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fixed southbridge

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this was a two week blocker, storing to AtomicBools hangs in some
scenarios, which is really hard to debug. works now.
This commit is contained in:
Andy Killorin 2025-03-02 12:15:29 -05:00
parent cc18f76e55
commit ad1f552151
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
3 changed files with 174 additions and 126 deletions
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267
southbridge/Cargo.lock generated
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@ -79,18 +79,18 @@ dependencies = [
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dependencies = [ dependencies = [
"lalrpop", "lalrpop",
"lalrpop-util", "lalrpop-util",
"pio", "pio",
"regex-syntax 0.6.29",
] ]
[[package]] [[package]]
name = "pio-proc" name = "pio-proc"
version = "0.2.2" version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
checksum = "6b04dc870fb3a4fd8b3e4ca8c61b53bc8ac4eb78b66805d2b3c2e5c4829e0d7a"
dependencies = [ dependencies = [
"codespan-reporting", "codespan-reporting",
"lalrpop-util", "lalrpop-util",
"pio", "pio",
"pio-parser", "pio-parser",
"proc-macro-error", "proc-macro-error2",
"proc-macro2", "proc-macro2",
"quote", "quote",
"regex-syntax 0.6.29", "syn 2.0.96",
"syn 1.0.109",
] ]
[[package]] [[package]]
@ -1082,27 +1118,25 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "925383efa346730478fb4838dbe9137d2a47675ad789c546d150a6e1dd4ab31c" checksum = "925383efa346730478fb4838dbe9137d2a47675ad789c546d150a6e1dd4ab31c"
[[package]] [[package]]
name = "proc-macro-error" name = "proc-macro-error-attr2"
version = "1.0.4" version = "2.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c" checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
dependencies = [ dependencies = [
"proc-macro-error-attr",
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 1.0.109",
"version_check",
] ]
[[package]] [[package]]
name = "proc-macro-error-attr" name = "proc-macro-error2"
version = "1.0.4" version = "2.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869" checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
dependencies = [ dependencies = [
"proc-macro-error-attr2",
"proc-macro2", "proc-macro2",
"quote", "quote",
"version_check", "syn 2.0.96",
] ]
[[package]] [[package]]
@ -1164,7 +1198,7 @@ dependencies = [
"aho-corasick", "aho-corasick",
"memchr", "memchr",
"regex-automata", "regex-automata",
"regex-syntax 0.8.5", "regex-syntax",
] ]
[[package]] [[package]]
@ -1175,15 +1209,9 @@ checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
dependencies = [ dependencies = [
"aho-corasick", "aho-corasick",
"memchr", "memchr",
"regex-syntax 0.8.5", "regex-syntax",
] ]
[[package]]
name = "regex-syntax"
version = "0.6.29"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
[[package]] [[package]]
name = "regex-syntax" name = "regex-syntax"
version = "0.8.5" version = "0.8.5"
@ -1248,6 +1276,15 @@ version = "1.0.19"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4" checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4"
[[package]]
name = "same-file"
version = "1.0.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "93fc1dc3aaa9bfed95e02e6eadabb4baf7e3078b0bd1b4d7b6b0b68378900502"
dependencies = [
"winapi-util",
]
[[package]] [[package]]
name = "scopeguard" name = "scopeguard"
version = "1.2.0" version = "1.2.0"
@ -1301,6 +1338,16 @@ version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9" checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
[[package]]
name = "sha3"
version = "0.10.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "75872d278a8f37ef87fa0ddbda7802605cb18344497949862c0d4dcb291eba60"
dependencies = [
"digest",
"keccak",
]
[[package]] [[package]]
name = "simba" name = "simba"
version = "0.7.3" version = "0.7.3"
@ -1350,6 +1397,7 @@ dependencies = [
"common", "common",
"cortex-m", "cortex-m",
"cortex-m-rt", "cortex-m-rt",
"dcmimu",
"embassy-executor", "embassy-executor",
"embassy-rp", "embassy-rp",
"embassy-sync", "embassy-sync",
@ -1486,15 +1534,6 @@ dependencies = [
"syn 2.0.96", "syn 2.0.96",
] ]
[[package]]
name = "tiny-keccak"
version = "2.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2c9d3793400a45f954c52e73d068316d76b6f4e36977e3fcebb13a2721e80237"
dependencies = [
"crunchy",
]
[[package]] [[package]]
name = "typenum" name = "typenum"
version = "1.17.0" version = "1.17.0"
@ -1593,6 +1632,16 @@ dependencies = [
"vcell", "vcell",
] ]
[[package]]
name = "walkdir"
version = "2.5.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
dependencies = [
"same-file",
"winapi-util",
]
[[package]] [[package]]
name = "wasi" name = "wasi"
version = "0.11.0+wasi-snapshot-preview1" version = "0.11.0+wasi-snapshot-preview1"

9
southbridge/Cargo.toml
View file

@ -25,9 +25,18 @@ log = "0.4"
framed = {git = "https://git.ank.dev/ank/framed-rs", default-features=false, features = ["use_nightly"]} framed = {git = "https://git.ank.dev/ank/framed-rs", default-features=false, features = ["use_nightly"]}
common = { path = "../common" } common = { path = "../common" }
mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" } mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
dcmimu = "0.2.2"
nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] } nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
serde = { version = "1.0.203", default-features = false, features = ["derive"] } serde = { version = "1.0.203", default-features = false, features = ["derive"] }
postcard = "1.0.0" postcard = "1.0.0"
static_cell = "2.1" static_cell = "2.1"
portable-atomic = { version = "1.5", features = ["critical-section"] } portable-atomic = { version = "1.5", features = ["critical-section"] }
heapless = "0.8" heapless = "0.8"
[patch.crates-io]
# https://github.com/embassy-rs/embassy/pull/3763/
embassy-rp = { git = 'https://github.com/embassy-rs/embassy/' }
embassy-time = { git = 'https://github.com/embassy-rs/embassy/' }
embassy-usb-logger = { git = 'https://github.com/embassy-rs/embassy/' }
embassy-sync = { git = 'https://github.com/embassy-rs/embassy/' }
embassy-executor = { git = 'https://github.com/embassy-rs/embassy/' }

24
southbridge/src/main.rs
View file

@ -6,7 +6,7 @@ use core::{panic::PanicInfo, sync::atomic::{AtomicU16, Ordering}};
use common::{Response, RobotState, SensorData, BAUDRATE}; use common::{Response, RobotState, SensorData, BAUDRATE};
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_rp::{adc::{self, Adc}, bind_interrupts, block::ImageDef, gpio::{Level, Output, Pull}, peripherals::{ADC, ADC_TEMP_SENSOR, PIN_28, UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver}; use embassy_rp::{adc::{self, Adc}, bind_interrupts, block::ImageDef, gpio::{Level, Output, Pull}, peripherals::{ADC, ADC_TEMP_SENSOR, PIN_28, UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel, once_lock::OnceLock, watch::Watch}; use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel, mutex::Mutex, once_lock::OnceLock, pubsub::PubSubChannel, signal::Signal, watch::Watch};
use embassy_time::{with_deadline, with_timeout, Duration, Instant, Timer}; use embassy_time::{with_deadline, with_timeout, Duration, Instant, Timer};
use embedded_io_async::{BufRead, Read, Write}; use embedded_io_async::{BufRead, Read, Write};
use log::{error, info, trace, warn}; use log::{error, info, trace, warn};
@ -21,7 +21,7 @@ bind_interrupts!(struct Irqs {
ADC_IRQ_FIFO => adc::InterruptHandler; ADC_IRQ_FIFO => adc::InterruptHandler;
}); });
pub static COMMANDS: Watch<CriticalSectionRawMutex, (RobotState, Instant), 5> = Watch::new(); pub static COMMANDS: Watch<CriticalSectionRawMutex, (RobotState, Instant), 3> = Watch::new();
pub static SENSOR_DATA: Channel<CriticalSectionRawMutex, SensorData, 5> = Channel::new(); pub static SENSOR_DATA: Channel<CriticalSectionRawMutex, SensorData, 5> = Channel::new();
pub static BUS_VOLTAGE: AtomicU16 = AtomicU16::new(u16::MAX); pub static BUS_VOLTAGE: AtomicU16 = AtomicU16::new(u16::MAX);
@ -38,7 +38,7 @@ pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe();
#[embassy_executor::task] #[embassy_executor::task]
async fn logger_task(driver: Driver<'static, USB>) { async fn logger_task(driver: Driver<'static, USB>) {
embassy_usb_logger::run!(1024, log::LevelFilter::Trace, driver); embassy_usb_logger::run!(2048, log::LevelFilter::Trace, driver);
} }
#[panic_handler] #[panic_handler]
@ -86,7 +86,7 @@ async fn main(spawner: Spawner) {
Timer::after_secs(13).await; // pi 0 serial ports act strange during the boot process Timer::after_secs(13).await; // pi 0 serial ports act strange during the boot process
spawner.spawn(bus_voltage_monitor(p.ADC, p.PIN_28, p.ADC_TEMP_SENSOR)).unwrap(); //spawner.spawn(bus_voltage_monitor(p.ADC, p.PIN_28, p.ADC_TEMP_SENSOR)).unwrap();
let config = embassy_rp::i2c::Config::default(); let config = embassy_rp::i2c::Config::default();
let bus = embassy_rp::i2c::I2c::new_async(p.I2C1, p.PIN_19, p.PIN_18, Irqs, config); let bus = embassy_rp::i2c::I2c::new_async(p.I2C1, p.PIN_19, p.PIN_18, Irqs, config);
@ -104,8 +104,7 @@ async fn main(spawner: Spawner) {
spawner.spawn(decoder(rx)).unwrap(); spawner.spawn(decoder(rx)).unwrap();
static ENABLED: AtomicBool = AtomicBool::new(false); spawner.spawn(telemetry(tx)).unwrap();
spawner.spawn(telemetry(tx, &ENABLED)).unwrap();
let watchdog_time = Duration::from_millis(150); let watchdog_time = Duration::from_millis(150);
@ -120,19 +119,15 @@ async fn main(spawner: Spawner) {
if time.elapsed() > watchdog_time { if time.elapsed() > watchdog_time {
drive_pwm.set_config(&stopped); drive_pwm.set_config(&stopped);
set_underglow(&mut light_pwm_rg, &mut light_pwm_b, disabled_orange.clone()); set_underglow(&mut light_pwm_rg, &mut light_pwm_b, disabled_orange.clone());
ENABLED.store(false, Ordering::Acquire);
commands.changed().await; commands.changed().await;
set_underglow(&mut light_pwm_rg, &mut light_pwm_b, enabled_green.clone()); set_underglow(&mut light_pwm_rg, &mut light_pwm_b, enabled_green.clone());
ENABLED.store(true, Ordering::Acquire);
continue; continue;
} }
ENABLED.store(true, Ordering::Acquire);
// 100% effort at 9.5v, 0% effort at 7.5v // 100% effort at 9.5v, 0% effort at 7.5v
let brownout = ((bus_voltage()-7.5)/2.0).clamp(0., 1.); let brownout = ((bus_voltage()-7.5)/2.0).clamp(0., 1.);
let command = command.brownout(brownout); let command = command.clone().brownout(brownout);
// drive motors // drive motors
let (forward, right) = command.drive; let (forward, right) = command.drive;
@ -176,18 +171,13 @@ async fn decoder(mut rx: BufferedUartRx<'static, UART1>) {
/// Receive data from channel and send it over UART /// Receive data from channel and send it over UART
#[embassy_executor::task] #[embassy_executor::task]
async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static AtomicBool) { async fn telemetry(mut tx: BufferedUartTx<'static, UART1>) {
info!("Telemetry waiting..."); info!("Telemetry waiting...");
//COMMANDS.receiver().unwrap().get().await; //COMMANDS.receiver().unwrap().get().await;
info!("Telemetry started..."); info!("Telemetry started...");
loop { loop {
let data = with_timeout(Duration::from_millis(20), SENSOR_DATA.receive()).await.ok(); let data = with_timeout(Duration::from_millis(20), SENSOR_DATA.receive()).await.ok();
if !enabled.load(Ordering::Release) {
Timer::after_millis(10).await;
continue;
}
let packet = Response { let packet = Response {
sensor_data: data, sensor_data: data,
uptime_micros: Instant::now().as_micros(), uptime_micros: Instant::now().as_micros(),