firmware: Eliminate wrapper structure in crc module.

firmware/app/src/crc.rs

@@ -4,15 +4,13 @@ use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 use embassy_sync::mutex;
 use static_cell::StaticCell;
 
-struct Shared {
+type CrcEngine = mutex::Mutex<ThreadModeRawMutex, crc::Crc<'static>>;
-    inner: mutex::Mutex<ThreadModeRawMutex, crc::Crc<'static>>,
-}
 
-static STORAGE: StaticCell<Shared> = StaticCell::new();
+static ENGINE: StaticCell<CrcEngine> = StaticCell::new();
 
 #[derive(Clone, Copy)]
 pub struct Handle {
-    shared: &'static Shared,
+    engine: &'static CrcEngine,
 }
 
 pub struct Stream {
@@ -30,16 +28,14 @@ impl Handle {
         )
         .unwrap();
 
-        let shared_ref = STORAGE.init(Shared {
+        let engine_ref = ENGINE.init(mutex::Mutex::new(crc::Crc::new(r.crc_engine, cfg)));
-            inner: mutex::Mutex::new(crc::Crc::new(r.crc_engine, cfg)),
-        });
 
-        Handle { shared: shared_ref }
+        Handle { engine: engine_ref }
     }
 
     #[allow(clippy::cast_possible_truncation)]
     pub async fn compute(&self, data: &[u8]) -> u16 {
-        let mut guard = self.shared.inner.lock().await;
+        let mut guard = self.engine.lock().await;
         let engine = &mut *guard;
 
         engine.reset();
@@ -48,7 +44,7 @@ impl Handle {
     }
 
     pub async fn stream(&self) -> Stream {
-        let mut guard = self.shared.inner.lock().await;
+        let mut guard = self.engine.lock().await;
         let engine = &mut *guard;
 
         trace!("CRC stream started");

firmware/app/src/lib.rs

@@ -17,10 +17,7 @@ use core::mem;
 use embassy_executor::Spawner;
 use embassy_stm32::peripherals::*;
 use embassy_stm32::{Peri, bind_interrupts, gpio, rcc, usart, wdg};
-use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
-use embassy_sync::channel;
 use embedded_resources::resource_group;
-use static_cell::StaticCell;
 use tasks::*;
 
 use defmt::*;
@@ -90,13 +87,6 @@ bind_interrupts!(struct Irqs {
     USART3_4 => usart::BufferedInterruptHandler<USART3>, usart::BufferedInterruptHandler<USART4>;
 });
 
-type TargetMessageChannel = channel::Channel<ThreadModeRawMutex, proto::api_::TargetMessage, 3>;
-type TargetMessageGenerator =
-    channel::Sender<'static, ThreadModeRawMutex, proto::api_::TargetMessage, 3>;
-type TargetMessagePublisher =
-    channel::Receiver<'static, ThreadModeRawMutex, proto::api_::TargetMessage, 3>;
-static TARGET_MESSAGE_CHANNEL: StaticCell<TargetMessageChannel> = StaticCell::new();
-
 pub fn spawn_tasks(spawner: Spawner) {
     let p = embassy_stm32::init(build_rcc_config());
 
@@ -123,15 +113,7 @@ pub fn spawn_tasks(spawner: Spawner) {
 
     let crc_handle = crc::Handle::new(crc_engine_resources!(p));
 
-    let tgt_msg_channel = TARGET_MESSAGE_CHANNEL.init(TargetMessageChannel::new());
+    host_interface::start(host_interface_resources!(p), spawner, crc_handle);
-
-    host_interface::start(
-        host_interface_resources!(p),
-        spawner,
-        crc_handle,
-        tgt_msg_channel.receiver(),
-        tgt_msg_channel.sender(),
-    );
 
     heat_pump_interface::start(heat_pump_interface_resources!(p), spawner);
 

firmware/app/src/tasks/host_interface/mod.rs

@@ -1,8 +1,10 @@
 use crate::io::framed::Receiver;
-use crate::{crc, io};
+use crate::{crc, io, proto};
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::{gpio, usart};
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::channel;
 use embassy_time::Duration;
 use static_cell::StaticCell;
 
@@ -31,9 +33,11 @@ type MessageBuf = Vec<u8, MAX_HOST_MESSAGE_SIZE>;
 
 static MESSAGE_BUF: StaticCell<MessageBuf> = StaticCell::new();
 
+type TargetMessageChannel = channel::Channel<ThreadModeRawMutex, proto::api_::TargetMessage, 3>;
+static TARGET_MESSAGE_CHANNEL: TargetMessageChannel = channel::Channel::new();
+
 struct Tx {
     uart: usart::BufferedUartTx<'static>,
-    channel: crate::TargetMessagePublisher,
     crc: crc::Handle,
 }
 
@@ -41,20 +45,13 @@ struct Tx {
 struct Rx {
     message_buf: &'static mut MessageBuf,
     uart: usart::BufferedUartRx<'static>,
-    channel: crate::TargetMessageGenerator,
     crc: crc::Handle,
     clr_host_transmit: gpio::OutputOpenDrain<'static>,
     set_host_transmit: gpio::OutputOpenDrain<'static>,
     host_active_led: gpio::OutputOpenDrain<'static>,
 }
 
-pub fn start(
+pub fn start(r: crate::HostInterfaceResources, spawner: Spawner, crc: crc::Handle) {
-    r: crate::HostInterfaceResources,
-    spawner: Spawner,
-    crc: crc::Handle,
-    publisher: crate::TargetMessagePublisher,
-    generator: crate::TargetMessageGenerator,
-) {
     let tx_buf = UART_TX_BUF.init(UartBuf::default());
     let rx_buf = UART_RX_BUF.init(UartBuf::default());
     let message_buf = MESSAGE_BUF.init(MessageBuf::new());
@@ -81,15 +78,10 @@ pub fn start(
     let host_active_led =
         gpio::OutputOpenDrain::new(r.host_active_led, gpio::Level::High, gpio::Speed::Low);
 
-    spawner.must_spawn(host_tx_task(Tx {
+    spawner.must_spawn(host_tx_task(Tx { uart: uart_tx, crc }));
-        uart: uart_tx,
-        channel: publisher,
-        crc,
-    }));
     spawner.must_spawn(host_rx_task(Rx {
         message_buf,
         uart: uart_rx,
-        channel: generator,
         crc,
         clr_host_transmit,
         set_host_transmit,
@@ -100,9 +92,10 @@ pub fn start(
 #[embassy_executor::task]
 async fn host_tx_task(tx: Tx) {
     let mut ftx = io::framed::WriteSender::new(tx.uart, io::proto::SYNC_BYTE);
+    let receiver = TARGET_MESSAGE_CHANNEL.receiver();
 
     loop {
-        let msg = tx.channel.receive().await;
+        let msg = receiver.receive().await;
 
         debug!("sending message");
         let _ = io::proto::send_target_message(&mut ftx, msg, tx.crc).await;
@@ -123,7 +116,7 @@ async fn host_rx_task(rx: Rx) {
         match io::proto::receive_host_message(&mut frx, rx.crc).await {
             Ok(msg) => {
                 debug!("message received");
-                handle_host_message(msg, rx.channel).await;
+                handle_host_message(msg).await;
             }
             Err(io::proto::ReceiveError::Sync) => {
                 error!("sync error");
@@ -185,14 +178,15 @@ async fn host_rx_task(rx: Rx) {
     }
 }
 
-async fn handle_host_message(host: HostMessage, generator: crate::TargetMessageGenerator) {
+async fn handle_host_message(host: HostMessage) {
     match host.msg {
         None => {
             error!("empty message");
         }
         Some(HostMessage_::Msg::Echo(_)) => {
             info!("echo request");
-            generator
+            TARGET_MESSAGE_CHANNEL
+                .sender()
                 .send(TargetMessage {
                     id: host.id,
                     msg: Some(TargetMessage_::Msg::Echo(EchoResponse {})),