@ -48,16 +48,3 @@ Each task in FreeRTOS is assigned a block of \gls{RAM} to use as its stack when
A stack overflow protection can be enabled by a flag in the FreeRTOS configuration file (more details in \cite{freertos-stackov}). This function works in two ways: the more obvious is a simple check that the stack pointer remains in the designated area; however, as the check may be performed only in the scheduler interrupt, it can happen that the stack pointer exceeds the bounds only temporarily and returns back before the stack can be checked for overflow. The stack is thus filled with a known filler value before starting the task, and the last few bytes are then tested to match this value. Not only can we detect a stack overflow more reliably, this feature also makes it possible to estimate the peak stack usage by counting the remaining filler values in the stack area. Naturally, we can't distinguish between the original filler values and the same value stored on the stack; still, this method proves remarkably successful in the detection of misconfigured stack size.
GEX is designed to be modular and easy to extend. It's composed of a set of functional blocks, sometimes available in more than one instance, which can be configured by the user to fit their application needs. The firmware is built around a \textit{core framework} which provides services to the functional blocks, such as a settings storage, resource allocation, message delivery and periodic updates.
In this chapter, we will focus on the general function of the GEX module and will look at the services provided by the core framework. Individual functional blocks and the control \gls{API} will be described in the following chapters.\todo{references}
In this chapter, we will focus on the general function of the GEX module and will look at the services provided by the core framework. Individual functional blocks and the communication protocol will be described in chapters \ref{sec:tinyframe} and \ref{sec:units-overview}.
\iffalse
This and the following parts were written after implementing and evaluating the first hardware prototype and its firmware, therefore rather than describing the development process, it tends to talk about the completed solution and the decisions taken.
@ -12,15 +12,23 @@ This and the following parts were written after implementing and evaluating the
Before going into implementation details, we'll have a look at GEX from the outside, how an end user will see it. This should give the reader some context to better orient themselves in the following sections and chapters investigating the internal structure of the firmware and the communication protocol.
The GEX firmware can be flashed to a STM32 Nucleo or Discovery board or a custom \gls{PCB}. It's equipped with a \gls{USB} connector to connect to the host \gls{PC}. GEX loads its configuration from the non-volatile memory, configures its peripherals, sets up the function blocks and enables the selected communication interface(s). When \gls{USB} is connected to the board, the \gls{PC} enumerates it and either recognizes the communication interface as \gls{CDCACM} (Virtual serial port), or leaves it without a software driver attached, to be accessed directly as raw \gls{USB} endpoints. This can be configured. The user can now access the functional blocks using the client library and the serial protocol, as well as modify the configuration files.
The GEX firmware can be flashed to a STM32 Nucleo or Discovery board or a custom \gls{PCB}. It's equipped with a \gls{USB} connector to connect to the host \gls{PC}. GEX loads its configuration from the Flash memory, configures its peripherals, sets up the function blocks and enables the selected communication interface(s). When \gls{USB} is connected to the board, the \gls{PC} enumerates it and either recognizes the communication interface as \gls{CDCACM} (Virtual serial port), or leaves it without a software driver attached, to be accessed directly as raw \gls{USB} endpoints. This can be configured. The user can now access the functional blocks using the client library and the serial protocol, as well as modify the configuration files.
The board is equipped with a button or a jumper labeled LOCK. When the button is pressed or the jumper removed, the Mass Storage \gls{USB} interface is enabled. For the user this means a new disk will be detected by their \gls{PC}'s operating system that they can open in a file manager. This disk provides read and write access to configuration INI files and other files with useful information, like a list of supported features and available hardware resources. The user now edits a configuration file and saves it back to the disk. GEX processes the new content, tries to apply the changes and generates an updated version of the file that includes error messages if there was a problem. For the \gls{PC}\gls{OS} to recognize this change, the Mass Storage device momentarily reports that the media is unavailable to force the \gls{OS} to reload it. This is a similar mechanism to what happens when a memory card is removed from a reader. Now the user must reload the file in their editor, inspect the updated content and perform any changes needed. The settings, when applied successfully, should now be available to test using the communication interface. When everything is to the user's satisfaction, the updated settings are committed to the device's non-volatile memory by pressing the LOCK button again, or replacing the jumper.
\subsection{Updating GEX Settings}
For boards without a \gls{USB} re-enumeration capability (notably with older microcontrollers like the STM32F103) that use a jumper, this must be removed before plugging the board to the host \gls{USB} so that the Mass Storage is enabled immediately at start-up and a re-enumeration is not needed.
Two ways exist in which the settings can be modified: via the virtual Mass Storage disk, and through the control interface. We'll look at the file system method here; the API for programmatic loading and updating of settings will be explained in section \ref{sec:tf-bulk-rw}.
In the case when a wireless communication module is installed on the \gls{PCB} and GEX is configured to use it, this will be used as a fallback when the \gls{USB} peripheral does not receive an address (get enumerated) within a short time after start-up. The wireless link works in the same way as any other communication interface: it can be used to read and modify the configuration files and to access the functional blocks. To use it, the user needs to connect a wireless gateway module to their host \gls{PC} and use the radio link instead of a \gls{USB} cable. The gateway could support more than once GEX board at once.
The board is equipped with a button or a jumper labeled LOCK. When the button is pressed or the jumper removed (or inserted, the polarity is configured in the firmware), the Mass Storage \gls{USB} interface is enabled. For the user, this means that a new disk will be detected by their \gls{PC}'s operating system, which they can open in a file manager. The disk provides a read and write access to configuration INI files and other files with auxiliary information.
Now that GEX is connected and configured, the user can start using it. This involves writing a program in C or Python that uses the GEX client library, using the Python library from MATLAB, or controlling GEX using a \gls{GUI} front-end built on those libraries. The configuration can be stored in the module, but it's also possible to temporarily (or permanently) replace it using the communication \gls{API}. This way the settings can be loaded automatically when the user's program starts.
The user edits a configuration file and saves it back to the disk. GEX processes the new content, tries to apply the changes and generates an updated version of the file that includes any error messages or newly generated sections (when a new unit was registered). For the \gls{PC}\gls{OS} to recognize this change, the Mass Storage device momentarily reports that the media is unavailable to force the \gls{OS} to reload it. This is a similar mechanism to what happens when a memory card is removed from a reader. Now the user must reload the file in their editor, inspect the updated content and perform any changes needed. The settings, when applied successfully, should now be available to test using the communication interface. When everything is to the user's satisfaction, the updated settings are committed to the device's non-volatile memory by pressing the LOCK button again, or replacing the jumper.
\subsection{Connecting Using the Wireless Module}
In the case when a wireless module is installed on the \gls{PCB} and GEX is configured to use it, this will be used as a fallback when the \gls{USB} peripheral does not receive an address (get enumerated) within a short time after start-up. The wireless link works in the same way as any other communication interface: it can be used to read and modify the configuration files and to access the functional blocks. To use it, the user needs to connect a wireless gateway module to their host \gls{PC} and use the radio link instead of a \gls{USB} cable. The gateway may support more than once GEX board at once.
\subsection{Using the Control Interface}
Now that GEX is connected and configured, the user can start using it. This involves writing a program in C or Python that uses the GEX client library, using the Python library from MATLAB, or controlling GEX using a \gls{GUI} front-end built on those libraries. The configuration can be stored in the module, but it's also possible to temporarily replace it using the control \gls{API}. This way, the settings are loaded automatically when the user's program starts and may differ for different programs.
@ -30,7 +38,7 @@ Each unit is defined by a section in the configuration file \verb|UNITS.INI|. It
\begin{itemize}
\item Name
\item Callsign
\item Callsign (one byte)
\item Configuration parameters loaded from the unit settings
\item State variables updated at run-time by user commands or internal functions
\item A reference to the unit driver
@ -72,7 +80,7 @@ The unit driver handles commands sent from the host \gls{PC}, initializes and de
└── Makefile
\end{verbatim}
\vspace{-1em}
\cprotect\caption{\label{fig:repo-structure} The general structure of the source code repository}
\caption{\label{fig:repo-structure} The general structure of the source code repository}
\end{wrapfigure}
Looking at the source code repository (fig. \ref{fig:repo-structure}), at the root we'll find device specific driver libraries and files provided by ST Microelectronics, the FreeRTOS middleware, and a folder called \verb|User| containing the GEX application code. This division is useful when porting the firmware to a different microcontroller, as the GEX folder is mostly platform-independent and can be simply copied (of course, adjustments are needed to accompany different hardware peripheral versions etc.). The GEX core framework consists of everything in the \verb|User| folder, excluding the \verb|units| directory in which the individual units are implemented. Each unit driver must be registered in the file \verb|platform.c| to be available for the user to select. The file \verb|plat_compat.c| includes platform-specific headers and defines e.g. which pin to use for a status \gls{LED} or the LOCK button.
\chapter{Units Overview, Commands and Events Description}
\chapter{Units Overview, Commands and Events Description}\label{sec:units-overview}
This chapter describes all functional blocks (units) implemented in GEX, version 1.0. The term ``unit'' will be used here to refer to both unit types (drivers) or their instances where the distinction is not important.
@ -98,7 +98,7 @@ The following table lists all frame types used by GEX. It is divided into four l
\end{table*}
\section{Bulk Read and Write Transactions}
\section{Bulk Read and Write Transactions}\label{sec:tf-bulk-rw}
The bulk read and write transactions are generic, multi-message exchanges which are used to transfer the INI configuration files. They could additionally be used by some future unit requiring to transfer a large amount of data (e.g. to read image data from a camera).
