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Harmonize stm32 ticks and sleep (#1673)
machine/stm32f*: move to harmonized tick / sleep logic code
This commit is contained in:
kenbell
GitHub
@@ -3,18 +3,45 @@
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package runtime
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import (
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"device/arm"
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"device/stm32"
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"machine"
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"runtime/interrupt"
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"runtime/volatile"
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)
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/*
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timer settings used for tick and sleep.
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note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
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settings configured in initCLK, so must be kept in sync if the clock settings
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are changed.
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*/
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const (
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TICK_RATE = 1000 // 1 KHz
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SLEEP_TIMER_IRQ = stm32.IRQ_TIM3
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SLEEP_TIMER_FREQ = 72000000 // 72 MHz
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TICK_TIMER_IRQ = stm32.IRQ_TIM4
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TICK_TIMER_FREQ = 72000000 // 72 MHz
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)
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type arrtype = uint32
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const asyncScheduler = false
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func init() {
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initCLK()
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initRTC()
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initTIM()
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initSleepTimer(&timerInfo{
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EnableRegister: &stm32.RCC.APB1ENR,
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EnableFlag: stm32.RCC_APB1ENR_TIM3EN,
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Device: stm32.TIM3,
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})
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machine.UART0.Configure(machine.UARTConfig{})
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initTickTimer(&timerInfo{
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EnableRegister: &stm32.RCC.APB1ENR,
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EnableFlag: stm32.RCC_APB1ENR_TIM4EN,
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Device: stm32.TIM4,
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})
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}
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func putchar(c byte) {
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@@ -52,157 +79,3 @@ func initCLK() {
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for !stm32.RCC.CFGR.HasBits(stm32.RCC_CFGR_SWS_PLL << stm32.RCC_CFGR_SWS_Pos) {
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}
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}
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var (
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timestamp timeUnit // microseconds since boottime
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timerLastCounter uint64
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)
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var timerWakeup volatile.Register8
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func initRTC() {
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// Enable the PWR and BKP.
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stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_PWREN | stm32.RCC_APB1ENR_BKPEN)
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// access to backup register
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stm32.PWR.CR.SetBits(stm32.PWR_CR_DBP)
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// Enable LSE
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stm32.RCC.BDCR.SetBits(stm32.RCC_BDCR_LSEON)
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// wait until LSE is ready
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for !stm32.RCC.BDCR.HasBits(stm32.RCC_BDCR_LSERDY) {
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}
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// Select LSE
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stm32.RCC.BDCR.SetBits(stm32.RCC_BDCR_RTCSEL_LSE << stm32.RCC_BDCR_RTCSEL_Pos)
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// set prescaler to "max" per datasheet
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stm32.RTC.PRLH.Set(stm32.RTC_PRLH_PRLH_Msk)
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stm32.RTC.PRLL.Set(stm32.RTC_PRLL_PRLL_Msk)
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// set count to zero
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stm32.RTC.CNTH.Set(0x0)
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stm32.RTC.CNTL.Set(0x0)
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// Enable RTC
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stm32.RCC.BDCR.SetBits(stm32.RCC_BDCR_RTCEN)
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// Clear RSF
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stm32.RTC.CRL.ClearBits(stm32.RTC_CRL_RSF)
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// Wait till flag is set
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for !stm32.RTC.CRL.HasBits(stm32.RTC_CRL_RSF) {
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}
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}
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// Enable the TIM3 clock.
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func initTIM() {
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stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM3EN)
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intr := interrupt.New(stm32.IRQ_TIM3, handleTIM3)
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intr.SetPriority(0xc3)
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intr.Enable()
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}
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const asyncScheduler = false
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func ticksToNanoseconds(ticks timeUnit) int64 {
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return int64(ticks) * 1000
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}
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func nanosecondsToTicks(ns int64) timeUnit {
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return timeUnit(ns / 1000)
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}
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// sleepTicks should sleep for specific number of microseconds.
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func sleepTicks(d timeUnit) {
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for d != 0 {
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ticks() // update timestamp
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ticks := uint32(d) // current scaling only supports 100 usec to 6553 msec
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timerSleep(ticks)
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d -= timeUnit(ticks)
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}
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}
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// number of ticks (microseconds) since start.
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func ticks() timeUnit {
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// convert RTC counter from seconds to microseconds
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timerCounter := uint64(stm32.RTC.CNTH.Get()<<16|stm32.RTC.CNTL.Get()) * 1000 * 1000
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// add the fractional part of current time using DIV register
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timerCounter += uint64(0x8000-stm32.RTC.DIVL.Get()) * 31
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// change since last measurement
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offset := (timerCounter - timerLastCounter)
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timerLastCounter = timerCounter
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timestamp += timeUnit(offset)
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return timestamp
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}
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// ticks are in microseconds
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func timerSleep(ticks uint32) {
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timerWakeup.Set(0)
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// STM32 timer update event period is calculated as follows:
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//
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// Update_event = TIM_CLK/((PSC + 1)*(ARR + 1)*(RCR + 1))
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//
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// Where:
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//
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// TIM_CLK = timer clock input
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// PSC = 16-bit prescaler register
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// ARR = 16/32-bit Autoreload register
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// RCR = 16-bit repetition counter
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//
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// Example:
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//
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// TIM_CLK = 72 MHz
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// Prescaler = 1
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// Auto reload = 65535
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// No repetition counter RCR = 0
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// Update_event = 72*(10^6)/((1 + 1)*(65535 + 1)*(1))
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// Update_event = 549.3 Hz
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//
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// Set the timer prescaler/autoreload timing registers.
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// TODO: support smaller or larger scales (autoscaling) based
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// on the length of sleep time requested.
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// The current scaling only supports a range of 200 usec to 6553 msec.
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// prescale counter down from 72mhz to 10khz aka 0.1 ms frequency.
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stm32.TIM3.PSC.Set(machine.CPUFrequency()/10000 - 1) // 7199
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// Set duty aka duration.
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// STM32 dividers use n-1, i.e. n counts from 0 to n-1.
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// As a result, with these prescaler settings,
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// the minimum allowed duration is 200 microseconds.
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if ticks < 200 {
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ticks = 200
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}
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stm32.TIM3.ARR.Set(ticks/100 - 1) // convert from microseconds to 0.1 ms
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// Enable the hardware interrupt.
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stm32.TIM3.DIER.SetBits(stm32.TIM_DIER_UIE)
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// Enable the timer.
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stm32.TIM3.CR1.SetBits(stm32.TIM_CR1_CEN)
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// wait till timer wakes up
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for timerWakeup.Get() == 0 {
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arm.Asm("wfi")
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}
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}
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func handleTIM3(interrupt.Interrupt) {
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if stm32.TIM3.SR.HasBits(stm32.TIM_SR_UIF) {
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// Disable the timer.
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stm32.TIM3.CR1.ClearBits(stm32.TIM_CR1_CEN)
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// clear the update flag
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stm32.TIM3.SR.ClearBits(stm32.TIM_SR_UIF)
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// timer was triggered
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timerWakeup.Set(1)
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}
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}
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