feat: Replies to pings (ignoring crc)

app/CMakeLists.txt

@@ -94,5 +94,5 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/incp.cmake)
 find_program(OPENOCD openocd)
 
 add_custom_target(flash
-	COMMAND ${OPENOCD} -f interface/stlink.cfg -f target/${FW_OPENOCD_TARGET} -c "program $<TARGET_FILE:${EXECUTABLE}> verify reset exit"
+	COMMAND ${OPENOCD} -f interface/stlink.cfg -f target/${FW_OPENOCD_TARGET} -s ${CMAKE_CURRENT_SOURCE_DIR} -f stlink_serial.cfg -c "program $<TARGET_FILE:${EXECUTABLE}> verify reset exit"
 )

app/src/CMakeLists.txt

@@ -2,4 +2,7 @@ target_sources(${EXECUTABLE} PRIVATE
 	main.c
 	incp_handler.c
 	msg_buf.c
+	my_i2c.c
 )
+
+add_subdirectory(i3c)

app/src/i3c/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_sources(${EXECUTABLE} PRIVATE
+	i3c.c
+	checksum.c
+)
+
+target_include_directories(${EXECUTABLE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

app/src/i3c/checksum.c

@@ -0,0 +1,69 @@
+#include "checksum.h"
+
+// CRC8 with reflected result (0xFF)
+// Ref: http://www.sunshine2k.de/coding/javascript/crc/crc_js.html
+
+const uint8_t _table[256] = {
+    // clang-format off
+    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15,
+    0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+    0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
+    0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
+    0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5,
+    0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85,
+    0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
+    0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
+    0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
+    0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2,
+    0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
+    0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+    0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
+    0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
+    0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c,
+    0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec,
+    0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
+    0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
+    0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
+    0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c,
+    0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b,
+    0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
+    0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
+    0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+    0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb,
+    0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb,
+    0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
+    // clang-format on
+};
+
+void crc8_init(crc8_t *crc) { *crc = 0; }
+
+void crc8_add(crc8_t *crc, uint8_t value) { *crc = _table[*crc ^ value]; }
+
+void crc8_addSlice(crc8_t *crc, const void *data, size_t size) {
+    const uint8_t *data8 = (const uint8_t *)data;
+
+    size_t i;
+    for (i = 0; i < size; i += 1)
+        crc8_add(crc, data8[i]);
+}
+
+void crc8_finish(crc8_t *crc) { *crc = (crc8_t)(0xFF ^ *crc); }
+
+crc8_t crc8_calc(const void *data, size_t size) {
+    crc8_t crc;
+    crc8_init(&crc);
+    crc8_addSlice(&crc, data, size);
+    crc8_finish(&crc);
+    return crc;
+}
+
+bool crc8_eq(const crc8_t *a, const crc8_t *b) { return *a == *b; }
+
+bool crc8_valid(const crc8_t *crc, const void *data, size_t size) {
+    return *crc == crc8_calc(data, size);
+}

app/src/i3c/checksum.h

@@ -0,0 +1,18 @@
+#ifndef __UTIL_CHECKSUM_H_
+#define __UTIL_CHECKSUM_H_
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+typedef uint8_t crc8_t;
+
+void crc8_init(crc8_t *crc);
+void crc8_add(crc8_t *crc, uint8_t value);
+void crc8_addSlice(crc8_t *crc, const void *data, size_t size);
+void crc8_finish(crc8_t *crc);
+crc8_t crc8_calc(const void *data, size_t size);
+bool crc8_eq(const crc8_t *a, const crc8_t *b);
+bool crc8_valid(const crc8_t *crc, const void *data, size_t size);
+
+#endif

app/src/i3c/i3c.c

@@ -0,0 +1,33 @@
+#include "i3c.h"
+
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+#include "checksum.h"
+
+uint8_t i3c_crc(uint8_t dst, uint8_t *msg, size_t len) {
+    uint8_t crc;
+    crc8_init(&crc);
+    crc8_add(&crc, dst);
+    crc8_add(&crc, msg[0]); // src
+    crc8_add(&crc, msg[1]); // size
+    crc8_add(&crc, 0);      // crc
+    crc8_addSlice(&crc, &msg[I3C_HEADER_SIZE], len - I3C_HEADER_SIZE);
+    crc8_finish(&crc);
+
+    return crc;
+}
+
+bool i3c_validate(uint8_t *msg, size_t len)
+{
+    uint8_t computed_crc8;
+    uint8_t rcvd_crc8 = msg[2];
+    msg[2] = 0;
+    crc8_init(&computed_crc8);
+    crc8_addSlice(&computed_crc8, msg, len);
+    crc8_finish(&computed_crc8);
+    msg[2] = rcvd_crc8;
+
+    return computed_crc8 == rcvd_crc8;
+}

app/src/i3c/i3c.h

@@ -0,0 +1,17 @@
+#ifndef I3C_H
+#define I3C_H
+
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+#define I3C_ADDR_SIZE 1
+#define I3C_PL_LEN_SIZE 1
+#define I3C_CRC_SIZE 1
+
+#define I3C_HEADER_SIZE (I3C_ADDR_SIZE + I3C_PL_LEN_SIZE + I3C_CRC_SIZE)
+
+uint8_t i3c_crc(uint8_t dst, uint8_t *msg, size_t len);
+bool i3c_validate(uint8_t *msg, size_t len);
+
+#endif

app/src/incp_handler.c

@@ -4,19 +4,78 @@
 #define INCP_IMPL_CALC
 #include "gen_wrapper.h"
 
+#include "i3c.h"
+#include "my_i2c.h"
+
+static void handle_msg(uint8_t sender, uint8_t *msg, uint32_t len);
+
+#define I2C_OWN_ADDR 0x01
 
 void handle_incp(msg_buf_t *msgs)
 {
-	uint8_t *bytes;
+	uint8_t *msg;
 	uint32_t len;
 	err_t err;
 
-	err = msg_buf_peek(msgs, (void**)&bytes, &len);
+	err = msg_buf_peek(msgs, (void**)&msg, &len);
 	if (err == ERR_EMPTY)
 		return;
 
 	if (err != ERR_OK)
 		Error_Handler();
 
-	//TODO: React to INCP
+	//FIXME: Fails everytime
+	// Check I3C
+	if (!i3c_validate(msg, len))
+	{
+		//return; // Ignore failed messages
+	}
+
+	uint8_t sender = msg[0];
+
+	handle_msg(sender, msg + I3C_HEADER_SIZE, len - I3C_HEADER_SIZE);
+	msg_buf_pop(msgs);
+}
+
+static void handle_msg(uint8_t sender, uint8_t *bytes, uint32_t len)
+{
+	incp_msg_t msg = { 0 };
+	uint8_t *content;
+	size_t content_len;
+
+	if (incp_deserialize_base(&msg, (void**)&content, &content_len, bytes, len) != INCP_OK)
+	{
+		return; // Ignore failed messages
+	}
+
+	switch (msg.kind)
+	{
+	case Incp_header_t_kind_ping:
+		if (incp_convert_ping_inplace(bytes, len) != INCP_OK)
+			return; //Ignore (unlikely to happen)
+
+		bytes[-3] = I2C_OWN_ADDR;
+		bytes[-2] = len;
+		bytes[-1] = i3c_crc(I2C_OWN_ADDR, bytes, len);
+		I2C1_transmit_master(sender, bytes-I3C_HEADER_SIZE, len+I3C_HEADER_SIZE);
+		break;
+
+	case Incp_header_t_kind_manifest_req:
+	case Incp_header_t_kind_data_req:
+	case Incp_header_t_kind_data_set:
+	case Incp_header_t_kind_cmd_req:
+		//TODO:
+		return;
+
+	case Incp_header_t_kind_pong:
+	case Incp_header_t_kind_manifest_ret:
+	case Incp_header_t_kind_log_entry:
+	case Incp_header_t_kind_bulk_xfer:
+	case Incp_header_t_kind_event:
+	case Incp_header_t_kind_data_ret:
+	case Incp_header_t_kind_cmd_ret:
+	default:
+		// Ignore
+		return;
+	}
 }

app/src/main.c

@@ -7,94 +7,19 @@
 #include "stm32f4xx_ll_i2c.h"
 
 #include "incp_handler.h"
-#include "msg_buf.h"
+#include "my_i2c.h"
-
-#define I2C_BUF_SIZE 512
-uint8_t i2c_buf[I2C_BUF_SIZE];
 
 #define MSG_BUF_CAPACITY (2*1024)
 uint8_t i2c_msg_store[MSG_BUF_CAPACITY];
-msg_buf_t i2c_msgs;
-
-void I2C1_EV_IRQHandler()
-{
-	if (!LL_I2C_IsActiveFlag_ADDR(I2C1))
-		Error_Handler();
-
-	//Skip checking matched addr (should only be one)
-	//Skip checking if receiving or transmitting (should always be false)
-	LL_I2C_ClearFlag_ADDR(I2C1);
-
-	int head = 0;
-
-	//Allow buffer to grow until full (and inclusive)
-	while (head <= I2C_BUF_SIZE)
-	{
-		//Wait for data or stop flag
-		while (!LL_I2C_IsActiveFlag_STOP(I2C1) && !LL_I2C_IsActiveFlag_RXNE(I2C1));
-
-		if (LL_I2C_IsActiveFlag_STOP(I2C1))
-		{
-			LL_I2C_ClearFlag_STOP(I2C1);
-			break;
-		}
-		else //Data received
-		{
-			if (head >= I2C_BUF_SIZE) //Overflow for sure
-				Error_Handler();
-
-			uint8_t data = LL_I2C_ReceiveData8(I2C1);
-			i2c_buf[head++] = data;
-		}
-	}
-
-	//Stop condition reached, save msg
-	msg_buf_push(&i2c_msgs, i2c_buf, head);
-}
-
-bool I2C1_transmit_master(uint8_t addr, uint8_t *buf, uint8_t count)
-{
-	while (LL_I2C_IsActiveFlag_BUSY(I2C1));
-
-	//Transmit start
-	LL_I2C_GenerateStartCondition(I2C1);
-	while (!LL_I2C_IsActiveFlag_SB(I2C1));
-
-	//Transmit address + write
-	LL_I2C_TransmitData8(I2C1, addr << 1);
-	while (!LL_I2C_IsActiveFlag_ADDR(I2C1));
-	LL_I2C_ClearFlag_ADDR(I2C1);
-
-	for (int i = 0; i < count; ++i)
-	{
-		while (!LL_I2C_IsActiveFlag_TXE(I2C1));
-
-		if (LL_I2C_IsActiveFlag_AF(I2C1))
-		{
-			//REVIEW: Anything else neeeded?
-			LL_I2C_Disable(I2C1);
-			LL_I2C_Enable(I2C1);
-			return false;
-		}
-
-		LL_I2C_TransmitData8(I2C1, buf[i]);
-	}
-
-	LL_I2C_GenerateStopCondition(I2C1);
-	while (LL_I2C_IsActiveFlag_STOP(I2C1));
-
-	LL_I2C_Disable(I2C1);
-	LL_I2C_Enable(I2C1);
-	return true;
-}
 
 int my_main()
 {
+	LL_I2C_EnableIT_EVT(I2C1);
+
 	msg_buf_init(&i2c_msgs, i2c_msg_store, sizeof(i2c_msg_store));
 
 	while (1)
 	{
-		HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
 		for (int i = 0; i < 500; ++i)
 		{
 			HAL_Delay(1);

app/src/msg_buf.c

@@ -49,7 +49,7 @@ int msg_buf_push(msg_buf_t *buf, void *data, uint32_t len)
 
 	//At this point head is at the first free location and there is enough space after it
 	*(len_prefix_t*)(buf->storage + buf->head) = len;
-	memcpy(buf->storage + buf->head + _LENGTH_SIZE, buf, len);
+	memcpy(buf->storage + buf->head + _LENGTH_SIZE, data, len);
 	buf->head += len_f;
 	buf->count += len_f;
 

app/src/my_i2c.c

@@ -0,0 +1,98 @@
+#include "my_i2c.h"
+
+#include "main.h"
+
+#include "stm32f4xx_ll_i2c.h"
+
+
+uint8_t i2c_buf[I2C_BUF_SIZE];
+msg_buf_t i2c_msgs;
+
+static int enter_count = 0;
+static int exit_count = 0;
+
+void I2C1_EV_IRQHandler()
+{
+	if (!LL_I2C_IsActiveFlag_ADDR(I2C1))
+		return;
+
+	//Skip checking matched addr (should only be one)
+	//Skip checking if receiving or transmitting (should always be false)
+	LL_I2C_ClearFlag_ADDR(I2C1);
+
+	++enter_count;
+
+	int head = 0;
+
+	//Allow buffer to grow until full (and inclusive)
+	while (head <= I2C_BUF_SIZE)
+	{
+		//Wait for data or stop flag
+		while (!LL_I2C_IsActiveFlag_STOP(I2C1) && !LL_I2C_IsActiveFlag_RXNE(I2C1));
+
+		if (LL_I2C_IsActiveFlag_STOP(I2C1))
+		{
+			LL_I2C_ClearFlag_STOP(I2C1);
+			break;
+		}
+		else //Data received
+		{
+			if (head >= I2C_BUF_SIZE) //Overflow for sure
+				Error_Handler();
+
+			uint8_t data = LL_I2C_ReceiveData8(I2C1);
+			i2c_buf[head++] = data;
+		}
+	}
+
+	//Stop condition reached, save msg
+	msg_buf_push(&i2c_msgs, i2c_buf, head);
+
+	HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
+	++exit_count;
+}
+
+bool I2C1_transmit_master(uint8_t addr, uint8_t *buf, uint8_t count)
+{
+	while (LL_I2C_IsActiveFlag_BUSY(I2C1));
+
+	LL_I2C_DisableIT_EVT(I2C1);
+
+	//Transmit start
+	LL_I2C_GenerateStartCondition(I2C1);
+	while (!LL_I2C_IsActiveFlag_SB(I2C1));
+
+	//Transmit address + write
+	LL_I2C_TransmitData8(I2C1, addr << 1);
+	while (!LL_I2C_IsActiveFlag_ADDR(I2C1));
+	LL_I2C_ClearFlag_ADDR(I2C1);
+
+	for (int i = 0; i < count; ++i)
+	{
+		while (!LL_I2C_IsActiveFlag_TXE(I2C1));
+
+		if (LL_I2C_IsActiveFlag_AF(I2C1))
+		{
+			//REVIEW: Anything else neeeded?
+			LL_I2C_Disable(I2C1);
+			LL_I2C_Enable(I2C1);
+
+			LL_I2C_EnableIT_EVT(I2C1);
+			HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_SET);
+			return false;
+		}
+
+		LL_I2C_TransmitData8(I2C1, buf[i]);
+	}
+
+	while (!LL_I2C_IsActiveFlag_TXE(I2C1));
+
+	LL_I2C_GenerateStopCondition(I2C1);
+	while (LL_I2C_IsActiveFlag_STOP(I2C1));
+
+	LL_I2C_Disable(I2C1);
+	LL_I2C_Enable(I2C1);
+
+	LL_I2C_EnableIT_EVT(I2C1);
+	return true;
+}

app/src/my_i2c.h

@@ -0,0 +1,15 @@
+#ifndef _MYI2C_H_
+#define _MYI2C_H_
+
+#include <stdint.h>
+
+#include "msg_buf.h"
+
+#define I2C_BUF_SIZE 512
+
+extern uint8_t i2c_buf[I2C_BUF_SIZE];
+extern msg_buf_t i2c_msgs;
+
+bool I2C1_transmit_master(uint8_t addr, uint8_t *buf, uint8_t count);
+
+#endif

app/stlink_serial.cfg

@@ -0,0 +1 @@
+adapter serial 066DFF495051727187065818

cubemx/Core/Inc/stm32f4xx_it.h

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void TIM1_UP_TIM10_IRQHandler(void);
+void I2C1_EV_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

cubemx/Core/Src/i2c.c

@@ -52,6 +52,10 @@ void MX_I2C1_Init(void)
   /* Peripheral clock enable */
   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_I2C1);
 
+  /* I2C1 interrupt Init */
+  NVIC_SetPriority(I2C1_EV_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_EnableIRQ(I2C1_EV_IRQn);
+
   /* USER CODE BEGIN I2C1_Init 1 */
 
   /* USER CODE END I2C1_Init 1 */
@@ -64,7 +68,7 @@ void MX_I2C1_Init(void)
   I2C_InitStruct.PeripheralMode = LL_I2C_MODE_I2C;
   I2C_InitStruct.ClockSpeed = 100000;
   I2C_InitStruct.DutyCycle = LL_I2C_DUTYCYCLE_2;
-  I2C_InitStruct.OwnAddress1 = 0;
+  I2C_InitStruct.OwnAddress1 = 2;
   I2C_InitStruct.TypeAcknowledge = LL_I2C_ACK;
   I2C_InitStruct.OwnAddrSize = LL_I2C_OWNADDRESS1_7BIT;
   LL_I2C_Init(I2C1, &I2C_InitStruct);

cubemx/cubemx.ioc

@@ -3,6 +3,9 @@ CAD.formats=
 CAD.pinconfig=
 CAD.provider=
 File.Version=6
+I2C1.IPParameters=OwnAddress,NoStretchMode
+I2C1.NoStretchMode=I2C_NOSTRETCH_DISABLE
+I2C1.OwnAddress=1
 KeepUserPlacement=false
 Mcu.CPN=STM32F411RET6
 Mcu.Family=STM32F4
@@ -37,6 +40,7 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:false
+NVIC.I2C1_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false

scripts/debug.sh

@@ -3,7 +3,7 @@ set -e
 
 case "$1" in
   server)
-    openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
+    openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -f app/stlink_serial.cfg
     ;;
   gdb)
     arm-none-eabi-gdb build/app/incp-tester-app \