From 7fbb94cb15fdd20cd9ada11588568583128c77f4 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Sun, 5 Jun 2022 18:36:34 -0400 Subject: move source to folder; openocd.sh programs directly --- source/2048.c | 104 ++++++++ source/2048.h | 3 + source/buttons.c | 58 +++++ source/buttons.h | 34 +++ source/dogs.c | 356 ++++++++++++++++++++++++++ source/dogs.h | 33 +++ source/flapbird.c | 80 ++++++ source/flapbird.h | 8 + source/main.c | 150 +++++++++++ source/osal.c | 467 +++++++++++++++++++++++++++++++++ source/osal.h | 754 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 11 files changed, 2047 insertions(+) create mode 100644 source/2048.c create mode 100644 source/2048.h create mode 100644 source/buttons.c create mode 100644 source/buttons.h create mode 100644 source/dogs.c create mode 100644 source/dogs.h create mode 100644 source/flapbird.c create mode 100644 source/flapbird.h create mode 100644 source/main.c create mode 100644 source/osal.c create mode 100644 source/osal.h (limited to 'source') diff --git a/source/2048.c b/source/2048.c new file mode 100644 index 0000000..ce73844 --- /dev/null +++ b/source/2048.c @@ -0,0 +1,104 @@ +#include "buttons.h" +#include "dogs.h" + +static int values[16]; + +void g2048_init() +{ + for (int i = 0; i < 16; i++) + values[i] = 0; +} + +int g2048_loop() +{ + if ((button_state & BUTTON_JOYUP) == BUTTON_JOYUP) { + for (int x = 0; x < 3; x++) { + for (int y = 0; y < 3; y++) { + + if (values[4 * y + x] != 0) + continue; + } + } + + for (int y = 3; y > 0; y--) { + for (int x = 0; x < 4; x++) { + if (values[4 * y + x] != 0) { + if (values[4 * (y - 1) + x] == 0) + values[4 * (y - 1) + x] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * (y - 1) + x] == values[4 * y + x]) + values[4 * (y - 1) + x]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYDOWN) == BUTTON_JOYDOWN) { + for (int y = 0; y < 3; y++) { + for (int x = 0; x < 4; x++) { + if (values[4 * y + x] != 0) { + if (values[4 * (y + 1) + x] == 0) + values[4 * (y + 1) + x] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * (y + 1) + x] == values[4 * y + x]) + values[4 * (y + 1) + x]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYLEFT) == BUTTON_JOYLEFT) { + for (int x = 3; x > 0; x--) { + for (int y = 0; y < 4; y++) { + if (values[4 * y + x] != 0) { + if (values[4 * y + x - 1] == 0) + values[4 * y + x - 1] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * y + x - 1] == values[4 * y + x]) + values[4 * y + x - 1]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYRIGHT) == BUTTON_JOYRIGHT) { + for (int x = 0; x < 3; x++) { + for (int y = 0; y < 4; y++) { + if (values[4 * y + x] != 0) { + if (values[4 * y + x + 1] == 0) + values[4 * y + x + 1] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * y + x + 1] == values[4 * y + x]) + values[4 * y + x + 1]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } + + dogs_clear(); + for (int i = 0; i < 16; i++) { + if (values[i] != 0) + draw_number(31 + 10 * (i % 4), 12 + 10 * (3 - (i / 4)), values[i]); + } + dogs_flush(); + + return 500; +} diff --git a/source/2048.h b/source/2048.h new file mode 100644 index 0000000..b8bdf14 --- /dev/null +++ b/source/2048.h @@ -0,0 +1,3 @@ +void g2048_init(); +int g2048_loop(); + diff --git a/source/buttons.c b/source/buttons.c new file mode 100644 index 0000000..45ea7bd --- /dev/null +++ b/source/buttons.c @@ -0,0 +1,58 @@ +/** + * buttons.c - Provides ability to read button state. + * Copyright (C) 2020 Clyne Sullivan + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#include "buttons.h" +#include "hal.h" + +unsigned char button_state = 0; + +static void buttonStateHandler(void *arg) +{ + int pad = (unsigned int)arg & 0xFF; + int bit = 1 << ((unsigned int)arg >> 8); + + if (!palReadPad(GPIOA, pad)) { + if ((button_state & bit) != bit) + button_state |= bit; + } else { + if ((button_state & bit) == bit) + button_state &= ~(bit); + } +} + +void buttons_init() +{ + palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_PULLUP); // Joy A (UL) + palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_PULLUP); // Joy B (UR) + palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_PULLUP); // Joy C (DR) + palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_PULLUP); // Joy D (DL) + palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_PULLUP); // Joy button + palSetPadMode(GPIOA, 7, PAL_MODE_INPUT_PULLUP); // Button 1 + palSetPadMode(GPIOA, 9, PAL_MODE_INPUT_PULLUP); // Button 2 + palSetPadMode(GPIOA, 10, PAL_MODE_INPUT_PULLUP); // Button 3 + palEnablePadEvent(GPIOA, 0, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 1, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 2, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 3, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 6, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 7, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 9, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 10, PAL_EVENT_MODE_BOTH_EDGES); + palSetPadCallback(GPIOA, 0, buttonStateHandler, (void *)0x0700); + palSetPadCallback(GPIOA, 1, buttonStateHandler, (void *)0x0601); + palSetPadCallback(GPIOA, 2, buttonStateHandler, (void *)0x0502); + palSetPadCallback(GPIOA, 3, buttonStateHandler, (void *)0x0403); + palSetPadCallback(GPIOA, 6, buttonStateHandler, (void *)0x0306); + palSetPadCallback(GPIOA, 7, buttonStateHandler, (void *)0x0207); + palSetPadCallback(GPIOA, 9, buttonStateHandler, (void *)0x0109); + palSetPadCallback(GPIOA, 10, buttonStateHandler, (void *)0x000A); +} + diff --git a/source/buttons.h b/source/buttons.h new file mode 100644 index 0000000..ba7e02d --- /dev/null +++ b/source/buttons.h @@ -0,0 +1,34 @@ +/** + * buttons.h - Provides ability to read button state. + * Copyright (C) 2020 Clyne Sullivan + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#ifndef BUTTONS_H_ +#define BUTTONS_H_ + +#define BUTTON_JOYUL (1 << 7) +#define BUTTON_JOYUR (1 << 6) +#define BUTTON_JOYDR (1 << 5) +#define BUTTON_JOYDL (1 << 4) +#define BUTTON_JOY (1 << 3) +#define BUTTON_1 (1 << 2) +#define BUTTON_2 (1 << 1) +#define BUTTON_3 (1 << 0) + +#define BUTTON_JOYUP (BUTTON_JOYUL | BUTTON_JOYUR) +#define BUTTON_JOYDOWN (BUTTON_JOYDL | BUTTON_JOYDR) +#define BUTTON_JOYLEFT (BUTTON_JOYUL | BUTTON_JOYDL) +#define BUTTON_JOYRIGHT (BUTTON_JOYUR | BUTTON_JOYDR) + +extern unsigned char button_state; + +void buttons_init(); + +#endif // BUTTONS_H_ + diff --git a/source/dogs.c b/source/dogs.c new file mode 100644 index 0000000..b986845 --- /dev/null +++ b/source/dogs.c @@ -0,0 +1,356 @@ +/** + * dogs.c - Interface for drawing to the EADOGS102N-6 display. + * Copyright (C) 2020 Clyne Sullivan + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +//#include "ch.h" +#include "dogs.h" +#include "hal.h" + +#define SET_DATA palSetPad(GPIOC, 15) +#define SET_CMD palClearPad(GPIOC, 15) +#define CS_HIGH palSetPad(GPIOA, 4) +#define CS_LOW palClearPad(GPIOA, 4) +unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; + +//static volatile bool dogs_spi_done = false; + +#define spi_send(data, len) spiSend(&SPID1, len, data) +//static void spi_send(unsigned char *data, unsigned int len) +//{ + //dogs_spi_done = false; + //spiStartSend(&SPID1, len, data); + //while (!dogs_spi_done) + // asm("wfi"); + + //for (; len > 0; --len) + // spiPolledExchange(&SPID1, *data++); +//} + +static void dogs_init_display(); +//static void dogs_spi_callback(SPIDriver *spid) +//{ +// if (spiIsBufferComplete(spid)) +// dogs_spi_done = true; +//} + +void dogs_init() +{ + // SPI + palSetPadMode(GPIOB, 1, PAL_MODE_ALTERNATE(1)); // MOSI + palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(0)); // CLK + palSetPadMode(GPIOA, 4, PAL_MODE_OUTPUT_PUSHPULL); // nCS + palSetPadMode(GPIOC, 14, PAL_MODE_OUTPUT_PUSHPULL); // nRST + palSetPadMode(GPIOC, 15, PAL_MODE_OUTPUT_PUSHPULL); // CD + + palSetPad(GPIOA, 4); + palSetPad(GPIOC, 14); + palClearPad(GPIOC, 15); + + static const SPIConfig spicfg = { + false, + NULL /*dogs_spi_callback*/, + 0, // cr1 + 0 + }; + spiStart(&SPID1, &spicfg); + + dogs_init_display(); + dogs_clear(); + dogs_flush(); +} + +void dogs_write_cmd(unsigned char byte) +{ + spi_send(&byte, 1); +} + +void dogs_set_column(unsigned int col) +{ + dogs_write_cmd(0x10 | ((col >> 4) & 0xF)); + dogs_write_cmd(0x00 | (col & 0xF)); +} +void dogs_set_power(unsigned int bits) +{ + dogs_write_cmd(0x28 | (bits & 0x7)); +} +void dogs_set_scroll_line(unsigned int startline) +{ + dogs_write_cmd(0x40 | (startline & 0x3F)); +} +void dogs_set_page(unsigned int page) +{ + dogs_write_cmd(0xB0 | (page & 0xF)); +} +void dogs_set_vlcd_ratio(unsigned int ratio) +{ + dogs_write_cmd(0x20 | (ratio & 0x7)); +} +void dogs_set_contrast(unsigned int value) +{ + dogs_write_cmd(0x81); + dogs_write_cmd(0x00 | (value & 0x3F)); +} +void dogs_set_pixelson(bool on) +{ + dogs_write_cmd(on ? 0xA5 : 0xA4); +} +void dogs_set_invert(bool invert) +{ + dogs_write_cmd(invert ? 0xA7 : 0xA6); +} +void dogs_set_sleep(bool sleep) +{ + dogs_write_cmd(sleep ? 0xAE : 0xAF); +} +void dogs_set_segdir(bool normal) +{ + dogs_write_cmd(normal ? 0xA0 : 0xA1); +} +void dogs_set_comdir(bool normal) +{ + dogs_write_cmd(normal ? 0xC0 : 0xC8); +} +void dogs_reset() +{ + dogs_write_cmd(0xE2); +} +void dogs_set_bias(bool higher) +{ + dogs_write_cmd(higher ? 0xA2 : 0xA3); +} +void dogs_set_advanced(unsigned int bits) +{ + dogs_write_cmd(0xFA); + dogs_write_cmd(0x10 | bits); +} + +void dogs_init_display() +{ + SET_CMD; + CS_LOW; + dogs_reset(); + CS_HIGH; + + unsigned long int reset_sleep = (STM32_SYSCLK / 1000) * 100; + while (reset_sleep != 0) { + asm("nop; nop; nop; nop; nop"); + reset_sleep -= 8; + } + + CS_LOW; + dogs_set_scroll_line(0); + dogs_set_segdir(true); + dogs_set_comdir(false); + dogs_set_pixelson(false); + dogs_set_invert(false); + dogs_set_bias(true); + dogs_set_power(0x07); + dogs_set_vlcd_ratio(7); + dogs_set_contrast(12); + dogs_set_advanced(0x83); + dogs_set_sleep(false); + CS_HIGH; +} + +void dogs_clear() +{ + uint32_t *ptr = (uint32_t *)dogs_buffer; + unsigned int count = sizeof(dogs_buffer) / sizeof(uint32_t) / 12; + + for (; count; --count) { + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + } +} + +void dogs_flush() +{ + unsigned char *ptr = dogs_buffer; + CS_LOW; + for (int page = 0; page < 8; ++page) { + SET_CMD; + dogs_set_page(page); + dogs_set_column(30); + + SET_DATA; + spi_send(ptr, 102); + ptr += 102; + } + CS_HIGH; +} + +void draw_pixel(int x, int y, bool state) +{ + if (x < 0 || y < 0 || x >= DISP_WIDTH || y >= DISP_HEIGHT) + return; + y = DISP_HEIGHT - 1 - y; + if (state) + dogs_buffer[y / 8 * DISP_WIDTH + x] |= (1 << (y % 8)); + else + dogs_buffer[y / 8 * DISP_WIDTH + x] &= ~(1 << (y % 8)); +} + +void draw_rect(int x, int y, int w, int h) +{ + for (int i = 0; i < w; i++) { + for (int j = 0; j < h; j++) + draw_pixel(x + i, y + j, true); + } +} + +void draw_bitmap(int x, int y, const unsigned char *buffer) +{ + // Prepare source information + const unsigned char *src = buffer; + const int width = *src++; + const int height = *src++; + int sbit = 0; + + for (int j = 0; j < height; j++) { + for (int i = 0; i < width; i++) { + draw_pixel(x + i, y + j, *src & (1 << sbit)); + if (++sbit == 8) { + sbit = 0; + ++src; + } + } + } +} + +static const unsigned char draw_number_bitmaps[10][10] = { + { 8, 8, // '0' + 0b00011000, + 0b00100100, + 0b01000010, + 0b01000010, + 0b01000010, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '1' + 0b01111100, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010100, + 0b00011000, + }, + { 8, 8, // '2' + 0b01111110, + 0b00001000, + 0b00010000, + 0b00100000, + 0b01000000, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '3' + 0b00011100, + 0b00100010, + 0b01000000, + 0b00100000, + 0b00111100, + 0b01000000, + 0b00100010, + 0b00011100, + }, + { 8, 8, // '4' + 0b00100000, + 0b00100000, + 0b00100000, + 0b00111110, + 0b00100100, + 0b00101000, + 0b00110000, + 0b00100000, + }, + { 8, 8, // '5' + 0b00011100, + 0b00100010, + 0b01000000, + 0b01000000, + 0b00100000, + 0b00011110, + 0b00000010, + 0b01111110, + }, + { 8, 8, // '6' + 0b00011000, + 0b00100100, + 0b01000010, + 0b01000110, + 0b00111010, + 0b00000010, + 0b00000100, + 0b00111000, + }, + { 8, 8, // '7' + 0b00001000, + 0b00001000, + 0b00001000, + 0b00001000, + 0b00010000, + 0b00100000, + 0b01000000, + 0b01111110, + }, + { 8, 8, // '8' + 0b00011000, + 0b00100100, + 0b01000010, + 0b00100100, + 0b00111100, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '9' + 0b00011100, + 0b00100010, + 0b01000000, + 0b01111000, + 0b01000100, + 0b01000010, + 0b00100100, + 0b00011000, + }, +}; + +void draw_number(int x, int y, int number) +{ + if (number < 0) + number = -number; + int tmp = number; + int count; + for (count = 0; tmp; count++) + tmp /= 10; + if (count == 0) + count = 1; + x += count * 8; + do { + x -= 8; + draw_bitmap(x, y, draw_number_bitmaps[number % 10]); + } while (number /= 10); +} + diff --git a/source/dogs.h b/source/dogs.h new file mode 100644 index 0000000..8af24fd --- /dev/null +++ b/source/dogs.h @@ -0,0 +1,33 @@ +/** + * dogs.h - Interface for drawing to the EADOGS102N-6 display. + * Copyright (C) 2020 Clyne Sullivan + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#ifndef DOGS_H_ +#define DOGS_H_ + +#include + +#define DISP_WIDTH 102 +#define DISP_HEIGHT 64 + +extern unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; + +void dogs_init(); +void dogs_clear(); +void dogs_flush(); +void dogs_set_sleep(bool sleep); + +void draw_pixel(int x, int y, bool state); +void draw_rect(int x, int y, int w, int h); +void draw_bitmap(int x, int y, const unsigned char *buffer); +void draw_number(int x, int y, int number); + +#endif // DOGS_H_ + diff --git a/source/flapbird.c b/source/flapbird.c new file mode 100644 index 0000000..f2dd2cf --- /dev/null +++ b/source/flapbird.c @@ -0,0 +1,80 @@ +#include "buttons.h" +#include "dogs.h" + +static const unsigned char bird[] = { + 8, 8, + 0b00111100, + 0b01100110, + 0b01000010, + 0b01111110, + 0b01100110, + 0b01000010, + 0b11000000, + 0b11000000, +}; + +static int score; +static int t1x, t1o; +static int t2x, t2o; +static int py; +static int vy; +static int counter; + +void flapbird_init() +{ + score = 0; + t1x = DISP_WIDTH / 2, t1o = 15; + t2x = DISP_WIDTH, t2o = 49; + py = DISP_HEIGHT / 2 - 4; + vy = 0; + counter = 0; +} + +int flapbird_loop() +{ + // Player logic + if (py > 0) { + py += vy; + if (vy > -3) + vy--; + } else { + if (py < 0) + py = 0; + if (score > 0) + score = 0; + } + + if (button_state & BUTTON_2) { + vy = 5; + if (py <= 0) + py = 1; + } + + // Rendering + dogs_clear(); + + draw_rect(t1x, 0, 4, t1o - 10); + draw_rect(t1x, t1o + 10, 4, DISP_HEIGHT - t1o + 10); + draw_rect(t2x, 0, 4, t2o - 10); + draw_rect(t2x, t2o + 10, 4, DISP_HEIGHT - t2o + 10); + draw_bitmap(4, py, bird); + + draw_number(DISP_WIDTH - 25, DISP_HEIGHT - 8, score); + dogs_flush(); + + // Game logic + if (t1x == 4) + score = (py + 2 > t1o - 10 && py + 6 < t1o + 10) ? score + 1 : 0; + if (t2x == 4) + score = (py + 2 > t2o - 10 && py + 6 < t2o + 10) ? score + 1 : 0; + + t1x -= 2; + if (t1x <= -5) + t1x = DISP_WIDTH; + t2x -= 2; + if (t2x <= -5) + t2x = DISP_WIDTH; + + return 100; +} + diff --git a/source/flapbird.h b/source/flapbird.h new file mode 100644 index 0000000..7ab4199 --- /dev/null +++ b/source/flapbird.h @@ -0,0 +1,8 @@ +#ifndef FLAPBIRD_H_ +#define FLAPBIRD_H_ + +void flapbird_init(); +int flapbird_loop(); + +#endif // FLAPBIRD_H_ + diff --git a/source/main.c b/source/main.c new file mode 100644 index 0000000..fd753ea --- /dev/null +++ b/source/main.c @@ -0,0 +1,150 @@ +/** + * main.c - Firmware entry point and main loop for game or testing. + * Copyright (C) 2020 Clyne Sullivan + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#include "buttons.h" +#include "dogs.h" +#include "hal.h" + +//#include "2048.h" +#include "flapbird.h" + +/* + * Progress: + * - Serial through LPUART1 works (38400 baud, takes over swdio pins) + * - Display comm. over SPI, can clear screen + * - Can read buttons through PAL (through interrupts now) + * - Use ADC to read Vintref, print to screen in mV + * - Sleep mode via WFI, saves ~0.5mA (we're running around 1.1mA) + * - Run at 512kHz, only use HSI for ADC: 360uA (jumpy) + * - Drop to 1.2V Vcore (range 3), enable low-V detector: 375uA (steady) (440uA at 1MHz) + * - Run at 4MHz, drop to low-power run/sleep @ 64kHz for idle: 375uA (also lowered contrast) + * - Sleep display for 'pause': ~240uA + * + * - Use RTC for delay, Stop mode when idle: 348uA + * + * - Flappy bird is going, 2048 next + */ + +static int readVddmv(); + +static void alarm_callback(RTCDriver *rtcp, rtcevent_t event) +{ + (void)rtcp; + (void)event; + + static bool sleep = false; + + bool sleep_button = (button_state & BUTTON_1) != 0; + if (sleep && !sleep_button) + return; + + RCC->ICSCR |= 6 << RCC_ICSCR_MSIRANGE_Pos; + dogs_set_sleep(false); + + if (sleep_button) { + sleep ^= true; + if (sleep) { + draw_number(DISP_WIDTH - 33, 0, + !(PWR->CSR & PWR_CSR_PVDO) ? readVddmv() : 1); + dogs_flush(); + } + } + + if (!sleep) + flapbird_loop(); + + dogs_set_sleep(true); +} + +int main(void) +{ + halInit(); + //chSysInit(); + buttons_init(); + + dogs_init(); + flapbird_init(); + + static const RTCWakeup wakeupcfg = { + (0 << 16) | // wucksel (37k /16 = ~2k) + 200 // wut (hope for 10Hz) + }; + rtcSTM32SetPeriodicWakeup(&RTCD1, &wakeupcfg); + rtcSetCallback(&RTCD1, alarm_callback); + + RCC->CR &= ~RCC_CR_HSION; + PWR->CR |= PWR_CR_LPSDSR | PWR_CR_ULP; + PWR->CR |= PWR_CR_LPRUN; + SCB->SCR = 6; + //FLASH->ACR |= FLASH_ACR_SLEEP_PD; + + // Below code for serial -- note that it cuts off debugging, and MUST be used in a thread + //chThdSleepMilliseconds(2000); + //palSetPadMode(GPIOA, 13, PAL_MODE_ALTERNATE(6)); + //palSetPadMode(GPIOA, 14, PAL_MODE_ALTERNATE(6)); + //sdStart(&LPSD1, NULL); + //chnWrite(&LPSD1, (const uint8_t *)"Hello World!\r\n", 14); + + /* This is now the idle thread loop, you may perform here a low priority + task but YOU MUST NEVER TRY TO SLEEP OR WAIT in this loop. Note that + this tasks runs at the lowest priority level so any instruction added + here will be executed after all other tasks have been started. */ + while (1) + asm("wfe"); +} + +void HardFault_Handler() +{ + while (1); +} + +static volatile bool adc_is_complete = false; +static void adc_callback(ADCDriver *adcd) +{ + (void)adcd; + adc_is_complete = true; +} + +static const ADCConfig adccfg = { + .dummy = 0 +}; + +static const ADCConversionGroup adcgrpcfg = { + .circular = false, + .num_channels = 1, + .end_cb = adc_callback, + .error_cb = NULL, + .cfgr1 = ADC_CFGR1_RES_12BIT, /* CFGR1 */ + .cfgr2 = 0, /* CFGR2 */ + .tr = ADC_TR(0, 0), /* TR */ + .smpr = ADC_SMPR_SMP_1P5, /* SMPR */ + .chselr = ADC_CHSELR_CHSEL17 /* CHSELR */ +}; + +int readVddmv() +{ + adcsample_t reading = 0; + + RCC->CR |= RCC_CR_HSION; + while (!(RCC->CR & RCC_CR_HSIRDY)); + + adcStart(&ADCD1, &adccfg); + adcSTM32EnableVREF(&ADCD1); + adcStartConversion(&ADCD1, &adcgrpcfg, &reading, 1); + while (!adc_is_complete); + adcStopConversion(&ADCD1); + adcSTM32DisableVREF(&ADCD1); + adcStop(&ADCD1); + + RCC->CR &= ~RCC_CR_HSION; + + return 3000 * /* CAL */ *((adcsample_t *)0x1FF80078) / reading; +} diff --git a/source/osal.c b/source/osal.c new file mode 100644 index 0000000..5c62069 --- /dev/null +++ b/source/osal.c @@ -0,0 +1,467 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file osal.c + * @brief OSAL module code. + * + * @addtogroup OSAL + * @{ + */ + +#include "osal.h" +#include "osal_vt.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/** + * @brief Pointer to a halt error message. + * @note The message is meant to be retrieved by the debugger after the + * system halt caused by an unexpected error. + */ +const char *osal_halt_msg; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +static void callback_timeout(void *p) { + osalSysLockFromISR(); + osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT); + osalSysUnlockFromISR(); +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief OSAL module initialization. + * + * @api + */ +void osalInit(void) { + + vtInit(); + + OSAL_INIT_HOOK(); +} + +/** + * @brief System halt with error message. + * + * @param[in] reason the halt message pointer + * + * @api + */ +#if !defined(__DOXYGEN__) +__attribute__((weak, noreturn)) +#endif +void osalSysHalt(const char *reason) { + + osalSysDisable(); + osal_halt_msg = reason; + while (true) { + } +} + +/** + * @brief Polled delay. + * @note The real delay is always few cycles in excess of the specified + * value. + * + * @param[in] cycles number of cycles + * + * @xclass + */ +void osalSysPolledDelayX(rtcnt_t cycles) { + + (void)cycles; +} + +/** + * @brief System timer handler. + * @details The handler is used for scheduling and Virtual Timers management. + * + * @iclass + */ +void osalOsTimerHandlerI(void) { + + osalDbgCheckClassI(); + + vtDoTickI(); +} + +/** + * @brief Checks if a reschedule is required and performs it. + * @note I-Class functions invoked from thread context must not reschedule + * by themselves, an explicit reschedule using this function is + * required in this scenario. + * @note Not implemented in this simplified OSAL. + * + * @sclass + */ +void osalOsRescheduleS(void) { + +} + +/** + * @brief Current system time. + * @details Returns the number of system ticks since the @p osalInit() + * invocation. + * @note The counter can reach its maximum and then restart from zero. + * @note This function can be called from any context but its atomicity + * is not guaranteed on architectures whose word size is less than + * @p systime_t size. + * + * @return The system time in ticks. + * + * @xclass + */ +systime_t osalOsGetSystemTimeX(void) { + + return vtlist.vt_systime; +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @sclass + */ +void osalThreadSleepS(sysinterval_t time) { + virtual_timer_t vt; + thread_reference_t tr; + + tr = NULL; + vtSetI(&vt, time, callback_timeout, (void *)&tr); + osalThreadSuspendS(&tr); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @api + */ +void osalThreadSleep(sysinterval_t time) { + + osalSysLock(); + osalThreadSleepS(time); + osalSysUnlock(); +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @return The wake up message. + * + * @sclass + */ +msg_t osalThreadSuspendS(thread_reference_t *trp) { + thread_t self = {MSG_WAIT}; + + osalDbgCheck(trp != NULL); + + *trp = &self; + while (self.message == MSG_WAIT) { + osalSysUnlock(); + /* A state-changing interrupt could occur here and cause the loop to + terminate, an hook macro is executed while waiting.*/ + OSAL_IDLE_HOOK(); + osalSysLock(); + } + + return self.message; +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The wake up message. + * @retval MSG_TIMEOUT if the operation timed out. + * + * @sclass + */ +msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(trp != NULL); + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(trp); + + vtSetI(&vt, timeout, callback_timeout, (void *)trp); + msg = osalThreadSuspendS(trp); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must not reschedule because it can be called from + * ISR context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Enqueues the caller thread. + * @details The caller thread is enqueued and put to sleep until it is + * dequeued or the specified timeouts expires. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The message from @p osalQueueWakeupOneI() or + * @p osalQueueWakeupAllI() functions. + * @retval MSG_TIMEOUT if the thread has not been dequeued within the + * specified timeout or if the function has been + * invoked with @p TIME_IMMEDIATE as timeout + * specification. + * + * @sclass + */ +msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(tqp != NULL); + + if (TIME_IMMEDIATE == timeout) + return MSG_TIMEOUT; + + tqp->tr = NULL; + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(&tqp->tr); + + vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr); + msg = osalThreadSuspendS(&tqp->tr); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Dequeues and wakes up one thread from the queue, if any. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Dequeues and wakes up all threads from the queue. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + esp->flags |= flags; + if (esp->cb != NULL) { + esp->cb(esp); + } +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + osalSysLock(); + osalEventBroadcastFlagsI(esp, flags); + osalSysUnlock(); +} + +/** + * @brief Event callback setup. + * @note The callback is invoked from ISR context and can + * only invoke I-Class functions. The callback is meant + * to wakeup the task that will handle the event by + * calling @p osalEventGetAndClearFlagsI(). + * @note This function is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + * + * @param[in] esp pointer to the event flags object + * @param[in] cb pointer to the callback function + * @param[in] param parameter to be passed to the callback function + * + * @api + */ +void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param) { + + osalDbgCheck(esp != NULL); + + esp->cb = cb; + esp->param = param; +} + +/** + * @brief Locks the specified mutex. + * @post The mutex is locked and inserted in the per-thread stack of owned + * mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexLock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 1; +} + +/** + * @brief Unlocks the specified mutex. + * @note The HAL guarantees to release mutex in reverse lock order. The + * mutex being unlocked is guaranteed to be the last locked mutex + * by the invoking thread. + * The implementation can rely on this behavior and eventually + * ignore the @p mp parameter which is supplied in order to support + * those OSes not supporting a stack of the owned mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexUnlock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +/** @} */ diff --git a/source/osal.h b/source/osal.h new file mode 100644 index 0000000..30e1592 --- /dev/null +++ b/source/osal.h @@ -0,0 +1,754 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file osal.h + * @brief OSAL module header. + * + * @addtogroup OSAL + * @{ + */ + +#ifndef OSAL_H +#define OSAL_H + +#include +#include +#include + +#include "cmparams.h" + +#include "osalconf.h" + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Common constants + * @{ + */ +#if !defined(FALSE) || defined(__DOXYGEN__) +#define FALSE 0 +#endif + +#if !defined(TRUE) || defined(__DOXYGEN__) +#define TRUE 1 +#endif + +#define OSAL_SUCCESS false +#define OSAL_FAILED true +/** @} */ + +/** + * @name Messages + * @{ + */ +#define MSG_OK (msg_t)0 +#define MSG_RESET (msg_t)-1 +#define MSG_TIMEOUT (msg_t)-2 +#define MSG_WAIT (msg_t)-10 +/** @} */ + +/** + * @name Special time constants + * @{ + */ +#define TIME_IMMEDIATE ((sysinterval_t)0) +#define TIME_INFINITE ((sysinterval_t)-1) +/** @} */ + +/** + * @name Systick modes. + * @{ + */ +#define OSAL_ST_MODE_NONE 0 +#define OSAL_ST_MODE_PERIODIC 1 +#define OSAL_ST_MODE_FREERUNNING 2 +/** @} */ + +/** + * @name Systick parameters. + * @{ + */ +/** + * @brief Size in bits of the @p systick_t type. + */ +#define OSAL_ST_RESOLUTION 32 + +/** + * @brief Systick mode required by the underlying OS. + */ +#define OSAL_ST_MODE OSAL_ST_MODE_NONE +/** @} */ + +/** + * @name IRQ-related constants + * @{ + */ +/** + * @brief Total priority levels. + */ +#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS) + +/** + * @brief Highest IRQ priority for HAL drivers. + */ +#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__) +#define OSAL_IRQ_MAXIMUM_PRIORITY 0 +#else +#define OSAL_IRQ_MAXIMUM_PRIORITY 1 +#endif + +/** + * @brief Converts from numeric priority to BASEPRI register value. + */ +#define OSAL_BASEPRI(priority) ((priority) << (8U - CORTEX_PRIORITY_BITS)) +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Frequency in Hertz of the system tick. + */ +#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__) +#define OSAL_ST_FREQUENCY 1000 +#endif + +/** + * @brief Enables OSAL assertions. + */ +#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_ASSERTS FALSE +#endif + +/** + * @brief Enables OSAL functions parameters checks. + */ +#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_CHECKS FALSE +#endif + +/** + * @brief OSAL initialization hook. + */ +#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__) +#define OSAL_INIT_HOOK() +#endif + +/** + * @brief Idle loop hook macro. + */ +#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__) +#define OSAL_IDLE_HOOK() +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a system status word. + */ +typedef uint32_t syssts_t; + +/** + * @brief Type of a message. + */ +typedef int32_t msg_t; + +/** + * @brief Type of system time counter. + */ +typedef uint32_t systime_t; + +/** + * @brief Type of system time interval. + */ +typedef uint32_t sysinterval_t; + +/** + * @brief Type of realtime counter. + */ +typedef uint32_t rtcnt_t; + +/** + * @brief Type of a thread. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + */ +typedef struct { + volatile msg_t message; +} thread_t; + +/** + * @brief Type of a thread reference. + */ +typedef thread_t * thread_reference_t; + +/** + * @brief Type of an event flags mask. + */ +typedef uint32_t eventflags_t; + +/** + * @brief Type of an event flags object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +typedef struct event_source event_source_t; + +/** + * @brief Type of an event source callback. + * @note This type is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + */ +typedef void (*eventcallback_t)(event_source_t *esp); + +/** + * @brief Events source object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +struct event_source { + volatile eventflags_t flags; /**< @brief Stored event flags. */ + eventcallback_t cb; /**< @brief Event source callback. */ + void *param; /**< @brief User defined field. */ +}; + +/** + * @brief Type of a mutex. + * @note If the OS does not support mutexes or there is no OS then them + * mechanism can be simulated. + */ +typedef uint32_t mutex_t; + +/** + * @brief Type of a thread queue. + * @details A thread queue is a queue of sleeping threads, queued threads + * can be dequeued one at time or all together. + * @note If the OSAL is implemented on a bare metal machine without RTOS + * then the queue can be implemented as a single thread reference. + */ +typedef struct { + thread_reference_t tr; +} threads_queue_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @name Debug related macros + * @{ + */ +/** + * @brief Condition assertion. + * @details If the condition check fails then the OSAL panics with a + * message and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS + * switch is enabled. + * @note The remark string is not currently used except for putting a + * comment in the code about the assertion. + * + * @param[in] c the condition to be verified to be true + * @param[in] remark a remark string + * + * @api + */ +#define osalDbgAssert(c, remark) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief Function parameters check. + * @details If the condition check fails then the OSAL panics and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch + * is enabled. + * + * @param[in] c the condition to be verified to be true + * + * @api + */ +#define osalDbgCheck(c) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief I-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassI() + +/** + * @brief S-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassS() +/** @} */ + +/** + * @name IRQ service routines wrappers + * @{ + */ +/** + * @brief Priority level verification macro. + */ +#define OSAL_IRQ_IS_VALID_PRIORITY(n) \ + (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS)) + +/** + * @brief IRQ prologue code. + * @details This macro must be inserted at the start of all IRQ handlers. + */ +#define OSAL_IRQ_PROLOGUE() + +/** + * @brief IRQ epilogue code. + * @details This macro must be inserted at the end of all IRQ handlers. + */ +#define OSAL_IRQ_EPILOGUE() + +/** + * @brief IRQ handler function declaration. + * @details This macro hides the details of an ISR function declaration. + * + * @param[in] id a vector name as defined in @p vectors.s + */ +#define OSAL_IRQ_HANDLER(id) void id(void) +/** @} */ + +/** + * @name Time conversion utilities + * @{ + */ +/** + * @brief Seconds to system ticks. + * @details Converts from seconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] secs number of seconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_S2I(secs) \ + ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY)) + +/** + * @brief Milliseconds to system ticks. + * @details Converts from milliseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] msecs number of milliseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_MS2I(msecs) \ + ((sysinterval_t)((((((uint32_t)(msecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL)) + +/** + * @brief Microseconds to system ticks. + * @details Converts from microseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] usecs number of microseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_US2I(usecs) \ + ((sysinterval_t)((((((uint32_t)(usecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL)) +/** @} */ + +/** + * @name Time conversion utilities for the realtime counter + * @{ + */ +/** + * @brief Seconds to realtime counter. + * @details Converts from seconds to realtime counter cycles. + * @note The macro assumes that @p freq >= @p 1. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] sec number of seconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_S2RTC(freq, sec) ((freq) * (sec)) + +/** + * @brief Milliseconds to realtime counter. + * @details Converts from milliseconds to realtime counter cycles. + * @note The result is rounded upward to the next millisecond boundary. + * @note The macro assumes that @p freq >= @p 1000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] msec number of milliseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec)) + +/** + * @brief Microseconds to realtime counter. + * @details Converts from microseconds to realtime counter cycles. + * @note The result is rounded upward to the next microsecond boundary. + * @note The macro assumes that @p freq >= @p 1000000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] usec number of microseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) +/** @} */ + +/** + * @name Sleep macros using absolute time + * @{ + */ +/** + * @brief Delays the invoking thread for the specified number of seconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] secs time in seconds, must be different from zero + * + * @api + */ +#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs)) + +/** + * @brief Delays the invoking thread for the specified number of + * milliseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] msecs time in milliseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs)) + +/** + * @brief Delays the invoking thread for the specified number of + * microseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] usecs time in microseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs)) +/** @} */ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern const char *osal_halt_msg; + +#ifdef __cplusplus +extern "C" { +#endif + void osalInit(void); + void osalSysHalt(const char *reason); + void osalSysPolledDelayX(rtcnt_t cycles); + void osalOsTimerHandlerI(void); + void osalOsRescheduleS(void); + systime_t osalOsGetSystemTimeX(void); + void osalThreadSleepS(sysinterval_t time); + void osalThreadSleep(sysinterval_t time); + msg_t osalThreadSuspendS(thread_reference_t *trp); + msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout); + void osalThreadResumeI(thread_reference_t *trp, msg_t msg); + void osalThreadResumeS(thread_reference_t *trp, msg_t msg); + msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout); + void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg); + void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg); + void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags); + void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags); + void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param); + void osalMutexLock(mutex_t *mp); + void osalMutexUnlock(mutex_t *mp); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Disables interrupts globally. + * + * @special + */ +static inline void osalSysDisable(void) { + + __disable_irq(); +} + +/** + * @brief Enables interrupts globally. + * + * @special + */ +static inline void osalSysEnable(void) { + + __enable_irq(); +} + +/** + * @brief Enters a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLock(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlock(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Enters a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLockFromISR(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlockFromISR(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Returns the execution status and enters a critical zone. + * @details This functions enters into a critical zone and can be called + * from any context. Because its flexibility it is less efficient + * than @p chSysLock() which is preferable when the calling context + * is known. + * @post The system is in a critical zone. + * + * @return The previous system status, the encoding of this + * status word is architecture-dependent and opaque. + * + * @xclass + */ +static inline syssts_t osalSysGetStatusAndLockX(void) { + syssts_t sts; + +#if CORTEX_MODEL == 0 + sts = (syssts_t)__get_PRIMASK(); + __disable_irq(); +#else + sts = (syssts_t)__get_BASEPRI(); + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif + return sts; +} + +/** + * @brief Restores the specified execution status and leaves a critical zone. + * @note A call to @p chSchRescheduleS() is automatically performed + * if exiting the critical zone and if not in ISR context. + * + * @param[in] sts the system status to be restored. + * + * @xclass + */ +static inline void osalSysRestoreStatusX(syssts_t sts) { + +#if CORTEX_MODEL == 0 + if ((sts & (syssts_t)1) == (syssts_t)0) { + __enable_irq(); + } +#else + __set_BASEPRI(sts); +#endif +} + +/** + * @brief Adds an interval to a system time returning a system time. + * + * @param[in] systime base system time + * @param[in] interval interval to be added + * @return The new system time. + * + * @xclass + */ +static inline systime_t osalTimeAddX(systime_t systime, + sysinterval_t interval) { + + return systime + (systime_t)interval; +} + +/** + * @brief Subtracts two system times returning an interval. + * + * @param[in] start first system time + * @param[in] end second system time + * @return The interval representing the time difference. + * + * @xclass + */ +static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) { + + return (sysinterval_t)((systime_t)(end - start)); +} + +/** + * @brief Checks if the specified time is within the specified time window. + * @note When start==end then the function returns always false because the + * time window has zero size. + * @note This function can be called from any context. + * + * @param[in] time the time to be verified + * @param[in] start the start of the time window (inclusive) + * @param[in] end the end of the time window (non inclusive) + * @retval true current time within the specified time window. + * @retval false current time not within the specified time window. + * + * @xclass + */ +static inline bool osalTimeIsInRangeX(systime_t time, + systime_t start, + systime_t end) { + + return (bool)((systime_t)((systime_t)time - (systime_t)start) < + (systime_t)((systime_t)end - (systime_t)start)); +} + +/** + * @brief Initializes a threads queue object. + * + * @param[out] tqp pointer to the threads queue object + * + * @init + */ +static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { + + osalDbgCheck(tqp != NULL); +} + +/** + * @brief Initializes an event source object. + * + * @param[out] esp pointer to the event source object + * + * @init + */ +static inline void osalEventObjectInit(event_source_t *esp) { + + osalDbgCheck(esp != NULL); + + esp->flags = (eventflags_t)0; + esp->cb = NULL; + esp->param = NULL; +} + +/** + * @brief Initializes s @p mutex_t object. + * + * @param[out] mp pointer to the @p mutex_t object + * + * @init + */ +static inline void osalMutexObjectInit(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +#endif /* OSAL_H */ + +/** @} */ -- cgit v1.2.3