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did formatting
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@naichenzhao
naichenzhao committed Sep 7, 2024
1 parent a285e52 commit 6ba0f42
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289 changes: 140 additions & 149 deletions low_level_platform/impl/src/lf_STM32f4_support.c
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
#if defined(PLATFORM_STM32F4)


#include "platform/lf_STM32f4_support.h"
#include "low_level_platform.h"
#include "tag.h"
Expand All @@ -23,7 +22,6 @@ static uint32_t _lf_time_us_high = 0;
// Combine 2 32bit works to a 64 bit word (Takes from nrf52 support)
#define COMBINE_HI_LO(hi, lo) ((((uint64_t)hi) << 32) | ((uint64_t)lo))


void lf_SystemClock_Config();
void Error_Handler();

Expand All @@ -32,130 +30,125 @@ void Error_Handler();
// + -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- +
// We use timer 5 for our clock (probably better than dealing with sysTick)
void _lf_initialize_clock(void) {
// Standard initializations from generated code
HAL_Init();
lf_SystemClock_Config();

// Configure TIM5 as our 32-bit clock timer
__HAL_RCC_TIM5_CLK_ENABLE(); // initialize counter
TIM5->CR1 = TIM_CR1_CEN; // enable counter

// set prescaler to (16 - 1) = 15
// CPU runs a 16MHz so timer ticks at 1MHz
// Which means period of 1 microsecond
TIM5->PSC = 15;

// Setup ISR to increment upper bits
TIM5->DIER |= TIM_DIER_CC1IE;
NVIC_EnableIRQ(TIM5_IRQn);

/* This is to make the Prescaler actually work
* For some reason, the Prescaler only kicks in once the timer has reset once.
* Thus, the current solution is to manually ret the value to a really large
* and force it to reset once. Its really jank but its the only way I could
* find to make it work
*/
TIM5->CNT = 0xFFFFFFFE;
// Standard initializations from generated code
HAL_Init();
lf_SystemClock_Config();

// Configure TIM5 as our 32-bit clock timer
__HAL_RCC_TIM5_CLK_ENABLE(); // initialize counter
TIM5->CR1 = TIM_CR1_CEN; // enable counter

// set prescaler to (16 - 1) = 15
// CPU runs a 16MHz so timer ticks at 1MHz
// Which means period of 1 microsecond
TIM5->PSC = 15;

// Setup ISR to increment upper bits
TIM5->DIER |= TIM_DIER_CC1IE;
NVIC_EnableIRQ(TIM5_IRQn);

/* This is to make the Prescaler actually work
* For some reason, the Prescaler only kicks in once the timer has reset once.
* Thus, the current solution is to manually ret the value to a really large
* and force it to reset once. Its really jank but its the only way I could
* find to make it work
*/
TIM5->CNT = 0xFFFFFFFE;
}

// ISR for handling timer overflow -> We increment the upper timer
void TIM5_IRQHandler(void) {
if (TIM5->SR & (1 << 1)) {
TIM5->SR &= ~(1 << 1);
_lf_time_us_high += 1;
}
if (TIM5->SR & (1 << 1)) {
TIM5->SR &= ~(1 << 1);
_lf_time_us_high += 1;
}
}


/**
* Write the time since boot into time variable
*/
int _lf_clock_gettime(instant_t *t)
{
// Timer is cooked
if (!t) {
return 1;

}
// Get the current microseconds from TIM5
uint32_t _lf_time_us_low = TIM5->CNT;

// Combine upper and lower timers (Yoinked from lf_nrf52 support)
uint64_t now_us = COMBINE_HI_LO((_lf_time_us_high - 1), _lf_time_us_low);
*t = ((instant_t)now_us) * 1000;
return 0;
int _lf_clock_gettime(instant_t* t) {
// Timer is cooked
if (!t) {
return 1;
}
// Get the current microseconds from TIM5
uint32_t _lf_time_us_low = TIM5->CNT;

// Combine upper and lower timers (Yoinked from lf_nrf52 support)
uint64_t now_us = COMBINE_HI_LO((_lf_time_us_high - 1), _lf_time_us_low);
*t = ((instant_t)now_us) * 1000;
return 0;
}

/**
* Make the STM32 sleep for set nanoseconds
* Based on the lf_nrf52 support implementation
*/
int lf_sleep(interval_t sleep_duration) {
instant_t target_time;
instant_t current_time;
instant_t target_time;
instant_t current_time;

_lf_clock_gettime(&current_time);
target_time = current_time + sleep_duration;
// HAL_Delay only supports miliseconds. We try to use that for as long as possible
// before switching to another meothd for finer tuned delay times
long delaytime_ms = sleep_duration / 1000000;
HAL_Delay(delaytime_ms);
_lf_clock_gettime(&current_time);
target_time = current_time + sleep_duration;
// HAL_Delay only supports miliseconds. We try to use that for as long as possible
// before switching to another meothd for finer tuned delay times
long delaytime_ms = sleep_duration / 1000000;
HAL_Delay(delaytime_ms);

while (current_time <= target_time)
_lf_clock_gettime(&current_time);
while (current_time <= target_time)
_lf_clock_gettime(&current_time);

return 0;
return 0;
}

/**
* Make the STM32 sleep for set nanoseconds
* Based on the lf_nrf52 support implementation
*/
static void lf_busy_wait_until(instant_t wakeup_time) {
instant_t current_time;
_lf_clock_gettime(&current_time);
instant_t current_time;
_lf_clock_gettime(&current_time);

// We repurpose the lf_sleep function here, just to better streamline the code
interval_t sleep_duration = wakeup_time - current_time;
lf_sleep(sleep_duration);
// We repurpose the lf_sleep function here, just to better streamline the code
interval_t sleep_duration = wakeup_time - current_time;
lf_sleep(sleep_duration);
}

// I am pretty sure this function doesnt work
/* sleep until wakeup time but wake up if there is an async event
*/
int _lf_interruptable_sleep_until_locked(environment_t *env, instant_t wakeup_time) {
// Get the current time and sleep time
instant_t now;
_lf_clock_gettime(&now);
interval_t duration = wakeup_time - now;

// Edge case handling for super small duration
if (duration <= 0) {
return 0;
} else if (duration < LF_MIN_SLEEP_NS) {
lf_busy_wait_until(wakeup_time);
return 0;
}

// Enable interrupts and prepare to wait
_lf_async_event = false;
lf_enable_interrupts_nested();

do {
_lf_clock_gettime(&now);
// Exit when the timer is up or there is an exception
} while (!_lf_async_event && (now < wakeup_time));
*/
int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup_time) {
// Get the current time and sleep time
instant_t now;
_lf_clock_gettime(&now);
interval_t duration = wakeup_time - now;

// Edge case handling for super small duration
if (duration <= 0) {
return 0;
} else if (duration < LF_MIN_SLEEP_NS) {
lf_busy_wait_until(wakeup_time);
return 0;
}

// Disable interrupts again on exit
lf_disable_interrupts_nested();
// Enable interrupts and prepare to wait
_lf_async_event = false;
lf_enable_interrupts_nested();

if (!_lf_async_event) {
return 0;
} else {
return 1;
do {
_lf_clock_gettime(&now);
// Exit when the timer is up or there is an exception
} while (!_lf_async_event && (now < wakeup_time));

}
// Disable interrupts again on exit
lf_disable_interrupts_nested();

if (!_lf_async_event) {
return 0;
} else {
return 1;
}
}

// + -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- +
Expand All @@ -164,84 +157,82 @@ int _lf_interruptable_sleep_until_locked(environment_t *env, instant_t wakeup_ti

// disables the IRQ (checks if its already disabled)
int lf_disable_interrupts_nested() {
// Disable interrupts if they are currently enabled
if (_lf_num_nested_crit_sec == 0) {
__disable_irq();
}
// Disable interrupts if they are currently enabled
if (_lf_num_nested_crit_sec == 0) {
__disable_irq();
}

// update the depth of disabling interrupts
_lf_num_nested_crit_sec++;
return 0;
// update the depth of disabling interrupts
_lf_num_nested_crit_sec++;
return 0;
}

// enables the IRQ (checks if other programs still want it disabled first)
int lf_enable_interrupts_nested() {
// Left the critical section more often than it was entered.
// Left the critical section more often than it was entered.

if (_lf_num_nested_crit_sec <= 0) {
return 1;
}
if (_lf_num_nested_crit_sec <= 0) {
return 1;
}

// update the depth of disabling interrupts
_lf_num_nested_crit_sec--;
// update the depth of disabling interrupts
_lf_num_nested_crit_sec--;

// If we have exited all important programs, we can enable them again
if (_lf_num_nested_crit_sec == 0) {
__enable_irq();
}
return 0;
// If we have exited all important programs, we can enable them again
if (_lf_num_nested_crit_sec == 0) {
__enable_irq();
}
return 0;
}

int _lf_single_threaded_notify_of_event() {
_lf_async_event = true;
return 0;
_lf_async_event = true;
return 0;
}

// + -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- +
// | Other functions -> taken from the generated main.c
// + -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- +
void lf_SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};


/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}

/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}

/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
}

void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1) {
}
/* USER CODE END Error_Handler_Debug */

/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1) {
}
/* USER CODE END Error_Handler_Debug */
}

#endif
6 changes: 2 additions & 4 deletions tag/api/tag.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,11 @@
#define NEVER_TAG \
(tag_t) { .time = NEVER, .microstep = NEVER_MICROSTEP }
// Need a separate initializer expression to comply with some C compilers
#define NEVER_TAG_INITIALIZER \
{ NEVER, NEVER_MICROSTEP }
#define NEVER_TAG_INITIALIZER {NEVER, NEVER_MICROSTEP}
#define FOREVER_TAG \
(tag_t) { .time = FOREVER, .microstep = FOREVER_MICROSTEP }
// Need a separate initializer expression to comply with some C compilers
#define FOREVER_TAG_INITIALIZER \
{ FOREVER, FOREVER_MICROSTEP }
#define FOREVER_TAG_INITIALIZER {FOREVER, FOREVER_MICROSTEP}
#define ZERO_TAG \
(tag_t) { .time = 0LL, .microstep = 0u }

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