Store everything in proper places with proper lifetimes

software/firmware/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-339510081203349785" id="org.eclipse.embedcdt.managedbuild.cross.arm.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Arm Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1347002660722691700" id="org.eclipse.embedcdt.managedbuild.cross.arm.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Arm Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

software/firmware/src/peripherals/src/battery.c

@@ -27,7 +27,7 @@ static void signal_charge_complete(bool charge_complete)
 static void plugged_in_status_changed(void *args)
 {
    // Retrieve the current plugged-in status of the charger
-   bool is_plugged_in = battery_monitor_is_plugged_in();
+   const bool is_plugged_in = battery_monitor_is_plugged_in();
 
    // Toggle the interrupt direction (dual-edge interrupts not available due to errata)
    am_hal_gpio_pincfg_t pin_config = AM_HAL_GPIO_PINCFG_INPUT;
@@ -46,7 +46,7 @@ static void plugged_in_status_changed(void *args)
 static void charging_status_changed(void *args)
 {
    // Retrieve the current charging statuses of the charger
-   bool is_charging = battery_monitor_is_charging();
+   const bool is_charging = battery_monitor_is_charging();
 
    // Toggle the interrupt direction (dual-edge interrupts not available due to errata)
    am_hal_gpio_pincfg_t pin_config = AM_HAL_GPIO_PINCFG_INPUT;
@@ -224,18 +224,12 @@ bool battery_monitor_is_plugged_in(void)
 {
    // Return the current plugged-in status of the battery
    static uint32_t status;
-   if (am_hal_gpio_state_read(PIN_BATTERY_INPUT_POWER_GOOD, AM_HAL_GPIO_INPUT_READ, &status) == AM_HAL_STATUS_SUCCESS)
-      return (status == 0);
-   else
-      return false;
+   return (am_hal_gpio_state_read(PIN_BATTERY_INPUT_POWER_GOOD, AM_HAL_GPIO_INPUT_READ, &status) == AM_HAL_STATUS_SUCCESS) && !status;
 }
 
 bool battery_monitor_is_charging(void)
 {
    // Return the current charging status of the battery
    static uint32_t status;
-   if (am_hal_gpio_state_read(PIN_BATTERY_CHARGING_STATUS, AM_HAL_GPIO_INPUT_READ, &status) == AM_HAL_STATUS_SUCCESS)
-      return (status == 0);
-   else
-      return false;
+   return (am_hal_gpio_state_read(PIN_BATTERY_CHARGING_STATUS, AM_HAL_GPIO_INPUT_READ, &status) == AM_HAL_STATUS_SUCCESS) && !status;
 }

software/firmware/src/peripherals/src/buzzer.c

@@ -5,22 +5,10 @@
 
 // Static Global Variables ---------------------------------------------------------------------------------------------
 
-static const uint16_t unplugged_frequencies[] = { 1760,   1, 1320,   1, 1110,   1, 880, 0 };
-static const uint16_t unplugged_durations[] =   {  100,  10,  100,  10,  100,  10, 100 };
-static const uint16_t plugged_frequencies[] = { 880,   1, 1110,   1, 1320,   1, 1760, 0 };
-static const uint16_t plugged_durations[] =   { 100,  10,  100,  10,  100,  10,  100 };
-static const uint16_t invalid_rtc_frequencies[] = { 760,   1, 760, 0 };
-static const uint16_t invalid_rtc_durations[] =   {  100, 100,  400 };
-static const uint16_t error_frequencies[] = { 880,   1, 587, 0 };
-static const uint16_t error_durations[] =   { 300, 100, 500 };
-static const uint16_t locator_frequencies[] = { 1047,   1, 1047, 830,   1, 880, 698, 0 };
-static const uint16_t locator_durations[] =   {  100, 100,  100, 100, 100, 100, 200 };
-
 static am_hal_timer_config_t timer_config;
+static const uint32_t buzzer_clock_hz = AM_HAL_CLKGEN_FREQ_MAX_HZ / 256;
 static volatile const uint16_t *current_frequency, *current_duration;
 static volatile uint32_t interrupt_counter_index, interrupt_counter_max;
-static uint32_t buzzer_clock_hz;
-
 
 // Private Helper Functions --------------------------------------------------------------------------------------------
 
@@ -97,7 +85,6 @@ void am_timer00_isr(void)
 void buzzer_init(void)
 {
    // Initialize static variables
-   buzzer_clock_hz = AM_HAL_CLKGEN_FREQ_MAX_HZ / 256;
    current_frequency = NULL;
    current_duration = NULL;
 
@@ -135,6 +122,8 @@ void buzzer_deinit(void)
 
 void buzzer_indicate_plugged_in(void)
 {
+   static const uint16_t plugged_frequencies[] = { 880,   1, 1110,   1, 1320,   1, 1760, 0 };
+   static const uint16_t plugged_durations[] =   { 100,  10,  100,  10,  100,  10,  100 };
    if (!current_frequency)
    {
       current_frequency = plugged_frequencies;
@@ -145,6 +134,8 @@ void buzzer_indicate_plugged_in(void)
 
 void buzzer_indicate_unplugged(void)
 {
+   static const uint16_t unplugged_frequencies[] = { 1760,   1, 1320,   1, 1110,   1, 880, 0 };
+   static const uint16_t unplugged_durations[] =   {  100,  10,  100,  10,  100,  10, 100 };
    if (!current_frequency)
    {
       current_frequency = unplugged_frequencies;
@@ -155,6 +146,8 @@ void buzzer_indicate_unplugged(void)
 
 void buzzer_indicate_invalid_rtc_time(void)
 {
+   static const uint16_t invalid_rtc_frequencies[] = { 760,   1, 760, 0 };
+   static const uint16_t invalid_rtc_durations[] =   {  100, 100,  400 };
    if (!current_frequency)
    {
       current_frequency = invalid_rtc_frequencies;
@@ -165,6 +158,8 @@ void buzzer_indicate_invalid_rtc_time(void)
 
 void buzzer_indicate_error(void)
 {
+   static const uint16_t error_frequencies[] = { 880,   1, 587, 0 };
+   static const uint16_t error_durations[] =   { 300, 100, 500 };
    if (!current_frequency)
    {
       current_frequency = error_frequencies;
@@ -175,6 +170,8 @@ void buzzer_indicate_error(void)
 
 void buzzer_indicate_location(void)
 {
+   static const uint16_t locator_frequencies[] = { 1047,   1, 1047, 830,   1, 880, 698, 0 };
+   static const uint16_t locator_durations[] =   {  100, 100,  100, 100, 100, 100, 200 };
    if (!current_frequency)
    {
       current_frequency = locator_frequencies;

software/firmware/src/peripherals/src/ranging.c

@@ -117,12 +117,12 @@ static void wakeup_device_with_io(void)
 static void dwt_xfer3000(const uint32_t regFileID, const uint16_t indx, const uint16_t length, uint8_t *buffer, const spi_modes_e mode)
 {
    // Set up local variables
-   uint8_t header[2];            // Buffer to compose header in
-   uint16_t cnt = 1;             // Counter for length of a header
-   uint16_t reg_file = 0x1F & ((regFileID + indx) >> 16), reg_offset = 0x7F & (regFileID + indx);
+   uint8_t header[2];
+   uint16_t cnt = 1;
+   const uint16_t reg_file = 0x1F & ((regFileID + indx) >> 16), reg_offset = 0x7F & (regFileID + indx);
 
    // Write message header selecting WRITE operation and addresses as appropriate
-   uint16_t addr = (reg_file << 9) | (reg_offset << 2);
+   const uint16_t addr = (reg_file << 9) | (reg_offset << 2);
    header[0] = (uint8_t)((mode | addr) >> 8);    // bit7 + addr[4:0] + sub_addr[6:6]
    header[1] = (uint8_t)(addr | (mode & 0x03));  // EAM: subaddr[5:0] + R/W/AND_OR
 
@@ -146,12 +146,12 @@ static void dwt_xfer3000(const uint32_t regFileID, const uint16_t indx, const ui
 
 static uint32_t dwt_read32bitoffsetreg(int regFileID, int regOffset)
 {
-   uint8_t buffer[4];
    uint32_t regval = 0;
-   dwt_xfer3000(regFileID ,regOffset ,4, buffer, DW3000_SPI_RD_BIT);
+   static uint8_t buffer[4];
+   dwt_xfer3000(regFileID, regOffset, 4, buffer, DW3000_SPI_RD_BIT);
    for (int j = 3; j >= 0; --j)
       regval = (regval << 8) + buffer[j];
-   return (regval);
+   return regval;
 }
 
 static void dwt_write32bitoffsetreg(int regFileID, int regOffset, uint32_t regval)
@@ -168,7 +168,7 @@ static void dwt_write16bitoffsetreg(int regFileID, int regOffset, uint16_t regva
 
 static uint8_t dwt_read8bitoffsetreg(int regFileID, int regOffset)
 {
-   uint8_t regval;
+   static uint8_t regval;
    dwt_xfer3000(regFileID, regOffset, 1, &regval, DW3000_SPI_RD_BIT);
    return regval;
 }

software/firmware/src/peripherals/src/storage.c

@@ -53,8 +53,8 @@ typedef struct __attribute__ ((__packed__)) { uint16_t lba, pba; } bbm_lut_t;
 static void *spi_handle;
 static bbm_lut_t bad_block_lookup_table_internal[BBM_INTERNAL_LUT_NUM_ENTRIES];
 static uint8_t cache[2 * MEMORY_PAGE_SIZE_BYTES], transfer_buffer[MEMORY_PAGE_SIZE_BYTES];
-static uint32_t starting_page, current_page, reading_page, cache_index;
-static bool is_reading, in_maintenance_mode, disabled;
+static volatile uint32_t starting_page, current_page, reading_page, cache_index;
+static volatile bool is_reading, in_maintenance_mode, disabled;
 
 
 // Private Helper Functions --------------------------------------------------------------------------------------------

software/firmware/src/tasks/app_task_maintenance.c

@@ -60,8 +60,8 @@ void app_maintenance_activate_find_my_tottag(uint32_t seconds_to_activate)
 void AppTaskMaintenance(void *uid)
 {
    // Store the application task handle
+   static uint32_t notification_bits = 0;
    app_task_handle = xTaskGetCurrentTaskHandle();
-   uint32_t notification_bits = 0;
 
    // Register handler for battery status changes and verify correct mode of operation
    battery_register_event_callback(battery_event_handler);

software/firmware/src/tasks/app_task_ranging.c

@@ -16,7 +16,7 @@
 // Static Global Variables ---------------------------------------------------------------------------------------------
 
 static uint8_t device_uid_short;
-static TaskHandle_t app_task_handle = 0;
+static TaskHandle_t app_task_handle;
 static volatile uint8_t discovered_devices[MAX_NUM_RANGING_DEVICES][1+EUI_LEN];
 static volatile uint32_t seconds_to_activate_buzzer;
 static volatile uint8_t num_discovered_devices;
@@ -49,6 +49,9 @@ static void handle_notification(app_notification_t notification)
       verify_app_configuration();
    if ((notification & APP_NOTIFY_NETWORK_FOUND) != 0)
    {
+      // Stop scanning for additional devices
+      bluetooth_stop_scanning(true);
+
       // Determine if an actively ranging device was located
       bool ranging_device_located = false, idle_device_located = false;
       for (uint8_t i = 0; !ranging_device_located && (i < num_discovered_devices); ++i)
@@ -80,8 +83,6 @@ static void handle_notification(app_notification_t notification)
       }
 
       // Reset the devices-found flag and verify the app configuration
-      while (bluetooth_is_scanning())
-         vTaskDelay(pdMS_TO_TICKS(1));
       devices_found = false;
       verify_app_configuration();
    }
@@ -134,9 +135,6 @@ static void ble_discovery_handler(const uint8_t ble_address[EUI_LEN], uint8_t ra
 
 void am_timer04_isr(void)
 {
-   // Immediately stop scanning for additional devices
-   bluetooth_stop_scanning(false);
-
    // Notify the main task to handle the interrupt
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
    am_hal_timer_interrupt_clear(AM_HAL_TIMER_MASK(BLE_SCANNING_TIMER_NUMBER, AM_HAL_TIMER_COMPARE_BOTH));
@@ -180,9 +178,9 @@ void app_activate_find_my_tottag(uint32_t seconds_to_activate)
 void AppTaskRanging(void *uid)
 {
    // Store the UID and application task handle
+   static uint32_t notification_bits = 0;
    device_uid_short = ((uint8_t*)uid)[0];
    app_task_handle = xTaskGetCurrentTaskHandle();
-   uint32_t notification_bits = 0;
 
    // Initialize the BLE scanning window timer
    am_hal_timer_config_t scanning_timer_config;
@@ -203,7 +201,7 @@ void AppTaskRanging(void *uid)
 #endif
 
    // Retrieve current experiment details from non-volatile storage
-   experiment_details_t current_experiment;
+   static experiment_details_t current_experiment;
    storage_retrieve_experiment_details(&current_experiment);
 
    // Wait until the BLE stack has been fully initialized

software/firmware/src/tasks/app_tasks.c

@@ -19,7 +19,6 @@ static StaticTask_t storage_task_tcb, time_aligned_task_tcb;
 static StackType_t app_task_stack[configMINIMAL_STACK_SIZE], ble_task_stack[2*configMINIMAL_STACK_SIZE];
 static StackType_t ranging_task_stack[configMINIMAL_STACK_SIZE], storage_task_stack[configMINIMAL_STACK_SIZE];
 static StackType_t time_aligned_task_stack[configMINIMAL_STACK_SIZE];
-static experiment_details_t scheduled_experiment;
 
 
 // Public API Functions ------------------------------------------------------------------------------------------------
@@ -45,6 +44,7 @@ void run_tasks(void)
    ranging_radio_sleep(true);
 
    // Determine whether there is an active experiment taking place
+   static experiment_details_t scheduled_experiment;
    storage_retrieve_experiment_details(&scheduled_experiment);
    uint32_t timestamp = rtc_get_timestamp(), time_of_day = rtc_get_time_of_day();
    bool valid_experiment = rtc_is_valid() && scheduled_experiment.num_devices;
@@ -93,7 +93,7 @@ void run_tasks(void)
    //    IdleTask < TimeAlignedTask < AppTask < BLETask < RangingTask < StorageTask
    xTaskCreateStatic(StorageTask, "StorageTask", configMINIMAL_STACK_SIZE, allow_ranging ? uid : NULL, 5, storage_task_stack, &storage_task_tcb);
    xTaskCreateStatic(RangingTask, "RangingTask", configMINIMAL_STACK_SIZE, allow_ranging ? uid : NULL, 4, ranging_task_stack, &ranging_task_tcb);
-   xTaskCreateStatic(BLETask, "BLETask", 2*configMINIMAL_STACK_SIZE, NULL, 3, ble_task_stack, &ble_task_tcb);
+   xTaskCreateStatic(BLETask, "BLETask", 2 * configMINIMAL_STACK_SIZE, NULL, 3, ble_task_stack, &ble_task_tcb);
    xTaskCreateStatic(allow_ranging ? AppTaskRanging : AppTaskMaintenance, "AppTask", configMINIMAL_STACK_SIZE, uid, 2, app_task_stack, &app_task_tcb);
    xTaskCreateStatic(TimeAlignedTask, "TimeAlignedTask", configMINIMAL_STACK_SIZE, allow_ranging ? &scheduled_experiment : NULL, 1, time_aligned_task_stack, &time_aligned_task_tcb);
 

software/firmware/src/tasks/ble_task.c

@@ -29,7 +29,7 @@ static void ble_stack_init(void)
    WsfTimerInit();
 
    // Initialize a buffer pool for WSF dynamic memory needs
-   uint16_t wsfBufMemLen = WsfBufInit(sizeof(g_pui32BufMem), (uint8_t*)g_pui32BufMem, WSF_BUF_POOLS, g_psPoolDescriptors);
+   const uint16_t wsfBufMemLen = WsfBufInit(sizeof(g_pui32BufMem), (uint8_t*)g_pui32BufMem, WSF_BUF_POOLS, g_psPoolDescriptors);
    if (wsfBufMemLen > sizeof(g_pui32BufMem))
       print("ERROR: Memory pool is too small by %d\n", wsfBufMemLen - sizeof(g_pui32BufMem));
 

software/firmware/src/tasks/bluetooth/device_info_service.c

@@ -124,14 +124,12 @@ static const attsAttr_t deviceInfoList[] =
    }
 };
 
-static attsGroup_t deviceInfoGroup;
+static attsGroup_t deviceInfoGroup = { 0, (attsAttr_t*)deviceInfoList, 0, 0, DEVICE_INFO_SERVICE_HANDLE, DEVICE_INFO_MAX_HANDLE-1 };
 
 
 // Public API ----------------------------------------------------------------------------------------------------------
 
 void deviceInfoAddGroup(void)
 {
-   memset(deviceInfoSysId, 0, sizeof(deviceInfoSysId));
-   deviceInfoGroup = (attsGroup_t){ 0, (attsAttr_t*)deviceInfoList, 0, 0, DEVICE_INFO_SERVICE_HANDLE, DEVICE_INFO_MAX_HANDLE-1 };
    AttsAddGroup(&deviceInfoGroup);
 }

software/firmware/src/tasks/bluetooth/gap_gatt_service.c

@@ -84,7 +84,7 @@ static const attsAttr_t gapList[] =
    },
 };
 
-static attsGroup_t gapGroup;
+static attsGroup_t gapGroup = { 0, (attsAttr_t*)gapList, 0, 0, GAP_SERVICE_HANDLE, GAP_MAX_HANDLE-1 };
 
 
 // GATT Services and Characteristics -----------------------------------------------------------------------------------
@@ -174,7 +174,7 @@ static const attsAttr_t gattList[] =
    }
 };
 
-static attsGroup_t gattGroup;
+static attsGroup_t gattGroup = { 0, (attsAttr_t*)gattList, NULL, NULL, GATT_SERVICE_HANDLE, GATT_MAX_HANDLE-1 };
 
 void SvcCoreGapCentAddrResUpdate(bool_t value) { gapCentralAddrRes[0] = value; }
 
@@ -189,10 +189,6 @@ void gapGattAddGroup(void)
 
 void gapGattRegisterCallbacks(attsReadCback_t readCallback, attsWriteCback_t writeCallback)
 {
-   memset(gapCentralAddrRes, 0, sizeof(gapCentralAddrRes));
-   memset(gattServiceChangedCcc, 0, sizeof(gattServiceChangedCcc));
-   memset(gattCsf, 0, sizeof(gattCsf));
-   memset(gattDbHash, 0, sizeof(gattDbHash));
-   gapGroup = (attsGroup_t){ 0, (attsAttr_t*)gapList, 0, 0, GAP_SERVICE_HANDLE, GAP_MAX_HANDLE-1 };
-   gattGroup = (attsGroup_t){ 0, (attsAttr_t*)gattList, readCallback, writeCallback, GATT_SERVICE_HANDLE, GATT_MAX_HANDLE-1 };
+   gattGroup.readCback = readCallback;
+   gattGroup.writeCback = writeCallback;
 }

software/firmware/src/tasks/bluetooth/live_stats_service.c

@@ -158,7 +158,7 @@ static const attsAttr_t liveStatsList[] =
    }
 };
 
-static attsGroup_t liveStatsGroup;
+static attsGroup_t liveStatsGroup = { 0, (attsAttr_t*)liveStatsList, NULL, NULL, LIVE_STATS_SERVICE_HANDLE, LIVE_STATS_MAX_HANDLE-1 };
 
 
 // Public API ----------------------------------------------------------------------------------------------------------
@@ -170,7 +170,6 @@ void liveStatsAddGroup(void)
 
 void liveStatsRegisterCallbacks(attsReadCback_t readCallback, attsWriteCback_t writeCallback)
 {
-   timestamp = findMyTottagDuration = batteryLevel = 0;
-   memset(ranges, 0, sizeof(ranges));
-   liveStatsGroup = (attsGroup_t){ 0, (attsAttr_t*)liveStatsList, readCallback, writeCallback, LIVE_STATS_SERVICE_HANDLE, LIVE_STATS_MAX_HANDLE-1 };
+   liveStatsGroup.readCback = readCallback;
+   liveStatsGroup.writeCback = writeCallback;
 }

software/firmware/src/tasks/bluetooth/maintenance_service.c

@@ -127,7 +127,7 @@ static const attsAttr_t maintenanceList[] =
    }
 };
 
-static attsGroup_t maintenanceGroup;
+static attsGroup_t maintenanceGroup = { 0, (attsAttr_t*)maintenanceList, NULL, NULL, MAINTENANCE_SERVICE_HANDLE, MAINTENANCE_MAX_HANDLE-1 };
 
 
 // Public API ----------------------------------------------------------------------------------------------------------
@@ -139,9 +139,6 @@ void deviceMaintenanceAddGroup(void)
 
 void deviceMaintenanceRegisterCallbacks(attsReadCback_t readCallback, attsWriteCback_t writeCallback)
 {
-   memset(&experimentDetails, 0, sizeof(experimentDetails));
-   memset(maintenanceCommand, 0, sizeof(maintenanceCommand));
-   memset(maintenanceResult, 0, sizeof(maintenanceResult));
-   memset(maintenanceResultCcc, 0, sizeof(maintenanceResultCcc));
-   maintenanceGroup = (attsGroup_t){ 0, (attsAttr_t*)maintenanceList, readCallback, writeCallback, MAINTENANCE_SERVICE_HANDLE, MAINTENANCE_MAX_HANDLE-1 };
+   maintenanceGroup.readCback = readCallback;
+   maintenanceGroup.writeCback = writeCallback;
 }