From 1e430f74133acaeb31cb689ded3da77cb7b1c0ca Mon Sep 17 00:00:00 2001 From: xoviat Date: Sat, 26 Aug 2023 20:31:12 -0500 Subject: [PATCH] stm32: complete stop impl. --- embassy-stm32/src/low_power.rs | 48 ------------- embassy-stm32/src/rtc/mod.rs | 79 ++++++++++++++++++++ embassy-stm32/src/rtc/v2.rs | 119 ++++++------------------------- embassy-stm32/src/time_driver.rs | 25 ++----- 4 files changed, 107 insertions(+), 164 deletions(-) diff --git a/embassy-stm32/src/low_power.rs b/embassy-stm32/src/low_power.rs index 964819ab..42536216 100644 --- a/embassy-stm32/src/low_power.rs +++ b/embassy-stm32/src/low_power.rs @@ -66,9 +66,6 @@ pub struct Executor { not_send: PhantomData<*mut ()>, scb: SCB, time_driver: &'static RtcDriver, - stop_time: embassy_time::Duration, - next_alarm: embassy_time::Duration, - wfe: u8, } impl Executor { @@ -82,9 +79,6 @@ impl Executor { not_send: PhantomData, scb: cortex_m::Peripherals::steal().SCB, time_driver: get_driver(), - stop_time: Duration::from_ticks(0), - next_alarm: Duration::from_ticks(u64::MAX), - wfe: 0, }); EXECUTOR.as_mut().unwrap() @@ -94,50 +88,8 @@ impl Executor { unsafe fn on_wakeup_irq(&mut self) { trace!("low power: on wakeup irq"); - if crate::pac::RTC.isr().read().wutf() { - trace!("low power: wutf set"); - } else { - trace!("low power: wutf not set"); - } - self.time_driver.resume_time(); trace!("low power: resume time"); - - crate::interrupt::typelevel::RTC_WKUP::disable(); - - // cortex_m::asm::bkpt(); - - // let time_elasped = self.rtc.unwrap().stop_wakeup_alarm() - self.last_stop.take().unwrap(); - // - // trace!("low power: {} ms elapsed", time_elasped.as_millis()); - // - // resume_time(time_elasped); - // trace!("low power: resume time"); - // - // self.scb.clear_sleepdeep(); - - // cortex_m::asm::bkpt(); - // Self::get_scb().set_sleeponexit(); - // - // return; - // - // let elapsed = RTC_INSTANT.take().unwrap() - stop_wakeup_alarm(); - // - // STOP_TIME += elapsed; - // // let to_next = NEXT_ALARM - STOP_TIME; - // let to_next = Duration::from_secs(3); - // - // trace!("on wakeup irq: to next: {}", to_next); - // if to_next > THRESHOLD { - // trace!("start wakeup alarm"); - // RTC_INSTANT.replace(start_wakeup_alarm(to_next)); - // - // trace!("set sleeponexit"); - // Self::get_scb().set_sleeponexit(); - // } else { - // Self::get_scb().clear_sleeponexit(); - // Self::get_scb().clear_sleepdeep(); - // } } pub(self) fn stop_with_rtc(&mut self, rtc: &'static Rtc) { diff --git a/embassy-stm32/src/rtc/mod.rs b/embassy-stm32/src/rtc/mod.rs index a6102077..1f1abb78 100644 --- a/embassy-stm32/src/rtc/mod.rs +++ b/embassy-stm32/src/rtc/mod.rs @@ -1,6 +1,14 @@ //! RTC peripheral abstraction mod datetime; +#[cfg(feature = "low-power")] +use core::cell::Cell; + +#[cfg(feature = "low-power")] +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; +#[cfg(feature = "low-power")] +use embassy_sync::blocking_mutex::Mutex; + pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError}; /// refer to AN4759 to compare features of RTC2 and RTC3 @@ -30,9 +38,73 @@ pub enum RtcError { NotRunning, } +#[cfg(feature = "low-power")] +/// Represents an instant in time that can be substracted to compute a duration +struct RtcInstant { + second: u8, + subsecond: u16, +} + +#[cfg(feature = "low-power")] +impl RtcInstant { + pub fn now() -> Self { + let tr = RTC::regs().tr().read(); + let tr2 = RTC::regs().tr().read(); + let ssr = RTC::regs().ssr().read().ss(); + let ssr2 = RTC::regs().ssr().read().ss(); + + let st = bcd2_to_byte((tr.st(), tr.su())); + let st2 = bcd2_to_byte((tr2.st(), tr2.su())); + + assert!(st == st2); + assert!(ssr == ssr2); + + let _ = RTC::regs().dr().read(); + + let subsecond = ssr; + let second = st; + + // trace!("rtc: instant now: st, ssr: {}, {}", st, ssr); + + Self { second, subsecond } + } +} + +#[cfg(feature = "low-power")] +impl core::ops::Sub for RtcInstant { + type Output = embassy_time::Duration; + + fn sub(self, rhs: Self) -> Self::Output { + use embassy_time::{Duration, TICK_HZ}; + + let second = if self.second < rhs.second { + self.second + 60 + } else { + self.second + }; + + // TODO: read prescaler + + let self_ticks = second as u32 * 256 + (255 - self.subsecond as u32); + let other_ticks = rhs.second as u32 * 256 + (255 - rhs.subsecond as u32); + let rtc_ticks = self_ticks - other_ticks; + + // trace!( + // "rtc: instant sub: self, other, rtc ticks: {}, {}, {}", + // self_ticks, + // other_ticks, + // rtc_ticks + // ); + + Duration::from_ticks(((rtc_ticks * TICK_HZ as u32) / 256u32) as u64) + } +} + /// RTC Abstraction pub struct Rtc { rtc_config: RtcConfig, + #[cfg(feature = "low-power")] + stop_time: Mutex>>, } #[derive(Copy, Clone, Debug, PartialEq)] @@ -108,8 +180,15 @@ impl Rtc { pub fn new(_rtc: impl Peripheral

, rtc_config: RtcConfig) -> Self { RTC::enable_peripheral_clk(); + #[cfg(not(feature = "low-power"))] let mut rtc_struct = Self { rtc_config }; + #[cfg(feature = "low-power")] + let mut rtc_struct = Self { + rtc_config, + stop_time: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)), + }; + Self::enable(); rtc_struct.configure(rtc_config); diff --git a/embassy-stm32/src/rtc/v2.rs b/embassy-stm32/src/rtc/v2.rs index 525dc45a..d73e7083 100644 --- a/embassy-stm32/src/rtc/v2.rs +++ b/embassy-stm32/src/rtc/v2.rs @@ -1,71 +1,12 @@ use stm32_metapac::rtc::vals::{Init, Osel, Pol}; +#[cfg(feature = "low-power")] +use super::RtcInstant; use super::{sealed, RtcClockSource, RtcConfig}; use crate::pac::rtc::Rtc; use crate::peripherals::RTC; use crate::rtc::sealed::Instance; -#[cfg(all(feature = "time", any(stm32wb, stm32f4)))] -pub struct RtcInstant { - ssr: u16, - st: u8, -} - -#[cfg(all(feature = "time", any(stm32wb, stm32f4)))] -impl RtcInstant { - pub fn now() -> Self { - // TODO: read value twice - use crate::rtc::bcd2_to_byte; - - let tr = RTC::regs().tr().read(); - let tr2 = RTC::regs().tr().read(); - let ssr = RTC::regs().ssr().read().ss(); - let ssr2 = RTC::regs().ssr().read().ss(); - - let st = bcd2_to_byte((tr.st(), tr.su())); - let st2 = bcd2_to_byte((tr2.st(), tr2.su())); - - assert!(st == st2); - assert!(ssr == ssr2); - - let _ = RTC::regs().dr().read(); - - trace!("rtc: instant now: st, ssr: {}, {}", st, ssr); - - Self { ssr, st } - } -} - -#[cfg(all(feature = "time", any(stm32wb, stm32f4)))] -impl core::ops::Sub for RtcInstant { - type Output = embassy_time::Duration; - - fn sub(self, rhs: Self) -> Self::Output { - use embassy_time::{Duration, TICK_HZ}; - - let st = if self.st < rhs.st { self.st + 60 } else { self.st }; - - // TODO: read prescaler - - let self_ticks = st as u32 * 256 + (255 - self.ssr as u32); - let other_ticks = rhs.st as u32 * 256 + (255 - rhs.ssr as u32); - let rtc_ticks = self_ticks - other_ticks; - - trace!( - "rtc: instant sub: self, other, rtc ticks: {}, {}, {}", - self_ticks, - other_ticks, - rtc_ticks - ); - - Duration::from_ticks( - ((((st as u32 * 256 + (255u32 - self.ssr as u32)) - (rhs.st as u32 * 256 + (255u32 - rhs.ssr as u32))) - * TICK_HZ as u32) as u32 - / 256u32) as u64, - ) - } -} - #[allow(dead_code)] #[derive(Clone, Copy, Debug)] pub(crate) enum WakeupPrescaler { @@ -165,16 +106,11 @@ impl super::Rtc { #[allow(dead_code)] #[cfg(all(feature = "time", any(stm32wb, stm32f4)))] - /// start the wakeup alarm and return the actual duration of the alarm - /// the actual duration will be the closest value possible that is less - /// than the requested duration. - /// - /// note: this api is exposed for testing purposes until low power is implemented. - /// it is not intended to be public - pub(crate) fn start_wakeup_alarm(&self, requested_duration: embassy_time::Duration) -> RtcInstant { + /// start the wakeup alarm and wtih a duration that is as close to but less than + /// the requested duration, and record the instant the wakeup alarm was started + pub(crate) fn start_wakeup_alarm(&self, requested_duration: embassy_time::Duration) { use embassy_time::{Duration, TICK_HZ}; - use crate::interrupt::typelevel::Interrupt; use crate::rcc::get_freqs; let rtc_hz = unsafe { get_freqs() }.rtc.unwrap().0 as u64; @@ -206,47 +142,34 @@ impl super::Rtc { trace!("rtc: start wakeup alarm for {} ms", duration.as_millis()); - // self.write(false, |regs| { - // regs.cr().modify(|w| w.set_wutie(false)); - // - // regs.isr().modify(|w| w.set_wutf(false)); - // - // regs.cr().modify(|w| w.set_wutie(true)); - // }); - // - // trace!("rtc: clear wuf..."); - // crate::pac::PWR.cr1().modify(|w| w.set_cwuf(true)); - // while crate::pac::PWR.csr1().read().wuf() {} - // trace!("rtc: clear wuf...done"); - // - // crate::pac::PWR - // .cr1() - // .modify(|w| w.set_pdds(crate::pac::pwr::vals::Pdds::STANDBY_MODE)); - // - // // crate::pac::PWR.cr1().modify(|w| w.set_lpds(true)); - // - // // crate::pac::EXTI.pr(0).modify(|w| w.set_line(22, true)); - // crate::interrupt::typelevel::RTC_WKUP::unpend(); - - RtcInstant::now() + critical_section::with(|cs| assert!(self.stop_time.borrow(cs).replace(Some(RtcInstant::now())).is_none())) } #[allow(dead_code)] #[cfg(all(feature = "time", any(stm32wb, stm32f4)))] - /// stop the wakeup alarm and return the time remaining - /// - /// note: this api is exposed for testing purposes until low power is implemented. - /// it is not intended to be public - pub(crate) fn stop_wakeup_alarm(&self) -> RtcInstant { + /// stop the wakeup alarm and return the time elapsed since `start_wakeup_alarm` + /// was called, otherwise none + pub(crate) fn stop_wakeup_alarm(&self) -> Option { + use crate::interrupt::typelevel::Interrupt; + trace!("rtc: stop wakeup alarm..."); self.write(false, |regs| { regs.cr().modify(|w| w.set_wutie(false)); regs.cr().modify(|w| w.set_wute(false)); regs.isr().modify(|w| w.set_wutf(false)); + + crate::pac::EXTI.pr(0).modify(|w| w.set_line(22, true)); + crate::interrupt::typelevel::RTC_WKUP::unpend(); }); - RtcInstant::now() + critical_section::with(|cs| { + if let Some(stop_time) = self.stop_time.borrow(cs).take() { + Some(RtcInstant::now() - stop_time) + } else { + None + } + }) } #[allow(dead_code)] diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs index 56f42aa9..99d423d0 100644 --- a/embassy-stm32/src/time_driver.rs +++ b/embassy-stm32/src/time_driver.rs @@ -15,7 +15,7 @@ use crate::interrupt::typelevel::Interrupt; use crate::pac::timer::vals; use crate::rcc::sealed::RccPeripheral; #[cfg(feature = "low-power")] -use crate::rtc::{Rtc, RtcInstant}; +use crate::rtc::Rtc; use crate::timer::sealed::{Basic16bitInstance as BasicInstance, GeneralPurpose16bitInstance as Instance}; use crate::{interrupt, peripherals}; @@ -140,8 +140,6 @@ pub(crate) struct RtcDriver { alarms: Mutex, #[cfg(feature = "low-power")] rtc: Mutex>>, - #[cfg(feature = "low-power")] - stop_time: Mutex>>, } const ALARM_STATE_NEW: AlarmState = AlarmState::new(); @@ -152,8 +150,6 @@ embassy_time::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver { alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [ALARM_STATE_NEW; ALARM_COUNT]), #[cfg(feature = "low-power")] rtc: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)), - #[cfg(feature = "low-power")] - stop_time: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)), }); impl RtcDriver { @@ -340,9 +336,8 @@ impl RtcDriver { /// Stop the wakeup alarm, if enabled, and add the appropriate offset fn stop_wakeup_alarm(&self) { critical_section::with(|cs| { - if let Some(stop_time) = self.stop_time.borrow(cs).take() { - let current_time = self.rtc.borrow(cs).get().unwrap().stop_wakeup_alarm(); - self.add_time(current_time - stop_time); + if let Some(offset) = self.rtc.borrow(cs).get().unwrap().stop_wakeup_alarm() { + self.add_time(offset); } }); } @@ -361,17 +356,11 @@ impl RtcDriver { Err(()) } else { critical_section::with(|cs| { - assert!(self - .stop_time + self.rtc .borrow(cs) - .replace(Some( - self.rtc - .borrow(cs) - .get() - .unwrap() - .start_wakeup_alarm(time_until_next_alarm) - )) - .is_none()); + .get() + .unwrap() + .start_wakeup_alarm(time_until_next_alarm); }); T::regs_gp16().cr1().modify(|w| w.set_cen(false));