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stm32: get the basic lp working

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This commit is contained in:
xoviat 2023-08-26 19:23:25 -05:00
parent 3023e70ccf
commit 2897670f24
3 changed files with 196 additions and 92 deletions
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126
embassy-stm32/src/low_power.rs
View file

@ -9,12 +9,11 @@ use crate::interrupt;
use crate::interrupt::typelevel::Interrupt;
use crate::pac::EXTI;
use crate::rcc::low_power_ready;
use crate::time_driver::{pause_time, resume_time, time_until_next_alarm};
use crate::time_driver::{get_driver, RtcDriver};
const THREAD_PENDER: usize = usize::MAX;
const THRESHOLD: Duration = Duration::from_millis(500);
use crate::rtc::{Rtc, RtcInstant};
use crate::rtc::Rtc;
static mut EXECUTOR: Option<Executor> = None;
@ -27,20 +26,30 @@ foreach_interrupt! {
};
}
// pub fn timer_driver_pause_time() {
// pause_time();
// }
pub fn stop_with_rtc(rtc: &'static Rtc) {
unsafe { EXECUTOR.as_mut().unwrap() }.stop_with_rtc(rtc)
}
pub fn start_wakeup_alarm(requested_duration: embassy_time::Duration) -> RtcInstant {
unsafe { EXECUTOR.as_mut().unwrap() }
.rtc
.unwrap()
.start_wakeup_alarm(requested_duration)
}
pub fn stop_wakeup_alarm() -> RtcInstant {
unsafe { EXECUTOR.as_mut().unwrap() }.rtc.unwrap().stop_wakeup_alarm()
}
// pub fn start_wakeup_alarm(requested_duration: embassy_time::Duration) {
// let rtc_instant = unsafe { EXECUTOR.as_mut().unwrap() }
// .rtc
// .unwrap()
// .start_wakeup_alarm(requested_duration);
//
// unsafe { EXECUTOR.as_mut().unwrap() }.last_stop = Some(rtc_instant);
// }
//
// pub fn set_sleepdeep() {
// unsafe { EXECUTOR.as_mut().unwrap() }.scb.set_sleepdeep();
// }
//
// pub fn stop_wakeup_alarm() -> RtcInstant {
// unsafe { EXECUTOR.as_mut().unwrap() }.rtc.unwrap().stop_wakeup_alarm()
// }
/// Thread mode executor, using WFE/SEV.
///
@ -56,15 +65,15 @@ pub struct Executor {
inner: raw::Executor,
not_send: PhantomData<*mut ()>,
scb: SCB,
pub(self) rtc: Option<&'static Rtc>,
time_driver: &'static RtcDriver,
stop_time: embassy_time::Duration,
next_alarm: embassy_time::Duration,
last_stop: Option<crate::rtc::RtcInstant>,
wfe: u8,
}
impl Executor {
/// Create a new Executor.
pub fn new() -> &'static mut Self {
pub fn take() -> &'static mut Self {
unsafe {
assert!(EXECUTOR.is_none());
@ -72,10 +81,10 @@ impl Executor {
inner: raw::Executor::new(THREAD_PENDER as *mut ()),
not_send: PhantomData,
scb: cortex_m::Peripherals::steal().SCB,
rtc: None,
time_driver: get_driver(),
stop_time: Duration::from_ticks(0),
next_alarm: Duration::from_ticks(u64::MAX),
last_stop: None,
wfe: 0,
});
EXECUTOR.as_mut().unwrap()
@ -83,9 +92,31 @@ impl Executor {
}
unsafe fn on_wakeup_irq(&mut self) {
trace!("low power: one wakekup irq");
trace!("low power: on wakeup irq");
self.rtc.unwrap().clear_wakeup_alarm();
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;
@ -110,48 +141,33 @@ impl Executor {
}
pub(self) fn stop_with_rtc(&mut self, rtc: &'static Rtc) {
assert!(self.rtc.is_none());
trace!("low power: stop with rtc configured");
self.time_driver.set_rtc(rtc);
crate::interrupt::typelevel::RTC_WKUP::unpend();
unsafe { crate::interrupt::typelevel::RTC_WKUP::enable() };
EXTI.rtsr(0).modify(|w| w.set_line(22, true));
EXTI.imr(0).modify(|w| w.set_line(22, true));
self.rtc = Some(rtc);
}
fn configure_pwr(&self) {
// defeat the borrow checker
let s = unsafe { EXECUTOR.as_mut().unwrap() };
fn configure_pwr(&mut self) {
trace!("low power: configure_pwr");
// trace!("configure_pwr");
//
// if !low_power_ready() {
// trace!("configure_pwr: low power not ready");
// return;
// }
//
// let time_until_next_alarm = time_until_next_alarm();
// if time_until_next_alarm < THRESHOLD {
// trace!("configure_pwr: not enough time until next alarm");
// return;
// }
//
// unsafe {
// NEXT_ALARM = time_until_next_alarm;
// if RTC_INSTANT.is_none() {
// RTC_INSTANT = Some(start_wakeup_alarm(time_until_next_alarm))
// }
// };
//
// // return;
//
// pause_time();
//
// trace!("enter stop...");
//
// Self::get_scb().set_sleepdeep();
self.scb.clear_sleepdeep();
if !low_power_ready() {
trace!("low power: configure_pwr: low power not ready");
return;
}
if self.time_driver.pause_time().is_err() {
trace!("low power: configure_pwr: time driver failed to pause");
return;
}
trace!("low power: enter stop...");
self.scb.set_sleepdeep();
}
/// Run the executor.
@ -173,11 +189,11 @@ impl Executor {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
init(self.inner.spawner());
init(unsafe { EXECUTOR.as_mut().unwrap() }.inner.spawner());
loop {
unsafe {
self.inner.poll();
EXECUTOR.as_mut().unwrap().inner.poll();
self.configure_pwr();
asm!("wfe");
};

55
embassy-stm32/src/rtc/v2.rs
View file

@ -30,6 +30,8 @@ impl RtcInstant {
let _ = RTC::regs().dr().read();
trace!("rtc: instant now: st, ssr: {}, {}", st, ssr);
Self { ssr, st }
}
}
@ -146,6 +148,21 @@ impl super::Rtc {
}
}
// pub(crate) fn clear_wakeup_alarm(&self) {
// use crate::interrupt::typelevel::Interrupt;
//
// self.write(false, |regs| {
// regs.cr().modify(|w| w.set_wutie(false));
//
// regs.isr().modify(|w| w.set_wutf(false));
// crate::pac::PWR.cr1().modify(|w| w.set_cwuf(false));
// crate::pac::EXTI.pr(0).modify(|w| w.set_line(22, false));
// crate::interrupt::typelevel::RTC_WKUP::unpend();
//
// regs.cr().modify(|w| w.set_wutie(true));
// });
// }
#[allow(dead_code)]
#[cfg(all(feature = "time", any(stm32wb, stm32f4)))]
/// start the wakeup alarm and return the actual duration of the alarm
@ -157,6 +174,7 @@ impl super::Rtc {
pub(crate) fn start_wakeup_alarm(&self, requested_duration: embassy_time::Duration) -> RtcInstant {
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;
@ -176,28 +194,40 @@ impl super::Rtc {
rtc_ticks as u64 * TICK_HZ * (<WakeupPrescaler as Into<u32>>::into(prescaler) as u64) / rtc_hz,
);
trace!("rtc: set wakeup timer for {} ms", duration.as_millis());
self.write(false, |regs| {
// regs.cr().modify(|w| w.set_wutie(true));
regs.cr().modify(|w| w.set_wute(false));
regs.isr().modify(|w| w.set_wutf(false));
while !regs.isr().read().wutwf() {}
regs.cr().modify(|w| w.set_wucksel(prescaler.into()));
regs.cr().modify(|w| w.set_wute(true));
});
self.write(false, |regs| {
regs.cr().modify(|w| w.set_wutie(false));
regs.isr().modify(|w| w.set_wutf(false));
crate::pac::PWR.cr1().modify(|w| w.set_cwuf(false));
regs.cr().modify(|w| w.set_wutie(true));
});
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()
}
@ -211,6 +241,7 @@ impl super::Rtc {
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));
});

107
embassy-stm32/src/time_driver.rs
View file

@ -14,6 +14,8 @@ use stm32_metapac::timer::regs;
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::timer::sealed::{Basic16bitInstance as BasicInstance, GeneralPurpose16bitInstance as Instance};
use crate::{interrupt, peripherals};
@ -130,12 +132,16 @@ impl AlarmState {
}
}
struct RtcDriver {
pub(crate) struct RtcDriver {
/// Number of 2^15 periods elapsed since boot.
period: AtomicU32,
alarm_count: AtomicU8,
/// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
#[cfg(feature = "low-power")]
rtc: Mutex<CriticalSectionRawMutex, Cell<Option<&'static Rtc>>>,
#[cfg(feature = "low-power")]
stop_time: Mutex<CriticalSectionRawMutex, Cell<Option<RtcInstant>>>,
}
const ALARM_STATE_NEW: AlarmState = AlarmState::new();
@ -144,6 +150,10 @@ embassy_time::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
period: AtomicU32::new(0),
alarm_count: AtomicU8::new(0),
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 {
@ -260,9 +270,15 @@ impl RtcDriver {
f(alarm.ctx.get());
}
#[cfg(feature = "low-power")]
/// Set the rtc but panic if it's already been set
pub(crate) fn set_rtc(&self, rtc: &'static Rtc) {
critical_section::with(|cs| assert!(self.rtc.borrow(cs).replace(Some(rtc)).is_none()));
}
#[cfg(feature = "low-power")]
/// Compute the approximate amount of time until the next alarm
pub(crate) fn time_until_next_alarm(&self) -> embassy_time::Duration {
fn time_until_next_alarm(&self) -> embassy_time::Duration {
critical_section::with(|cs| {
let now = self.now() + 32;
@ -278,14 +294,8 @@ impl RtcDriver {
}
#[cfg(feature = "low-power")]
/// Pause the timer
pub(crate) fn pause_time(&self) {
T::regs_gp16().cr1().modify(|w| w.set_cen(false));
}
#[cfg(feature = "low-power")]
/// Resume the timer with the given offset
pub(crate) fn resume_time(&self, offset: embassy_time::Duration) {
/// Add the given offset to the current time
fn add_time(&self, offset: embassy_time::Duration) {
let offset = offset.as_ticks();
let cnt = T::regs_gp16().cnt().read().cnt() as u32;
let period = self.period.load(Ordering::SeqCst);
@ -315,6 +325,66 @@ impl RtcDriver {
self.period.store(period, Ordering::SeqCst);
T::regs_gp16().cnt().write(|w| w.set_cnt(cnt as u16));
// Now, recompute all alarms
critical_section::with(|cs| {
for i in 0..ALARM_COUNT {
let alarm_handle = unsafe { AlarmHandle::new(i as u8) };
let alarm = self.get_alarm(cs, alarm_handle);
self.set_alarm(alarm_handle, alarm.timestamp.get());
}
})
}
#[cfg(feature = "low-power")]
/// 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);
}
});
}
#[cfg(feature = "low-power")]
/// Pause the timer if ready; return err if not
pub(crate) fn pause_time(&self) -> Result<(), ()> {
/*
If the wakeup timer is currently running, then we need to stop it and
add the elapsed time to the current time
*/
self.stop_wakeup_alarm();
let time_until_next_alarm = self.time_until_next_alarm();
if time_until_next_alarm < embassy_time::Duration::from_millis(250) {
Err(())
} else {
critical_section::with(|cs| {
assert!(self
.stop_time
.borrow(cs)
.replace(Some(
self.rtc
.borrow(cs)
.get()
.unwrap()
.start_wakeup_alarm(time_until_next_alarm)
))
.is_none());
});
T::regs_gp16().cr1().modify(|w| w.set_cen(false));
Ok(())
}
}
#[cfg(feature = "low-power")]
/// Resume the timer with the given offset
pub(crate) fn resume_time(&self) {
self.stop_wakeup_alarm();
T::regs_gp16().cr1().modify(|w| w.set_cen(true));
}
}
@ -388,21 +458,8 @@ impl Driver for RtcDriver {
}
#[cfg(feature = "low-power")]
/// Compute the approximate amount of time until the next alarm
pub(crate) fn time_until_next_alarm() -> embassy_time::Duration {
DRIVER.time_until_next_alarm()
}
#[cfg(feature = "low-power")]
/// Pause the timer
pub(crate) fn pause_time() {
DRIVER.pause_time();
}
#[cfg(feature = "low-power")]
/// Resume the timer with the given offset
pub(crate) fn resume_time(offset: embassy_time::Duration) {
DRIVER.resume_time(offset);
pub(crate) fn get_driver() -> &'static RtcDriver {
&DRIVER
}
pub(crate) fn init() {