role aborts the transfer, i.e. the Central receives an
``ERROR`` at any point, then it responds with ``ERROR_ACK`` and returns to
``IDLE``
.. warning::
As this is a custom file transfer protocol developed under less than ideal
circumstances, it does not provide any guarantees, especially not regarding
reliability or security. The protocol assumes a secure link and a
trustworthy peer, amongst many other things. Use with caution.
Documentation/bluetooth/nimble.rst 0 → 100644
View file @ 71be1dde
NimBLE
======
On the card10 the ARM Cordio-B50 stack is used, which is in a very early experimental state and has some incompatibilities with some smartphones.
Therefore some alternative stacks are evaluated, which meight be used as a replacement in the long term.
Here a stack called NimBLE is presented, which claims to be feature complete. Originally it has been developed for Mynewt, an open source embedded operating system by Apache (https://mynewt.apache.org/).
There is a working port for the ESP32 espressif ESP-IDF framework.
Like Epicardium, ESP-IDF is based on FreeRTOS. Therefore it can be used for evaluation purposes.
Getting NimBLE run on the ESP32
-------------------------------
Install required packages:
Ubuntu:
.. code-block:: shell-session
sudo apt install git virtualenv python2.7 cmake
Arch:
.. code-block:: shell-session
sudo pacman -S git python2 python2-virtualenv cmake
Download and extract xtensa ESP32 compiler:
.. code-block:: shell-session
wget https://dl.espressif.com/dl/xtensa-esp32-elf-gcc8_2_0-esp32-2018r1-linux-amd64.tar.xz
tar -xf xtensa-esp32-elf-gcc8_2_0-esp32-2018r1-linux-amd64.tar.xz
Clone esp-idf:
.. code-block:: shell-session
git clone https://github.com/espressif/esp-idf.git
Add xtensa and ESP-IDF path to $PATH:
bash shell:
.. code-block:: shell-session
export IDF_PATH=$PWD/esp-idf
export PATH=${PATH}:$PWD/xtensa-esp32-elf/bin:$PWD/esp-idf/tools
fish shell:
.. code-block:: shell-session
set -gx IDF_PATH $PWD/esp-idf
set -gx PATH $PWD/xtensa-esp32-elf/bin/ $PWD/esp-idf/tools $PATH
Create a python2.7 virtualenv:
.. code-block:: shell-session
cd esp-idf
virtualenv -p /usr/bin/python2.7 venv
Enter the virtualenv:
bash shell:
.. code-block:: shell-session
. venv/bin/activate
fish shell:
.. code-block:: shell-session
. venv/bin/activate.fish
Init git submodules and install all required Python packages:
.. code-block:: shell-session
git submodule update --init --recursive
pip install -r requirements.txt
Now you are ready to build!
The following steps assume that your ESP32 is connected via USB and
is accessible via /dev/ttyUSB0. This meight be different on your system.
There are a few NimbLE examples which can be used for playing around:
Build a BLE server example (host mode):
---------------------------------------
.. code-block:: shell-session
cd examples/bluetooth/nimble/bleprph
idf.py -p /dev/ttyUSB0 flash monitor
This will build and flash the example to the ESP32 and instantly listens on /dev/ttyUSB0 serial port.
After the flashing process the ESP32 will anounce itself as **nimble-bleprph** device via BLE.
Build a BLE client example (central mode):
------------------------------------------
.. code-block:: shell-session
cd examples/bluetooth/nimble/blecent
idf.py -p /dev/ttyUSB0 flash monitor
This will build and flash the example to the ESP32 and instantly listens on /dev/ttyUSB0 serial port.
After the flashing process the ESP32 creates a GATT client and performs passive scan, it then connects to peripheral device if the device advertises connectability and the device advertises support for the Alert Notification service (0x1811) as primary service UUID.
Documentation/bluetooth/overview.rst 0 → 100644
View file @ 71be1dde
.. _bluetooth_overview:
Overview
========
UUIDs
-----
Bluetooth uses UUIDs to identify almost everything. The Bluetooth SIG specifies
a number of "short" 16-bit UUIDs for general use. A device is free to define
other "long" 128-bit UUIDs if it wants to express non-standard functionality.
The card10 defines a few non-standard UUIDs. They are prefixed with ``4232``:
+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
| UUID | Usage | Comment |
+======================================+=======================================================+====================================================================+
| 422301XX-2342-2342-2342-234223422342 | :ref:`File Transfer Service<bluetooth_file_transfer>` | Used by the Companion App to install apps on the card10 |
+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
| 422302XX-2342-2342-2342-234223422342 | :ref:`card10 Service<bluetooth_card10_service>` | Controls general card10 functionality like LEDs and personal state |
+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
| 422303XX-2342-2342-2342-234223422342 | :ref:`ECG Service<bluetooth_ecg_service>` | Allows to stream ECG measurements via BLE |
+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
| 422380XX-2342-2342-2342-234223422342 | Experimental usage | To be used for development and experiments |
+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
The first byte after the prefix identifies the service (e.g. ``03`` for ECG).
The next byte is reserved for UUIDs used by the service itself. The service
uses ``00`` at this position. The first attribute inside the service uses
``01`` at this position. See the documentation of any service for an example.
You can use the UUID range 422380XX-2342-2342-2342-234223422342 for your own
experiments / demos/ development. For example the demos under `demos/` in the
repository use this range of UUIDs.
BLE with MicroPython
--------------------
MicroPython docs: https://docs.micropython.org/en/latest/library/bluetooth.html
Basic example: https://git.card10.badge.events.ccc.de/card10/firmware/-/blob/master/demos/ble-ws2812-card10.py and https://git.card10.badge.events.ccc.de/card10/firmware/-/blob/master/demos/ble-ws2812-host.py
MicroPython examples: https://github.com/micropython/micropython/tree/7c54b6428058a236b8a48c93c255948ece7e718b/examples/bluetooth
Documentation/build-docs.sh
View file @ 71be1dde
......@@ -4,3 +4,7 @@ set -e
cd "$(dirname "$0")"
sphinx-build -b html . ./output
if [ "$1" = "--open" ]; then
xdg-open ./output/index.html
fi
Documentation/card10-cfg.rst 0 → 100644
View file @ 71be1dde
.. _card10_cfg:
card10.cfg
==========
Certain high-level settings can be configured using a filed named ``card10.cfg``. It is accessed from the :ref:`usb_file_transfer` of the bootloader. Once you are in this mode and have mounted the badge's flash device, you can either create or update a file named ``card10.cfg``.
The file is in the well-known INI-style format, with one setting per line. For instance, if there were an option called ``answer_to_life``, you could set it by writing the following line in the ``card10.cfg`` file:
.. code-block:: text
answer_to_life = 42
Don't forget to unmount the filesystem before rebooting your badge after changing any setting.
Syntax and Types
----------------
Lines that start with a ``#`` character are ignored.
Any other line will have the overall syntax of ``option_name = option_value``, with spaces around the ``=`` character optional.
Option names are internal to card10 and described below. Each option has a defined type.
========= ===========
Type name Description
========= ===========
Boolean A true/false value. ``1`` or ``true`` is true, ``0`` or ``false`` is false. Example: ``foo = true``.
String An unquoted string value of maximum 20 bytes. Values longer than 20 bytes are trimmed. Example: ``foo = bar``.
Integer A signed 32-bit integer in base 10. Example: ``foo = 42`` or ``bar = -1337``.
Float A single-precision (32-bit) floating-point number in base 10. Example: ``foo = 13.37``.
========= ===========
Supported options
-----------------
================== ========== ===========
Option name Type Description
================== ========== ===========
``execute_elf`` Boolean Allow running of binary :ref:`l0dables`. These files can be nefarious, so this option is off by default.
------------------ ---------- -----------
``timezone`` String Timezone for card10; must be of format ``[+-]HHMM``. Examples: ``+0800``, ``-0200``
------------------ ---------- -----------
``default_app`` String Full path to the exectutable file of the default application. If this option is not set,``apps/analog_clock/__init__.py`` is used.
------------------ ---------- -----------
``ble_enable`` Boolean Activate the BLE interface. Turn off for more privacy or to conserve energy.
------------------ ---------- -----------
``ble_mac`` Boolean MAC address used for BLE. Format: ``ca:4d:10:xx:xx:xx``.
------------------ ---------- -----------
``ble_hid_enable`` Boolean Enable the Human Interface Device (HID) characteristics on BLE.
------------------ ---------- -----------
``ble_log_enable`` Boolean Activate HCI level logging of BLE data. Creates a new btsnoop compatible log file named ``ble.log`` in the ``logs`` folder after each boot if BLE is activated. Keeps the last 10 files.
------------------ ---------- -----------
``right_scroll`` Boolean Use both right buttons to scroll up and down. Lower left button is SELECT.
------------------ ---------- -----------
``long_press_ms`` Integer Defines the timespan for a long key press in milliseconds.
------------------ ---------- -----------
``retrigger_ms`` Integer Defines the timespan for repeating key presses when a key is hold in milliseconds.
------------------ ---------- -----------
``bsec_enable`` Boolean Activate the Bosch :ref:`bsec_api` binary blob to compute an Indoor Air Quality indication.
------------------ ---------- -----------
``bsec_debug`` Boolean Turn on debug output of the BSEC system. Prints each meaurement on the console.
------------------ ---------- -----------
``bsec_offset`` Integer Temperature offset in .1 K. Example: Set to `-14` if temperature reads 1.4 "C" to high. Default: -2.2 K (appropriate for a card10 without a case, connected to USB and with BLE active in vertical orientation).
------------------ ---------- -----------
``battery_check`` Boolean Whether the low battery check should be enabled (default ``true``). **Warning**: Do not use this unless you know what you're doing. This option is only meant to be used on devices with a broken PMIC ADMUX connection.
------------------ ---------- -----------
``has_flashlight`` Boolean Whether the flashlight LED was soldered onto the harmonic board. Can be used by apps to optionally enable flashlight features.
================== ========== ===========
Documentation/conf.py
View file @ 71be1dde
......@@ -3,6 +3,8 @@ import subprocess
import sys
import time
import sphinx.util.logging
from docutils import nodes
from docutils.parsers import rst
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
......@@ -13,16 +15,15 @@ sys.path.insert(0, os.path.abspath("./"))
logger = sphinx.util.logging.getLogger("card10/conf.py")
# -- Project information -----------------------------------------------------
project = "card10-firmware"
copyright = "2019"
# The full version, including alpha/beta/rc tags
release = subprocess.check_output(
["git", "describe", "--long", "--always"]
).decode().strip()
release = (
subprocess.check_output(["git", "describe", "--long", "--always"]).decode().strip()
)
release += "<br />"
release += time.strftime("%F %R")
version = release
......@@ -47,6 +48,23 @@ todo_include_todos = True
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = ["output", "Thumbs.db", ".DS_Store", "hawkmoth"]
# -- Extensions -------------------------------------------------------------- {{{
class ColorExample(rst.Directive):
has_content = False
required_arguments = 1
optional_arguments = 0
option_spec = {}
def run(self):
color = self.arguments[0]
html_text = '<div style="width: 30px;height: 30px;background: {};border: black 1px solid;border-radius: 15px;"></div>'
return [nodes.raw("", html_text.format(color), format="html")]
# }}}
# -- Options for HTML output ------------------------------------------------- {{{
# The Read the Docs theme is available from
......@@ -55,11 +73,14 @@ exclude_patterns = ["output", "Thumbs.db", ".DS_Store", "hawkmoth"]
# - python-sphinx-rtd-theme package (on Debian)
try:
import sphinx_rtd_theme
html_theme = "sphinx_rtd_theme"
html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
pygments_style = "monokai"
except ImportError:
logger.warning("The Sphinx \"sphinx_rtd_theme\" HTML theme was not found. Make sure you have the theme installed to produce pretty HTML output. Falling back to the default theme.")
logger.warning(
'The Sphinx "sphinx_rtd_theme" HTML theme was not found. Make sure you have the theme installed to produce pretty HTML output. Falling back to the default theme.'
)
# Add any paths that contain custom static files (such as style sheets) here,
......@@ -68,9 +89,7 @@ except ImportError:
html_static_path = ["static"]
# Theme Options
html_theme_options = {
"style_external_links": True,
}
html_theme_options = {"style_external_links": True}
# Show "Edit on GitLab" links
html_show_sourcelink = False
......@@ -87,8 +106,19 @@ html_context = {
# -- Options for Auto-Doc ---------------------------------------------------- {{{
autodoc_mock_imports = [
"buttons",
"interrupt",
"sys_ble_hid",
"sys_bme680",
"sys_bhi160",
"sys_display",
"sys_leds",
"sys_max30001",
"sys_max86150",
"sys_png",
"sys_config",
"ucollections",
"uerrno",
"urandom",
"utime",
]
......@@ -101,6 +131,7 @@ has_hawkmoth = False
try:
# Attempt importing hawkmoth
import hawkmoth # noqa: F401
extensions.append("hawkmoth")
cautodoc_root = os.path.abspath("..")
......@@ -108,10 +139,45 @@ try:
has_hawkmoth = True
except ImportError as e:
if e.name == "clang":
logger.warning("hawkmoth requires the clang python module. Documentation for Epicardium API will not be generated.")
logger.warning(
"hawkmoth requires the clang python module. Documentation for Epicardium API will not be generated."
)
# }}}
# -- Sphinx Setup ------------------------------------------------------------
def setup(app):
app.add_config_value("has_hawkmoth", has_hawkmoth, "")
app.add_directive("color-example", ColorExample)
fix_issue_8945()
def fix_issue_8945():
c_domain = __import__("sphinx.domains.c").domains.c
for kw in [
"char",
"float",
"int",
"long",
"short",
"void",
"_Bool",
"bool",
"_Complex",
"complex",
]:
if kw in c_domain._keywords:
c_domain._keywords.remove(kw)
if hasattr(c_domain, "_macroKeywords") and kw in c_domain._macroKeywords:
c_domain._macroKeywords.remove(kw)
def parse_xref_object(self):
name = self._parse_nested_name()
self.skip_ws()
self.skip_string("()")
# Removing this line as a hacky workaround:
# self.assert_end()
return name
c_domain.DefinitionParser.parse_xref_object = parse_xref_object
Documentation/debugger.rst
View file @ 71be1dde
......@@ -7,6 +7,36 @@ it. The debugger looks like either one in the following pictures:
.. image:: static/debuggers.png
First of all, you need to connect your debugger and card10. There are three
connections that you need (take a look at the above diagram for more info):
* ``HDK``: This connection provides debugging (SWD) and UART.
* ``DEV``: This connection provides power (battery charger) and the native USB
connection (bootloader).
* ``USB-C``: Connect the proved USB-C cable with the side which has the blue
dot, so the blue dots have the same side.
Console
-------
When using the debugger, you will usually have two /dev/ttyACM* devices (one
each for ``HDK`` and ``DEV``). To avoid confusion, allow access without
``sudo`` and tell ModemManager to ignore them, you can use the following udev
rule file (saved under ``/etc/udev/rules.d/99-card10.rules``):
.. code-block:: text
SUBSYSTEM=="tty", ATTRS{idVendor}=="0d28", ATTRS{idProduct}=="0204", MODE="0664", GROUP="plugdev", SYMLINK+="ttyACM-card10-hdk", ENV{ID_MM_DEVICE_IGNORE}="1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0b6a", ATTRS{idProduct}=="003c", MODE="0664", GROUP="plugdev", SYMLINK+="ttyACM-card10-dev", ENV{ID_MM_DEVICE_IGNORE}="1"
After changing udev rules, you need to tell the udev daemon:
.. code-block:: shell-session
$ sudo udevadm control --reload
Now, additional symlinks (``/dev/ttyACM-card10-hdk`` and
``/dev/ttyACM-card10-dev``) will be created when connecting the card10.
OpenOCD
-------
For debugging card10, you need our `own fork`_ of OpenOCD. It contains a patch
......@@ -17,17 +47,17 @@ the following commands:
.. code-block:: shell-session
$ git clone https://git.card10.badge.events.ccc.de/card10/openocd.git
$ git clone --recursive https://git.card10.badge.events.ccc.de/card10/openocd.git
$ cd openocd
$ git submodule update --init
$ ./bootstrap
$ ./configure --disable-werror
Make sure ``CMSIS-DAP Compliant Debugger`` is set to **yes (auto)** after
running ``./configure`` (if it is not, you might need to install ``libhidapi-dev``
(Ubuntu)). If you get errors making the documentation you can
``touch doc/openocd.info`` to skip it and continue with ``make``.
.. warning::
Make sure ``CMSIS-DAP Compliant Debugger`` is set to **yes (auto)** after
running ``./configure`` (if it is not, you might need to install ``libhidapi-dev``
(Ubuntu)). If you get errors making the documentation you can
``touch doc/openocd.info`` to skip it and continue with ``make``.
.. code-block:: shell-session
......@@ -55,15 +85,6 @@ that package from your distros repositories:
Debugging
---------
First of all, you need to connect your debugger and card10. There are three
connections that you need (take a look at the above diagram for more info):
* ``HDK``: This connection provides debugging (SWD) and UART.
* ``DEV``: This connection provides power (battery charger) and the native USB
connection (bootloader).
* ``USB-C``: Connect the proved USB-C cable with the side which has the blue
dot, so the blue dots have the same side.
Run OpenOCD from the ``openocd/scripts`` directory in the firmware repository.
Call it as ``openocd -f interface/cmsis-dap.cfg -f target/max32665.cfg``. If
the debugger and card10 are connected correctly, you should see the following
......@@ -94,6 +115,12 @@ command to soft-reset card10.
...
(gdb)
.. note::
You will also find the following self-describing gdb files in the firmware
root directory, which do not require additional arguments:
``flash-all.gdb, flash-bootloader.gdb,
flash-both.gdb, flash-epicardium.gdb, flash-pycardium.gdb``
.. warning::
If you are used to use ``mon reset halt``, be aware that the card10 prototypes
do not connect the reset line to the debugger. OpenOCD is configured to only do
......
Documentation/epicardium/internal.rst 0 → 100644
View file @ 71be1dde
.. _epicardium_internal_apis:
Epicardium Internal APIs
========================
Core OS APIs
------------
.. c:autodoc:: epicardium/os/core.h
Documentation/epicardium/mutex.rst 0 → 100644
View file @ 71be1dde
Mutex
=====
Ontop of FreeRTOS, we have our own mutex implementation. **Never use the
FreeRTOS mutexes directly! Always use this abstraction layer instead**. This
mutex implementation tries to make reasoning about program flow and locking
behavior easier. And most importantly tries to help with debugging possible
dead-locks.
Design
------
There are a few guiding design principles:
- Mutexes can only be used from tasks, **never** from interrupts!
- Timers can use mutexes, but only with :c:func:`mutex_trylock`, **never** with
:c:func:`mutex_lock` (Because they are not allowed to block).
- Locking can *never* fail (if it does, we consider this a fatal error ⇒ panic).
- No recursive locking.
- An unlock can only occur from the task which previously acquired the mutex.
- An unlock is only allowed if the mutex was previously acquired.
For a more elaborate explanation of the rationale behind these rules take a
look at the :ref:`mutex-design-reasons`.
Definitions
-----------
.. c:autodoc:: epicardium/os/mutex.h
.. _mutex-design-reasons:
Reasons for this Design
-----------------------
Locking can *never* fail
^^^^^^^^^^^^^^^^^^^^^^^^
This might seem like a bold claim at first but in the end, it is just a matter
of definition and shifting responsibilities. Instead of requiring all code to
be robust against a locking attempt failing, we require all code to properly
lock and unlock their mutexes and thus never producing a situation where
locking would fail.
Because all code using any of the mutexes is contained in the Epicardium
code-base, we can - *hopefully* - audit it properly behaving ahead of time and
thus don't need to add code to ensure correctness at runtime. This makes
downstream code easier to read and easier to reason about.
History of this project has shown that most code does not properly deal with
locking failures anyway: There was code simply skipping the mutexed action on
failure, code blocking a module entirely until reboot, and worst of all: Code
exposing the locking failure to 'user-space' (Pycardium) instead of retrying.
This has lead to spurious errors where technically there would not need to be
any.
Only from tasks
^^^^^^^^^^^^^^^
Locking a mutex from an ISR, a FreeRTOS software timer or any other context
which does not allow blocking is complicated to do right. The biggest
difficulty is that a task might be holding the mutex during execution of such a
context and there is no way to wait for it to release the mutex. This requires
careful design of the program flow to choose an alternative option in such a
case. A common approach is to 'outsource' the relevant parts of the code into
an 'IRQ worker' which is essentially just a task waiting for the IRQ to wake it
up and then attempts to lock the mutex.
If you absolutely do need it (and for legacy reasons), software timers *can*
lock a mutex using :c:func:`mutex_trylock` (which never blocks). I strongly
recommend **not** doing that, though. As shown above, you will have to deal
with the case of the mutex being held by another task and it is very well
possible that your timer will get starved of the mutex because the scheduler
has no knowledge of its intentions. In most cases, it is a better idea to use
a task and attempt locking using :c:func:`mutex_lock`.
.. todo::
We might introduce a generic IRQ worker queue system at some point.
No recursive locking
^^^^^^^^^^^^^^^^^^^^
Recursive locking refers to the ability to 'reacquire' a mutex already held by
the current task, deeper down in the call-chain. Only the outermost unlock
will actually release the mutex. This feature is sometimes implemented to
allow more elegant abstractions where downstream code does not need to know
about the mutexes upstream code uses and can still also create a larger region
where the same mutex is held.
But exactly by hiding the locking done by a function, these abstractions make
it hard to trace locking chains and in some cases even make it impossible to
create provably correct behavior. As an alternative, I would suggest using
different mutexes for the different levels of abstraction. This also helps
keeping each mutex separated and 'local' to its purpose.
Only unlock from the acquiring task
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Because of the above mentioned mutex locking semantics, there should never be a
need to force-unlock a forgein mutex. Even in cases of failures, all code
should still properly release all mutexes it holds. One notable exceptions is
``panic()``\s which will abort all ongoing operations anyway.
Only unlock once after acquisition
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Justified with an argument of robustness, sometimes the :c:func:`mutex_unlock`
call is written in a way that allows unlocking an already unlocked mutex. But
robustness of downstream code will not really be improved by the upstream API
dealing with arguably invalid usage. For example, this could encourage
practices like unlocking everything again at the end of a function "just to be
sure".
Instead, code should be written in a way where the lock/unlock pair is
immediately recognizable as belonging together and is thus easily auditable to
have correct locking behavior. A common pattern to help with readability in
this regard is the *Single Function Exit* which looks like this:
.. code-block:: cpp
int function()
{
int ret;
mutex_lock(&some_mutex);
ret = foo();
if (ret) {
/* Return with an error code */
ret = -ENODEV;
goto out_unlock;
}
ret = bar();
if (ret) {
/* Return the return value from foo */
goto out_unlock;
}
ret = 0;
out_unlock:
mutex_unlock(&some_mutex);
return ret;
}
Documentation/hawkmoth/README.rst 0 → 100644
View file @ 71be1dde
Hawkmoth - Sphinx Autodoc for C
===============================
Hawkmoth is a minimalistic Sphinx_ `C Domain`_ autodoc directive extension to
incorporate formatted C source code comments written in reStructuredText_ into
Sphinx based documentation. It uses Clang Python Bindings for parsing, and
generates C Domain directives for C API documentation, and more. In short,
Hawkmoth is Sphinx Autodoc for C.
Hawkmoth aims to be a compelling alternative for documenting C projects using
Sphinx, mainly through its simplicity of design, implementation and use.
.. _Sphinx: http://www.sphinx-doc.org
.. _C Domain: http://www.sphinx-doc.org/en/stable/domains.html
.. _reStructuredText: http://docutils.sourceforge.net/rst.html
Example
-------
Given C source code with rather familiar looking documentation comments::
/**
* Get foo out of bar.
*/
void foobar();
and a directive in the Sphinx project::
.. c:autodoc:: filename.c
you can incorporate code documentation into Sphinx. It's as simple as that.
You can document functions, their parameters and return values, structs, unions,
their members, macros, function-like macros, enums, enumeration constants,
typedefs, variables, as well as have generic documentation comments not attached
to any symbols.
Documentation
-------------
Documentation on how to install and configure Hawkmoth, and write documentation
comments, with examples, is available in the ``doc`` directory in the source
tree, obviously in Sphinx format and using the directive extension. Pre-built
documentation `showcasing what Hawkmoth can do`_ is available at `Read the
Docs`_.
.. _showcasing what Hawkmoth can do: https://hawkmoth.readthedocs.io/en/latest/examples.html
.. _Read the Docs: https://hawkmoth.readthedocs.io/
Installation
------------
You can install Hawkmoth from PyPI_ with::
pip install hawkmoth
You'll additionally need to install Clang and Python 3 bindings for it through
your distro's package manager; they are not available via PyPI. For further
details, see the documentation.
Alternatively, installation packages are available for:
* `Arch Linux`_
In Sphinx ``conf.py``, add ``hawkmoth`` to ``extensions``, and point
``cautodoc_root`` at the source tree. See the extension documentation for
details.
.. _PyPI: https://pypi.org/project/hawkmoth/
.. _Arch Linux: https://aur.archlinux.org/packages/?K=hawkmoth
Development and Contributing
----------------------------
Hawkmoth source code is available on GitHub_. The development version can be
checked out via ``git`` using this command::
git clone https://github.com/jnikula/hawkmoth.git
Please file bugs and feature requests as GitHub issues. Contributions are
welcome both as emailed patches to the mailing list and as pull requests.
.. _GitHub: https://github.com/jnikula/hawkmoth
Dependencies
------------
- Python 3.4
- Sphinx 3
- Clang 6.0
- Python 3 Bindings for Clang 6.0
- sphinx-testing 1.0.0 (for development)
These are the versions Hawkmoth is currently being developed and tested
against. Other versions might work, but no guarantees.
License
-------
Hawkmoth is free software, released under the `2-Clause BSD License`_.
.. _2-Clause BSD License: https://opensource.org/licenses/BSD-2-Clause
Contact
-------
IRC channel ``#hawkmoth`` on freenode_.
Mailing list hawkmoth@freelists.org. Subscription information at the `list home
page`_.
.. _freenode: https://freenode.net/
.. _list home page: https://www.freelists.org/list/hawkmoth
Documentation/hawkmoth/README.txt deleted 100644 → 0
View file @ 7a6b17a6
Hawkmoth - Sphinx Autodoc for C
===============================
Hawkmoth is a minimalistic Sphinx_ `C Domain`_ autodoc directive extension to
incorporate formatted C source code comments written in reStructuredText_ into
Sphinx based documentation. It uses Clang Python Bindings for parsing, and
generates C Domain directives for C API documentation, and more. In short,
Hawkmoth is Sphinx Autodoc for C.
Hawkmoth aims to be a compelling alternative for documenting C projects using
Sphinx, mainly through its simplicity of design, implementation and use.
.. _Sphinx: http://www.sphinx-doc.org
.. _C Domain: http://www.sphinx-doc.org/en/stable/domains.html
.. _reStructuredText: http://docutils.sourceforge.net/rst.html
Example
-------
Given C source code with rather familiar looking documentation comments::
/**
* Get foo out of bar.
*/
void foobar();
and a directive in the Sphinx project::
.. c:autodoc:: filename.c
you can incorporate code documentation into Sphinx. It's as simple as that.
You can document functions, their parameters and return values, structs, unions,
their members, macros, function-like macros, enums, enumeration constants,
typedefs, variables, as well as have generic documentation comments not attached
to any symbols.
Documentation
-------------
Documentation on how to configure Hawkmoth and write documentation comments,
with examples, is available in the ``doc`` directory in the source tree,
obviously in Sphinx format and using the directive extension. Pre-built
documentation `showcasing what Hawkmoth can do`_ is available at `Read the
Docs`_.
.. _showcasing what Hawkmoth can do: https://hawkmoth.readthedocs.io/en/latest/examples.html
.. _Read the Docs: https://hawkmoth.readthedocs.io/
Installation
------------
You can install Hawkmoth from PyPI_ with::
pip install hawkmoth
You'll additionally need to install Clang and Python 3 bindings for it through
your distro's package manager; they are not available via PyPI. You may also
need to set ``LD_LIBRARY_PATH`` so that the Clang library can be found. For
example::
export LD_LIBRARY_PATH=$(llvm-config --libdir)
Alternatively, installation packages are available for:
* `Arch Linux`_
In Sphinx ``conf.py``, add ``hawkmoth`` to ``extensions``, and point
``cautodoc_root`` at the source tree. See the extension documentation for
details.
.. _PyPI: https://pypi.org/project/hawkmoth/
.. _Arch Linux: https://aur.archlinux.org/packages/?K=hawkmoth
Development and Contributing
----------------------------
Hawkmoth source code is available on GitHub_. The development version can be
checked out via ``git`` using this command::
git clone https://github.com/jnikula/hawkmoth.git
Please file bugs and feature requests as GitHub issues. Contributions are
welcome both as emailed patches to the mailing list and as pull requests.
.. _GitHub: https://github.com/jnikula/hawkmoth
Dependencies
------------
- Python 3.4
- Sphinx 1.8
- Clang 6.0
- Python 3 Bindings for Clang 6.0
- sphinx-testing 1.0.0 (for development)
These are the versions Hawkmoth is currently being developed and tested
against. Other versions might work, but no guarantees.
License
-------
Hawkmoth is free software, released under the `2-Clause BSD License`_.
.. _2-Clause BSD License: https://opensource.org/licenses/BSD-2-Clause
Contact
-------
IRC channel ``#hawkmoth`` on freenode_.
Mailing list hawkmoth@freelists.org. Subscription information at the `list home
page`_.
.. _freenode: https://freenode.net/
.. _list home page: https://www.freelists.org/list/hawkmoth