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RmlDesign Suggestion.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="generator" content="Asciidoctor 2.0.10">
<title>RML approach to design</title>
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700">
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/* Asciidoctor default stylesheet | MIT License | https://asciidoctor.org */
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</head>
<body class="article">
<div id="header">
<h1>RML approach to design</h1>
</div>
<div id="content">
<div class="sect1">
<h2 id="_common_library">Common Library</h2>
<div class="sectionbody">
<div class="paragraph">
<p>Tne main idea of RMl is reuse common components in different projects:</p>
</div>
<div class="paragraph">
<p>The Common Library consists common interfaces and implementation for:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>CortexM4 Hardware modules</p>
</li>
<li>
<p>Registers wrapper</p>
</li>
<li>
<p>Diagnostic</p>
</li>
<li>
<p>Nv parameters</p>
</li>
<li>
<p>Simple Tasker (Rtos)</p>
</li>
<li>
<p>Rtos wrapper for third part RTOS</p>
</li>
<li>
<p>Some other specific things like Filter, Duration calculation and so on</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>It allows RML to use components in their applications without any modification. The application just configure the components and uses it.</p>
</div>
<div class="imageblock">
<div class="content">
<img src="images/CommonIdea.png" alt="CommonIdea">
</div>
</div>
<div class="paragraph">
<p>Example of configuring the Hardware</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp"><span style="color:#777">// Filename : uartconfig.hpp</span>
<span style="color:#579">#pragma</span> once
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"system.hpp"</span> <span style="color:#777">// For systemClock</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"hwuart.hpp"</span> <span style="color:#777">// For HwUart</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"uart.hpp"</span> <span style="color:#777">// For Uart4</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"uart4registers.hpp"</span> <span style="color:#777">// For Uart4 registers</span>
<span style="color:#080;font-weight:bold">class</span> <span style="color:#B06;font-weight:bold">tFrequencyTransmitter</span> ; <span style="color:#777">//subsriber for Uart events</span>
<span style="color:#088;font-weight:bold">using</span> tUart = Uart<HwUart<Uart4, System::systemClock / System::apbPrescaler>, tFrequencyTransmitter> ;</code></pre>
</div>
</div>
<div class="paragraph">
<p>Example of configure the Rtos Timers:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp"><span style="color:#777">// rtostimersconfig.hpp</span>
<span style="color:#579">#pragma</span> once
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"rtostimer.hpp"</span> <span style="color:#777">// For RtosTimer</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"rtostimerservice.hpp"</span> <span style="color:#777">// For RtosTimerService</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"tasksconfig.hpp"</span> <span style="color:#777">// For led1Task</span>
<span style="color:#777">//Timer for Led1 task</span>
<span style="color:#088;font-weight:bold">using</span> tLed1Timer = RtosTimer<
led1Task,
<span style="color:#00D">1000</span>U, <span style="color:#777">//time in ms</span>
<span style="color:#080;font-weight:bold">static_cast</span><tTaskEvents>(Led1TaskEvents::togglePin)> ;
<span style="color:#777">//Timer for MeasurementDirector task</span>
<span style="color:#088;font-weight:bold">using</span> tMeasTimer = RtosTimer<
measTask,
<span style="color:#00D">100</span>U, <span style="color:#777">//time in ms</span>
<span style="color:#080;font-weight:bold">static_cast</span><tTaskEvents>(MeasurementDirectorTaskEvents::calculate)> ;
<span style="color:#777">//Timer for Frequency Transmition task</span>
<span style="color:#088;font-weight:bold">using</span> tFrequencyTransmissionTimer = RtosTimer<
frequencyTransmissionTask,
<span style="color:#00D">1000</span>U, <span style="color:#777">//time in ms</span>
<span style="color:#080;font-weight:bold">static_cast</span><tTaskEvents>(FrequencyTransmissionEvents::transmitFrequency)> ;
<span style="color:#088;font-weight:bold">using</span> tRtosTimerService =
RtosTimerService<tLed1Timer, tMeasTimer, tFrequencyTransmissionTimer> ;</code></pre>
</div>
</div>
<div class="paragraph">
<p>Example of tasks configuration:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp"><span style="color:#777">//Filename : tasksconfig.hpp</span>
<span style="color:#579">#pragma</span> once
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"itask.hpp"</span> <span style="color:#777">// For ITask</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"rtos.hpp"</span> <span style="color:#777">// For Rtos</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"testtasks.hpp"</span> <span style="color:#777">// For Led1Task, Led2Task</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"measurementdirector.hpp"</span> <span style="color:#777">// For MeasurementDirector</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"measurementdirectorconfig.hpp"</span> <span style="color:#777">// For SensorBoardFrequencyProcessing</span>
<span style="color:#579">#include</span> <span style="color:#B44;font-weight:bold">"frequencytransmissiondirector.hpp"</span> <span style="color:#777">// For FrequencyTransmissionDirector</span>
<span style="color:#777">//Tasks: global objects</span>
<span style="color:#088;font-weight:bold">inline</span> Led1Task led1Task ;
<span style="color:#088;font-weight:bold">inline</span> MeasurementDirector<SensorBoardFrequencyProcessing> measTask ;
<span style="color:#088;font-weight:bold">inline</span> FrequencyTransmissionDirector frequencyTransmissionTask ;
<span style="color:#080;font-weight:bold">enum</span> <span style="color:#080;font-weight:bold">class</span> <span style="color:#B06;font-weight:bold">TaskPriorities</span> : tTaskPriority
{
lowest = <span style="color:#00D">1</span>U,
low = <span style="color:#00D">2</span>U,
medium = <span style="color:#00D">3</span>U,
high = <span style="color:#00D">4</span>U,
highest = <span style="color:#00D">5</span>U
} ;
<span style="color:#777">//Configuration of Tcb block of task Led1</span>
<span style="color:#088;font-weight:bold">inline</span> <span style="color:#088;font-weight:bold">constexpr</span> TaskControlBlock tcb1
{
&led1Task,
<span style="color:#080;font-weight:bold">static_cast</span><tTaskPriority>(TaskPriorities::low)
} ;
<span style="color:#777">//Configuration of Tcb block of MeasurementDirector task</span>
<span style="color:#088;font-weight:bold">inline</span> <span style="color:#088;font-weight:bold">constexpr</span> TaskControlBlock tcb2
{
&measTask,
<span style="color:#080;font-weight:bold">static_cast</span><tTaskPriority>(TaskPriorities::low)
} ;
<span style="color:#777">//Configuration of Tcb block of Frequency Transmission task</span>
<span style="color:#088;font-weight:bold">inline</span> <span style="color:#088;font-weight:bold">constexpr</span> TaskControlBlock tcb3
{
&frequencyTransmissionTask,
<span style="color:#080;font-weight:bold">static_cast</span><tTaskPriority>(TaskPriorities::low)
} ;
<span style="color:#088;font-weight:bold">using</span> tRtos = Rtos<&tcb1, &tcb2, &tcb3> ;</code></pre>
</div>
</div>
<div class="paragraph">
<p>And use this:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp"><span style="color:#0a8;font-weight:bold">int</span> main()
{
tUart::Enable() ;
tUart::SetBaudRate(tU32{<span style="color:#00D">9600</span>U}) ;
tUart::SetParity(UartParity::none) ;
tUart::SetWordLength(UartWordLength::eightDataBits) ;
tUart::SetStopBitsNumber(UartStopBits::oneBit) ;
tUart::EnableTransmitter() ;
<span style="color:#777">//Start three tasks: frequencyTransmissionTask, measTask, led1Task</span>
tRtos::Start();
<span style="color:#080;font-weight:bold">return</span> <span style="color:#00D">0</span>;
}</code></pre>
</div>
</div>
<div class="paragraph">
<p>All design used static polymorphism, but it is possible to use the traditional approach with objects</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="_register_approach">Register approach</h2>
<div class="sectionbody">
<div class="paragraph">
<p>RML does not used the CMSIS at all. Instead of that is used registers which are generated from *.svd files, base on the <a href="https://habr.com/ru/post/459642/">article</a> It allows to have safe access to the registers.</p>
</div>
<div class="imageblock">
<div class="content">
<img src="images/Registers.png" alt="Registers">
</div>
</div>
<div class="paragraph">
<p>And example of usage</p>
</div>
<div class="imageblock">
<div class="content">
<img src="images/ExampleReisters.png" alt="ExampleReisters">
</div>
</div>
<div class="paragraph">
<p>In the begginig RML uses CMSIS and this how they works with registers:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp">GPIOA->AFR[<span style="color:#00D">1</span>] = <span style="color:#02b">0xBB000</span>U ;
BitUtils::SetMask(RCC->APB1ENR,
RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN |
RCC_APB1ENR_TIM4EN | RCC_APB1ENR_UART4EN) ;
NVIC_EnableIRQ(TIM2_IRQn) ;</code></pre>
</div>
</div>
<div class="paragraph">
<p>And then RML decided to use autogenerated registers from svd file:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp">Gpioa::Afrh::Afrh11::Write(<span style="color:#00D">11</span>U) ;
Rcc::Apb1Enr::Tim2En::Write(RccApb1EnrTim2EnValues::clockEnabled) ;
Rcc::Apb1Enr::Tim5En::Write(RccApb1EnrTim5EnValues::clockEnabled) ;
Rcc::Apb1Enr::Uart4En::Write(RccApb1EnrUart4EnValues::clockEnabled) ;
NvicManager::EnableIrq<Irqn::tim2>() ;</code></pre>
</div>
</div>
<div class="paragraph">
<p>It is possible to use another approach for safety access to the registers:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="cpp"> GPIOB::AFRHPack<
GPIOB::AFRH::AFRH13::Af5,
GPIOB::AFRH::AFRH15::Af5
>::Set() ;
RCC::APB1ENRPack<
RCC::APB1ENR::TIM4EN::Enable,
RCC::APB1ENR::TIM2EN::Enable,
RCC::APB1ENR::TIM3EN::Enable,
RCC::APB1ENR::USART4EN::Enable
>::Set() ;
NvicManager::EnableIrq<Irqn::tim2>() ;</code></pre>
</div>
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